CN114215704B - Image acquisition device and method for blade of power generation fan and storage medium - Google Patents

Image acquisition device and method for blade of power generation fan and storage medium Download PDF

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Publication number
CN114215704B
CN114215704B CN202111531812.5A CN202111531812A CN114215704B CN 114215704 B CN114215704 B CN 114215704B CN 202111531812 A CN202111531812 A CN 202111531812A CN 114215704 B CN114215704 B CN 114215704B
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blade
target
unmanned aerial
aerial vehicle
power generation
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CN114215704A (en
Inventor
胡冬
冯辉
程亮
曹亚兵
王少伟
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Fuya Intelligent Technology Taicang Co ltd
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Fuya Intelligent Technology Taicang Co ltd
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • 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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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a device and a method for acquiring images of blades of a power generation fan and a storage medium. The device comprises an airport base, an unmanned aerial vehicle, a laser radar and an acquisition controller; the airport base is arranged on the power generation fan main body and used for placing the unmanned aerial vehicle; the laser radar is arranged on the airport base and used for detecting the flight position of the unmanned aerial vehicle and the blade positions of each blade of the power generation fan, so that position information is formed and sent to the acquisition controller; the acquisition controller is arranged in the airport base and is used for selecting a target blade according to the position information sent by the laser radar, determining a target shooting pose, and controlling the unmanned aerial vehicle to fly to the target shooting pose to acquire images of the target blade. The invention solves the problems of high labor cost, insufficient shooting precision and the like of the inspection of the fan, accurately shoots the fan blade according to the blade position detected in real time, and lays a foundation for the automatic inspection operation of the fan.

Description

Image acquisition device and method for blade of power generation fan and storage medium
Technical Field
The embodiment of the invention relates to the technical field of automatic detection, in particular to a device and a method for acquiring images of blades of a power generation fan and a storage medium.
Background
In general, the power generation fans are installed in remote open mountainous areas or plains, and the fan blades are also exposed to natural environments for a long time, so that periodic inspection and maintenance of the fan blades are indispensable.
At present, inspection of fan blades is mainly carried out manually, inspection workers are usually required to carry telescope observation, climb fans or visual inspection under high altitude, effective inspection is required to be carried out on fans of hundreds of kilometers by limited manpower, the difficulty is self-evident, and meanwhile, many unknown hidden hazards can be brought by manual inspection.
In recent years, with the popularization of unmanned aerial vehicles, unmanned aerial vehicle technology is introduced in the inspection work of fan blades. The existing unmanned aerial vehicle inspection fan needs to plan an unmanned aerial vehicle flight route in advance, and an inspection worker needs to carry unmanned aerial vehicle equipment to go to the scene to carry out manual teaching of a photographing point on an inspection point position where an inspection target is located, and the unmanned aerial vehicle flight route file is generated and stored after the scene route is verified. When the fan needs to be patrolled and examined, unmanned aerial vehicle flies and shoots according to the flight route of saving. However, the method is easily affected by human factors and natural environment factors, so that the shooting precision is insufficient, key positions cannot be captured, and the like, and the labor cost is still high.
Disclosure of Invention
The invention provides a device and a method for acquiring images of blades of a power generation fan and a storage medium, so as to accurately acquire images of blades of the power generation fan.
In a first aspect, an embodiment of the present invention provides a device for acquiring an image of a blade of a power generation fan, where the device includes an airport base, an unmanned aerial vehicle, a laser radar, and an acquisition controller;
the airport base is arranged on the power generation fan main body and used for placing the unmanned aerial vehicle;
The laser radar is arranged on the airport base and used for detecting the flight position of the unmanned aerial vehicle and the blade positions of each blade of the power generation fan, so that position information is formed and sent to the acquisition controller;
the acquisition controller is arranged in the airport base and is used for selecting a target blade according to the position information sent by the laser radar, determining a target shooting pose, and controlling the unmanned aerial vehicle to fly to the target shooting pose to acquire images of the target blade.
Optionally, the acquisition controller is specifically configured to:
Receiving the position information sent by the laser radar, and analyzing the position information to obtain the flight position of the unmanned aerial vehicle and the blade position of each blade of the power generation fan;
selecting a target blade from the non-photographed blades according to the flight position and each blade position;
Determining a preset distance at the front side of a first end of the target blade as a target shooting position, and determining a target holder posture based on the target shooting position and the blade position of the target blade;
And controlling the unmanned aerial vehicle to fly to the target shooting position, and shooting the target blade in the target holder posture.
Optionally, the acquisition controller is further configured to:
After controlling the unmanned aerial vehicle to fly to the target shooting pose to acquire an image of the target blade, marking the target blade as a shot blade;
and re-selecting the target blade from the non-shot blades, and controlling the unmanned aerial vehicle to acquire images of the newly selected target blade until all the blades are marked as shot blades.
Optionally, the acquisition controller is further configured to:
And acquiring a blade image acquired by the unmanned aerial vehicle, and uploading the blade image to a fan inspection server so as to analyze defects of the blade and obtain a blade inspection report.
In a second aspect, an embodiment of the present invention further provides a method for acquiring an image of a blade of a power generation fan, where the method is applied to an acquisition controller in the device in the first aspect, and the method includes:
When a patrol instruction is received, controlling the unmanned aerial vehicle to fly to a patrol initial position;
Acquiring position information sent by a laser radar, selecting a target blade according to the position information, and determining a target shooting pose, wherein the position information comprises the flight position of the unmanned aerial vehicle and the blade position of each blade of a power generation fan;
and controlling the unmanned aerial vehicle to fly to the target shooting pose to acquire images of the target blade.
Optionally, the target shooting pose comprises a target shooting position and a target holder pose;
Correspondingly, the selecting the target blade according to the position information and determining the target shooting pose comprises the following steps:
analyzing the position information to obtain the flight position of the unmanned aerial vehicle and the blade position of each blade of the power generation fan;
selecting a target blade from the non-photographed blades according to the flight position and each blade position;
and determining a preset distance at the front side of the first end of the target blade as a target shooting position, and determining a target holder posture based on the target shooting position and the blade position of the target blade.
Optionally, the controlling the unmanned aerial vehicle to fly to the target shooting pose to perform image acquisition on the target blade includes:
Controlling the unmanned aerial vehicle to fly to the target shooting position, and adjusting the unmanned aerial vehicle to the target holder posture to shoot the target blade to obtain a blade image;
Judging whether the blade image contains the blade second end image of the target blade, if not, controlling the unmanned aerial vehicle to move a preset distance towards the blade second end direction of the target blade and continuing shooting until the latest shot blade image contains the blade second end image of the target blade.
Optionally, after controlling the unmanned aerial vehicle to fly to the target shooting pose to perform image acquisition on the target blade, the method further includes:
marking the target blade as a photographed blade;
and re-selecting the target blade from the non-shot blades, and controlling the unmanned aerial vehicle to acquire images of the newly selected target blade until all the blades are marked as shot blades.
Optionally, when receiving the inspection instruction, controlling the unmanned aerial vehicle to fly to an initial inspection position, including:
And uploading the blade image acquired by the unmanned aerial vehicle to a fan inspection server so as to analyze defects of the blade and obtain a blade inspection report.
In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are used to perform a power generation fan blade image acquisition method according to any of the embodiments of the present invention.
The invention installs a blade image acquisition device of a power generation fan on the power generation fan, and the device comprises an airport base, an unmanned aerial vehicle, a laser radar and an acquisition controller; the airport base is arranged on the power generation fan main body and used for placing the unmanned aerial vehicle; the laser radar is arranged on the airport base and used for detecting the flight position of the unmanned aerial vehicle and the blade position of each blade of the power generation fan, forming position information and sending the position information to the acquisition controller; and the acquisition controller is arranged in the airport base and is used for selecting a target blade according to the position information sent by the laser radar, determining a target shooting pose, and controlling the unmanned aerial vehicle to fly to the target shooting pose to acquire images of the target blade. The invention solves the problems that the manpower cost of the existing fan inspection work is high, the unmanned aerial vehicle performs shooting according to the stored fixed flight route, the shooting precision is insufficient, the key position cannot be captured, and the like, and the fan blades are accurately shot according to the real-time detected blade positions, so that a foundation is laid for automatic inspection operation of the fan.
Drawings
Fig. 1 is a schematic structural diagram of a blade image acquisition device of a power generation fan according to a first embodiment of the present invention;
Fig. 2 is a schematic diagram of a blade image acquisition device of a power generation fan in operation according to a first embodiment of the present invention;
fig. 3 is a flowchart of a method for acquiring an image of a blade of a power generation fan according to a second embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings, and furthermore, embodiments of the present invention and features in the embodiments may be combined with each other without conflict.
Example 1
The blade image acquisition device of the power generation fan provided by the embodiment of the invention can be arranged on the power generation fan and is used for acquiring blade images of the power generation fan. Fig. 1 is a schematic structural diagram of a power generation fan blade image acquisition device according to a first embodiment of the present invention, and as shown in fig. 1, the power generation fan blade image acquisition device 10 may include: airport base 11, unmanned aerial vehicle 12, laser radar 13 and acquisition controller 14.
The airport base 11 may be disposed on the main body of the power generation blower, and is used for placing the unmanned aerial vehicle 12.
In this embodiment, the airport base 11 may be disposed at any position on the main body of the power generation fan, where the position does not affect the operation of the power generation fan, for example, on a tower column of the power generation fan, or on the rear end of the fan nacelle. When the image of the blade of the power generation fan is collected, the unmanned aerial vehicle 12 flies out from the airport base 11, and after the image collection is completed, the unmanned aerial vehicle 12 returns to the airport base 11. The airport base 11 may also provide power to the drone 12.
The laser radar 13 may be disposed on the airport base 11, and is used for detecting the flight position of the unmanned aerial vehicle 12, and the blade positions of the blades of the power generation fan, so as to form position information and send the position information to the acquisition controller 14.
In general, the power generation fan can be provided with three paddles, and in particular, two paddles or four or more paddles.
In practical applications, the lidar 13 may periodically send radar signals, position each blade of the unmanned aerial vehicle 12 and the power generation fan in real time, and send the position information of the unmanned aerial vehicle 12 and each blade to the acquisition controller 14. When the unmanned aerial vehicle 12 has a positioning function, the unmanned aerial vehicle 12 can also perform self-positioning, and the self-flying position can be transmitted to the acquisition controller 14 in real time.
The acquisition controller 14 can be arranged in the airport base 11 and is used for selecting target blades according to the position information sent by the laser radar 13, determining the target shooting pose, and controlling the unmanned aerial vehicle 12 to fly to the target shooting pose to acquire images of the target blades.
In this embodiment, the acquisition controller 14 may communicate with the laser radar 13 in a wired or wireless manner, the acquisition controller 14 receives the position information sent by the laser radar 13, and may analyze and obtain the flight position of the unmanned aerial vehicle 12 and the blade position of each blade, select one blade from the non-photographed blades as the target blade according to the relative distance between the flight position and each blade position, and determine, through calculation, the target shooting pose of the unmanned aerial vehicle 12 suitable for photographing. The acquisition controller 14 may establish a wireless communication link with the unmanned aerial vehicle 12, and send the target shooting pose information to the unmanned aerial vehicle 12, so that the unmanned aerial vehicle 12 performs image acquisition on the target blade according to the target shooting pose.
Alternatively, the acquisition controller 14 may be specifically configured to:
receiving position information sent by a laser radar 13, and analyzing the position information to obtain the flight position of the unmanned aerial vehicle 12 and the blade position of each blade of the power generation fan;
selecting a target blade from the non-photographed blades according to the flight position and each blade position;
determining a preset distance at the front side of a first end of a target blade as a target shooting position, and determining a target holder posture based on the target shooting position and the blade position of the target blade;
And controlling the unmanned aerial vehicle to fly to a target shooting position, and shooting a target blade in the posture of the target holder.
In this embodiment, the first end of the blade may be any one of a blade tip or a blade root, where the blade root may refer to an end of the blade connected to the rotating shaft, and the blade tip may refer to an end of the blade far away from the rotating shaft. Similarly, when the first blade end represents the blade tip, the second blade end may be used to represent the blade root, and similarly, when the first blade end represents the blade root, the second blade end may be used to represent the blade tip.
In practical application, the acquisition controller 14 may determine the relative relationship between the unmanned aerial vehicle 12 and each blade according to the flight position of the unmanned aerial vehicle 12 and the blade position of each blade, and select, as the target blade, a blade closest to the unmanned aerial vehicle 12 from the non-photographed blades. At this time, the preset distance at the front side of the first end of the target blade may be determined as the target shooting position, and then the optimal pan-tilt attitude of the unmanned aerial vehicle 12 when shooting the target blade is calculated according to the fusion of the current flight position of the unmanned aerial vehicle 12 and the blade position of the target blade, and the pan-tilt attitude is determined as the target pan-tilt attitude. The acquisition controller 14 controls the unmanned aerial vehicle 12 to fly to the target shooting position to shoot the target blade in the target holder posture.
Optionally, the acquisition controller 14 may also be configured to:
after controlling the unmanned aerial vehicle 12 to fly to the target shooting pose to acquire an image of the target blade, marking the target blade as a shot blade;
the target blade is re-selected from the non-photographed blades, and the unmanned aerial vehicle 12 is controlled to perform image acquisition on the newly selected target blade until all the blades are marked as photographed blades.
Specifically, after the unmanned aerial vehicle 12 shoots the target blade and completes image acquisition, the acquisition controller 14 may reselect one blade from the non-shot blades as a new target blade, and control the unmanned aerial vehicle 12 to perform image acquisition on the new target blade until all the blades complete image acquisition operation.
Optionally, the acquisition controller 14 may also be configured to:
And acquiring a blade image acquired by the unmanned aerial vehicle 12, and uploading the blade image to a fan inspection server so as to analyze defects of the blade and obtain a blade inspection report.
Specifically, the acquisition controller 14 can establish wireless communication with the fan inspection server, upload the blade image shot by the unmanned aerial vehicle to the fan inspection server, and the fan inspection server can analyze the current situation of the fan blade according to the blade image to obtain a corresponding blade inspection report.
Fig. 2 is a schematic diagram illustrating an operation of an image acquisition device for a blade of a power generation fan according to an embodiment of the present invention. As shown in fig. 2, the image acquisition device 10 for the blade of the power generation fan is arranged at the rear end of the fan cabin, when the acquisition controller receives the inspection instruction or reaches the preset inspection time, the acquisition controller controls the unmanned aerial vehicle to fly out of the airport base, and the unmanned aerial vehicle can fly upwards to a position 01 and then fly to a position 02 towards the front side of the fan, and when the unmanned aerial vehicle is at the position 02, the direction of the unmanned aerial vehicle can be adjusted, so that a camera on the unmanned aerial vehicle faces the power generation fan. The laser radar sends the flight position of the unmanned aerial vehicle and the blade position forming position information of each blade of the power generation fan, which are acquired in real time, to the acquisition controller, the acquisition controller selects the blade closest to the unmanned aerial vehicle as a target blade after receiving the position information, the 03 position is a target shooting position, and the optimal cradle head posture is calculated and obtained as a target cradle head posture. And the acquisition controller controls the unmanned aerial vehicle to fly to the 03 position, and the target blade is shot by the gesture of the target holder. When shooting the target blade, the unmanned aerial vehicle can be controlled to move to the 04 position, and a plurality of blade images are shot, so that the target blade is displayed completely, and the defect analysis of the blade is more accurate. When the target blade is shot, the unmanned aerial vehicle can stay at the 04 position or return to the 02 position, and the unmanned aerial vehicle waits for the acquisition controller to re-select a new target blade and then enters the image acquisition operation. After the image acquisition work of all the paddles is completed, the unmanned aerial vehicle can return to the airport base.
According to the technical scheme, the image acquisition device of the blade of the power generation fan is arranged on the power generation fan and comprises an airport base, an unmanned aerial vehicle, a laser radar and an acquisition controller; the airport base is arranged on the power generation fan main body and used for placing the unmanned aerial vehicle; the laser radar is arranged on the airport base and used for detecting the flight position of the unmanned aerial vehicle and the blade position of each blade of the power generation fan, forming position information and sending the position information to the acquisition controller; and the acquisition controller is arranged in the airport base and is used for selecting a target blade according to the position information sent by the laser radar, determining a target shooting pose, and controlling the unmanned aerial vehicle to fly to the target shooting pose to acquire images of the target blade. The invention solves the problems that the manpower cost of the existing fan inspection work is high, the unmanned aerial vehicle performs shooting according to the stored fixed flight route, the shooting precision is insufficient, the key position cannot be captured, and the like, and the fan blades are accurately shot according to the real-time detected blade positions, so that a foundation is laid for automatic inspection operation of the fan.
Example two
Fig. 3 is a flowchart of a method for acquiring an image of a blade of a power generation fan according to an embodiment of the present invention, where the method may be performed by an acquisition controller in an image acquisition device of a blade of a power generation fan, and the device may be implemented by software and/or hardware.
As shown in fig. 3, the method specifically includes the following steps:
and 310, controlling the unmanned aerial vehicle to fly to the initial position of inspection when the inspection instruction is received.
The initial position of the patrol can be specifically set according to an actual scene, and can be arranged right above the power generation fan or at a certain position in front of the power generation fan.
Specifically, when the acquisition controller receives the inspection instruction or reaches the preset inspection time, the acquisition controller can control the unmanned aerial vehicle to fly out of the airport base and fly to the initial position of inspection.
Step 320, obtaining position information sent by the laser radar, selecting a target blade according to the position information, and determining a target shooting pose.
The position information comprises the flight position of the unmanned aerial vehicle and the blade position of each blade of the power generation fan.
Specifically, the acquisition controller can receive the position information sent by the laser radar, analyze and obtain the flight position of the unmanned aerial vehicle and the blade position of each blade, select one blade from the non-photographed blades as a target blade according to the relative distance between the flight position and each blade position, and determine the target shooting pose of the unmanned aerial vehicle suitable for shooting through calculation.
Optionally, the target shooting pose may include a target shooting position and a target pan-tilt pose.
Correspondingly, selecting the target blade according to the position information and determining the target shooting pose can be realized according to the following steps:
s3201, analyzing the position information to obtain the flight position of the unmanned aerial vehicle and the blade position of each blade of the power generation fan.
S3202, selecting a target blade from the non-shot blades according to the flight position and each blade position.
S3203, determining a preset distance of the front side of the first end of the target blade as a target shooting position, and determining a target holder posture based on the target shooting position and the blade position of the target blade.
Specifically, the acquisition controller can determine the relative relationship between the unmanned aerial vehicle and each blade according to the flight position of the unmanned aerial vehicle and the blade position of each blade, and select one blade closest to the unmanned aerial vehicle from the non-photographed blades as a target blade. At the moment, the preset distance of the front side of the first end of the target blade can be determined to be the target shooting position, then the optimal cradle head posture of the unmanned aerial vehicle when shooting the target blade is calculated according to the current flight position of the unmanned aerial vehicle and the blade position of the target blade, and the cradle head posture is determined to be the target cradle head posture.
And 330, controlling the unmanned aerial vehicle to fly to the target shooting pose to acquire images of the target blade.
Specifically, the acquisition controller can send the target shooting pose information to the unmanned aerial vehicle, and control the unmanned aerial vehicle to acquire images of the target blades according to the target shooting pose.
Alternatively, step 330 may be implemented according to the following steps:
S3301, controlling the unmanned aerial vehicle to fly to a target shooting position, adjusting the unmanned aerial vehicle to a target holder posture, and shooting a target blade to obtain a blade image.
In practical application, because the volume of the power generation fan is large, the fan blade is also as long as a few meters, and when high-precision shooting is carried out, the whole blade is difficult to be displayed by one image, so that the blade can be shot for many times. When the acquisition controller controls the unmanned aerial vehicle to fly to the target shooting position to shoot the blade image, the blade image can be analyzed, namely S3302 is performed.
S3302, judging whether the blade image contains a blade second end image of the target blade.
It can be understood that the first end and the second end of the blade are two end points of the blade, and in this embodiment, the preset distance on the front side of the first end of the blade is determined as the target shooting position, so that it can be determined whether the image of the second end of the blade is included in the broken blade image, if so, it can be considered that all the target blades have been subjected to image acquisition, and if not, it can be subjected to S3303.
S3303, controlling the unmanned aerial vehicle to move a preset distance towards the second end direction of the target blade, and continuing shooting until the latest shot blade image contains the second end image of the target blade.
As shown in fig. 2, the 03 position is an exemplary target shooting position, when the blade image obtained by the unmanned aerial vehicle shooting at the 03 position does not include the blade second end image of the target blade, the acquisition controller may control the unmanned aerial vehicle to move to the 04 position and shoot continuously until the blade image obtained by the unmanned aerial vehicle shooting at the 04 position includes the blade second end image of the target blade, and at this time, it is considered that all the images of the target blade have been acquired, and the image acquisition operation for the target blade is ended.
The technical scheme of the embodiment can be applied to the acquisition controller in the device of the first embodiment, when the inspection instruction is received, the unmanned aerial vehicle is controlled to fly to an initial inspection position, the position information sent by the laser radar is obtained, the target blade is selected according to the position information, the target shooting pose is determined, the position information comprises the flight position of the unmanned aerial vehicle and the blade position of each blade of the power generation fan, and the unmanned aerial vehicle is controlled to fly to the target shooting pose to acquire images of the target blade. The invention solves the problems that the manpower cost of the existing fan inspection work is high, the unmanned aerial vehicle performs shooting according to the stored fixed flight route, the shooting precision is insufficient, the key position cannot be captured, and the like, and the fan blades are accurately shot according to the real-time detected blade positions, so that a foundation is laid for automatic inspection operation of the fan.
On the basis of the technical scheme, the image acquisition method of the blade of the power generation fan provided by the embodiment of the invention can further comprise the following steps:
Marking the target blade as a photographed blade; and re-selecting the target blade from the non-shot blades, and controlling the unmanned aerial vehicle to acquire images of the newly-selected target blade until all the blades are marked as shot blades.
Specifically, after the unmanned aerial vehicle shoots a target blade and completes acquisition, the acquisition controller can mark the target blade as a shot blade, then reselect a blade from the blades which are not shot as a new target blade, and control the unmanned aerial vehicle to perform image acquisition on the newly selected target blade until all the blades complete image acquisition operation.
And uploading the blade image acquired by the unmanned aerial vehicle to a fan inspection server so as to analyze defects of the blade and obtain a blade inspection report.
Specifically, the acquisition controller can establish wireless communication with the fan inspection server, the blade image shot by the unmanned aerial vehicle is uploaded to the fan inspection server, and the fan inspection server can analyze the current situation of the fan blade according to the blade image to obtain a corresponding blade inspection report.
Example III
The third embodiment of the present invention also provides a storage medium containing computer executable instructions, which when executed by a computer processor, are used to perform a method for acquiring an image of a blade of a power generating fan, the method comprising:
When a patrol instruction is received, controlling the unmanned aerial vehicle to fly to a patrol initial position;
Acquiring position information sent by a laser radar, selecting a target blade according to the position information, and determining a target shooting pose, wherein the position information comprises the flight position of the unmanned aerial vehicle and the blade position of each blade of a power generation fan;
and controlling the unmanned aerial vehicle to fly to the target shooting pose to acquire images of the target blade.
Of course, the storage medium containing the computer executable instructions provided by the embodiment of the invention is not limited to the method operations described above, and the related operations in the method for acquiring the blade image of the power generation fan provided by any embodiment of the invention can be performed.
From the above description of embodiments, it will be clear to a person skilled in the art that the present invention may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk, or an optical disk of a computer, etc., and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments of the present invention.
It should be noted that, in the embodiment of the power generation fan blade image acquisition device, each unit and module included are only divided according to the functional logic, but are not limited to the above-mentioned division, so long as the corresponding functions can be realized; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims (8)

1. The image acquisition device for the blades of the power generation fan is characterized by comprising an airport base, an unmanned aerial vehicle, a laser radar and an acquisition controller;
the airport base is arranged on the power generation fan main body and used for placing the unmanned aerial vehicle;
The laser radar is arranged on the airport base and used for detecting the flight position of the unmanned aerial vehicle and the blade positions of each blade of the power generation fan, so that position information is formed and sent to the acquisition controller;
The acquisition controller is arranged in the airport base and is used for selecting a target blade according to the position information sent by the laser radar, determining a target shooting pose, and controlling the unmanned aerial vehicle to fly to the target shooting pose to acquire images of the target blade;
wherein, the collection controller is specifically used for:
Receiving the position information sent by the laser radar, and analyzing the position information to obtain the flight position of the unmanned aerial vehicle and the blade position of each blade of the power generation fan;
selecting a target blade from the non-photographed blades according to the flight position and each blade position;
Determining a preset distance at the front side of a first end of the target blade as a target shooting position, and determining a target holder posture based on the target shooting position and the blade position of the target blade;
And controlling the unmanned aerial vehicle to fly to the target shooting position, and shooting the target blade in the target holder posture.
2. The power generation fan blade image capture device of claim 1, wherein the capture controller is further configured to:
After controlling the unmanned aerial vehicle to fly to the target shooting pose to acquire an image of the target blade, marking the target blade as a shot blade;
and re-selecting the target blade from the non-shot blades, and controlling the unmanned aerial vehicle to acquire images of the newly selected target blade until all the blades are marked as shot blades.
3. The power generation fan blade image capture device of claim 1, wherein the capture controller is further configured to:
And acquiring a blade image acquired by the unmanned aerial vehicle, and uploading the blade image to a fan inspection server so as to analyze defects of the blade and obtain a blade inspection report.
4. A method for acquiring images of blades of a power generation fan, which is applied to an acquisition controller in the device of any one of claims 1 to 3, and is characterized by comprising the following steps:
When a patrol instruction is received, controlling the unmanned aerial vehicle to fly to a patrol initial position;
Acquiring position information sent by a laser radar, selecting a target blade according to the position information, and determining a target shooting pose, wherein the position information comprises the flight position of the unmanned aerial vehicle and the blade position of each blade of a power generation fan;
controlling the unmanned aerial vehicle to fly to the target shooting pose to acquire images of the target blade;
The target shooting pose comprises a target shooting position and a target holder pose;
Correspondingly, the selecting the target blade according to the position information and determining the target shooting pose comprises the following steps:
analyzing the position information to obtain the flight position of the unmanned aerial vehicle and the blade position of each blade of the power generation fan;
selecting a target blade from the non-photographed blades according to the flight position and each blade position;
and determining a preset distance at the front side of the first end of the target blade as a target shooting position, and determining a target holder posture based on the target shooting position and the blade position of the target blade.
5. The method for acquiring an image of a blade of a power generation fan according to claim 4, wherein the controlling the unmanned aerial vehicle to fly to the target shooting pose for acquiring an image of the target blade comprises:
Controlling the unmanned aerial vehicle to fly to the target shooting position, and adjusting the unmanned aerial vehicle to the target holder posture to shoot the target blade to obtain a blade image;
Judging whether the blade image contains the blade second end image of the target blade, if not, controlling the unmanned aerial vehicle to move a preset distance towards the blade second end direction of the target blade and continuing shooting until the latest shot blade image contains the blade second end image of the target blade.
6. The method for acquiring an image of a blade of a power generation blower according to claim 4, further comprising, after controlling the unmanned aerial vehicle to fly to the target shooting pose for image acquisition of the target blade:
marking the target blade as a photographed blade;
and re-selecting the target blade from the non-shot blades, and controlling the unmanned aerial vehicle to acquire images of the newly selected target blade until all the blades are marked as shot blades.
7. The method for acquiring the image of the blade of the power generation fan according to claim 4, wherein when the inspection command is received, controlling the unmanned aerial vehicle to fly to the initial position for inspection, comprises:
And uploading the blade image acquired by the unmanned aerial vehicle to a fan inspection server so as to analyze defects of the blade and obtain a blade inspection report.
8. A storage medium containing computer executable instructions, which when executed by a computer processor are for performing the power generating fan blade image acquisition method of any of claims 4-7.
CN202111531812.5A 2021-12-14 2021-12-14 Image acquisition device and method for blade of power generation fan and storage medium Active CN114215704B (en)

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