CN113342041A - Method and system for realizing automatic inspection of fan blade power generation equipment by unmanned aerial vehicle - Google Patents
Method and system for realizing automatic inspection of fan blade power generation equipment by unmanned aerial vehicle Download PDFInfo
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Abstract
A method and a system for realizing automatic inspection of fan blade power generation equipment by an unmanned aerial vehicle comprise the following steps: collecting coordinate system data of the fan blade power generation equipment; calculating twelve flight waypoints of the unmanned aerial vehicle according to the coordinate system data; storing the calculated flight waypoint data as a KML file; and importing the KML file into flight software of the unmanned aerial vehicle to execute flight. According to the invention, by means of DJI latest longitude and latitude M300RTK of a flight platform and the arrangement of an upper cradle head and a lower cradle head, an included angle psi between the axis of a fan hub and the north direction and an included angle gamma between a fan blade and the longitudinal axis of a tower barrel are obtained in an image processing mode, the size of the whole fan is known, the longitude and latitude high coordinates of the central point of the hub are obtained through handheld RTK, and 12 navigation point information can be generated through calculation; the full-autonomous flight mission of the fan blade can be realized, the fan only needs to be stopped, and the fan blade does not need to be controlled to be Y-shaped.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle application, and particularly relates to a method and a system for realizing automatic inspection of fan blade power generation equipment by an unmanned aerial vehicle.
Background
With the development of science and technology, the automation technology of the unmanned aerial vehicle is more and more mature. In recent years, unmanned aerial vehicle technology is constantly expanding from military fields like civil fields. Unmanned aerial vehicles have great application in civilian fields, such as wind power generation equipment, power transmission equipment, petroleum pipeline equipment, and smart cities, methods such as search and rescue. With the increasing maturity of wind power related technologies and the continuous updating and upgrading of equipment, the wind power generation industry in China enters a high-speed development stage, and the wind power generation industry in China has become the largest wind power market in the global scale no matter the installed capacity is accumulated or newly increased so far. Along with more wind power equipment put into use in China, the method provides greater challenges for operation and maintenance of the equipment. Most of wind power facilities are deployed in remote zones, the distance between the fan and the fan is far, and the traditional fan routing inspection scheme still depends on manpower. The mode of patrolling and examining by the mould is not only low in safety, large in workload and low in efficiency, but also affected by observation angles and the like, and the problem of the fan cannot be found in time. During the peak period of power generation in a wind farm, if a traditional inspection scheme is used, more human resources are often needed for maintenance. Along with the development of unmanned aerial vehicle science and technology and the mature equipment technology day by day for novel wind-powered electricity generation inspection operation mode based on unmanned aerial vehicle application has had very big development, relies on the accurate shooting technique of hovering of unmanned aerial vehicle, and the fast operation technique, high altitude flight technique, quick motor-driven technique, wind-powered electricity generation fortune dimension personnel can improve greatly and patrol and examine efficiency. But wind-powered electricity generation patrols and examines technique based on unmanned aerial vehicle at present all need to shut down the fan to three fan blade need stop into "Y" style of calligraphy. The flying dotting technology of the unmanned aerial vehicle is utilized, firstly, the bottommost blade is subjected to flying dotting, then, after the bottommost fan blade is subjected to flying dotting and photo shooting, wind power inspection personnel need to control the other two fan blades to the bottommost blade through the background, and the flying path of the first blade is used for re-flying. The operation mode is a conventional mode for polling the wind power generation equipment by using the unmanned aerial vehicle at present, the efficiency of the mode is greatly improved compared with the efficiency of the traditional manual polling mode, but certain manpower is consumed to stop the fan blade into a Y shape, and more time is required to control the fan blade to stop into the Y shape due to the complexity of fan control.
Disclosure of Invention
The invention aims to provide a method and a system for automatically inspecting fan blade power generation equipment by an unmanned aerial vehicle, so as to solve the problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for realizing automatic inspection of fan blade power generation equipment by an unmanned aerial vehicle comprises the following steps:
collecting coordinate system data of the fan blade power generation equipment;
calculating twelve flight waypoints of the unmanned aerial vehicle according to the coordinate system data;
storing the calculated flight waypoint data as a KML file;
and importing the KML file into flight software of the unmanned aerial vehicle to execute flight.
Further, coordinate system data is to define a fan coordinate system OX by taking the hub center as an originbYbZbFront-right-down; local geographical coordinate system OXnYnZnNorth-east-ground; earth rectangular coordinate system OXgYgZg。
Further, calculating the flight waypoint of the unmanned aerial vehicle:
defining a transformation matrix from the wind turbine coordinate system to the local geographical coordinate system as
Defining a transformation matrix from the local geographic coordinate system to the geodetic rectangular coordinate system as
Assuming that a first waypoint O and a 2 nd waypoint are B, and a vector formed by the first waypoint O and the second waypoint is OB; the coordinate of the longitude and latitude height (B, L, H) of the O point of the distance d between the central point of the hub in the earth rectangular coordinate system is Pg＝(xg,yg,zg) The coordinate of the point B in the rectangular coordinate system of the earth is TgThe conversion formula is as follows:
to obtain the following formula:
obtaining the coordinate of B in an ECEF coordinate system by the formula 2, and obtaining the longitude and latitude height coordinate of B as [ B ] through the following conversion relationb,Lb,Hb]；
Wherein
Wherein a is the radius of the earth, and e is the first eccentricity of the earth; other waypoints are calculated in the same manner.
Further, the actual waypoint information needs to be calculated by considering the shooting distance d away from the blade, taking H20 carried by M300RTK as an example, where d is 15M, and the margin δ d needed to be left when reaching the tip waypoint is 10(M300RTK unmanned aerial vehicle is provided with an obstacle avoidance distance of 8M).
Furthermore, waypoints calculated by the path planning algorithm need to be stored as a KML file and are imported into the flight software of the unmanned aerial vehicle through an SD card.
Further, the unmanned aerial vehicle model is M300RTK, and unmanned aerial vehicle flight software is DJI Pilot APP.
Further, unmanned aerial vehicle carries cloud platform quantity to be two, and two cloud platforms are for putting cloud platform and putting cloud platform down.
Further, 3-4 waypoints, 7-8 waypoints and 9-10 waypoints need to be shot by using an M300 upper tripod head, and other waypoints need to be shot by using lower tripod heads.
Further, a system for unmanned aerial vehicle realizes automatic fan blade power generation facility that patrols and examines, include
The acquisition module is used for acquiring coordinate system data of the fan blade power generation equipment;
the waypoint calculation module is used for calculating twelve flight waypoints of the unmanned aerial vehicle according to the coordinate coefficient data;
the storage module is used for storing the calculated flight waypoint data into a KML file;
the flight module is used for importing the KML file into flight software of the unmanned aerial vehicle and executing flight.
Compared with the prior art, the invention has the following technical effects:
according to the invention, by means of DJI latest longitude and latitude M300RTK of a flight platform and the arrangement of an upper cradle head and a lower cradle head, an included angle psi between the axis of a fan hub and the north direction and an included angle gamma between a fan blade and the longitudinal axis of a tower barrel are obtained in an image processing mode, the size of the whole fan is known, the longitude and latitude high coordinates of the central point of the hub are obtained through handheld RTK, and 12 navigation point information can be generated through calculation; the full-autonomous flight mission of the fan blade can be realized, the fan only needs to be stopped, and the fan blade does not need to be controlled to be Y-shaped;
utilize longitude and latitude M300RTK flight platform, the configuration is put the cloud platform under and can be realized shooing the all-round of fan blade, provides data platform and basis for discernment and detection problem blade.
Drawings
FIG. 1 is a schematic view of a fan blade in a Y-shape;
FIG. 2 unmanned aerial vehicle flight dotting;
FIG. 3 shows an angle ψ between the central axis of the fan hub and the north direction;
FIG. 4 is a schematic view of an included angle γ between a fan blade and a central axis of a tower;
FIG. 5 is a schematic view of flight path waypoint information of an automatic inspection fan blade;
FIG. 6 is a schematic view of a flight point calculation;
fig. 7 is a schematic view of the sequence numbers of flight points planned by the path planning algorithm.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
step one, calculating a waypoint of fan blade inspection
And calculating the flight waypoint of the M300RTK when the first step of the full-autonomous inspection process of the fan blade is carried out. The calculation procedure is described in detail below
Defining a fan coordinate system OX by taking the hub center as an originbYbZb(front-right-lower), local geographical coordinate system OXnYnZn(North-east-Earth), Earth rectangular coordinate System OXgYgZg。
Defining a transformation matrix from the wind turbine coordinate system to the local geographical coordinate system as
Defining a transformation matrix from the local geographic coordinate system to the geodetic rectangular coordinate system as
Take the calculation of the longitude and latitude coordinates of the two points OB as an example. Suppose that the first waypoint O and the 2 nd waypoint are B, and the vector formed by the two is OB. The coordinate of the longitude and latitude height (B, L, H) of the O point of the distance d between the central point of the hub in the earth rectangular coordinate system is Pg＝(xg,yg,zg) The coordinate of the point B in the rectangular coordinate system of the earth is Tg. The conversion formula is as follows:
this gives the following formula:
the coordinate of B in the ECEF coordinate system can be obtained by the formula 2, and the longitude and latitude height coordinate of B is [ B ] can be obtained by the following conversion relationb,Lb,Hb]。
Wherein
Where a is the radius of the earth and e is the first eccentricity of the earth.
The calculation of the actual waypoint information needs to consider the shooting distance d away from the blade and the margin δ d needed to be left when reaching the tip waypoint.
The waypoints calculated by the path planning algorithm need to be stored as KML files so as to be led into the M300 handheld DJIPIilotAPP through the SD card. And 3-4, 7-8 and 9-10 of waypoints need to be shot by using an M300 overhead holder.
Step two, performing flight mission by using M300RTK
And (3) importing the KML file generated in the step 1 into DJIPIlotAPP equipped by an M300 RTK.
And the longitude and latitude M300RTK can carry out automatic operation and take pictures of the fan blades according to the flight path.
Claims (9)
1. The method for automatically inspecting the fan blade power generation equipment by the unmanned aerial vehicle is characterized by comprising the following steps of:
collecting coordinate system data of the fan blade power generation equipment;
calculating twelve flight waypoints of the unmanned aerial vehicle according to the coordinate system data;
storing the calculated flight waypoint data as a KML file;
and importing the KML file into flight software of the unmanned aerial vehicle to execute flight.
2. The method for realizing automatic inspection of fan blade power generation equipment by the unmanned aerial vehicle according to claim 1, wherein coordinate system data defines a fan coordinate system OX by taking a hub center as an originbYbZbFront-right-down; local geographical coordinate system OXnYnZnNorth-east-ground; earth rectangular coordinate system OXgYgZg。
3. The method for realizing automatic inspection of the fan blade power generation equipment by the unmanned aerial vehicle according to claim 1, wherein the flying waypoints of the unmanned aerial vehicle are calculated as follows:
defining a transformation matrix from the wind turbine coordinate system to the local geographical coordinate system as
Defining a transformation matrix from the local geographic coordinate system to the geodetic rectangular coordinate system as
Assuming that a first waypoint O and a 2 nd waypoint are B, and a vector formed by the first waypoint O and the second waypoint is OB; the coordinate of the longitude and latitude height (B, L, H) of the O point of the distance d between the central point of the hub in the earth rectangular coordinate system is Pg＝(xg，yg，zg) The coordinate of the point B in the rectangular coordinate system of the earth is TgThe conversion formula is as follows:
to obtain the following formula:
obtaining the coordinate of B in an ECEF coordinate system by the formula 2, and obtaining the longitude and latitude height coordinate of B as [ B ] through the following conversion relationb，Lb，Hb]；
Wherein
Wherein a is the radius of the earth, and e is the first eccentricity of the earth; other waypoints are calculated in the same manner.
4. The method for realizing automatic inspection of the fan blade power generation equipment by the unmanned aerial vehicle according to claim 1, wherein the actual waypoint information needs to be calculated by considering a shooting distance d away from the blade, taking M300 RTK's H20 as an example, d is 15M, and a margin 6d is 10 when the blade tip waypoint is reached.
5. The method for the unmanned aerial vehicle to realize automatic inspection of the fan blade power generation equipment according to claim 1, wherein waypoints calculated by the path planning algorithm are stored as a KML file and are imported into flight software of the unmanned aerial vehicle through an SD card.
6. The method for realizing automatic inspection of fan blade power generation equipment by the unmanned aerial vehicle according to claim 5, wherein the model of the unmanned aerial vehicle is M300RTK, and the flight software of the unmanned aerial vehicle is DJIPLOTAPP.
7. The method for realizing automatic inspection of the fan blade power generation equipment by the unmanned aerial vehicle according to claim 1, wherein the number of the unmanned aerial vehicle mounting holders is two, and the two holders are an upper holder and a lower holder.
8. The method for achieving automatic inspection of fan blade power generation equipment by the unmanned aerial vehicle according to claim 7 is characterized in that 3-4, 7-8 and 9-10 of the waypoints need to be shot by an M300 upper tripod head, and other waypoints need to be shot by lower tripod heads.
9. Unmanned aerial vehicle realizes automatic system of patrolling and examining fan blade power generation facility, a serial communication port, include
The acquisition module is used for acquiring coordinate system data of the fan blade power generation equipment;
the waypoint calculation module is used for calculating twelve flight waypoints of the unmanned aerial vehicle according to the coordinate coefficient data;
the storage module is used for storing the calculated flight waypoint data into a KML file;
the flight module is used for importing the KML file into flight software of the unmanned aerial vehicle and executing flight.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113885580A (en) * | 2021-11-17 | 2022-01-04 | 国能定边新能源有限公司 | Route planning method and system for realizing automatic inspection of fan based on unmanned aerial vehicle |
| CN114415712A (en) * | 2021-12-08 | 2022-04-29 | 华能陕西子长发电有限公司 | Flight path planning method for automatically shooting fan image based on unmanned aerial vehicle |
| CN114428518A (en) * | 2021-12-09 | 2022-05-03 | 西安因诺航空科技有限公司 | Fan orientation method for automatic inspection of fan blade of unmanned aerial vehicle |
| CN114740895A (en) * | 2022-05-18 | 2022-07-12 | 福建海电运维科技有限责任公司 | Unmanned aerial vehicle-based wind generating set blade inspection path planning method |
| CN115480589A (en) * | 2022-09-06 | 2022-12-16 | 中科云尚(南京)智能技术有限公司 | Method and system for generating fan inspection route based on unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113885580A (en) * | 2021-11-17 | 2022-01-04 | 国能定边新能源有限公司 | Route planning method and system for realizing automatic inspection of fan based on unmanned aerial vehicle |
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Application publication date: 20210903 |