CN114296483A - Intelligent inspection method and electronic equipment for wind driven generator in non-stop state - Google Patents
Intelligent inspection method and electronic equipment for wind driven generator in non-stop state Download PDFInfo
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Abstract
The invention provides an intelligent inspection method and electronic equipment for a wind driven generator in a non-stop state, wherein the method comprises the following steps: generating four flight waypoints of the unmanned aerial vehicle according to the yaw direction of the fan and the coordinates of the center of the hub of the fan, wherein the four flight waypoints form a rectangular shape, and a first edge of the rectangular shape penetrates through the coordinates of the center of the hub and is perpendicular to a disc formed by rotation of blades of the fan; three limits outside the first limit are determined for unmanned aerial vehicle's route of patrolling and examining in the rectangle shape, control unmanned aerial vehicle along patrolling and examining the route and remove to fan blade's back direction from fan blade's front direction to make unmanned aerial vehicle's visible light camera gather the image of all blades of fan, wherein, when unmanned aerial vehicle removed along patrolling and examining the route, the fan was in the rotatory mode of operation of blade. The problem of among the prior art, after shutting down, will control unmanned aerial vehicle and fly through a plurality of blades in proper order, the flight waypoint is many, patrol and examine long and complicated path, long flight time's technique is solved.
Description
Technical Field
The invention relates to intelligent detection of a fan, in particular to an intelligent inspection method and electronic equipment for a wind driven generator in a non-stop state.
Background
The blade of a wind driven generator (called a fan for short) is a key component of the wind driven generator set and has the function of capturing and absorbing wind energy and converting the wind energy into mechanical energy. The blade works at high altitude and all weather conditions, has large bearing load, severe operating environment, and is eroded or influenced by various media at any time due to wind, sunshine, rain, lightning stroke, corrosion and the like, thereby causing great influence on the service life of the blade. Therefore, the fan blade needs to be regularly inspected, the abnormity and the defects in the fan blade are timely found and repaired, and the normal work of the generator set is ensured. At present, the mainstream patrol and examine mode includes two kinds, one kind is that the manual work is patrolled and examined at equipment such as the handheld telescope in ground, one kind is that equipment such as unmanned aerial vehicle mounted camera is close to the blade and gathers the image and patrol and examine.
It should be noted that, under the current popular inspection mode, no matter the manual inspection or the unmanned aerial vehicle inspection, the fan is required to be stopped and locked, namely, after the rotating speed of the fan blade is reduced to zero, the worker climbs to the cabin of the fan from the ground, takes braking measures and installs a bolt, the inspection is carried out under the condition that the fan blade is locked, and the manual workload is large due to the mode. Combine figure 1, then need shut down the fan and the blade is fixed to falling "Y" state in current unmanned aerial vehicle patrols and examines the technique, then control unmanned aerial vehicle and fly to near three blade in proper order and patrol and examine, for realizing that unmanned aerial vehicle flies through every blade and carries out the collection of image, openly flies to the blade back from the blade, and the flight waypoint reaches 8 more, patrols and examines the route complicacy moreover, and unmanned aerial vehicle flight time is long, patrol and examine inefficiency.
The invention is provided in view of the above.
Disclosure of Invention
The invention provides an intelligent inspection method and electronic equipment for a wind driven generator in a non-stop state, and aims to solve the technical problems that an unmanned aerial vehicle needs to be controlled to sequentially fly over a plurality of blades after the wind driven generator is stopped, flying waypoints are multiple, inspection paths are long and complex, and flying time is long in the prior art.
According to the first aspect of the invention, the intelligent inspection method for the fan in the non-stop state is provided, and the method comprises the following steps: generating four flying waypoints of the unmanned aerial vehicle according to the yaw direction of the fan and the coordinates of the center of a hub of the fan, wherein two of the four flying waypoints are distributed in the front direction of the fan blade, the other two flying waypoints are distributed in the back direction of the fan blade, the four flying waypoints form a rectangular shape, and the first edge of the rectangular shape passes through the coordinates of the center of the hub and is perpendicular to a disc formed by the rotation of the fan blade; determining three sides except a first side in the rectangular shape as an inspection path of the unmanned aerial vehicle, wherein the shortest distance from each side of the inspection path to the disc is the first safety distance of the unmanned aerial vehicle in the horizontal direction; control unmanned aerial vehicle moves the back direction to the fan blade along patrolling and examining the route from the front direction of fan blade to make unmanned aerial vehicle's visible light camera gather the image of all blades of fan, wherein, when unmanned aerial vehicle removed along patrolling and examining the route, the fan was in the rotatory operational mode of blade.
Further, the routing inspection path comprises a plurality of hovering waypoints, wherein the step of controlling the unmanned aerial vehicle to move along the routing inspection path from the front direction of the fan blade to the back direction of the fan blade comprises: adjusting the postures of a visible light camera and a laser radar of the unmanned aerial vehicle according to the specific position of the coordinate of the current hovering navigation point in the routing inspection path, and controlling the visible light camera to acquire images and the laser radar to acquire point clouds; determining that all blades of the fan pass through a framing area of the visible light camera under the current hovering waypoint according to the number of the point clouds; and controlling the unmanned aerial vehicle to stop image acquisition at the hovering waypoint and fly to the next hovering waypoint until the unmanned aerial vehicle flies to the last hovering waypoint in the routing inspection path.
Further, the step of judging whether all the blades of the fan pass through the view finding area of the visible camera under the current hovering navigation point according to the number of the point clouds comprises the following steps: acquiring the rotating speed of a fan; acquiring the number of standard point clouds related to the rotating speed; and under the condition that the number of the point clouds is not less than that of the standard point clouds, judging that all blades of the fan pass through a view finding area of the visible light camera under the current hovering navigation point.
Further, before controlling the drone to stop image acquisition at the hover waypoint and fly to the next hover waypoint, the method further comprises: determining a first point cloud closest to the laser radar from the point clouds acquired by the laser radar, and obtaining a first distance between the first point cloud and the laser radar; and determining that the first distance is not less than a first safety distance of the unmanned aerial vehicle in the horizontal direction.
Further, the step of generating four flight waypoints of the unmanned aerial vehicle according to the yaw direction of the fan and the coordinates of the center of the hub of the fan comprises: determining a coordinate point, which is away from the center of the hub by a preset distance, as a first flight waypoint along the yaw direction of the fan, wherein the preset distance is a first safety distance of the unmanned aerial vehicle in the horizontal direction; determining the coordinate of a second flight waypoint according to the coordinate of the first flight waypoint, the first safety distance and the length of the fan blade, wherein the included angle between the direction of the vector from the first flight waypoint to the second flight waypoint and the yaw direction of the fan is 90 degrees; determining the coordinate of a third flight waypoint according to the coordinate of the second flight waypoint and the first safety distance, wherein the included angle between the direction of the vector from the second flight waypoint to the third flight waypoint and the yaw direction of the fan is 180 degrees; and determining the coordinate of a fourth flight waypoint according to the coordinate of the third flight waypoint and the distance from the first flight waypoint to the second flight waypoint, wherein the included angle between the direction of the vector from the third flight waypoint to the fourth flight waypoint and the yaw direction of the fan is 90 degrees.
Further, before generating the four flight waypoints of the drone according to the fan yaw direction and the coordinates of the fan hub center, the method further includes generating the fan yaw direction, wherein the generating the fan yaw direction includes: controlling the unmanned aerial vehicle to fly right above a fan cabin; controlling a laser radar of the unmanned aerial vehicle to collect point cloud; controlling a visible light camera of the unmanned aerial vehicle to acquire visible light images under the condition that the number of the point clouds collected by the laser radar at the preset height exceeds the preset number; and under the condition that the point cloud image is matched with the visible light image, generating the yaw direction of the fan according to the point cloud image.
Further, the step of controlling the unmanned aerial vehicle to fly to the position right above the fan cabin comprises: determining a coordinate right above the cabin according to the position information of the fan base, the height of the fan cabin, the blade length information of the fan and a second safety distance of the unmanned aerial vehicle in the vertical direction; determining a first waypoint according to the takeoff position of the unmanned aerial vehicle and the geographical elevation of the coordinate right above the unmanned aerial vehicle; controlling the unmanned aerial vehicle to vertically move from a takeoff position to a first waypoint; and controlling the unmanned aerial vehicle to horizontally move from the first waypoint to the coordinate position right above.
Further, after the visible light camera acquires images of all the blades of the fan, the method further comprises the following steps: acquiring the current residual electric quantity of the unmanned aerial vehicle; judging whether the definition of an image acquired by a visible light camera meets a preset definition or not under the condition that the current residual electric quantity exceeds a preset electric quantity; under the condition of meeting the preset definition, controlling the unmanned aerial vehicle to fly to the next fan for inspection; and under the condition that the preset definition is not met, controlling the unmanned aerial vehicle to fly from the fourth flight waypoint to the first waypoint and fly from the first waypoint to the takeoff position.
According to a second aspect of the invention, there is provided a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, causes any of the methods described above to be performed.
According to a third aspect of the invention, there is provided an electronic device comprising a memory and a processor, the memory having stored thereon computer instructions which, when executed by the processor, cause any of the above methods to be performed.
The invention provides an intelligent inspection method and electronic equipment for a wind driven generator in a non-stop state, wherein the method comprises the following steps: generating four flying waypoints of the unmanned aerial vehicle according to the yaw direction of the fan and the coordinates of the center of a hub of the fan, wherein two of the four flying waypoints are distributed in the front direction of the fan blade, the other two flying waypoints are distributed in the back direction of the fan blade, the four flying waypoints form a rectangular shape, and the first edge of the rectangular shape passes through the coordinates of the center of the hub and is perpendicular to a disc formed by the rotation of the fan blade; determining three sides except a first side in the rectangular shape as an inspection path of the unmanned aerial vehicle, wherein the shortest distance from each side of the inspection path to the disc is the first safety distance of the unmanned aerial vehicle in the horizontal direction; control unmanned aerial vehicle moves the back direction to the fan blade along patrolling and examining the route from the front direction of fan blade to make unmanned aerial vehicle's visible light camera gather the image of all blades of fan, wherein, when unmanned aerial vehicle removed along patrolling and examining the route, the fan was in the rotatory operational mode of blade. The problem of among the prior art, after shutting down, will control unmanned aerial vehicle and fly through a plurality of blades in proper order, the flight waypoint is many, patrol and examine long and complicated path, long flight time's technique is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic diagram of a prior art unmanned aerial vehicle routing inspection path;
FIG. 2 is a flow chart of an intelligent inspection method in a non-stop state of a fan according to an embodiment of the present invention;
fig. 3 to 6 are schematic diagrams illustrating the effect of the intelligent inspection method in the non-stop state of the fan according to the embodiment of the invention.
Detailed Description
In order to make the above and other features and advantages of the present invention more apparent, the present invention is further described below with reference to the accompanying drawings. It is understood that the specific embodiments described herein are for purposes of illustration only and are not intended to be limiting.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the specific details need not be employed to practice the present invention. In other instances, well-known steps or operations are not described in detail to avoid obscuring the invention.
Example one
The invention provides an intelligent inspection method of a wind driven generator in a non-stop state, which can be executed by a controller of an unmanned aerial vehicle, an onboard computer or other devices with data processing functions, as shown in fig. 2, and can comprise the following steps:
and step S11, four flying waypoints of the unmanned aerial vehicle are generated according to the yaw direction of the fan and the coordinates of the hub center of the fan, wherein two of the four flying waypoints are distributed in the front direction of the fan blade, the other two flying waypoints are distributed in the back direction of the fan blade, the four flying waypoints form a rectangular shape, the first edge of the rectangular shape penetrates through the coordinates of the hub center and is perpendicular to a disc formed by the rotation of the fan blade, and the coordinates of the hub center are superposed with the midpoint of the first edge.
Specifically, after obtaining the yaw direction of fan and the coordinate at wheel hub center, the orientation of fan, the position at fan front and back have then been confirmed to this scheme, this scheme is around four flight waypoints of front and back planning of fan, the flight waypoint is the waypoint that will pass through when unmanned aerial vehicle patrols and examines, combine figure 3, these four flight waypoints two liang of distribution in the front and the back of fan, C point and D point distribute in the front of fan promptly, E point and F point distribute in the back of fan, J is the cabin of fan, Y is the disc that the fan is rotatory formation of blade under being in the operation mode, B point is fan wheel hub center, also is the center of disc, four points of CDEF constitute a rectangle.
And step S13, determining three sides except the first side in the rectangular shape as the routing inspection path of the unmanned aerial vehicle, wherein the shortest distance between each side of the routing inspection path and the disc is the first safety distance of the unmanned aerial vehicle in the horizontal direction.
Specifically, with reference to fig. 3, one side FC of the rectangle passes through the hub center B and is perpendicular to the disc Y, the other three sides of the rectangle are used as the path of the unmanned aerial vehicle inspection fan, the inspection path sequentially flies from point C to point D, then from point D to point E, and finally from point E to point F, that is, the inspection path is composed of three sub-paths, which are CD, DE, and EF, respectively, the four waypoints form a rectangle, because one side FC of the rectangle is perpendicular to the disc Y, the plane of the rectangle is also perpendicular to the disc Y, the elevations of the four points in the rectangle shape and the hub center are the same, which results in that the unmanned aerial vehicle detours from the front of the fan to the back of the fan, the three sides (three sub-paths) of the rectangle in the same plane are walked, and the shortest distance from each sub-path of the three sub-paths to the disc Y is the first safety distance of the unmanned aerial vehicle in the horizontal direction, namely, the distance from any point in the three sub-paths to the disc is greater than or equal to the first safety distance, so that the unmanned aerial vehicle can fly to the back of the fan from the front of the fan in the shortest distance and safely.
Referring to fig. 3, the shortest distance from each of the three sub-paths to the disk Y is described as follows, where a point is arbitrarily taken in the sub-path CD, the point can form a perpendicular line to the disk Y, the perpendicular line is the shortest distance from the sub-path to the disk Y, and a point is arbitrarily taken in the sub-path EF, the point can form a perpendicular line to the disk Y, the perpendicular line is the shortest distance from the sub-path to the disk Y, and the intersection point of the plane in which the disk is located and the DE is the shortest distance from the sub-path DE to the disk Y, that is, the distance from any one of the three sub-paths to the disk is equal to or greater than the first safety distance.
Step S15, the unmanned aerial vehicle is controlled to move to the back direction of the fan blade from the front direction of the fan blade along the routing inspection path, so that the visible light cameras of the unmanned aerial vehicle acquire images of all blades of the fan, wherein when the unmanned aerial vehicle moves along the routing inspection path, the fan is in the operation mode of blade rotation.
Specifically, the unmanned aerial vehicle of the present scheme is equipped with a visible light camera in charge of collecting visible light images of the fan blade, and with reference to fig. 4, the unmanned aerial vehicle flies three paths of CD, DE, and EF, and when the unmanned aerial vehicle moves from the front direction of the fan blade to the back direction of the fan blade, the visible light camera on the unmanned aerial vehicle takes pictures at the same time, where it needs to be explained that, because the fan is in the operation mode, the fan blade is in the rotation state, and the plane (rectangular plane) where the routing inspection path is located is perpendicular to the disc Y, therefore, when the unmanned aerial vehicle hovers at any shooting point in the routing inspection path and the fan blade rotates, one blade of the fan will necessarily pass through the plane where the rectangle is located, at this time, the optical camera can capture partial area images of the blade in the current viewing area, and multiple shooting points of visible light can be set in the routing inspection path, with the rotation of the blades and the image acquisition of a plurality of shooting points of the unmanned aerial vehicle in the routing inspection path, the visible light camera of the unmanned aerial vehicle is controlled on the routing inspection path to hover at a plurality of points and continuously shoot so as to acquire images of all the blades of the fan.
For example, the fan has three blades, a blade L1, a blade L2 and a blade L3, and taking the point Q on the sub routing inspection path CD as an example in conjunction with fig. 4, the drone hovers at the point Q and photographs the blades by using the visible light camera, because the point Q is on the plane of the rectangle, which is perpendicular to the disc Y, it is inevitable that one blade of the fan passes through the plane of the rectangle, i.e. the viewing area of the visible light camera at the point Q (the dashed line part related to the point Q in fig. 4), for example, at the first time, the blade L1 of the fan passes through the viewing area at the point Q, the visible light camera of the drone photographs the image of L1 under the viewing area at the point Q, after photographing the image of L1, at the first time, at the second time, the blade L2 of the fan rotates through the viewing area at the point Q, and the visible light camera of the drone photographs the image of L2 under the viewing area at the point Q, after the second moment, at the third moment, the blade L3 of the fan passes through the view area of the point Q through the rotation, the visible light camera of the unmanned aerial vehicle then shoots the image of L3 under the view area of the point Q, that is, the unmanned aerial vehicle remains stationary at the point Q, and after the time period from the first moment to the third moment, the visible light camera of the unmanned aerial vehicle can acquire the images of all the blades of the fan under the current view area, where it needs to be noted that, the positions where the unmanned aerial vehicle is located in the routing inspection path are different, and then the images of different positions of different fan blades can be acquired. For example, in the period from the first time to the third time, the image of the first region of the fan blade L1, the image of the first region of the fan blade L2, and the image of the first region of the fan blade L3 are captured by the visible light camera of the drone at point Q. At the fourth moment, the unmanned aerial vehicle flies to the point R and hovers, and during the periods of the fourth moment, the fifth moment and the sixth moment, the unmanned aerial vehicle visible light camera acquires the image of the second area of the fan blade L1, the image of the second area of the fan blade L2 and the image of the second area of the fan blade L3 at the point R. Therefore, a plurality of hovering waypoints (visible light camera shooting points) are set in the routing inspection path, the unmanned aerial vehicle flies through the whole routing inspection path and shoots at each hovering waypoint, all images of all areas of each blade of the fan can be acquired by the visible light camera of the unmanned aerial vehicle, and then the images are pieced together to obtain the image of the whole blade of the fan.
It should be noted here that, this scheme is through the route of patrolling and examining of above-mentioned "three limits of rectangle", only need plan four flight waypoints, under fan blade keeps the rotatory condition, can gather fan blade's all images, compare with the "shape of falling Y" route (as shown in fig. 1) of prior art, this scheme adopts and lets "unmanned aerial vehicle hover, the fan changes" the mode need not to let unmanned aerial vehicle fly through all blades, it is simple and apart from few to patrol and examine the route, great promotion patrols and examines the efficiency, gather fan blade's image through the route of patrolling and examining of above-mentioned "three limits of rectangle", can openly fly to the fan back from the fan with the shortest distance under the condition of guaranteeing unmanned aerial vehicle's safety, the flight degree of difficulty greatly reduced, simultaneously, this scheme need not the fan when patrolling and examining, the loss of patrolling and examining has been avoided shutting down. Therefore, the technical problems that in the prior art, after the unmanned aerial vehicle is stopped, the unmanned aerial vehicle is controlled to fly through a plurality of blades in sequence, flying waypoints are many, the routing inspection is long and complex, and the flying time is long are solved.
Optionally, the routing inspection path includes a plurality of hovering waypoints, where, in step S15, the step of controlling the drone to move along the routing inspection path from the front direction of the fan blade to the back direction of the fan blade includes:
and S151, adjusting the postures of the visible light camera and the laser radar of the unmanned aerial vehicle according to the specific position of the coordinate of the current hovering navigation point in the routing inspection path, and controlling the visible light camera to collect images and the laser radar to collect point clouds.
Specifically, can include a plurality of waypoints of hovering in patrolling and examining the route, the waypoint of hovering hovers when unmanned aerial vehicle flies to this point to supply unmanned aerial vehicle visible light camera to shoot under the current region of framing, in order to obtain under the current region of framing, the image of all blades of fan. Preferably, the multiple hovering waypoints can be uniformly planned in the routing inspection path, namely, the distances between the hovering waypoints are the same in each sub-path of the three sub-paths, and it is ensured that the images of different areas of the fan blade can be acquired by the multiple hovering waypoint visible light cameras and the like. The unmanned aerial vehicle of this scheme can carry on visible light camera and laser radar simultaneously, this scheme can be according to the coordinate of the waypoint of hovering specific position adjustment unmanned aerial vehicle's in patrolling and examining the route gesture of visible light camera and laser radar, so that visible light camera, laser radar is in the best gesture of data collection, combine figure 4, for example, when unmanned aerial vehicle flies to the waypoint of hovering on the sub-route CD, the pitch angle that this scheme then controlled data acquisition equipment (visible light camera and laser radar) keeps the level, camera yaw direction and fan yaw direction become 180 contained angles, carry out data acquisition. When the unmanned aerial vehicle flies to the hovering point on the sub-path EF, the pitch angle of the data acquisition equipment is kept horizontal, the yaw angle of the visible light camera and the yaw angle of the fan form an included angle of 0 degree, data acquisition is carried out, the fixed attitude acquisition in the prior art is different, and therefore the attitude of the data acquisition equipment is controlled through the hovering point in different routing inspection paths based on the unmanned aerial vehicle, so that the visible light camera and the laser radar are in the best acquisition attitude acquisition data.
Step S153, determining that all the blades of the fan pass through the framing area of the visible light camera at the current hovering waypoint according to the number of the point clouds, wherein under the condition that it is determined that not all the blades of the fan pass through the framing area of the visible light camera at the current hovering waypoint, the unmanned aerial vehicle is controlled to continue the acquisition of the visible light image at the current hovering waypoint until all the blades pass through the framing area of the visible light camera at the current hovering waypoint.
And S155, controlling the unmanned aerial vehicle to stop image acquisition at the hovering waypoint and fly to the next hovering waypoint until the unmanned aerial vehicle flies to the last hovering waypoint in the routing inspection path.
Specifically, how to let unmanned aerial vehicle know that three blade all is the problem that this embodiment will be solved through the region of finding a view of visible light camera, this scheme utilization laser radar gathers fan blade's the point cloud to judge according to the number of point cloud. For example, in the period from the first time to the third time, the visible light camera of the drone should acquire the image of the first area of the fan blade L1, the image of the first area of the fan blade L2, and the image of the first area of the fan blade L3, and normally, from theoretical analysis, when the first area of each fan blade passes through the view area of the visible light camera, the laser radar may acquire N point clouds from the first area of each fan blade, so if the number of the point clouds acquired by the laser radar in the period from the first time to the third time is less than 3N, it is indicated that all three blades of the fan do not pass through the view area of the visible light camera, and at this time, the drone does not complete the image acquisition task at the current hover waypoint, and the drone is controlled to remain hovering at the current waypoint and continue to perform the image acquisition. If the number of the point clouds acquired by the laser radar from the time period from the first moment to the third moment is more than or equal to 3N, it is indicated that all three blades of the fan pass through a viewing area of the visible light camera, at the moment, the unmanned aerial vehicle finishes an image acquisition task at the current hovering waypoint and can go to the next hovering waypoint, and then the steps S151 to 153 are continuously executed until the unmanned aerial vehicle flies to the last hovering waypoint in the routing inspection path and acquires all images of all the blades of the fan. It should be noted that the acquisition area of the laser radar point cloud may be the same as the viewing area of the visible light image acquisition image. Through this embodiment, can be so that whether all blades of fan all pass through the region of finding a view of current navigation point of hovering for the unmanned aerial vehicle accuracy knows, avoided the collection number incomplete on the one hand, avoided the data collection repeatedly on the other hand again. It should be further noted that the laser radar in the present solution works all the time, and the visible light camera works when the hovering navigation point sails and remains hovering.
Optionally, the step S153 of determining whether all the blades of the fan pass through the viewing area of the visible light camera at the current hovering waypoint according to the number of the point clouds includes:
step S1531, the rotating speed of the fan is obtained.
Step S1533, the number of standard point clouds associated with the rotation speed is obtained.
Step S1535, under the condition that the number of the point clouds is not smaller than that of the standard point clouds, judging that all blades of the fan pass through a view finding area of the visible camera under the current hovering navigation point.
Specifically, along with the different rotational speeds of the fan, the number of point clouds collected by the laser radar in the viewing area of the visible light camera is different for all fan blades, the faster the rotational speed is, the smaller the number of the point clouds collected by the laser point clouds is, the slower the rotational speed is, the more the number of the point clouds collected by the laser point clouds is, the scheme can preset the association relationship between different fan rotational speeds and the number of the point clouds, when the unmanned aerial vehicle patrols and examines, the real-time rotational speed of the fan is obtained, then the preset standard point cloud number associated at the current rotational speed is obtained, and under the condition that the number of the point clouds is not less than the standard point cloud number, it is judged that all the blades of the fan pass through the viewing area of the visible light camera at the current hovering waypoint. It should be noted here that the laser radar of this embodiment has an effect in order to determine whether all the blades pass through the view area at the current hovering waypoint, and may determine whether all the blades pass through the view area at the current hovering waypoint by the amount of point clouds acquired by the laser radar at different fan rotation speeds. In the steps S1531 to S1533, the rotation speed of the fan and the number of the point clouds collected by the laser radar are combined to determine whether all the blades pass through the viewing area at the current hovering waypoint, so that the scheme can more accurately determine whether all the blades pass through the viewing area at the current hovering waypoint.
Optionally, before controlling the drone to stop image capturing at the hover waypoint and fly to the next hover waypoint in step S155, the method of the present application may further include:
step S1541, determining a first point cloud closest to the laser radar from the point clouds collected by the laser radar, and obtaining a first distance between the first point cloud and the laser radar.
Step S1543, determining that the first distance is not less than a first safety distance of the unmanned aerial vehicle in the horizontal direction.
Specifically, in the scheme, in the process of the inspection of the unmanned aerial vehicle, along with the sudden change of the environmental factors, the yaw direction of the fan may change, at this time, if the yaw direction of the fan changes greatly, the unmanned aerial vehicle can contact the blades along the unchanged inspection path to cause safety problems, so that before flying from the current hovering point to the next hovering point, the unmanned aerial vehicle screens out the first point cloud with the shortest distance from a plurality of point clouds collected by a laser radar, wherein the first point cloud is the point cloud of the fan blades, namely, the scheme can judge the distance between the unmanned aerial vehicle and the fan blades, if the distance between the unmanned aerial vehicle and the fan blades is smaller than the first safety distance of the unmanned aerial vehicle in the horizontal direction, the fact that the yaw angle changes at this time is indicated, the scheme does not control the unmanned aerial vehicle to fly to the next hovering point, and only under the condition that the first distance is not smaller than the first safety distance of the unmanned aerial vehicle in the horizontal direction, the method of step S155 is executed in this embodiment.
It should be noted here that, in the prior art, often adopt and judge whether big change takes place for fan yaw angle, thereby decide unmanned aerial vehicle to stop flying, but the calculation amount of yaw angle is often bigger for real-time calculation, and it is inaccurate to receive environmental factor's change yaw angle calculation easily, and this embodiment compares with prior art, need not to calculate the yaw angle, only need directly to judge whether change takes place for the distance between fan blade and unmanned aerial vehicle or the lidar through lidar point cloud, under the condition that changes, this scheme then does not control unmanned aerial vehicle and continues to fly to next hover navigation point, guarantee unmanned aerial vehicle safety when patrolling and examining.
The technical details of determining the first point cloud in step S1541 are as follows: the method and the device can acquire the point cloud data acquired by the laser radar and accumulate the point cloud data in a specific time period. Firstly, clustering processing is carried out on collected point cloud data, and noise points in the point cloud data are removed. And traversing the denoised point cloud data to find a point set closest to the laser radar, namely the first point cloud.
In a preferred embodiment, step S1542 is further included after step S1541, and step S1542 includes:
and under the condition that the first distance is smaller than the first safety distance of the unmanned aerial vehicle in the horizontal direction, controlling the unmanned aerial vehicle to keep hovering at the current hovering waypoint, continuously detecting the nearest distance between the fan blade and the unmanned aerial vehicle, if the nearest distance is recovered to be larger than or equal to the first safety distance within a preset time period, controlling the unmanned aerial vehicle to continuously fly to the next hovering waypoint in the routing inspection path, and if the speed of reducing the nearest distance is larger than a preset threshold value, controlling the unmanned aerial vehicle to stop inspection and return to the home.
Specifically, through step S1541 step S1542, when this scheme detects the change of the nearest distance of unmanned aerial vehicle apart from the blade in real time, compare with prior art, it is not direct control unmanned aerial vehicle and returns to the journey immediately, but keep continuing to detect whether this nearest distance recovers to more than or equal to first safe distance at the time quantum of predetermineeing under the state that unmanned aerial vehicle hovered, if at the time quantum of predetermineeing, this nearest distance recovers to more than or equal to first safe distance, then this scheme then control unmanned aerial vehicle and continue to patrol and examine, the higher flight cost who has saved unmanned aerial vehicle.
Optionally, the step S11 of generating four flight waypoints of the drone according to the yaw direction of the fan and the coordinates of the center of the hub of the fan includes:
step S111, along the yawing direction of the fan, a coordinate point with a preset distance away from the center of the hub is determined as a first flying waypoint C, wherein the preset distance is a first safety distance of the unmanned aerial vehicle in the horizontal direction.
Specifically, referring to fig. 5, the cabin J may be approximately a cylindrical structure, and the distance BC is the first safety distance D of the unmanned aerial vehicle in the horizontal directionbladeIt should be noted that, in this embodiment, the nacelle J may be approximately of a cylindrical structure, the yaw direction of the fan is the direction of the fan, and is also the direction from the tail of the nacelle to the front of the fan in the cylindrical central axis of the nacelle of the fan, that is, the direction of the vector BC, C is a first flight waypoint, the first flight waypoint is located right in front of the hub center B, and the distance from the hub center is a first safety distance D of the unmanned aerial vehicle in the horizontal directionbladePoint B moves along the fan yaw direction to point C, which is located on the front side of the fan blade.
And step S112, determining the coordinate of a second flight waypoint D according to the coordinate of the first flight waypoint C, the first safety distance and the length of the fan blade, wherein the included angle between the direction of the vector from the first flight waypoint to the second flight waypoint and the yaw direction of the fan is 90 degrees.
Specifically, combine fig. 5, after confirming the coordinate of first flight waypoint C, the coordinate of second flight waypoint D is then confirmed to this scheme, the position of D point is located outside fan blade horizontal direction farthest end, guarantee that unmanned aerial vehicle can pass through the blade motion region safely (fly to the fan back from the fan front promptly), the D point position is in the front of fan, keep unanimous with C point in the elevation, the direction of vector CD becomes 90 contained angles with fan yaw direction, flight safety when guaranteeing unmanned aerial vehicle to fly to D point from C point. It should be noted that the distance between the CDs is the blade length R of the dronebladeAt a first safety distance DbladeThe sum, this kind of mode can ensure that unmanned aerial vehicle from the fan openly fly to the unmanned aerial vehicle back (fly to E point from D point) in-process, unmanned aerial vehicle keeps the nearest distance with the fan on the basis of guaranteeing safety.
And S113, determining the coordinate of a third flight waypoint E according to the coordinate D of the second flight waypoint and the first safety distance, wherein the included angle between the direction of the vector from the second flight waypoint to the third flight waypoint and the yaw direction of the fan is 180 degrees.
Specifically, with reference to fig. 5, the coordinate position of the third flight waypoint E is located on the back of the fan blade, the third flight waypoint is planned according to the yaw direction of the fan nacelle and the coordinate of the second flight waypoint, the third flight waypoint is located on the back of the fan blade, as shown in the position E in fig. 5, the third flight waypoint is consistent with the second flight waypoint in elevation, and the direction of the vector DE forms an included angle of 180 ° with the yaw direction of the fan, so that the unmanned aerial vehicle can safely fly to the back of the blade (from the point D to the point E), and it should be noted that the distance of the DE is twice as long as the first safety distance.
And step S114, determining the coordinate of a fourth flight waypoint F according to the coordinate E of the third flight waypoint and the distance from the first flight waypoint C to the second flight waypoint D, wherein the included angle between the direction of the vector from the third flight waypoint to the fourth flight waypoint and the yaw direction of the fan is 90 degrees.
Specifically, according to the scheme, a fourth flight waypoint is planned according to the yaw direction of the fan cabin, the center coordinate B of the hub and the third flight waypoint, the fourth key waypoint is located right behind the center of the hub, as shown in the position of an F point in fig. 5, the F point is consistent with the third flight waypoint in elevation, the direction of a vector EF and the yaw angle of the fan form an included angle of 90 degrees, the distance of the EF is the same as that of a CD, and the coordinate of the F point can be ensured to be located right behind the center of the hub of the fan.
Except for the four key navigation points, the system can uniformly plan the hovering navigation points of the unmanned aerial vehicle on the CD and the EF, and can ensure that the visible light camera collects blade images of different areas to obtain a complete blade image after splicing.
Here need explain that the safe distance of unmanned aerial vehicle in this scheme in the horizontal direction does, for guaranteeing unmanned aerial vehicle's safety, unmanned aerial vehicle is at the shortest interval between horizontal direction and external object. The safe distance of vertical direction does, for guaranteeing unmanned aerial vehicle's safety, unmanned aerial vehicle is at the shortest interval between vertical direction and the external object.
Optionally, before generating the four flight waypoints of the drone according to the yaw direction of the wind turbine and the coordinates of the hub center of the wind turbine at step S11, the method further includes generating the yaw direction of the wind turbine, wherein the generating the yaw direction of the wind turbine includes:
and step S07, controlling the unmanned aerial vehicle to fly right above the fan cabin.
And step S08, controlling the laser radar of the unmanned aerial vehicle to collect point clouds.
And step S09, controlling a visible light camera of the unmanned aerial vehicle to acquire visible light images under the condition that the number of the point clouds collected by the laser radar at the preset height exceeds the preset number.
And step S10, under the condition that the point cloud image is matched with the visible light image, generating the yaw direction of the fan according to the point cloud image.
Specifically, the scheme can control the unmanned aerial vehicle to fly right above a cabin of the fan and then control the laser radar of the unmanned aerial vehicle to collect point cloud, wherein in the prior art, calculation of the yaw direction is directly performed according to the point cloud image after the point cloud image collected by the laser radar is collected, however, the point cloud collected by the laser radar at a preset height (cabin height) is not necessarily proved to be the complete point cloud of the fan, and also can be the point cloud generated after interference of other interfering objects, such as birds or high-altitude pollutants (plastic bags and the like), under the condition, the result of generating the yaw direction by directly calculating according to the point cloud image is necessarily inaccurate, therefore, the scheme utilizes the visible light point cloud image collected by the visible light camera to be used for verification, namely, the visible light point cloud image and the visible light image are matched from the outline, under the condition that the matching degree exceeds the preset matching degree, the yawing direction of the fan is generated according to the point cloud image, and if the point cloud image is not matched with the visible light, the laser point cloud is controlled to acquire the point cloud image again. The scheme is different from the method for directly obtaining the yaw direction of the fan according to point cloud calculation in the prior art, the yaw direction of the fan is obtained through calculation after the collected point cloud is determined to be the real point cloud of the fan according to the combination of the laser radar and the visible light camera, and the accuracy of the yaw direction calculation is improved.
Optionally, the step of generating the yaw direction of the fan according to the point cloud image in step S10 may include:
and S101, identifying and obtaining a first structure of the fan cabin and a second structure of the disc formed by the rotation of the blades from the point cloud image.
Specifically, the point cloud image mainly includes a three-dimensional structure of the wind turbine nacelle and a wind wheel structure (disk) formed due to rotation of the blades. With reference to fig. 6, the first structure is a three-dimensional structure of the nacelle and the second structure is a wind wheel structure (disc). According to the scheme, the filtering algorithm can be utilized firstly, so that the point cloud structure which interferes with the recognition of the fan cabin and the blades is removed through denoising processing of the data of the laser radar, then the point cloud data is projected onto a horizontal plane to form a binary image, then the A star algorithm is utilized for extracting the skeleton structure of the binary image, namely the first structure skeleton of the first structure and the second structure skeleton of the second structure are extracted.
And S102, recognizing the coordinates of the center point of the outer surface of the fan cabin and the coordinates of the center of the fan hub from the first structure and the second structure, wherein the coordinates of the center point of the outer surface of the fan cabin to the coordinates of the center of the fan hub form a first vector.
Specifically, after the first structural framework and the second structural framework are obtained through identification, by combining with fig. 6, the position point a of the outer surface center of the first structural framework and the intersection position point B of the first structural framework and the second structural framework can be identified through a key point detection algorithm, such as a centrnet algorithm, and the point B is the position of the hub center of the fan. Here, referring to fig. 6, the outer side of the first structural skeleton is a side of the fan nacelle far away from the fan impeller, the nacelle may approximate a cylinder, and the position point a of the center of the outer side surface of the first structural skeleton may be a center point of an upper bottom surface of the cylinder. After the positions of the point A and the point B are identified, the coordinates of the point A and the point B in the laser radar point cloud data are extracted, the set point A is a starting point, the point B is a terminal point, and then the direction of the vector AB is determined as the yaw direction of the fan.
Optionally, the step S07 of controlling the drone to fly to the position right above the wind turbine cabin may include:
step S071, determining a coordinate right above the cabin according to the position information of the fan base, the height of the fan cabin, the blade length information of the fan and the second safety distance of the unmanned aerial vehicle in the vertical direction.
In particular, the nacelleA specific coordinate point is arranged right above the unmanned aerial vehicle, the unmanned aerial vehicle carries out image acquisition on the fan after being positioned at the coordinate point, the longitude and latitude of the coordinate right above the cabin are the same as the longitude and latitude of the position of the fan base, and the elevations are the height of the fan base, the height of the fan cabin and the blade length R of the fanbladeAnd the second safe distance D of the unmanned aerial vehicle in the vertical directionhAnd, when guaranteeing that unmanned aerial vehicle is arriving the coordinate directly over the cabin, thereby even a certain impeller of fan is rotatory to the highest point also can not be because of touching unmanned aerial vehicle emergence accident.
For example, the base elevation Z of the wind turbinetower1100 m, cabin height Htower80 m, blade length Rblade60 meters, second safety distance Dh20 meters, the altitude (elevation) of the coordinate directly above the nacelle is 1100+80+60+20=1260 meters.
And step S072, determining a first waypoint according to the takeoff position of the unmanned aerial vehicle and the geographical elevation of the coordinate right above the unmanned aerial vehicle.
Specifically, the longitude and latitude of the coordinate of the first waypoint are the same as the longitude and latitude of the takeoff position of the unmanned aerial vehicle, and the elevation is the same as the elevation of the coordinate right above the cabin.
And step S073, controlling the unmanned aerial vehicle to vertically move to a first navigation point from a takeoff position.
Specifically, the first waypoint is located at a geographical position right above the takeoff position of the unmanned aerial vehicle.
And step S074, controlling the unmanned aerial vehicle to horizontally move to the coordinate right above the first waypoint.
Specifically, according to the scheme, the unmanned aerial vehicle is controlled to vertically move to the first waypoint from the takeoff position, the elevation of the first waypoint is the same as the elevation of the coordinate right above the cabin, and then the unmanned aerial vehicle is controlled to horizontally move to the coordinate right above the cabin from the first waypoint.
It should be noted here that the path that unmanned aerial vehicle finally flies to coordinate department directly over the cabin from the position of taking off is two segmentation paths, in prior art, because fan blade is in the state of not shutting down, for reacing directly over the cabin, often control unmanned aerial vehicle and directly fly to directly over the cabin along the route of a straight line, but this scheme is based on under the rotatory state of fan blade, control unmanned aerial vehicle arrives directly over the cabin with the mode of "two segmentation paths", can guarantee unmanned aerial vehicle flight's safety under the state of fan operation.
Optionally, after controlling the unmanned aerial vehicle to fly to the position right above the wind turbine cabin in step S074, the method of the present application may further include:
step S074 controls the viewing direction of the laser radar and the visible light camera to be perpendicular to the horizontal plane.
Specifically, in this scheme, fly to the fan cabin directly over at unmanned aerial vehicle and hover the back, this scheme can control laser radar and visible light camera's the direction of finding a view perpendicular to horizontal plane to obtain an optimal gesture of finding a view.
For example, when the unmanned aerial vehicle suspends over the fan nacelle, the visible light camera pan and the laser radar pan adjust the postures of the visible light camera and the laser radar so that the visible light camera pan and the laser radar pan are perpendicular to the horizontal plane, that is, both postures are Pitch angle Pitch = -90 °, Roll angle Roll =0 °, and Yaw angle Yaw =0 °. The data acquisition is carried out on the visible light camera and the laser radar, the data of the visible light camera is a plurality of color images, and the data of the laser radar is point cloud accumulated in a characteristic time period.
Optionally, after the step S15 of collecting the image of all the blades of the fan by the visible light camera, the method may further include:
and step S16, acquiring the current remaining power of the unmanned aerial vehicle.
Step S17, when the current remaining power exceeds the preset power, determine whether the sharpness of the image collected by the visible light camera meets the preset sharpness.
And step S18, controlling the unmanned aerial vehicle to fly to the next fan for inspection under the condition of meeting the preset definition.
And step S19, controlling the unmanned aerial vehicle to fly from the fourth flight waypoint to the first waypoint and fly from the first waypoint to the takeoff position under the condition that the preset definition is not met.
Specifically, after unmanned aerial vehicle has gathered all images of patrolling and examining fan blade at present, judge earlier below this scheme whether unmanned aerial vehicle's current residual capacity is enough to fly to next fan and patrol and examine, surpass the circumstances of predetermineeing the electric quantity at the residual capacity under, this scheme then judges whether the definition of the image that visible light camera gathered accords with predetermined definition, accords with the circumstances of predetermineeing the definition and under, control unmanned aerial vehicle flies to next fan and patrols and examines. It should be noted here that often decide whether to continue flying to next fan and patrol and examine according to unmanned aerial vehicle's electric quantity among the prior art, however, if the image that the visible light camera was gathered this moment if not conform to preset definition, this shows that the visible light camera breaks down or current environment is unsuitable to carry out patrolling and examining of unmanned aerial vehicle blade. This scheme is different from prior art, and the definition of having synthesized unmanned aerial vehicle's residual capacity and visible light camera collection image decides whether to continue to fly to next fan and patrol and examine or return the journey, has avoided unmanned aerial vehicle to gather the problem that the blade image acquisition too much is not conform to definition, invalid image, great promotion the efficiency of patrolling and examining.
It should be noted here that, if the definition of the image that the visible light camera gathered does not conform to the preset definition, this scheme then control unmanned aerial vehicle earlier from fourth flight waypoint flight to first waypoint to by first waypoint flight to the position of taking off, can guarantee that unmanned aerial vehicle returns the position of taking off along safe route like this.
It will be understood that the specific features, operations and details described herein above with respect to the method of the present invention may be similarly applied to the apparatus and system of the present invention, or vice versa. In addition, each step of the method of the present invention described above may be performed by a respective component or unit of the device or system of the present invention.
It should be understood that the various modules/units of the apparatus of the present invention may be implemented in whole or in part by software, hardware, firmware, or a combination thereof. The modules/units may be embedded in the processor of the computer device in the form of hardware or firmware or independent from the processor, or may be stored in the memory of the computer device in the form of software for being called by the processor to execute the operations of the modules/units. Each of the modules/units may be implemented as a separate component or module, or two or more modules/units may be implemented as a single component or module.
In one embodiment, a computer device is provided that includes a memory and a processor, the memory having stored thereon computer instructions executable by the processor, the computer instructions, when executed by the processor, instruct the processor to perform the steps of the method of an embodiment of the invention. The computer device may broadly be a server, a terminal, or any other electronic device having the necessary computing and/or processing capabilities. In one embodiment, the computer device may include a processor, memory, a network interface, a communication interface, etc., connected by a system bus. The processor of the computer device may be used to provide the necessary computing, processing and/or control capabilities. The memory of the computer device may include non-volatile storage media and internal memory. An operating system, a computer program, and the like may be stored in or on the non-volatile storage medium. The internal memory may provide an environment for the operating system and the computer programs in the non-volatile storage medium to run. The network interface and the communication interface of the computer device may be used to connect and communicate with an external device through a network. Which when executed by a processor performs the steps of the method of the invention.
The invention may be implemented as a computer readable storage medium having stored thereon a computer program which, when executed by a processor, causes the steps of a method of an embodiment of the invention to be performed. In one embodiment, the computer program is distributed across a plurality of computer devices or processors coupled by a network such that the computer program is stored, accessed, and executed by one or more computer devices or processors in a distributed fashion. A single method step/operation, or two or more method steps/operations, may be performed by a single computer device or processor or by two or more computer devices or processors. One or more method steps/operations may be performed by one or more computer devices or processors, and one or more other method steps/operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step/operation, or perform two or more method steps/operations.
It will be appreciated by those of ordinary skill in the art that the method steps of the present invention may be directed to associated hardware, such as a computer device or processor, for performing the steps of the present invention by a computer program, which may be stored in a non-transitory computer readable storage medium, which when executed causes the steps of the present invention to be performed. Any reference herein to memory, storage, databases, or other media may include non-volatile and/or volatile memory, as appropriate. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (prom), electrically programmable ROM (eprom), electrically erasable programmable ROM (eeprom), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, hard disk, solid state disk, and the like. Examples of volatile memory include Random Access Memory (RAM), external cache memory, and the like.
The respective technical features described above may be arbitrarily combined. Although not all possible combinations of features are described, any combination of features should be considered to be covered by the present specification as long as there is no contradiction between such combinations.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An intelligent inspection method of a wind driven generator in a non-stop state is characterized by comprising the following steps:
generating four flying waypoints of the unmanned aerial vehicle according to the yaw direction of the fan and the coordinates of the center of a hub of the fan, wherein two of the four flying waypoints are distributed in the front direction of the fan blade, the other two flying waypoints are distributed in the back direction of the fan blade, the four flying waypoints form a rectangular shape, and the first edge of the rectangular shape passes through the coordinates of the center of the hub and is perpendicular to a disc formed by rotation of the fan blade;
determining three sides except the first side in the rectangular shape as an inspection path of the unmanned aerial vehicle, wherein the shortest distance from each side of the inspection path to the disc is the first safety distance of the unmanned aerial vehicle in the horizontal direction;
control unmanned aerial vehicle along patrol and examine the route follow fan blade's front direction removes to fan blade's back direction to make unmanned aerial vehicle's visible light camera gather the image of all blades of fan, wherein, when unmanned aerial vehicle along patrol and examine the route and remove, the fan is in the rotatory mode of operation of blade.
2. The method of claim 1, wherein the routing inspection path includes a plurality of hovering waypoints, and wherein controlling the drone to move along the routing inspection path from a front direction of the fan blade to a back direction of the fan blade includes:
adjusting the postures of a visible light camera and a laser radar of the unmanned aerial vehicle according to the specific position of the coordinate of the current hovering navigation point in the routing inspection path, and controlling the visible light camera to acquire images and the laser radar to acquire point clouds;
determining that all blades of the fan pass through a framing area of the visible light camera under the current hovering waypoint according to the number of the point clouds;
and controlling the unmanned aerial vehicle to stop image acquisition at the hovering waypoint and fly to the next hovering waypoint until the unmanned aerial vehicle flies to the last hovering waypoint in the routing inspection path.
3. The method of claim 2, wherein the step of determining whether all the blades of the wind turbine pass through the viewing area of the visible light camera at the current hover waypoint according to the number of the point clouds comprises:
acquiring the rotating speed of the fan;
acquiring the number of standard point clouds related to the rotating speed;
and under the condition that the number of the point clouds is not less than that of the standard point clouds, judging that all blades of the fan pass through a viewing area of the visible light camera under the current hovering navigation point.
4. The method of claim 2, wherein prior to controlling the drone to stop image acquisition at the hover waypoint and fly to a next hover waypoint, the method further comprises:
determining a first point cloud closest to the laser radar from the point clouds collected by the laser radar, and obtaining a first distance between the first point cloud and the laser radar;
determining that the first distance is not less than a first safe distance of the unmanned aerial vehicle in the horizontal direction.
5. The method of claim 1, wherein the step of generating four flight waypoints for the drone based on the coordinates of the yaw direction of the fan and the hub center of the fan comprises:
determining a coordinate point with a preset distance from the center of the hub as a first flight waypoint along the yaw direction of the fan, wherein the preset distance is a first safety distance of the unmanned aerial vehicle in the horizontal direction;
determining the coordinate of a second flight waypoint according to the coordinate of the first flight waypoint, the first safety distance and the length of the fan blade, wherein the included angle between the direction of the vector from the first flight waypoint to the second flight waypoint and the yaw direction of the fan is 90 degrees;
determining the coordinate of a third flight waypoint according to the coordinate of the second flight waypoint and the first safety distance, wherein the included angle between the direction of the vector from the second flight waypoint to the third flight waypoint and the yaw direction of the fan is 180 degrees;
and determining the coordinate of a fourth flight waypoint according to the coordinate of the third flight waypoint and the distance from the first flight waypoint to the second flight waypoint, wherein the included angle between the direction of the vector from the third flight waypoint to the fourth flight waypoint and the yaw direction of the fan is 90 degrees.
6. The method of claim 5, further comprising generating a yaw direction of the wind turbine prior to generating the four flight waypoints of the drone from coordinates of a wind turbine yaw direction, a wind turbine hub center, wherein generating the yaw direction of the wind turbine comprises:
controlling the unmanned aerial vehicle to fly right above a fan cabin;
controlling a laser radar of the unmanned aerial vehicle to collect point cloud;
controlling a visible light camera of the unmanned aerial vehicle to acquire visible light images under the condition that the number of the point clouds collected by the laser radar at the preset height exceeds the preset number;
and under the condition that the point cloud image is matched with the visible light image, generating the yaw direction of the fan according to the point cloud image.
7. The method of claim 6, wherein the step of controlling the drone to fly directly above the wind turbine nacelle comprises:
determining a coordinate right above the cabin according to the position information of the fan base, the height of the fan cabin, the blade length information of the fan and a second safety distance of the unmanned aerial vehicle in the vertical direction;
determining a first waypoint according to the takeoff position of the unmanned aerial vehicle and the geographical elevation of the coordinate right above the unmanned aerial vehicle;
controlling the unmanned aerial vehicle to vertically move from a takeoff position to the first waypoint;
and controlling the unmanned aerial vehicle to horizontally move from a first waypoint to the coordinate position right above.
8. The method of claim 7, wherein after the visible light camera captures images of all blades of the wind turbine, the method further comprises:
acquiring the current residual capacity of the unmanned aerial vehicle;
judging whether the definition of an image acquired by the visible light camera meets a preset definition or not under the condition that the current residual electric quantity exceeds a preset electric quantity;
under the condition of meeting the preset definition, controlling the unmanned aerial vehicle to fly to the next fan for inspection;
and under the condition that the preset definition is not met, controlling the unmanned aerial vehicle to fly from the fourth flight waypoint to a first waypoint and fly from the first waypoint to the takeoff position.
9. A non-transitory computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed by a processor, causes the method of any of claims 1 to 8 to be performed.
10. An electronic device comprising a memory and a processor, the memory having stored thereon computer instructions, wherein the computer instructions, when executed by the processor, cause the method of any of claims 1-8 to be performed.
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