CN113107787B - Wind power blade internal inspection robot system and internal state model construction method thereof - Google Patents
Wind power blade internal inspection robot system and internal state model construction method thereof Download PDFInfo
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- CN113107787B CN113107787B CN202110579993.2A CN202110579993A CN113107787B CN 113107787 B CN113107787 B CN 113107787B CN 202110579993 A CN202110579993 A CN 202110579993A CN 113107787 B CN113107787 B CN 113107787B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
- F03D80/50—Maintenance or repair
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D1/00—Wind motors with rotation axis substantially parallel to the air flow entering the rotor
- F03D1/06—Rotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention discloses a robot system for checking the interior of a wind power blade and a method for constructing a model of the interior state of the wind power blade. The invention relates to a robot system for checking the interior of a wind power blade, which comprises: the robot module is used for checking the interior of the wind power blade; the operation terminal is communicated with the robot module and is used for controlling the work of the robot module; and the control module is communicated with the robot module and used for constructing an internal state model of the wind power blade. In the robot system for inspecting the interior of the wind power blade, the four-wheel trolley carries the laser radar and the depth camera for automatic inspection, so that operation and maintenance personnel can find the internal defects and the specific positions of the wind power blade in time conveniently, subsequent operation and processing bases are provided, the robot system is more suitable for inspecting the interior of the in-service wind power blade, and the application range is wide; meanwhile, through downloading of data, the system can review and establish a deep learning database, provides an important interface for artificial intelligence intervention, and is high in expandability.
Description
Technical Field
The invention relates to the technical field of wind power overhaul, in particular to a wind power blade internal inspection robot system and an internal state model construction method thereof.
Background
The wind power blade is one of core components of the wind driven generator, the performance and the benefit of the fan are directly related, and the condition of the blade state determines the processing mode of fan maintenance to a great extent.
The failure source of the wind power blade has four: firstly, the problem of raw materials, secondly, the defects of manufacturing or process, thirdly, the design factor and fourthly, the operation environment. The operating environment of the blades is typically extreme, such as: high and low temperature, thunder and lightning, hail, rain and snow, sand and dust and other meteorological disasters damage the pneumatic performance slightly, influence the structural safety seriously, and have larger influence on the existing or defective blades. In addition, because the bent and twisted inner bonding surface of the original blade is uneven and the stress point is uneven, the inner bonding seam of the blade can be naturally cracked due to each bending, twisting and natural vibration of the wind turbine generator. Especially, the windward side ridge of the blade is the most seriously damaged part of the blade, and the natural cracking rate is the highest. If the wind field patrols and does not find the cracking phenomenon, the wind turbine generator continues to operate, and the blade is broken and falls, so that serious accidents are possibly caused.
Structural shedding is most common in terms of the type of blade failure.
At present, the inspection method of the in-service wind power blade mainly comprises the following steps: the inspection personnel enter the interior of the blade to carry out visual inspection; carrying out unmanned inspection; and detecting the bonding quality of the blade by using an ultrasonic flaw detector. The inspection personnel enter the interior of the blade for inspection, so that the risk is high, the area which can be reached by drilling into the blade is limited, and the inspection result is greatly influenced by personal subjectivity; unmanned aerial vehicle inspection can only inspect the appearance of the blade; the inspection technology of the ultrasonic flaw detector is not completely broken through, and needs high-altitude spider man operation, so that the operation is difficult, the danger is high, and the efficiency is low.
Disclosure of Invention
According to an embodiment of the present invention, there is provided a robot system for inspecting the interior of a wind turbine blade, including:
the robot module is used for checking the interior of the wind power blade;
the operation terminal is communicated with the robot module and is used for controlling the work of the robot module;
and the control module is communicated with the robot module and used for constructing an internal state model of the wind power blade according to the inspection result of the robot module.
Further, the robot module includes:
four-wheel trolleys;
the image acquisition modules are arranged on two sides of the body of the four-wheel trolley and used for acquiring images inside the wind power blades;
the path camera modules are arranged at two ends of the body of the four-wheel trolley and are used for crawling guide of the four-wheel trolley;
the radar is arranged in the middle of the front end of the four-wheel trolley and used for scanning the outline of the inner cavity of the wind power blade;
the attitude heading reference module is arranged on the four-wheel trolley and is used for acquiring the running state of the four-wheel trolley;
the processor is connected with the attitude and heading reference module and is used for processing data output by the attitude and heading reference module in real time;
and the communication module is used for transmitting the data of the processor, the image acquisition module, the path camera module and the radar to the operation terminal and the control module.
Furthermore, four wheels of the four-wheel trolley are respectively driven by the coding speed reducing motor.
Furthermore, four wheels of the four-wheel trolley are large friction castors.
Further, the image acquisition module comprises:
the pair of cloud platforms are respectively arranged on two sides of the four-wheel trolley;
the pair of cameras are respectively arranged on the pair of cloud platforms;
and the pair of light supplementing lamps are respectively arranged on the pair of cloud platforms and are used for supplementing light for the pair of cameras respectively.
Further, the path camera module includes:
the pair of cameras are respectively arranged at the front end and the rear end of the four-wheel trolley;
and the pair of illuminating lamps are respectively arranged at the front end and the rear end of the four-wheel trolley.
Further, the robot module further comprises: and the protection module is arranged on the four-wheel trolley and extends out of the body of the four-wheel trolley from the side surface of the four-wheel trolley.
Further, the protection module comprises:
the auxiliary wheel frames are arranged on the four-wheel trolley, and the edges of the auxiliary wheel frames extend from the side surface of the four-wheel trolley to the outside of the trolley body of the four-wheel trolley;
and the auxiliary wheels are respectively arranged at the edges of the pair of auxiliary wheel frames and are parallel to the body of the four-wheel trolley.
Furthermore, the scanning plane of the radar is perpendicular to the advancing direction of the four-wheel trolley.
Further, the integrated appearance module of navigating has: a three-axis gyroscope, a three-axis acceleration and a three-axis magnetometer.
Further, the robot module further comprises: the switch is respectively connected with the radar, the image acquisition module and the communication module.
Furthermore, the communication module is a radio frequency transmitting and receiving module and is used for establishing a high-speed wireless Ethernet data channel among the radar, the image acquisition module, the processor, the operation module and the control module.
Further, the method also comprises the following steps: one end of the safety rope is connected with the four-wheel trolley, and the other end of the safety rope is controlled by an operator.
According to another embodiment of the invention, a method for constructing a wind turbine blade internal state model is provided, which comprises the following steps:
the four-wheel trolley enters the interior of the wind power blade;
in the advancing process of the four-wheel trolley, a camera acquires image data inside the wind power blade in real time; the navigation attitude module collects navigation attitude data in real time; the processor processes the attitude heading reference data in real time to obtain attitude heading reference data of the four-wheel trolley; scanning the outline of an inner cavity of the wind power blade by a radar in real time;
the communication module sends the image data, the azimuth angle, the pitch angle and the roll angle of the four-wheel trolley and the inner cavity outline of the wind power blade to the operation terminal and the control module;
the control module calculates the accurate position and the corner of the four-wheel trolley in real time according to the navigation attitude reference data; constructing a three-dimensional mathematical model of the internal cavity profile according to the internal cavity profile; splicing and fusing image data to form a continuous image;
and attaching the continuous images to the three-dimensional mathematical model to form a three-dimensional real scene inside the virtual wind power blade.
Further, the attitude reference data includes: azimuth, pitch and roll.
According to the wind power blade internal inspection robot system and the wind power blade internal state model construction method, the four-wheel trolley carries the laser radar and the depth camera for automatic inspection, so that operation and maintenance personnel can find internal defects and specific positions of the wind power blade in time conveniently, subsequent operation and processing bases are provided, the wind power blade internal inspection robot system is more suitable for internal inspection of the wind power blade in service, and the application range is wide; meanwhile, through downloading of data, the system can review and establish a deep learning database, provides an important interface for artificial intelligence intervention, and is high in expandability.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and are intended to provide further explanation of the claimed technology.
Drawings
FIG. 1 is a schematic view of the working state of a robot system for inspecting the interior of a wind power blade according to an embodiment of the invention;
FIG. 2 is a schematic diagram of the robotic module of FIG. 1;
FIG. 3 is an internal structural view of FIG. 2;
FIG. 4 is a rear view of FIG. 2;
FIG. 5 is a schematic view of one of the scanning directions of the radar of FIG. 2;
FIG. 6 is a second schematic view of the radar of FIG. 2 in a scanning direction;
FIG. 7 is a flowchart of a method for constructing a wind turbine blade internal state model according to an embodiment of the invention.
Detailed Description
The present invention will be further explained by the following detailed description of preferred embodiments thereof, which is to be read in connection with the accompanying drawings.
First, a robot system for inspecting the interior of a wind power blade according to an embodiment of the present invention will be described with reference to fig. 1~6, which is used for inspecting the interior of a wind power blade and has a wide application range.
As shown in fig. 1, the robot system for inspecting the interior of a wind turbine blade according to the embodiment of the present invention includes: a robot module 1, an operation terminal 2 and a control module (not shown in the figure). The robot module 1 is used for checking the interior of the wind power blade 5; the control terminal is communicated with the robot module 1 and is used for controlling the work of the robot module 1, and in the embodiment, the work of the robot module 1 is controlled in a remote control mode; the control module is communicated with the robot module 1 and used for building an internal state model of the wind power blade 5 according to the inspection result of the robot module 1.
Specifically, as shown in fig. 2~6, the robot module 1 includes: the system comprises a four-wheel trolley 11, an image acquisition module 12, a path camera module 13, a radar 14, an attitude and heading module 15, a processor 16 and a communication module 17.
Further, as shown in 2~4, four wheels 111 of the four-wheel trolley 11 are respectively driven by a coding speed reduction motor 112 to realize four-wheel drive, and the internal operation of the wind power blade at a shutdown angle of 30 degrees in the vertical direction can be realized. In the present embodiment, the wheels 111 are high friction casters.
Further, as shown in 2~4, the image capturing module 12 is disposed on two sides of the body of the four-wheel cart 11 for capturing the image inside the wind turbine blade 5, and the image capturing module 12 includes: the pair of cloud platforms 121, set up a pair of camera 122 and a pair of light filling lamp 123 on a pair of cloud platforms 121 respectively, cloud platform 121 can drive camera 122 and light filling lamp 123 pitch on it to through two cameras 122, make the visual angle can cover the inside scope of whole wind-powered electricity generation blade 5. The pair of holders 121 are respectively disposed on two sides of the four-wheel cart 11, and in this embodiment, the 3D binocular structured light depth camera 122 is selected as the camera 122.
Further, as shown in fig. 2~4, the path camera module 13 is disposed at both ends of the body of the four-wheel cart 11, and is used for guiding the crawling of the four-wheel cart 11, and the path camera module 13 includes: a pair of cameras 131 and a pair of illumination lamps 132. Wherein, the pair of cameras 131 are respectively arranged at the front end and the rear end of the four-wheel trolley 11; a pair of illumination lamps 132 are provided at the front and rear ends of the four-wheeled cart 11, respectively.
Further, as shown in 2~4, the radar 14 is arranged in the middle of the front end of the four-wheel trolley 11 and used for scanning the inner cavity profile of the wind power blade 5; in this embodiment, as shown in 5~6, the radar 14 is a laser radar, and the scanning plane of the laser radar is perpendicular to the advancing direction of the four-wheel cart 11, so that the profile of the cavity inside the blade can be scanned during the crawling process of the four-wheel cart 11.
Further, as shown in fig. 2~4, the attitude and heading module 15 is disposed on the four-wheel cart 11 and configured to collect a running state of the four-wheel cart 11, that is, attitude and heading data of the four-wheel cart 11; in this embodiment, the attitude and heading reference module 15 has integrated therein: the three-axis gyroscope, the three-axis acceleration and the three-axis magnetic field meter are combined with a three-axis gyroscope attitude dynamic compensation algorithm and an acceleration correction angular velocity initial attitude principle, the drift of the three-axis acceleration in the horizontal direction (a pitch angle and a roll angle) is corrected and determined, and finally, attitude heading reference data of the four-wheel trolley 11 is resolved through nine-axis calculation, wherein the attitude heading reference data comprises: azimuth, pitch and roll.
Further, as shown in 2~4, the processor 16 is connected to the attitude and heading module 15 and configured to process the data output by the attitude and heading module 15 in real time, in this embodiment, the processor 16 selects a microcomputer module to process the data output by the attitude and heading module 15 in real time, solve the real-time speed and position of the four-wheel vehicle 11 in the three-dimensional coordinate system, and send the current three-dimensional coordinate data of the four-wheel vehicle 11 to the control module.
Further, as shown in 2~4, the communication module 17 is configured to transmit data of the processor 16, the image acquisition module 12, the path camera 131 module 13, and the radar 14 to the operation terminal 2 and the control module.
Further, as shown in fig. 2~4, the robot module 1 further includes: protection module 18, protection module 18 sets up on four-wheel dolly 11, and protection module 18 contains: the auxiliary wheel frames 181 are arranged on the four-wheel trolley 11, the edges of the auxiliary wheel frames 181 extend from the side surface of the four-wheel trolley 11 to the outside of the body of the four-wheel trolley 11, the auxiliary wheels 182 and the auxiliary wheels 182 are respectively arranged on the edges of the auxiliary wheel frames 181, and the auxiliary wheels 182 are parallel to the body of the four-wheel trolley 11.
In this embodiment, as shown in fig. 2~4, the protection module 18 is provided with 4 auxiliary wheels 182, which are respectively located at four corners of the four-wheel cart 11, and the auxiliary wheels 182 can protect the camera 131 and other devices under abnormal conditions, and simultaneously avoid friction between the cart body of the four-wheel cart 11 and the wind power blade structure, so that not only can the devices on the robot be protected, but also the wind power blade 5 can be protected.
Further, as shown in fig. 2~4, the robot module 1 further includes: switch 19, it connects radar 14, image acquisition module 12 and communication module 17 respectively, is convenient for gather multiple data and supplies communication module 17 to transmit, and in this embodiment, switch 19 chooses for use miniature switch.
Further, as shown in 2~4, the communication module 17 is a radio frequency transmitting and receiving module, and is configured to establish a high-speed wireless ethernet data channel between the radar 14, the image acquisition module 12, the processor 16, the operation terminal 2, and the control module.
Further, as shown in fig. 1, the wind turbine blade internal inspection robot system according to the embodiment of the present invention further includes: one end of the safety rope 4 is connected with the four-wheel trolley 11, the other end of the safety rope is controlled by an operator, when a fault occurs, the operator pulls the safety rope 4 to realize manual evacuation of the four-wheel trolley 11, and the operation of the wind power fan cannot be influenced. In this embodiment, the auxiliary wheel frame 181 at the rear end of the four-wheel vehicle 11 is designed as a handle structure, and can be used for connecting the safety rope 4, and of course, a safety rope hanging point can also be arranged on the vehicle body of the four-wheel vehicle 11.
Further, as shown in fig. 2, a battery compartment device 113 is provided on the back of the four-wheel wagon 11, so that the spare battery can be easily replaced.
When the wind power blade maintenance device works, as shown in fig. 1 and 5~6, a fan is stopped for maintenance, blades are locked in a safe state, generally in a Y-shaped state, namely the upper two blades are in a 30-degree state with the horizontal plane, an operator carries the robot module 1 to the positions of a fan cabin and a hub, puts the robot module 1 into the upper blades, remotely controls the four-wheel trolley 11 to crawl in the wind power blades 5 through the operation terminal 2, and inspects important structures in the blades according to images transmitted back in real time through the communication module 17. When the four-wheel trolley 11 crawls, the pitching angle of the camera 122 is adjusted through the holder, the camera 122 is aligned to an important bonding position inside the wind power blade 5 to be checked, image data inside the wind power blade 5 is obtained in real time, the attitude heading data is collected by the attitude heading module 15 in real time, the attitude heading data is processed by the processor 16 in real time to obtain attitude heading reference data of the four-wheel trolley 11, the radar 14 scans the contour of an inner cavity of the wind power blade in real time, the relevant data is sent to the control module through the communication module 17, and the control module calculates the accurate position and the rotation angle of the four-wheel trolley 11 in real time according to the attitude heading reference data; according to the contour of the internal cavity, point cloud data are compensated in real time through the current three-dimensional position of the four-wheel trolley 11, and then a three-dimensional mathematical model of the contour of the internal cavity is constructed; the image data are spliced and fused to form continuous images, the continuous images are attached to the three-dimensional mathematical model to form an internal three-dimensional real scene of the virtual wind power blade 5, in the embodiment, the three-dimensional real scene can be stored in a control module, operation and maintenance personnel can review the bonding condition of key parts, an image feature library of the key bonding parts with damage or dangerous tendency is established, a deep learning network structure is utilized to train the bonding part damage feature model, and machine intelligent perception of the damaged parts is achieved.
As shown in 5~6, since the interior of the wind power blade 5 is an irregular curved surface, the path and coordinate change of the four-wheel cart 11 occur in a three-dimensional space. And the real-time accurate position of the trolley calculated according to the navigation attitude reference data controls the start and stop of the scanning of the radar 14 and the start and stop of the shooting image of the camera 122, and transmits the data to the control module in real time. During operation, the four-wheeled cart 11 pulls the safety line 4 for emergency evacuation in case of an abnormal situation.
As described above, in the robot system for inspecting the interior of the wind power blade according to the embodiment of the invention, the four-wheel trolley carries the laser radar and the depth camera for automatic inspection, so that operation and maintenance personnel can find the internal defects and the specific positions of the wind power blade in time conveniently, subsequent operation and processing bases are provided, the robot system is more suitable for inspecting the interior of the wind power blade in service, and the application range is wide; meanwhile, through downloading of data, the system can review and establish a deep learning database, provides an important interface for artificial intelligence intervention, and is high in expandability.
The wind turbine blade internal inspection robot system according to the embodiment of the invention is described above with reference to fig. 1~6. Furthermore, the method can also be applied to a method for constructing the internal state model of the wind power blade.
As shown in fig. 7, the method for constructing the internal state model of the wind turbine blade according to the embodiment of the present invention includes the following steps:
in S1, as shown in fig. 7, the four-wheel cart 11 enters the inside of the wind power blade 5.
In S2, as shown in fig. 7, during the traveling process of the four-wheel trolley 11, the camera 122 acquires image data inside the wind power blade 5 in real time, the attitude and heading module 15 acquires attitude and heading data in real time, the processor 16 processes the attitude and heading data in real time to acquire attitude and heading reference data of the four-wheel trolley 11, and the radar 14 scans the contour of the inner cavity of the wind power blade 5 in real time; in this embodiment, the attitude reference data includes: azimuth, pitch and roll.
In S3, as shown in fig. 7, the communication module 17 transmits the image data, the azimuth angle, the pitch angle, and the roll angle of the four-wheel cart 11, and the inner cavity profile of the wind turbine blade 5 to the control module.
In S4, as shown in FIG. 7, the control module calculates the precise position and the rotation angle of the four-wheel trolley 11 in real time according to the attitude reference data; constructing a three-dimensional mathematical model of the internal cavity profile according to the internal cavity profile; and splicing and fusing the image data to form a continuous image.
In S5, as shown in fig. 7, the continuous images are attached to the three-dimensional mathematical model to form an internal three-dimensional real scene of the virtual wind turbine blade 5.
In the above, with reference to 1~7, a wind power blade internal inspection robot system and a wind power blade internal state model construction method according to an embodiment of the present invention are described, where a four-wheel cart carries a laser radar and a depth camera for automatic inspection, so that operation and maintenance personnel can find internal defects and specific positions of wind power blades in time, and provide subsequent operation and processing bases, and the method is more suitable for internal inspection of in-service wind power blades and has a wide application range; meanwhile, through downloading of data, the system can review and establish a deep learning database, provides an important interface for artificial intelligence intervention, and is high in expandability.
It should be noted that, in the present specification, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (14)
1. The utility model provides a wind-powered electricity generation blade internal inspection robot system which characterized in that contains: the robot comprises a robot module, an operation terminal and a control module; the robot module enters the interior of the wind power blade to be checked during working, the operation terminal is communicated with the robot module and used for controlling the work of the robot module, and the control module is communicated with the robot module;
the robot module comprises a robot module and a control module,
four-wheel trolleys;
the image acquisition modules are arranged on two sides of the body of the four-wheel trolley and used for acquiring images of important structures in the wind power blades, and the important structures in the wind power blades are key bonding parts;
the path camera modules are arranged at two ends of the body of the four-wheel trolley and are used for crawling guidance of the four-wheel trolley;
the radar is arranged in the middle of the front end of the four-wheel trolley, and a scanning plane of the radar is perpendicular to the advancing direction of the four-wheel trolley and is used for scanning the outline of the inner cavity of the wind power blade;
the attitude navigation module is arranged on the four-wheel trolley and is used for acquiring the running state of the four-wheel trolley;
the processor is connected with the attitude and heading module and is used for processing data output by the attitude and heading module in real time;
the communication module is used for transmitting the data of the processor, the image acquisition module, the path camera module and the radar to the operation terminal and the control module, the control module constructs a three-dimensional mathematical model of the internal cavity outline, the images of the important structures are spliced and fused to form continuous images, and then the continuous images are attached to the three-dimensional mathematical model to form an internal three-dimensional real scene of the virtual wind power blade.
2. The wind blade internal inspection robot system according to claim 1, wherein four wheels of the four-wheel cart are respectively driven by a coding speed reduction motor.
3. The wind blade internal inspection robot system according to claim 1 or 2, wherein four wheels of the four-wheel cart are high-friction casters.
4. The wind blade internal inspection robot system of claim 1, wherein the image acquisition module comprises:
the pair of cloud platforms are respectively arranged on two sides of the four-wheel trolley;
a pair of cameras respectively arranged on the pair of holders;
and the pair of light supplement lamps are respectively arranged on the pair of cloud platforms and are used for supplementing light for the pair of cameras respectively.
5. The wind blade internal inspection robot system of claim 1, wherein the path camera module comprises:
the pair of cameras are respectively arranged at the front end and the rear end of the four-wheel trolley;
and the pair of illuminating lamps are respectively arranged at the front end and the rear end of the four-wheel trolley.
6. The wind blade internal inspection robot system of claim 1, wherein the robot module further comprises: and the protection module is arranged on the four-wheel trolley and extends out of the body of the four-wheel trolley from the side surface of the four-wheel trolley.
7. The wind blade internal inspection robot system of claim 6, wherein the protection module comprises:
the pair of auxiliary wheel frames are arranged on the four-wheel trolley, and the edges of the auxiliary wheel frames extend from the side surface of the four-wheel trolley to the outside of the body of the four-wheel trolley;
the auxiliary wheels are respectively arranged at the edges of the auxiliary wheel carriers and are parallel to the body of the four-wheel trolley.
8. The wind blade internal inspection robot system according to claim 1, wherein a scanning plane of the radar is perpendicular to a forward direction of the four-wheel cart.
9. The wind turbine blade internal inspection robot system of claim 1, wherein integrated within the attitude and heading module are: a three-axis gyroscope, a three-axis acceleration and a three-axis magnetometer.
10. The wind blade internal inspection robot system of claim 1, wherein the robot module further comprises: the switch is connected with the radar, the image acquisition module and the communication module respectively.
11. The wind blade internal inspection robot system according to claim 1, wherein the communication module is a radio frequency transmitting and receiving module for establishing a high-speed wireless ethernet data channel between the radar, the image acquisition module, the processor and the operation terminal and the control module.
12. The wind blade internal inspection robot system of claim 1, further comprising: and one end of the safety rope is connected with the four-wheel trolley, and the other end of the safety rope is controlled by an operator.
13. A method for constructing a wind power blade internal state model is characterized by comprising the following steps:
the four-wheel trolley enters the interior of the wind power blade;
in the advancing process of the four-wheel trolley, a camera acquires image data of an important structure in the wind power blade in real time, wherein the important structure in the wind power blade is a key bonding part; the navigation attitude module collects navigation attitude data in real time; the processor processes the attitude heading reference data in real time to obtain attitude heading reference data of the four-wheel trolley; scanning the outline of the inner cavity of the wind power blade by a radar in real time;
the communication module sends the image data, the azimuth angle, the pitch angle and the roll angle of the four-wheel trolley and the inner cavity outline of the wind power blade to an operation terminal and a control module;
the control module is used for solving the accurate position and the corner of the four-wheel trolley in real time according to the attitude reference data; constructing a three-dimensional mathematical model of the internal cavity profile according to the internal cavity profile; splicing and fusing the image data of the important structure to form a continuous image;
and attaching the continuous image to the three-dimensional mathematical model to form a three-dimensional real scene inside the virtual wind power blade.
14. The method for constructing the state model inside the wind turbine blade according to claim 13, wherein the attitude reference data includes: azimuth, pitch and roll.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110579993.2A CN113107787B (en) | 2021-05-26 | 2021-05-26 | Wind power blade internal inspection robot system and internal state model construction method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110579993.2A CN113107787B (en) | 2021-05-26 | 2021-05-26 | Wind power blade internal inspection robot system and internal state model construction method thereof |
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| EP4227526A1 (en) * | 2022-02-10 | 2023-08-16 | Siemens Gamesa Renewable Energy A/S | Inspection vehicle for a rotor blade of a wind turbine |
| CN115434877B (en) * | 2022-11-08 | 2023-01-20 | 电子科技大学中山学院 | Blade internal state detection method and device |
| CN117773974B (en) * | 2024-02-23 | 2024-05-03 | 北京信莱能源技术有限公司 | Endoscopic inspection robot for wind power blade |
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