CN112905955A - Fan front and back autonomous inspection planning method - Google Patents
Fan front and back autonomous inspection planning method Download PDFInfo
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Abstract
The invention provides a method for planning the front and back autonomous inspection of a fan, which comprises the following steps: s1, inputting relevant parameters of the fan; s2, calculating a fan framework model; s3, calculating an inspection planning route; and S4, exporting the routing inspection planning file. The fan front and back autonomous inspection planning method provided by the invention not only enables the inspection of the fan to be more scientific and intelligent, but also effectively provides inspection efficiency, and the inspection result is more accurate.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle inspection, and particularly relates to a front and back autonomous inspection planning method for a fan.
Background
Most of the existing fans are patrolled and examined by unmanned aerial vehicles, but most of unmanned aerial vehicles are patrolled and examined by manual remote control and do not have an autonomous patrolling and examining planning algorithm, so that the patrolling and examining efficiency is low, and the patrolling and examining effect is poor.
Disclosure of Invention
In view of the above, in order to overcome the above defects, the present invention aims to provide an autonomous inspection planning method for front and back sides of a wind turbine.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a front and back face autonomous inspection planning method for a fan comprises the following steps:
s1, inputting relevant parameters and planning parameters of the fan;
s2, calculating a fan framework model;
s3, calculating an inspection planning route;
and S4, exporting the routing inspection planning file.
Further, the execution method of step S2 is specifically as follows:
s201, calculating the coordinate of the central point of the fan hub according to the fan parameters, the planning parameters and the aircraft coordinate which is just opposite to the center of the fan hub;
s202, calculating fan blade surface parameters and converting the fan blade surface parameters into parameters of an upward pitching condition;
s203, obtaining three blade models through matrix transformation according to the blade phase parameters in the input fan parameters:
s204, calculating a camera target point on the blade;
s205, optimizing a blade model according to the pre-bending parameters;
s206, calculating the sequence of the front inspection fan blade model;
and S207, calculating the sequence of the back inspection fan blade models.
Further, in S201, the method for calculating the coordinates of the hub center point of the air outlet machine includes:
according to the fan parameters and the airplane coordinate B at the front moment, calculating the coordinate D of the hub central point of the fan;
1) center point height center _ h is tower column ground point height + tower column height + cabin height/2
2) Hub center point:
assuming that the coordinates of the ground points of the wind turbine are A (B1, l1, h1) and the coordinates of the airplane are B (B2, l2, h2), the coordinates of the point 1 corresponding to the A point are C (B1, l1, center _ h), and the coordinate transformation of the point CB is performed to obtain the hub center point D as follows:
scaling the CB distance along the unit vector of the CB vector, and translating to a point C;
the fan blade surface parameters in the step S202 comprise a fan blade surface normal vector, an azimuth angle of the airplane facing the fan blade surface and a tower column vector;
the normal vector of the fan blade surface is a unit vector obtained by pointing the hub center point D to the airplane coordinate B;
calculating the azimuth angle of the plane, which is opposite to the wind blade surface, as the plane coordinate B pointing to the hub central point D to obtain a plane azimuth angle;
the tower column vector is a vector (0,0,1) which is vertically upward;
the method comprises the following steps of converting a normal vector of a wind blade surface, an azimuth angle of an airplane opposite to the wind blade surface and a tower column vector into parameters of an upward-pitching condition, and adjusting a plane vector and a normal vector through matrix conversion according to the upward-pitching angle of the wind blade surface, wherein the specific method comprises the following steps:
under the condition of conforming to the right-hand rule, a normal vector of the fan blade surface is cross-multiplied by a tower column vector to obtain a vector Y which is vertical to the normal vector and is vertical to the ground and upward in the fan blade surface, the fan blade surface rotates anticlockwise around a Y axis to obtain a rotation matrix, and the rotation matrix is used for carrying out coordinate transformation on X and Z to obtain transformed X 'and Z', namely an X axis and a Z axis of the actual fan blade surface.
Further, the execution method of step S203 is:
and performing matrix transformation according to the input blade phase parameter angle as follows:
rotating the matrix: the Z-axis unit vector is rotated clockwise around the X-axis by-angle;
scaling the matrix: the zoom scale is the blade length;
translation matrix: translating to the hub center;
final transformation matrix: firstly, rotating, then scaling and then translating, and taking a column vector as a main part to multiply a matrix by the left side;
final transformation matrix (rotation matrix) scaling matrix (translation matrix)
On the basis, respectively calculating the end points of angle +120 and angle +240, namely clockwise three blades relative to the Z axis in the blade plane;
at the moment, the blade model is a line segment formed from the center of the hub to the end point of the blade;
the method for calculating the camera target point on the blade in S204 is as follows;
determining the photographing distance of the camera: inputting the minimum value of the photographing distance of the camera with the longest edge and the photographing distance of the camera with the shortest edge in the parameters
Interpolating an encryption point: and on a line segment formed from the hub center to the blade end point, encrypting points according to the photographing distance of the camera.
The specific method of step S205 is as follows;
the result from steps S203 and S204 is an ideal blade model, where the blade has a deflection angle at dx and dy and a curvature, so that the points on the blade model are optimally adjusted according to these parameters, and the model of the blade is outlined by these points, as follows:
1) calculating the length of the non-bending part according to the bending proportion;
2) and (3) calculating a turning point: scaling the length of the step 1) along the unit vector from the center of the blade to the end point and translating the unit vector to the center to obtain a transformation matrix, and transforming the unit vector from the center of the blade to the end point to obtain a bending turning point;
3) dx and dy adjustments were made:
the dx and dy rotation centers are both hub centers, i.e. blade center points;
rotation vector: unit vectors from blade center to end point;
the dx rotating shaft is a fan blade surface normal vector X, and the adjustment is realized by rotating the dx rotating shaft by a dx angle anticlockwise;
the dy rotation axis is a unit vector of 90 degrees clockwise rotation of the blade vector around the X axis, and the adjustment is by dy degrees counterclockwise rotation around the rotation axis;
if the distance from the point to the center of the blade is less than the step 1), only dx and dy adjustment is needed when the point is in a non-bending part, and the point is firstly subjected to dx transformation and then subjected to dy transformation to obtain the point after dx and dy adjustment;
4) adjusting the bent part of the blade tip:
rotation vector: unit vectors from blade center to end point;
the bending rotation center is a turning point, the rotating shaft is the same as dx (vector X normal to the fan blade surface), and the bending angle is adjusted to rotate anticlockwise around the rotating shaft;
if the point-to-blade center distance is greater than step 1), then the point is in the curved portion. The method needs advanced bending adjustment, and then dx transformation and dy transformation are carried out;
further, the execution method of step 206 is as follows:
the routing inspection direction is as follows: counter clockwise
1) Obtaining a relative azimuth angle of the fan blade nearest to the ground by the following method;
azimuth angles in the fan blade plane relative to a Z axis vertical to the ground;
the relative azimuth angles of the three fan blades are A, B is A +120, C is A +240, and the relative azimuth angle of the column is 180;
calculating included angles between the three leaves and the column, wherein A is A-180, B is B-180, and C is C-180;
arranging the blades A ', B ' and C ' from small to large, and sequencing the smallest fan blade, namely the fan blade closest to the ground, so as to obtain the phase azimuth angle of the fan blade closest to the ground;
2) the blades are arranged in a counterclockwise mode according to the angle of the fan blade closest to the ground;
3) and recording the index of the polling blade.
Further, the step 207 is performed as follows:
and (3) routing inspection direction: counter clockwise
1) Relative azimuth angle: azimuth angles in the fan blade plane relative to a Z axis vertical to the ground;
the relative azimuth angles of the three fan blades are A, B is A +120, C is A +240, and the relative azimuth angle of the column is 180;
calculating included angles between the three leaves and the column, wherein A is A-180, B is B-180, and C is C-180;
arranging A ', B ' and C ' from small to large, and sequencing the centered fan blades, namely the fan blades which are next to the ground, so as to obtain the relative azimuth angle Y of the fan blades which are next to the column at a small included angle;
(Y +180)/2, namely obtaining the azimuth angle of the angular bisector of the blade and the pillar with the next small included angle;
2) sequencing the blades in a counterclockwise way by the nearest angle from the angular bisector in the step 1);
the blades are ordered according to the following algorithm:
azimuth of the bisector in 1) -azimuth of the blade; if the detangle values of the two blades are the same, sorting from small to large; otherwise, sorting from big to small;
3) and recording the index of the polling blade.
Further, the execution method of step S3 is as follows:
s301, calculating a first point: the point is a point on the safe distance with the front face opposite to the center of the hub, and the method comprises the following steps;
1) scaling the matrix: safe distance
2) Translation matrix: translating to the hub centre
3) Unit vector: normal vector of fan blade surface when not facing upward, hub center to airplane point
Zooming the unit vector and translating to obtain a point on a safe distance right facing the center of the hub;
s302, calculating a buffer line of the front fan blade model, and obtaining the buffer line through matrix transformation according to planning parameters, wherein the method comprises the following steps;
1) rotating the matrix: rotation axis: unit vectors from blade center to end point; rotation vector: a fan blade face normal vector X axis; rotation angle: planning two inclination angles, wherein the angle is anticlockwise positive and clockwise negative;
2) scaling the matrix: the scale is the safe distance;
3) translation matrix: translating to a point on the fan blade model;
4) final matrix: firstly rotating, then zooming and then translating;
5) special treatment: different blade buffer lines may have intersection points, and points from the intersection points to the center point are required to be removed, including the center point;
performing matrix transformation on all points on the blade, and intercepting and removing points in the intersection points;
s303, calculating a buffer line of the back fan blade model, and obtaining the buffer line through matrix transformation according to the planning parameters, wherein the method comprises the following steps of;
1) rotating the matrix: rotation axis: unit vectors from blade center to end point; rotation vector: a fan blade face normal vector X axis; rotation angle: planning two inclination angles, wherein the angle is anticlockwise positive and clockwise negative;
2) scaling the matrix: the scale is the safe distance;
3) translation matrix: translating to a point on the fan blade model;
4) final matrix: firstly rotating, then zooming and then translating;
5) special treatment: the back needs to bypass the engine room, and the point from the intersection point of the back and the cache area of the engine room to the inside of the central point needs to be removed, including the central point;
6) performing matrix transformation on all points on the blade, and intercepting and removing points in the intersection points;
s304, calculating a front planning route;
s305, calculating a front turning point;
s306, calculating a back turning point;
s307, calculating a back planning route;
and S308, adjusting the postures of the airplane and the holder.
Further, the method for calculating the front planned route in step S304 is as follows:
step S3041, performing two processes on the blade tip;
a) processing the relation with the tower column, and adjusting the blade tip to ensure that the blade tip is outside the buffer cylinder of the tower column;
b) calculating the aircraft load attitude of a shooting point on a route aiming at a target point, wherein the method comprises the following steps:
airplane attitude: the airplane only moves the azimuth, and the pitching and rolling are all 0; when the airplane walks in the front direction, the azimuth angle is equal to the azimuth angle of the airplane facing the wind blade surface; when the airplane walks on the back, the azimuth angle is equal to that of the airplane which is opposite to the wind blade surface;
load attitude: the load azimuth angle is a relative value relative to the direction of the airplane and represents the horizontal rotation angle required by the airplane to aim at a target point when the airplane is over against the fan blade surface;
1) load azimuth on the front side: the horizontal component of the normal vector X (X, y, z) of the fan blade surface is inverted, X '(-X, -y,0), the horizontal component H (X, y,0) from the shooting point to the target point, and the rotation angle H, namely the azimuth angle, of the vector X' rotating to another vector is solved;
2) load azimuth of the back side: a horizontal component vector, X '(X, y,0), of a fan blade surface normal vector X (X, y, z), a horizontal component vector H (X, y,0) from a photographing point to a target point, and solving an H rotation angle, namely an azimuth angle, of the vector X' rotating to another vector;
3) load pitch angle: an arctan (height difference/horizontal distance between a photographing point and a target point) is obtained according to the tangent value, and an angle with a positive value and a negative value is obtained;
c) expanding a certain distance along the X axis of the normal vector for transition, otherwise, directly pulling the route on the two sides to enter a safety area to trigger obstacle avoidance;
step S3042, obtaining a planned route of the blade;
sequentially connecting a transition point between the end points from the center to the end points and a planning route of the blade from the end points to the center;
step S3043, obtaining planning routes of the three blades according to the step S3042;
and S3044, sequentially connecting according to the calculated front patrol blade index sequence and the step S3042 to obtain a planned route of the whole front patrol.
Further, the method for calculating the front turning point in step S305 is as follows:
s3051, a turning point is on an angle bisector of an included angle between a blade and a tower column, wherein the included angle between the blade and the tower column is a second small angle;
s3052, the distance from the point to the tower column and the distance from the point to the blade are not less than a safety distance.
Further, in step S307, a method for calculating a back planned route is as follows;
s3071, performing two treatments on the blade tip in the same way as in step 2;
s3072, obtaining a planned route of the blade;
sequentially connecting a transition point between the end points from the center to the end points and a planning route of the blade from the end points to the center;
s3073, obtaining planning routes of the three blades according to the step 2);
s3074, calculating an arc line between every two blades: bypassing the nacelle for safety;
s3075, according to the calculated front side route-tracking blade index sequence, connecting the front side route-tracking blade index sequence in the following sequence
a) The course of the blade 1;
b) the camber line between the blade 1 and the blade 2;
c) the course of the blade 2;
d) camber line between blade 2 and blade 3;
e) the camber line between blade 3 and blade 1.
Compared with the prior art, the fan front and back face autonomous inspection planning method has the following advantages:
the fan front and back autonomous inspection planning method provided by the invention provides a complete and accurate fan autonomous inspection planning algorithm, so that the fan inspection is more scientific and intelligent, the inspection efficiency is effectively improved, and the inspection result is more accurate.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is an overall flowchart of a front and back autonomous inspection planning method of a fan according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for computing a wind turbine skeleton model according to an embodiment of the present invention;
fig. 3 is a flowchart of calculating a routing plan for routing inspection according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, an autonomous inspection planning method for front and back sides of a wind turbine includes the following steps:
integrated process
Inputting relevant parameters and planning parameters of the fan, firstly calculating a fan framework model, then calculating a line patrol planning route according to the fan framework model, and finally exporting a planning file.
Calculating a wind turbine skeleton model (as shown in fig. 2):
1. calculating the center point of the hub:
according to the fan parameters and the airplane coordinate B at the moment of recognizing the front side, calculating the coordinate D of the hub central point of the fan:
1) center point height center _ h is tower column ground point height + tower column height + cabin height/2
2) Hub center point:
assuming that the coordinates of the ground points of the wind turbine are A (B1, l1, h1) and the coordinates of the airplane are B (B2, l2, h2), the coordinates of the point 1 corresponding to the A point are C (B1, l1, center _ h), and the coordinate transformation of the point CB is performed to obtain the hub center point D as follows:
the CB distance is scaled along the unit vector of the CB vector and translated to point C.
2. Calculating blade surface parameters
1) Wind blade surface normal vector X: the hub central point D points to a unit vector obtained by the airplane coordinate B;
2) azimuth angle of airplane facing wind blade surface: the plane azimuth angle is calculated by pointing the plane coordinate B to the hub central point D;
3) tower column vector Z: i.e., the vector (0,0,1) facing vertically upward;
the three parameters are parameters under the ideal condition that the fan blade surface is vertical to the ground, and the actual fan blade surface has an upward pitch angle, so that the parameters 1), 2) and 3) are converted into parameters under the upward pitch condition, and the parameters are as follows:
4) adjusting a plane vector and a normal vector through matrix transformation according to the upward elevation angle;
under the condition of conforming to the right-hand rule, 1) vector cross-multiplication is carried out on 3) vectors to obtain a vector Y which is vertical to a normal vector and is vertical to the ground in the blade surface, an elevation angle degree is anticlockwise rotated around a Y axis to obtain a rotation matrix, and the X and the Z are subjected to coordinate transformation through the rotation matrix to obtain transformed X 'and Z', namely the X axis and the Z axis of the actual blade surface
3. Calculating a blade model;
obtaining three blade models through matrix transformation according to the input blade phase parameter angle: the straight line segment from the hub center to the blade end point is as follows:
according to the input blade phase parameter angle, the following transformation is carried out:
1) rotating the matrix: z-axis unit vector clockwise-angle around X-axis
2) Scaling the matrix: the scaling being the blade length
3) Translation matrix: translating to the hub centre
4) Final transformation matrix: rotating, scaling, and translating, mainly based on column vector, and left-multiplying by matrix
Final transformation matrix 3) 2) 1)
On the basis of the calculation, the end points of the angle +120 and the angle +240 of three blades which are clockwise relative to the Z axis in the blade plane are respectively calculated
The blade model at this time is: the line segment from the hub center to the blade end point.
4. Calculating a camera target point on the blade;
1) determining the photographing distance of the camera: inputting the minimum value of the camera photographing interval of the longest edge and the camera photographing interval of the shortest edge in the parameters;
2) interpolating an encryption point: and encrypting points according to the distance of 1) on a line segment formed by the hub center to the blade end points.
5. Optimizing a blade model according to the pre-bending parameters;
the blade model of the ideal situation is obtained from 3 and 4, the blade has a deflection angle in practice and also has a bending radian, therefore, according to the parameters, the points on the blade model are optimally adjusted, and the model of the blade is outlined through the points, which are as follows:
1) calculating the length of the non-bending part according to the bending proportion
2) And (3) calculating a turning point: scaling the unit vector from the center of the blade to the end point by the length of 1) and translating the unit vector to the center to obtain a transformation matrix, and transforming the unit vector from the center of the blade to the end point to obtain a bending turning point
3) Dx and dy adjustments were made:
the dx and dy centers of rotation are both hub centers, i.e. blade center points
Rotation vector: unit vector from blade center to end point
The dx rotating shaft is a normal vector X of the fan blade surface, the adjustment is to rotate the dx angle anticlockwise around the rotating shaft,
the dy axis of rotation is the unit vector of 90 degrees clockwise rotation of the blade vector about the X axis, and the adjustment is by dy degrees counterclockwise rotation about the axis of rotation.
If the distance from the point to the center of the blade is less than 1), then the point is at the non-bending part, only dx and dy adjustment is needed, the point is firstly subjected to dx transformation and then to dy transformation to obtain the point after dx and dy adjustment
4) Adjusting the bent part of the blade tip:
rotation vector: unit vector of blade center to end point.
The bending rotation center is a turning point, the rotating shaft is the same as dx, namely a fan blade surface normal vector X, and the bending angle is adjusted to rotate anticlockwise around the rotating shaft.
If the point-to-blade center distance is greater than 1), then the point is at the curved portion. The advanced warping adjustment is required, and then the dx transformation and then the dy transformation are performed.
6. Calculating the sequence of the front inspection fan blade model;
the routing inspection direction is as follows: counter clockwise
1) Obtaining a relative azimuth angle of the fan blade nearest to the ground;
relative azimuth angle: azimuth angles in the fan blade plane relative to a Z axis vertical to the ground;
the relative azimuth angles of the three fan blades are A, B is A +120, C is A +240, and the relative azimuth angle of the column is 180;
calculating included angles between the three leaves and the column, wherein A is A-180, B is B-180, and C is C-180;
and arranging the blades A ', B ' and C ' from small to large, wherein the blade with the smallest sequence is the blade closest to the ground, so that the phase azimuth angle of the blade closest to the ground is obtained.
2) The blades are arranged in a counterclockwise mode according to the angle of the fan blade closest to the ground;
3) recording the index of the inspection blade;
7. calculating the sequence of the back routing inspection fan blade models;
counterclockwise direction of inspection
1) Obtaining the azimuth angle of the angular bisector of the blade and the column with the next small included angle from the column, which is concretely as follows;
relative azimuth angle: azimuth angles in the fan blade plane relative to a Z axis vertical to the ground;
the relative azimuth angles of the three fan blades are A, B is A +120, C is A +240, and the relative azimuth angle of the column is 180;
calculating included angles between the three leaves and the column, wherein A is A-180, B is B-180, and C is C-180;
arranging A ', B ' and C ' from small to large, and sequencing the centered fan blades, namely the fan blades which are next to the ground, so as to obtain the relative azimuth angle Y of the fan blades which are next to the column at a small included angle;
(Y +180)/2, namely the azimuth angle of the angular bisector of the blade and the pillar with the next small included angle.
2) The blades are sorted anticlockwise according to the angle closest to the angular bisector in the distance 1);
the blades are ordered according to the following algorithm:
azimuth of the bisector in 1) -azimuth of the blade; if the detangle values of the two blades are the same, sorting from small to large; otherwise, sorting from large to small
2) Finding the closest angle to 1) in the counterclockwise direction as a first angle;
3) and recording the index of the polling blade.
Calculating line patrol planning route (as shown in figure 3)
1. Calculate the first point: the method for the points on the safe distance with the front face opposite to the center of the hub comprises the following steps:
1) scaling the matrix: safe distance
2) Translation matrix: translating to the hub centre
3) Unit vector: normal vector of fan blade surface when not facing upward, hub center to airplane point
And zooming and translating the unit vector to obtain a point on a safe distance right facing the center of the hub.
2. Calculating a buffer line of the front fan blade model, and obtaining the buffer line through matrix transformation according to the planning parameters;
1) rotating the matrix: rotation axis: unit vectors from blade center to end point; rotation vector: a fan blade face normal vector X axis; rotation angle: planning two inclination angles, wherein the angle is anticlockwise positive and clockwise negative;
2) scaling the matrix: the scaling being a safe distance
3) Translation matrix: points translated to the blade model
4) Final matrix: rotate, zoom, and translate
5) Special treatment: different blade buffer lines may have intersections, and it is desirable to remove the intersection to a point within the center point, including the center point.
All points on the blade are matrixed and points within the intersection are truncated.
3. Calculating a buffer line of the back fan blade model, and obtaining the buffer line through matrix transformation according to planning parameters, wherein the method comprises the following steps of;
1) rotating the matrix: rotation axis: unit vectors from blade center to end point; rotation vector: a fan blade face normal vector X axis; rotation angle: planning two inclination angles, wherein the angle is anticlockwise positive and clockwise negative;
2) scaling the matrix: the scaling being a safe distance
3) Translation matrix: points translated to the blade model
4) Final matrix: rotate, zoom, and translate
5) Special treatment: the back side needs to bypass the nacelle and the point of intersection with the nacelle buffer into the center point needs to be removed, including the center point.
6) All points on the blade are matrixed and points within the intersection are truncated.
4. Calculating a front planning route;
1) two treatments are carried out on the blade tip;
a) processing the relation with the tower column, and adjusting the blade tip to ensure that the blade tip is outside the buffer cylinder of the tower column;
b) calculating the aircraft load attitude of a shooting point on a route aiming at a target point, specifically as follows;
airplane attitude: the airplane was only azimuth, pitch and roll were all 0. When the airplane walks in the front direction, the azimuth angle is equal to the azimuth angle of the airplane facing the wind blade surface; when the airplane walks on the back, the azimuth angle is equal to that of the airplane which is opposite to the wind blade surface;
load attitude: the load azimuth angle is a relative value relative to the direction of the airplane and represents how many degrees the airplane needs to horizontally rotate to aim at a target point when the airplane is over against the fan blade surface (the load is 0 at the moment relative azimuth angle);
1) load azimuth on the front side: the horizontal component of the normal vector X (X, y, z) of the fan blade surface is inverted, X '(-X, -y,0) is the horizontal component H (X, y,0) from the shooting point to the target point, and the rotation angle H of the vector X' rotating to another vector, namely the azimuth angle, is solved
2) Load azimuth of the back side: the horizontal component of the normal vector X (X, y, z) of the fan blade surface,
x '(X, y,0), vector H (X, y,0) of horizontal component from the photographed point to the target point, and vector X'
H rotation angle rotated to another vector, i.e. azimuth
Load pitch angle: arctan (height difference/horizontal distance between the photographing point and the target point) and the angle with positive and negative values according to the tangent value
c) Expanding a certain distance along the X axis of the normal vector for transition, otherwise, directly pulling the route on the two sides to enter a safety area to trigger obstacle avoidance;
2) obtaining a planned route of the blade;
sequentially connecting a transition point between the end points from the center to the end points and a planning route of the blade from the end points to the center;
3) obtaining a planning route of three blades according to the step 2);
4) according to the calculated front side line patrol blade index sequence, sequentially connecting according to 2) to obtain a planning route of the whole front side line patrol;
5. calculating a front turning point;
1) the turning point is on the angular bisector of the angle between the blade and the tower column of the second small angle;
2) the distance from the point to the tower column and the distance from the point to the blade is not less than the safe distance (the safe distance is a parameter manually input);
6. calculating a back turning point;
the thinking is the same as 3;
7. calculating a back planning route;
1) two treatments are carried out on the blade tip, as in 2;
2) obtaining a planned route of the blade;
sequentially connecting a transition point between the end points from the center to the end points and a planning route of the blade from the end points to the center;
3) obtaining a planning route of three blades according to the step 2);
4) calculating an arc line between every two blades: bypassing the nacelle for safety;
5) according to the calculated front side line patrol blade index sequence, carrying out the following sequence connection;
a) the course of the blade 1;
b) the camber line between the blade 1 and the blade 2;
c) the course of the blade 2;
d) camber line between blade 2 and blade 3;
e) camber line between blade 3 and blade 1;
8. adjusting the postures of the airplane and the cradle head;
the aircraft orientation to this plan is absolute, with no pitch and roll; the azimuth of the holder is a relative value, and the pitching is relatively horizontal up and down relative to the left and right of the airplane; the method comprises the steps of adjusting according to the relation between an airplane and a cradle head, wherein the adjusting result is that the airplane only has an azimuth value, the cradle head only has a pitching value, namely, the airplane only moves the azimuth, and the cradle head only moves the pitching.
Those of ordinary skill in the art will appreciate that the elements and method steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of clearly illustrating the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in the present application, it should be understood that the disclosed method and system may be implemented in other ways. For example, the above described division of elements is merely a logical division, and other divisions may be realized, for example, multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not executed. The units may or may not be physically separate, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The method for planning the front and back autonomous inspection of the fan is characterized by comprising the following steps of:
s1, inputting relevant parameters and planning parameters of the fan;
s2, calculating a fan framework model;
s3, calculating an inspection planning route;
and S4, exporting the routing inspection planning file.
2. The blower front and back face autonomous inspection planning method according to claim 1, wherein the executing method of the step S2 is specifically as follows:
s201, calculating the coordinate of the central point of the fan hub according to the fan parameters, the planning parameters and the aircraft coordinate which is just opposite to the center of the fan hub;
s202, calculating fan blade surface parameters and converting the fan blade surface parameters into parameters of an upward pitching condition;
s203, obtaining three blade models through matrix transformation according to the blade phase parameters in the input fan parameters:
s204, calculating a camera target point on the blade;
s205, optimizing a blade model according to the pre-bending parameters;
s206, calculating the sequence of the front inspection fan blade model;
and S207, calculating the sequence of the back inspection fan blade models.
3. The blower front and back face autonomous inspection planning method according to claim 2, wherein in S201, the method for calculating the coordinates of the hub center point of the blower is as follows:
1) center point height center _ h is tower column ground point height + tower column height + cabin height/2
2) Hub center point:
assuming that the coordinates of the ground points of the wind turbine are A (B1, l1, h1) and the coordinates of the airplane are B (B2, l2, h2), the coordinates of the point 1 corresponding to the A point are C (B1, l1, center _ h), and the coordinate transformation of the point CB is performed to obtain the hub center point D as follows:
scaling the CB distance along the unit vector of the CB vector, and translating to a point C;
the fan blade surface parameters in the step S202 comprise a fan blade surface normal vector, an azimuth angle of the airplane facing the fan blade surface and a tower column vector;
the normal vector of the fan blade surface is a unit vector obtained by pointing the hub center point D to the airplane coordinate B;
calculating the azimuth angle of the plane, which is opposite to the wind blade surface, as the plane coordinate B pointing to the hub central point D to obtain a plane azimuth angle;
the tower column vector is a vector (0,0,1) which is vertically upward;
the method comprises the following steps of converting a normal vector of a wind blade surface, an azimuth angle of an airplane opposite to the wind blade surface and a tower column vector into parameters of an upward-pitching condition, and adjusting a plane vector and a normal vector through matrix conversion according to the upward-pitching angle of the wind blade surface, wherein the specific method comprises the following steps:
under the condition of conforming to the right-hand rule, a normal vector of the fan blade surface is cross-multiplied by a tower column vector to obtain a vector Y which is vertical to the normal vector and is vertical to the ground and upward in the fan blade surface, the fan blade surface rotates anticlockwise around a Y axis to obtain a rotation matrix, and the rotation matrix is used for carrying out coordinate transformation on X and Z to obtain transformed X 'and Z', namely an X axis and a Z axis of the actual fan blade surface.
4. The blower front and back face autonomous inspection planning method according to claim 2, characterized in that:
the execution method of step S203 is:
and performing matrix transformation according to the input blade phase parameter angle as follows:
rotating the matrix: the Z-axis unit vector is rotated clockwise around the X-axis by-angle;
scaling the matrix: the zoom scale is the blade length;
translation matrix: translating to the hub center;
final transformation matrix: firstly, rotating, then scaling and then translating, and taking a column vector as a main part to multiply a matrix by the left side;
final transformation matrix (rotation matrix) scaling matrix (translation matrix)
On the basis, respectively calculating the end points of angle +120 and angle +240, namely clockwise three blades relative to the Z axis in the blade plane;
at the moment, the blade model is a line segment formed from the center of the hub to the end point of the blade;
the method for calculating the camera target point on the blade in S204 is as follows;
determining the photographing distance of the camera: inputting the minimum value of the photographing distance of the camera with the longest edge and the photographing distance of the camera with the shortest edge in the parameters
Interpolating an encryption point: and on a line segment formed from the hub center to the blade end point, encrypting points according to the photographing distance of the camera.
The specific method of step S205 is as follows;
the result from steps S203 and S204 is an ideal blade model, where the blade has a deflection angle at dx and dy and a curvature, so that the points on the blade model are optimally adjusted according to these parameters, and the model of the blade is outlined by these points, as follows:
1) calculating the length of the non-bending part according to the bending proportion;
2) and (3) calculating a turning point: scaling the length of the step 1) along the unit vector from the center of the blade to the end point and translating the unit vector to the center to obtain a transformation matrix, and transforming the unit vector from the center of the blade to the end point to obtain a bending turning point;
3) dx and dy adjustments were made:
the dx and dy rotation centers are both hub centers, i.e. blade center points;
rotation vector: unit vectors from blade center to end point;
the dx rotating shaft is a fan blade surface normal vector X, and the adjustment is realized by rotating the dx rotating shaft by a dx angle anticlockwise;
the dy rotation axis is a unit vector of 90 degrees clockwise rotation of the blade vector around the X axis, and the adjustment is by dy degrees counterclockwise rotation around the rotation axis;
if the distance from the point to the center of the blade is less than the step 1), only dx and dy adjustment is needed when the point is in a non-bending part, and the point is firstly subjected to dx transformation and then subjected to dy transformation to obtain the point after dx and dy adjustment;
4) adjusting the bent part of the blade tip:
rotation vector: unit vectors from blade center to end point;
the bending rotation center is a turning point, the rotating shaft is the same as dx (vector X normal to the fan blade surface), and the bending angle is adjusted to rotate anticlockwise around the rotating shaft;
if the point-to-blade center distance is greater than step 1), then the point is in the curved portion. The advanced warping adjustment is required, and then the dx transformation and then the dy transformation are performed.
5. The method for planning the autonomous inspection of the front and the back of the wind turbine according to claim 2, wherein the step 206 is performed as follows:
the routing inspection direction is as follows: counter clockwise
1) Obtaining a relative azimuth angle of the fan blade nearest to the ground by the following method;
azimuth angles in the fan blade plane relative to a Z axis vertical to the ground;
the relative azimuth angles of the three fan blades are A, B is A +120, C is A +240, and the relative azimuth angle of the column is 180;
calculating included angles between the three leaves and the column, wherein A is A-180, B is B-180, and C is C-180;
arranging the blades A ', B ' and C ' from small to large, and sequencing the smallest fan blade, namely the fan blade closest to the ground, so as to obtain the phase azimuth angle of the fan blade closest to the ground;
2) the blades are arranged in a counterclockwise mode according to the angle of the fan blade closest to the ground;
3) and recording the index of the polling blade.
6. The blower front and back face autonomous inspection planning method according to claim 2,
the execution method of step 207 is as follows:
and (3) routing inspection direction: counter clockwise
1) Relative azimuth angle: azimuth angles in the fan blade plane relative to a Z axis vertical to the ground;
the relative azimuth angles of the three fan blades are A, B is A +120, C is A +240, and the relative azimuth angle of the column is 180;
calculating included angles between the three leaves and the column, wherein A is A-180, B is B-180, and C is C-180;
arranging A ', B ' and C ' from small to large, and sequencing the centered fan blades, namely the fan blades which are next to the ground, so as to obtain the relative azimuth angle Y of the fan blades which are next to the column at a small included angle;
(Y +180)/2, namely obtaining the azimuth angle of the angular bisector of the blade and the pillar with the next small included angle;
2) sequencing the blades in a counterclockwise way by the nearest angle from the angular bisector in the step 1);
the blades are ordered according to the following algorithm:
azimuth of the bisector in 1) -azimuth of the blade; if the detangle values of the two blades are the same, sorting from small to large; otherwise, sorting from big to small;
3) and recording the index of the polling blade.
7. The blower front and back face autonomous inspection planning method according to claim 1, characterized in that: the step S3 is performed as follows:
s301, calculating a first point: the point is a point on the safe distance with the front face opposite to the center of the hub, and the method comprises the following steps;
1) scaling the matrix: safe distance
2) Translation matrix: translating to the hub centre
3) Unit vector: normal vector of fan blade surface when not facing upward, hub center to airplane point
Zooming the unit vector and translating to obtain a point on a safe distance right facing the center of the hub;
s302, calculating a buffer line of the front fan blade model, and obtaining the buffer line through matrix transformation according to planning parameters, wherein the method comprises the following steps;
1) rotating the matrix: rotation axis: unit vectors from blade center to end point; rotation vector: a fan blade face normal vector X axis; rotation angle: planning two inclination angles, wherein the angle is anticlockwise positive and clockwise negative;
2) scaling the matrix: the scale is the safe distance;
3) translation matrix: translating to a point on the fan blade model;
4) final matrix: firstly rotating, then zooming and then translating;
5) special treatment: different blade buffer lines may have intersection points, and points from the intersection points to the center point are required to be removed, including the center point;
performing matrix transformation on all points on the blade, and intercepting and removing points in the intersection points;
s303, calculating a buffer line of the back fan blade model, and obtaining the buffer line through matrix transformation according to the planning parameters, wherein the method comprises the following steps of;
1) rotating the matrix: rotation axis: unit vectors from blade center to end point; rotation vector: a fan blade face normal vector X axis; rotation angle: planning two inclination angles, wherein the angle is anticlockwise positive and clockwise negative;
2) scaling the matrix: the scale is the safe distance;
3) translation matrix: translating to a point on the fan blade model;
4) final matrix: firstly rotating, then zooming and then translating;
5) special treatment: the back needs to bypass the engine room, and the point from the intersection point of the back and the cache area of the engine room to the inside of the central point needs to be removed, including the central point;
6) performing matrix transformation on all points on the blade, and intercepting and removing points in the intersection points;
s304, calculating a front planning route;
s305, calculating a front turning point;
s306, calculating a back turning point;
s307, calculating a back planning route;
and S308, adjusting the postures of the airplane and the holder.
8. The method for autonomous inspection planning of the front and the back of the wind turbine according to claim 7, wherein the method for calculating the front planned route in the step S304 is as follows:
step S3041, performing two processes on the blade tip;
a) processing the relation with the tower column, and adjusting the blade tip to ensure that the blade tip is outside the buffer cylinder of the tower column;
b) calculating the aircraft load attitude of a shooting point on a route aiming at a target point, wherein the method comprises the following steps:
airplane attitude: the airplane only moves the azimuth, and the pitching and rolling are all 0; when the airplane walks in the front direction, the azimuth angle is equal to the azimuth angle of the airplane facing the wind blade surface; when the airplane walks on the back, the azimuth angle is equal to that of the airplane which is opposite to the wind blade surface;
load attitude: the load azimuth angle is a relative value relative to the direction of the airplane and represents the horizontal rotation angle required by the airplane to aim at a target point when the airplane is over against the fan blade surface;
1) load azimuth on the front side: the horizontal component of the normal vector X (X, y, z) of the fan blade surface is inverted, X '(-X, -y,0), the horizontal component H (X, y,0) from the shooting point to the target point, and the rotation angle H, namely the azimuth angle, of the vector X' rotating to another vector is solved;
2) load azimuth of the back side: a horizontal component vector, X '(X, y,0), of a fan blade surface normal vector X (X, y, z), a horizontal component vector H (X, y,0) from a photographing point to a target point, and solving an H rotation angle, namely an azimuth angle, of the vector X' rotating to another vector;
3) load pitch angle: an arctan (height difference/horizontal distance between a photographing point and a target point) is obtained according to the tangent value, and an angle with a positive value and a negative value is obtained;
c) expanding a certain distance along the X axis of the normal vector for transition, otherwise, directly pulling the route on the two sides to enter a safety area to trigger obstacle avoidance;
step S3042, obtaining a planned route of the blade;
sequentially connecting a transition point between the end points from the center to the end points and a planning route of the blade from the end points to the center;
step S3043, obtaining planning routes of the three blades according to the step S3042;
and S3044, sequentially connecting according to the calculated front patrol blade index sequence and the step S3042 to obtain a planned route of the whole front patrol.
9. The method for planning autonomous inspection according to the front and back sides of the wind turbine according to claim 7, wherein the method for calculating the front turning point in step S305 is as follows:
s3051, a turning point is on an angle bisector of an included angle between a blade and a tower column, wherein the included angle between the blade and the tower column is a second small angle;
s3052, the distance from the point to the tower column and the distance from the point to the blade are not less than a safety distance.
10. The fan front and back face autonomous inspection planning method according to claim 7, wherein in step S307, the method of calculating the back face planned route is as follows;
s3071, performing two treatments on the blade tip in the same way as in step 2;
s3072, obtaining a planned route of the blade;
sequentially connecting a transition point between the end points from the center to the end points and a planning route of the blade from the end points to the center;
s3073, obtaining planning routes of the three blades according to the step 2);
s3074, calculating an arc line between every two blades: bypassing the nacelle for safety;
s3075, according to the calculated front side route-tracking blade index sequence, connecting the front side route-tracking blade index sequence in the following sequence
a) The course of the blade 1;
b) the camber line between the blade 1 and the blade 2;
c) the course of the blade 2;
d) camber line between blade 2 and blade 3;
e) the camber line between blade 3 and blade 1.
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