CN114296483B - 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
- Publication number
- CN114296483B CN114296483B CN202210221229.2A CN202210221229A CN114296483B CN 114296483 B CN114296483 B CN 114296483B CN 202210221229 A CN202210221229 A CN 202210221229A CN 114296483 B CN114296483 B CN 114296483B
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- fan
- waypoint
- flight
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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 a wind driven generator set and has the functions of capturing and absorbing wind energy and converting the wind energy into mechanical energy. The blade works at high altitude and all-weather conditions, bears large load, has severe operation environment, is eroded or influenced by various media at any time due to wind, sun, rain, lightning stroke, corrosion and the like, and has great influence on the service life of the blade. Therefore, the fan blade needs to be regularly inspected, abnormity and defects in the fan blade are timely found and repaired, and normal work of the generator set is guaranteed. At present, the mainstream inspection mode comprises two modes, one mode is that the inspection is carried out on equipment such as a ground handheld telescope manually, and the other mode is that equipment such as an unmanned aerial vehicle mounted camera approaches a blade to acquire images for inspection.
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 for falling "Y" state among the unmanned aerial vehicle inspection technology of current, then control unmanned aerial vehicle flies near three blade in proper order and patrols and examines, carries out the collection of image for realizing unmanned aerial vehicle flies every blade, openly flies to the blade back from the blade, and the flight waypoint reaches 8 more, and it is complicated to patrol and examine the route moreover, and unmanned aerial vehicle flight time is long, patrol and examine the 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 draught fan in the non-stop state is provided, and 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 a routing inspection path of the unmanned aerial vehicle, wherein the shortest distance from each side of the routing inspection path to the disc is a 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 patrol route comprises a plurality of hovering waypoints, wherein the step of controlling the unmanned aerial vehicle to move from the front direction of the fan blade to the back direction of the fan blade along the patrol route 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 waypoint in the routing inspection path, and controlling the visible light camera to acquire images and the laser radar to acquire point cloud; determining that all blades of the fan pass through a view finding 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 a view finding area of the visible camera under the current hovering waypoint or not 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 the following steps: setting a coordinate point which is away from the center of the hub by a preset distance as a first flying waypoint along the yawing 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 geographic elevation of the coordinate right above the unmanned aerial vehicle; controlling the unmanned aerial vehicle to vertically move from a take-off position to a first navigation point; and controlling the unmanned aerial vehicle to horizontally move to the coordinate position right above from the first waypoint.
Further, after the visible light camera acquires images of all 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 of 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 two of the four flight waypoints are distributed in the front direction of the fan blade, the other two flight waypoints are distributed in the back direction of the fan blade, the four flight waypoints form a rectangular shape, and the first edge of the rectangular shape penetrates 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 a routing inspection path of the unmanned aerial vehicle, wherein the shortest distance from each side of the routing inspection path to the disc is a 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 the 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 routing inspection path of an unmanned aerial vehicle in the prior art;
FIG. 2 is a flow chart of the intelligent inspection method in the non-stop state of the fan according to the embodiment of the invention;
fig. 3 to 6 are schematic diagrams illustrating the effect of the intelligent inspection method in the non-stop state of the wind turbine 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, and as shown in figure 2, the method 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 center of the 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, the first edge of the rectangular shape penetrates through the coordinates of the center of the hub and is perpendicular to a disc formed by the rotation of the fan blade, and the coordinates of the center of the hub are superposed with the midpoint of the first edge.
Specifically, after the yaw direction of the fan and the coordinates of the hub center are obtained, the orientation of the fan, the positions of the front face and the back face of the fan are determined by the scheme, four flight waypoints are planned around the front face and the back face of the fan, the flight waypoints are waypoints to be passed by when the unmanned aerial vehicle patrols and examines, and in combination with fig. 3, the four flight waypoints are distributed on the front face and the back face of the fan in pairs, namely, the points C and D are distributed on the front face of the fan, the points E and F are distributed on the back face of the fan, the point J is an engine room of the fan, the point Y is a disc formed by rotation of blades of the fan in an operation mode, the point B is the hub center of the fan, the center of the disc is also the center of the disc, and the four points CDEF form 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 from each side of the routing inspection path to 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 present solution takes the other three sides of the rectangle as the path of the unmanned aerial vehicle inspection fan, and 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, CD, DE, and EF, which 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 causes the unmanned aerial vehicle to fly around from the front of the fan to the back of the fan, and all three sides (three sub-paths) of the rectangle in the same plane are traveled, and the shortest distance from each sub-path of the disc Y is the first safe 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 larger than or equal to the first safety distance, so that the unmanned aerial vehicle is ensured to fly to the back of the fan from the front of the fan in the shortest distance and safely.
With reference to fig. 3, the shortest distance from each of the three sub paths to the disk Y is described as follows, and any point in the sub path CD, which can form a perpendicular line from the disk Y, which is the shortest distance from the sub path to the disk Y, is taken as a point in the sub path EF, which can form a perpendicular line from the disk Y, which is the shortest distance from the sub path to the disk Y, and the intersection point of the plane on which the disk is located and the DE, which is the shortest distance from the sub path DE to the disk Y, that is, the distance from any point in the three sub paths to the disk Y, is equal to or greater than the first safety distance.
Step S15, controlling the unmanned aerial vehicle 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 camera of the unmanned aerial vehicle acquires 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 solution is equipped with a visible light camera for 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 moves from the front direction of the fan blade to the back direction of the fan blade, and the visible light camera on the unmanned aerial vehicle takes pictures at the same time, where it needs to be noted that, because the fan is in an operation mode, the fan blade is in a rotation state, and the plane (rectangular plane) where the inspection path is located is perpendicular to the disc Y, therefore, when the unmanned aerial vehicle hovers at any one shooting point in the 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 light 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 inspection path, along 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, taking a 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 a plane of a rectangle, which is perpendicular to the disc Y, there is necessarily a moment when one blade of the fan passes through the plane of the rectangle, that is, a viewing area of the visible light camera at the point Q (a dotted line part related to the point Q in fig. 4), for example, at a first moment, the blade L1 of the fan passes through the viewing area at the point Q, the visible light camera of the drone photographs an image of L1 under the viewing area at the point Q, after photographing an image of L1, at a second moment, the blade L2 of the fan rotates through the viewing area at the point Q, the visible light camera of the drone photographs an image of L2 under the viewing area at the point Q, after the second moment, at a third moment, the blade L3 of the fan rotates through the view area of the point Q, and the visible light camera of the unmanned aerial vehicle then takes an 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 a period from the first moment to the third moment, the visible light camera of the unmanned aerial vehicle can acquire images of all blades of the fan under the current view area, where it should be noted that, when the positions of the unmanned aerial vehicle in the routing inspection path are different, 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 acquired by the visible light camera of the drone at point Q. At the fourth moment, the unmanned aerial vehicle flies to the point R to hover, and during the periods of the fourth moment, the fifth moment and the sixth moment, 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 are collected by the visible light camera of the unmanned aerial vehicle 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, the visible light camera of the unmanned aerial vehicle can acquire all images of all areas of each blade of the fan, and then the images are pieced together to obtain the image of the whole blade of the fan.
It needs to be explained here that, this scheme only needs to plan four flight waypoints through the route of patrolling and examining of above-mentioned "three limits of rectangle", under fan blade keeps the rotatory condition, can gather fan blade's all images, compare with prior art's "shape of falling Y" route (as shown in fig. 1), this scheme adopts the mode of letting "unmanned aerial vehicle hover, the fan changes" and 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 the efficiency of patrolling and examining, gather fan blade's image through the route of patrolling and examining of above-mentioned "three limits of rectangle", can fly to the fan back with the shortest distance from the fan front 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. Consequently this scheme has been solved in prior art, will control unmanned aerial vehicle after shutting down and fly through a plurality of blades in proper order, and the flight waypoint is many, patrol and examine the long and complicated path, the long technical problem of flight time.
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 waypoint in the routing inspection path, and controlling the visible light camera to acquire images and the laser radar to acquire point cloud.
Specifically, a plurality of hovering waypoints can be included in the route of patrolling and examining, and 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 all the blades of the fan do not pass through the framing area of the visible light camera at the current hovering waypoint, the unmanned aerial vehicle is controlled to continue collecting 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.
It is concrete, how to let unmanned aerial vehicle know that three blade all passes through visible light camera's the region of framing is the problem that this embodiment will be solved, and this scheme utilizes laser radar to gather fan blade's some clouds to judge according to the number in some clouds. 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 first moment to the third moment is larger than or equal to 3N, the 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, the unmanned aerial vehicle 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 lidar 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 current view finding area of hovering the waypoint for unmanned aerial vehicle accuracy knows, avoided on the one hand to gather the number incomplete, avoided on the other hand to gather data repetition 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 navigates and remains suspended.
Optionally, the step S153 of determining whether all the blades of the fan pass through the view finding area of the visible light camera at the current hovering waypoint according to the number of the point clouds includes:
and step S1531, acquiring the rotating speed of the fan.
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 light camera under the current hovering waypoint.
The method comprises the steps of acquiring the number of point clouds acquired by a laser radar in a view area of a fan blade, and judging whether all the fan blades pass through the view area of the visible light camera under the current hovering waypoint or not. 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 finding area at the current hovering waypoint, and may determine whether all the blades pass through the view finding area at the current hovering waypoint by the number of point clouds acquired by the laser radar at different fan rotation speeds. In the steps S1531 to S1533, whether all the blades pass through the view finding area under the current hovering waypoint is judged by combining the rotating speed of the fan and the number of the point clouds acquired by the laser radar, so that whether all the blades pass through the view finding area under the current hovering waypoint is judged more accurately.
Optionally, before controlling the drone to stop image acquisition at the hovering waypoint and fly to the next hovering 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 acquired 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 drone in the horizontal direction.
Specifically, in the scheme, during the process of the unmanned aerial vehicle inspection, along with the sudden change of 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 continues to inspect along the unchanged inspection path, and the contact blade can be generated, so that safety problems occur, therefore, 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 blade, namely, the scheme can judge the distance between the unmanned aerial vehicle and the fan blade, if the distance between the unmanned aerial vehicle and the fan blade 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 explained, the scheme does not control the unmanned aerial vehicle to fly to the next hovering point, only under the condition that the first distance is determined to be not smaller than the first safety distance of the unmanned aerial vehicle in the horizontal direction, the present solution executes the method of step S155.
It should be noted here that in the prior art, often adopt and judge whether fan yaw takes place big change, thereby decide unmanned aerial vehicle to stop flying, but real-time calculation yaw often calculated the volume is bigger, and receive environmental factor's change yaw angle calculation inaccurate easily, and this embodiment compares with prior art, need not to calculate the yaw angle, only need directly judge whether the distance between fan blade and unmanned aerial vehicle or the lidar changes through the laser radar point cloud, under the condition that changes, this scheme then does not control unmanned aerial vehicle and continues to fly to next navigation point of hovering, guarantee unmanned aerial vehicle when patrolling and examining safety.
The technical details of determining the first point cloud in step S1541 are as follows: according to the scheme, point cloud data acquired by the laser radar are acquired, and point cloud data accumulation is carried out within 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 route.
Specifically, through step S1541 step S1542, when detecting in real time that the closest distance of the unmanned aerial vehicle from the blade changes, compared with the prior art, the method does not directly control the unmanned aerial vehicle to return to the air immediately, but keeps continuously detecting whether the closest distance recovers to be greater than or equal to a first safety distance in a preset time period in a hovering state of the unmanned aerial vehicle, if the closest distance recovers to be greater than or equal to the first safety distance in the preset time period, the method controls the unmanned aerial vehicle to continuously patrol, and the flight cost of the unmanned aerial vehicle is saved.
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, which is 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, with reference 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, i.e. the direction of the vector BC, C is the first flight waypoint, the first flight waypoint is located right in front of the hub center B and is at a distance from the hub centerFor the first safe distance D of unmanned aerial vehicle in the horizontal directionbladePoint B moves along the fan yaw direction to point C, which is located at the front of the fan blade.
And 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, with reference to fig. 5, after the coordinates of the first flight waypoint C are determined, the coordinates of the second flight waypoint D are determined according to the scheme, the position of the point D is located outside the farthest end of the fan blade in the horizontal direction, it is ensured that the unmanned aerial vehicle can safely pass through the blade motion area (i.e., the unmanned aerial vehicle flies from the front of the fan to the back of the fan), the position of the point D is located on the front of the fan, the point D is consistent with the point C in elevation, the direction of the vector CD and the yaw direction of the fan form a 90-degree included angle, and the flight safety of the unmanned aerial vehicle when flying from the point C to the point D is ensured. 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 openly flies to the unmanned aerial vehicle back (flying to E point from D point) from the fan in-process, and 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 of fig. 5, the third flight waypoint is in accordance 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 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 waypoints, the system uniformly plans the hovering waypoints 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.
It should explain here that unmanned aerial vehicle in this scheme does at the safe distance of horizontal direction, 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 fan and the coordinates of the center of the hub of the fan in step S11, the method further includes generating the yaw direction of the fan, where the step of generating the yaw direction of the fan 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 cloud.
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 S10 of generating the yaw direction of the fan according to the point cloud image 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 wind turbine nacelle far away from the wind turbine wheel, the nacelle may approximate a cylinder, and the position 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:
and step S071, determining coordinates right above the cabin according to the position information of the fan base, the height of the fan cabin, the length information of the fan blade and the second safety distance of the unmanned aerial vehicle in the vertical direction.
Specifically, a specific coordinate point is arranged right above the cabin, the unmanned aerial vehicle carries out image acquisition on the fan after being positioned at the coordinate point, the longitude and latitude of a 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 reaching 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 blowertower1100 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 S074, controlling the unmanned aerial vehicle to horizontally move to the coordinate position right above the first navigation point.
Specifically, according to the scheme, the unmanned aerial vehicle is controlled to vertically move to a first waypoint from a take-off position, the elevation of the first waypoint is the same as that 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 visible light camera and the laser radar are used for data acquisition, the data of the visible light camera are a plurality of color images, and the data of the laser radar are point clouds accumulated in a characteristic time period.
Optionally, after the step S15 collects images of all blades of the fan by using 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 that visible light camera gathered the image is 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 like this that unmanned aerial vehicle returns the position of taking off along safe route.
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. Further, each step of the method of the invention described above may be performed by a respective component or unit of the device or system of the 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 of 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, network interface, 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 the 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 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 such combination is not contradictory.
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 these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. An intelligent inspection method of a wind driven generator in a non-stop state is characterized by comprising 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 a fan hub, wherein two of the four flight waypoints are distributed in the front direction of the fan blade, the other two flight waypoints are distributed in the back direction of the fan blade, the four flight waypoints form a rectangular shape, and the first edge of the rectangular shape penetrates 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 the first side in the rectangular shape as a routing inspection path of the unmanned aerial vehicle, wherein the shortest distance from each side of the routing inspection path to the disc is a first safety distance of the unmanned aerial vehicle in the horizontal direction;
controlling the unmanned aerial vehicle to move along the patrol path from the front direction of the fan blade to the back direction of the fan blade so that a visible light camera of the unmanned aerial vehicle acquires images of all blades of the fan, wherein the fan is in a blade rotation operation mode when the unmanned aerial vehicle moves along the patrol path;
the tour inspection path comprises a plurality of hovering waypoints, wherein the step of controlling the unmanned aerial vehicle to move along the tour 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 current hovering waypoint in the routing inspection path, controlling the visible light camera to acquire images and the laser radar to acquire point cloud, enabling the laser radar to work all the time, and enabling the visible light camera to work when the hovering waypoint sails and remains hovering;
Determining that all blades of the fan pass through a view finding 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, wherein under the condition that it is determined that all the blades of the fan pass through the viewing area of the current hovering waypoint visible light camera, the unmanned aerial vehicle is controlled to continue visible light image acquisition at the current hovering waypoint until all the blades pass through the viewing area of the visible light camera at the current hovering waypoint.
2. The method according to claim 1, wherein the step 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 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 smaller 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.
3. The method of claim 1, 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 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, wherein under the condition that the first distance is less than the first safety distance of the unmanned aerial vehicle in the horizontal direction, the unmanned aerial vehicle is controlled to keep hovering at the current hovering waypoint, the nearest distance between the fan blade and the unmanned aerial vehicle is continuously detected, if the nearest distance is recovered to be more than or equal to the first safety distance within a preset time period, the unmanned aerial vehicle is controlled to continuously fly to the next hovering waypoint in the routing inspection path, and if the speed of the nearest distance reduction is more than a preset threshold value, the unmanned aerial vehicle is controlled to stop the routing inspection and return to the route.
4. The method of claim 1, wherein the step of generating four flight waypoints for the drone based on the coordinates of the hub center and the yaw direction of the fan comprises:
Setting a coordinate point, which is away from the center of the hub by a preset distance, as a first flight waypoint along the yawing 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.
5. The method of claim 4, 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 acquire point cloud;
under the condition that the number of the point clouds collected by the laser radar at the preset height exceeds the preset number, controlling a visible light camera of the unmanned aerial vehicle to collect visible light images;
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.
6. The method of claim 5, 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 geographic elevation of the coordinate right above the unmanned aerial vehicle;
controlling the unmanned aerial vehicle to vertically move from a take-off position to the first waypoint;
and controlling the unmanned aerial vehicle to horizontally move from a first waypoint to the position of the direct upper coordinate.
7. The method of claim 6, wherein after the visible light camera captures an image of all blades of the wind turbine, the method further comprises:
Acquiring the current residual electric quantity 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 to a first waypoint from the fourth flight waypoint, and flying to the takeoff position from the first waypoint.
8. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, causes the method according to any one of claims 1 to 7 to be performed.
9. 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 performance of the method recited in any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210221229.2A CN114296483B (en) | 2022-03-09 | 2022-03-09 | Intelligent inspection method and electronic equipment for wind driven generator in non-stop state |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210221229.2A CN114296483B (en) | 2022-03-09 | 2022-03-09 | Intelligent inspection method and electronic equipment for wind driven generator in non-stop state |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114296483A CN114296483A (en) | 2022-04-08 |
| CN114296483B true CN114296483B (en) | 2022-06-28 |
Family
ID=80978601
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210221229.2A Active CN114296483B (en) | 2022-03-09 | 2022-03-09 | Intelligent inspection method and electronic equipment for wind driven generator in non-stop state |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114296483B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114757454B (en) * | 2022-06-15 | 2022-10-11 | 广东数字生态科技有限责任公司 | Unmanned aerial vehicle inspection route generation method, device and equipment of wind driven generator |
| CN115272248B (en) * | 2022-08-01 | 2024-02-13 | 无锡海纳智能科技有限公司 | Intelligent detection method for fan gesture and electronic equipment |
| CN115480589B (en) * | 2022-09-06 | 2023-07-25 | 中科云尚(南京)智能技术有限公司 | Unmanned aerial vehicle-based fan routing inspection route generation method and system |
| CN116137680B (en) * | 2023-02-14 | 2023-10-17 | 海外远景(北京)科技有限公司 | Wind power equipment operation monitoring system based on Internet of things |
| CN116167114B (en) * | 2023-04-25 | 2023-07-14 | 无锡海纳智能科技有限公司 | Method and device for determining curve data of fan blade and electronic equipment |
| CN116906277B (en) * | 2023-06-20 | 2024-07-30 | 北京图知天下科技有限责任公司 | Fan yaw variation determining method and device, electronic equipment and storage medium |
Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105203315A (en) * | 2015-10-20 | 2015-12-30 | 华北电力大学（保定） | Air blower blade monitoring device arranged on inspection vehicle |
| CN108332753A (en) * | 2018-01-30 | 2018-07-27 | 北京航空航天大学 | A kind of unmanned plane electric inspection process paths planning method |
| CN110701003A (en) * | 2019-11-20 | 2020-01-17 | 山东理工大学 | Automatic detection system and detection method for defects of blades of wind turbine generator |
| CN111272148A (en) * | 2020-01-20 | 2020-06-12 | 江苏方天电力技术有限公司 | Unmanned aerial vehicle autonomous inspection self-adaptive imaging quality optimization method for power transmission line |
| CN111708380A (en) * | 2020-06-29 | 2020-09-25 | 北京御航智能科技有限公司 | Detection method, platform, unmanned aerial vehicle and system for appearance defects of wind turbine generator |
| CN112465777A (en) * | 2020-11-26 | 2021-03-09 | 华能通辽风力发电有限公司 | Fan blade surface defect identification technology based on video stream |
| EP3789602A1 (en) * | 2019-09-06 | 2021-03-10 | Rolls-Royce plc | Gas turbine engine for an aircraft with efficient jet |
| CN112581648A (en) * | 2020-12-21 | 2021-03-30 | 华能安阳能源有限责任公司 | Dynamic inspection system and method for wind driven generator blade |
| CN112904877A (en) * | 2021-01-14 | 2021-06-04 | 星闪世图(台州)科技有限公司 | Automatic fan blade inspection system and method based on unmanned aerial vehicle |
| CN112905955A (en) * | 2021-01-27 | 2021-06-04 | 天津航天中为数据系统科技有限公司 | Fan front and back autonomous inspection planning method |
| CN113187671A (en) * | 2021-04-27 | 2021-07-30 | 南京韦博智控科技有限公司 | Method for determining yaw angle of wind wheel by using unmanned aerial vehicle |
| CN113286129A (en) * | 2021-07-23 | 2021-08-20 | 北京图知天下科技有限责任公司 | Inspection method and system for photovoltaic power station |
| CN113324548A (en) * | 2021-05-27 | 2021-08-31 | 南京韦博智控科技有限公司 | Planning method for inspection path of wind driven generator blade |
| CN113339206A (en) * | 2021-06-10 | 2021-09-03 | 槃汩工业技术(岳阳)有限公司 | Unmanned aerial vehicle wind power inspection method and unmanned aerial vehicle |
| CN113650694A (en) * | 2021-08-19 | 2021-11-16 | 深圳昱拓智能有限公司 | Tower climbing chassis platform of inspection operation robot and adjusting method thereof |
| CN113723192A (en) * | 2021-07-30 | 2021-11-30 | 鹏城实验室 | Blade image acquisition method in running state of fan |
| CN113727022A (en) * | 2021-08-30 | 2021-11-30 | 杭州申昊科技股份有限公司 | Inspection image acquisition method and device, electronic equipment and storage medium |
| CN113759960A (en) * | 2021-07-26 | 2021-12-07 | 青海黄河风力发电有限责任公司 | Unmanned aerial vehicle-based fan blade and tower barrel inspection identification system and method |
| CN113870228A (en) * | 2021-09-29 | 2021-12-31 | 上海建工四建集团有限公司 | Tower crane surface oxidation damage identification, positioning and damage area statistical method |
| CN114138012A (en) * | 2021-11-23 | 2022-03-04 | 上海复亚智能科技有限公司 | Fan blade inspection method, device, equipment and storage medium |
-
2022
- 2022-03-09 CN CN202210221229.2A patent/CN114296483B/en active Active
Patent Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105203315A (en) * | 2015-10-20 | 2015-12-30 | 华北电力大学（保定） | Air blower blade monitoring device arranged on inspection vehicle |
| CN108332753A (en) * | 2018-01-30 | 2018-07-27 | 北京航空航天大学 | A kind of unmanned plane electric inspection process paths planning method |
| EP3789602A1 (en) * | 2019-09-06 | 2021-03-10 | Rolls-Royce plc | Gas turbine engine for an aircraft with efficient jet |
| CN110701003A (en) * | 2019-11-20 | 2020-01-17 | 山东理工大学 | Automatic detection system and detection method for defects of blades of wind turbine generator |
| CN111272148A (en) * | 2020-01-20 | 2020-06-12 | 江苏方天电力技术有限公司 | Unmanned aerial vehicle autonomous inspection self-adaptive imaging quality optimization method for power transmission line |
| CN111708380A (en) * | 2020-06-29 | 2020-09-25 | 北京御航智能科技有限公司 | Detection method, platform, unmanned aerial vehicle and system for appearance defects of wind turbine generator |
| CN112465777A (en) * | 2020-11-26 | 2021-03-09 | 华能通辽风力发电有限公司 | Fan blade surface defect identification technology based on video stream |
| CN112581648A (en) * | 2020-12-21 | 2021-03-30 | 华能安阳能源有限责任公司 | Dynamic inspection system and method for wind driven generator blade |
| CN112904877A (en) * | 2021-01-14 | 2021-06-04 | 星闪世图(台州)科技有限公司 | Automatic fan blade inspection system and method based on unmanned aerial vehicle |
| CN112905955A (en) * | 2021-01-27 | 2021-06-04 | 天津航天中为数据系统科技有限公司 | Fan front and back autonomous inspection planning method |
| CN113187671A (en) * | 2021-04-27 | 2021-07-30 | 南京韦博智控科技有限公司 | Method for determining yaw angle of wind wheel by using unmanned aerial vehicle |
| CN113324548A (en) * | 2021-05-27 | 2021-08-31 | 南京韦博智控科技有限公司 | Planning method for inspection path of wind driven generator blade |
| CN113339206A (en) * | 2021-06-10 | 2021-09-03 | 槃汩工业技术(岳阳)有限公司 | Unmanned aerial vehicle wind power inspection method and unmanned aerial vehicle |
| CN113286129A (en) * | 2021-07-23 | 2021-08-20 | 北京图知天下科技有限责任公司 | Inspection method and system for photovoltaic power station |
| CN113759960A (en) * | 2021-07-26 | 2021-12-07 | 青海黄河风力发电有限责任公司 | Unmanned aerial vehicle-based fan blade and tower barrel inspection identification system and method |
| CN113723192A (en) * | 2021-07-30 | 2021-11-30 | 鹏城实验室 | Blade image acquisition method in running state of fan |
| CN113650694A (en) * | 2021-08-19 | 2021-11-16 | 深圳昱拓智能有限公司 | Tower climbing chassis platform of inspection operation robot and adjusting method thereof |
| CN113727022A (en) * | 2021-08-30 | 2021-11-30 | 杭州申昊科技股份有限公司 | Inspection image acquisition method and device, electronic equipment and storage medium |
| CN113870228A (en) * | 2021-09-29 | 2021-12-31 | 上海建工四建集团有限公司 | Tower crane surface oxidation damage identification, positioning and damage area statistical method |
| CN114138012A (en) * | 2021-11-23 | 2022-03-04 | 上海复亚智能科技有限公司 | Fan blade inspection method, device, equipment and storage medium |
Non-Patent Citations (1)
| Title |
|---|
| 末敏弹弹载激光雷达扫描成像技术研究;姜云;《中国优秀博硕士学位论文全文数据库(硕士)工程科技Ⅱ辑》;20220115(第01期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114296483A (en) | 2022-04-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114296483B (en) | Intelligent inspection method and electronic equipment for wind driven generator in non-stop state | |
| CN110879601B (en) | Unmanned aerial vehicle inspection method for unknown fan structure | |
| CN112904877A (en) | Automatic fan blade inspection system and method based on unmanned aerial vehicle | |
| CN108894933B (en) | Method and system for tracking, losing and re-capturing fan blade tips during tracking detection of fan blade tips through unmanned aerial vehicle | |
| CN113759960B (en) | Unmanned aerial vehicle-based fan blade and tower barrel inspection identification system and method | |
| CN102589524B (en) | Power line patrolling method | |
| CN108915959B (en) | Method and system for detecting bypassing of fan blade tip area through unmanned aerial vehicle | |
| CN105511495A (en) | Control method and system for intelligent unmanned aerial vehicle patrol for power line | |
| WO2020181719A1 (en) | Unmanned aerial vehicle control method, unmanned aerial vehicle, and system | |
| CN114020002B (en) | Method, device and equipment for unmanned aerial vehicle to inspect fan blade, unmanned aerial vehicle and medium | |
| CN109660721B (en) | Unmanned aerial vehicle flight shooting quality optimization method, system, equipment and storage medium | |
| CN113610749B (en) | Fan blade defect detection method based on neural network | |
| CN108869197B (en) | Method and system for accurately measuring height of fan through unmanned aerial vehicle | |
| CN204481394U (en) | Unmanned aerial vehicle video monitoring system for power transmission line | |
| CN109031312A (en) | Flying platform positioning device and localization method suitable for chimney inside processing | |
| CN108869196B (en) | Method and system for detecting rear side blade root area of fan through unmanned aerial vehicle | |
| CN116501091B (en) | Fan inspection control method and device based on unmanned aerial vehicle automatic adjustment route | |
| WO2023272633A1 (en) | Unmanned aerial vehicle control method, unmanned aerial vehicle, flight system, and storage medium | |
| CN112947511A (en) | Method for inspecting fan blade by unmanned aerial vehicle | |
| CN111290417A (en) | Method and device for generating fan inspection route, computer equipment and storage medium | |
| CN115586789B (en) | Vision-based wind driven generator inspection unmanned aerial vehicle hovering point confirmation and inspection method | |
| CN115791796B (en) | Unmanned aerial vehicle-based wind driven generator inspection method and device | |
| CN115442532A (en) | Method, system, equipment and storage medium for inspecting fan without stopping | |
| CN112288818A (en) | Unmanned quick shooting modeling method below ten thousand square meters | |
| CN114415708A (en) | Road self-inspection method and device, unmanned aerial vehicle and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |