CN114721405A - Wind field unmanned on duty system based on robot independently patrols and examines - Google Patents
Wind field unmanned on duty system based on robot independently patrols and examines Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention relates to the technical field of wind power generation measurement and control, and provides a wind field unattended system based on robot autonomous inspection, which comprises an unmanned transportation device, an automatic inspection robot, an edge calculation terminal and a master control center. The invention can solve the problem of difficult inspection of wind fields under the condition of inconvenient traffic, and the automatic inspection robot replaces the manual work to complete the routine inspection of the unit, the routine maintenance of simple components, the collection of the running state information of the unit, the sampling and the measurement of samples, thereby providing a corresponding strategy for realizing the unattended wind field and directly reducing the expenditure of operation and maintenance cost.
Description
Technical Field
The invention relates to the technical field of wind power generation measurement and control, in particular to a wind field unattended system based on autonomous inspection by a robot.
Background
In recent years, the wind power industry is developed rapidly, and the comprehensive cost of a wind power plant is brought into an important target of whole machine production control by combining the 3060 target and the current situation of wind power flat price surfing. With the analysis of the operation cost investment of an in-service wind farm and the expected investment of a wind farm under construction, the maintenance and guarantee measures of the wind turbine generator become the maximum consumption of the wind turbine generator after the wind turbine generator is produced in batches, particularly, some problems of offshore wind turbines exist at present, the cost is far higher than that of the maintenance of onshore wind turbine generators, therefore, in order to improve the later operation and maintenance efficiency and the operation and maintenance cost reduction of the wind turbine generator, the technological progress is taken as a guide, the comprehensive quality of wind farm operation and maintenance personnel is improved, the automation quality and level of an operation and maintenance inspection system are continuously improved, the wind turbine generator is enabled to reach the optimal operation state and the optimal grid-connected efficiency, and the method is an important measure for a complete machine manufacturer and an owner to achieve the flat-price on-line.
The wind power field distribution is characterized in that a fan is selected in an area rich in wind energy or on the sea, but the fan in the area rich in wind resources or on the sea can be maintained regularly, if the fan has the problem of autonomous protection action or device fault, operation and maintenance personnel need to be arranged to perform on-site defect elimination and fault treatment, the operation and maintenance inspection efficiency is low, the labor cost is increased continuously, along with the continuous development of artificial intelligence and automation technology, a fan automatic inspection robot needs to be explored to replace manual work to complete inspection and basic fault treatment, the automation level of wind power field operation and maintenance is improved, the industrial upgrading of the wind power industry is promoted, and the production efficiency is improved.
Disclosure of Invention
Aiming at the problems in the prior art, the wind field unattended system based on the autonomous inspection of the robot is provided, and automatic operation and maintenance and inspection work are realized.
The technical scheme adopted by the invention is as follows: the utility model provides a wind field unmanned on duty system based on robot is independently patrolled and examined, includes:
the unmanned transportation device is used for loading or unloading the automatic inspection robot, bearing the task of communicating with the automatic inspection robot and the master control center and transporting the automatic inspection robot to a specified position according to the instruction of the master control center;
the automatic inspection robot executes an inspection task and comprises a climbing walking auxiliary device, a detection and maintenance device and a data acquisition device, wherein the climbing walking auxiliary device is used for assisting the automatic inspection robot to move and climb in a fan; the detection maintenance device is used for dismounting and mounting of conventional lifting in the fan and detecting the electrical parameters of the electrified device; the data acquisition device is used for acquiring the temperature, noise and installation condition of each part in the fan;
the edge computing terminal is arranged in the fan, is communicated with the master control center, establishes a 5G communication gateway in the fan to form a wireless network, and automatically accesses the wireless network when the automatic inspection robot enters the fan; the edge computing terminal receives a control command issued by the master control center, issues an action command for the automatic inspection robot and executes inspection work; the automatic inspection robot uploads the acquired data to the edge computing terminal, and the data are sent to the master control center by the edge computing terminal;
and the master control center receives the data sent by the edge terminal and issues a control instruction to the edge computing terminal and the unmanned transportation device.
Furthermore, the unmanned transportation device is provided with an automatic cruise or route judgment sensor and a high-precision GPS positioning device, completes driving route planning according to a transportation instruction of the master control center, and uploads position information in real time in the driving process.
Furthermore, the unmanned transportation device is provided with a high-definition camera and a millimeter wave radar ranging device, and is used for capturing surrounding environment information and detecting obstacles to assist the unmanned transportation device in safely driving.
Furthermore, the unmanned transport device communicates with the automatic inspection robot through a radio station after the automatic inspection robot is put down, so that the automatic inspection robot is ensured to be separated from the transport device and communicate with the blower before entering the blower, the state monitoring of the automatic inspection robot is completed, and the state monitoring is reported.
Furthermore, the detection and maintenance device comprises two groups of mechanical arms, wherein one group of mechanical arms is provided with an electric tool and used for dismounting and mounting conventional devices in the fan, and the other group of mechanical arms is provided with a circuit instrument and meter and used for detecting voltage, current, resistance and capacitance parameters of the electrified part.
Further, the data acquisition device comprises a high-definition camera device, an infrared sensing device and a noise measurement device;
the high-definition camera device is used for shooting a video/picture of the inspection part or a video/picture of the fault part in real time;
the infrared sensing device monitors the temperature change of each component of the unit;
and the noise measuring device monitors the noise change of each component of the unit.
Further, the working process of the detection and maintenance device is as follows:
step 1, the automatic inspection robot transmits collected data back to a master control center;
step 2, if the fan part has a fault, the master control center issues a maintenance execution instruction to the automatic inspection robot, the step 3 is entered, and if the fan part has no fault, the automatic inspection robot executes the next inspection target;
and 3, maintaining or replacing the fault part by the first group of mechanical arms of the automatic inspection robot.
Furthermore, the climbing walking auxiliary device is a hinge sliding wheel and is matched with the mechanical arm to move in the fan engine room and the tower barrel.
Furthermore, after receiving the data collected by the automatic inspection robot, the edge computing terminal performs data cleaning and preprocessing and transmits the characteristic data back to the master control center.
Further, the master control center carries out comprehensive judgment on fan faults or routing inspection conditions according to the received characteristic data, and sends a next instruction plan by taking a judgment result as command information.
Compared with the prior art, the beneficial effects of adopting the technical scheme are as follows: the unmanned transport device transports the automatic inspection robot to the fan to replace a device operated manually, and the conventional inspection of the unit, the conventional maintenance of brief components, the collection of the running state information of the unit and the manual completion of the sample sampling and measurement work of some components are replaced by a series of dynamic control strategies, so that the faults of the unit are eliminated in time and the running stability of the components is evaluated, thereby providing a corresponding strategy for realizing an unmanned/unmanned wind field and directly reducing the expenditure of the operation and maintenance cost.
Drawings
Fig. 1 is a schematic diagram of a wind field unattended system composition based on autonomous inspection by a robot.
Fig. 2 is a functional schematic diagram of the unmanned transportation device of the present invention.
Fig. 3 is a functional schematic diagram of the automatic inspection robot of the present invention.
Fig. 4 is a schematic diagram of the robot arm maintenance function of the automatic inspection robot of the invention.
FIG. 5 is a functional diagram of an edge computing device according to the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar modules or modules having the same or similar functionality throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application. On the contrary, the embodiments of the application include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.
When the wind turbine generator set is in normal power generation operation, the fan is in self-protection shutdown due to the fault protection or the fault of an execution component of the wind turbine generator set, and particularly, some switch breakers of a control cabinet in the wind turbine generator set trip, so that the fan cannot perform self-reset, and operation and maintenance personnel are required to perform on-site fault troubleshooting and compound the breakers in situ. Meanwhile, the fan needs to be inspected at intervals in the service period of the unit, the unit is subjected to routine inspection, the working safety of the fan in a future period is guaranteed, and the operation and maintenance cost and the power generation loss are high and cannot be caused due to the two reasons.
Therefore, the embodiment provides a wind farm unattended system based on autonomous inspection by a robot, which can be applied to wind power plants including onshore wind power generation farms, offshore wind power generation farms, plateau onshore wind power generation farms and the like, and can carry the automatic inspection robot by an automatic unmanned transportation device to realize automatic operation, maintenance and inspection work; through the running state data and the meteorological data that combine whole unit, formulate reasonable patrol and examine, the maintenance plan, improve and patrol and examine efficiency, through the automatic action form of patrolling and examining the robot of thing networking decision, accomplish patrolling and examining, detect and the maintenance to the unit part, combine the remote expert diagnostic scheme of total accuse center, assign and the robot passback data to the work order of robot and carry out retrospective analysis, realize patrolling and examining and the automatic processing of maintenance to the fan to remote wind field or the inconvenient wind field of marine traffic.
Specifically, as shown in fig. 1, the wind farm unattended system comprises the following components:
the unmanned transportation device is used for loading or unloading the automatic inspection robot, bearing the task of communicating with the automatic inspection robot and the master control center and transporting the automatic inspection robot to a specified position according to the instruction of the master control center;
the automatic inspection robot executes an inspection task and comprises a climbing walking auxiliary device, a detection and maintenance device and a data acquisition device, wherein the climbing walking auxiliary device is used for assisting the automatic inspection robot to move and climb in a fan; the detection maintenance device is used for dismounting and mounting of conventional lifting in the fan and detecting the electrical parameters of the electrified device; the data acquisition device is used for acquiring the temperature, noise and installation condition of each part in the fan;
the edge computing terminal is arranged in the fan, a 5G communication gateway is established in the fan to form a wireless network, the edge computing terminal is communicated with the master control center, and the automatic inspection robot is automatically accessed into the wireless network when entering the fan; the edge computing terminal receives a control instruction sent by the master control center, sends an action instruction to the automatic inspection robot and executes inspection work; the automatic inspection robot uploads the acquired data to the edge computing terminal, and the data are sent to the master control center by the edge computing terminal;
and the master control center is used for receiving the data sent by the edge terminal and issuing a control instruction to the edge computing terminal and the unmanned transportation device.
In the embodiment, the automatic inspection robot transmits inspection data back through the edge computing terminal, the master control center comprehensively judges the fan fault or the inspection condition, and the judgment result is used as command information to issue a next command plan. Some simple polling tasks can be automatically completed by a polling robot through parameter optimization and effect iteration according to a neural network and a machine learning algorithm. It should be noted that the neural network and the machine learning algorithm mentioned in this embodiment are both existing algorithms, and the automatic inspection robot control algorithm is also an existing algorithm, which is not described herein again.
In this embodiment, unmanned conveyer can select one of unmanned transport vechicle, unmanned transport ship and unmanned aerial vehicle to realize the transportation of automatic robot of patrolling and examining according to the geographical position that wind-powered electricity generation field is located. For example, an unmanned transport vehicle with the model of AGV-L1014, an unmanned plane with the model of TP500, and an unmanned transport ship with the model of cowis C400 may be used, and these models are merely examples, and any device capable of realizing unmanned transport and communication functions may be used as the unmanned transport device in practical applications.
Specifically, as shown in fig. 2, the unmanned accelerated transportation device mainly transports the automatic inspection robot to a specified position, and an automatic cruise or route determination sensor is installed on the periphery of the unmanned accelerated transportation device, and a high-precision GPS positioning device is installed on the unmanned accelerated transportation device to directly complete route planning by receiving a transportation instruction from a master control center; and current position information is uploaded in real time in the driving process, so that the master control center can be ensured to position and track the unmanned device. In a preferred embodiment, the high precision GPS positioning device is model P2-DFFD.
In a preferred embodiment, in order to ensure the safe driving of the unmanned transportation device, a high-definition camera and a millimeter wave radar ranging device are further mounted around the unmanned transportation device, the two devices are matched to achieve avoidance of obstacles, capture of surrounding environment information, treatment of dangerous distances and the like in the driving process, and the automatic inspection robot is safely conveyed to a specified position through reasonable adjustment of route planning.
In another embodiment, the unmanned transport device is provided with a charging device for charging the automatic inspection robot, so that the electric quantity of the automatic inspection robot is sufficient in the inspection process.
It should be noted that, the unmanned transport device communicates with the automatic inspection robot through a radio station while completing a transport task, so that the automatic inspection robot is separated from the transport device and enters a communication guarantee before a fan, the state monitoring of the automatic inspection robot is completed, and the electric quantity tracking of the robot is considered. In this embodiment, the integrated unmanned algorithm software of unmanned conveyer combines the high accuracy detection equipment (being high definition digtal camera and millimeter wave radar range unit) of transport means installation, will patrol and examine robot, fan maintenance and change used lightweight spare part safety and reach appointed fan automatically to possess the function to patrolling and examining robot program loading, wherein, unmanned algorithm software can adopt current software, does not do here and describe repeatedly. And finally, after the unmanned transport device determines that the working state of the automatic inspection robot is good, the unmanned transport device waits for an inspection instruction to arrive in an in-situ standby mode, transmits the inspection instruction to the automatic inspection robot and executes an inspection task.
In this embodiment, as shown in fig. 3, the automatic inspection robot can move and climb in the fan through the auxiliary device and the equipment, and executes automatic inspection tasks, such as inspection of calibration scale lines of tower bolts, observation of oil level of pressure pumps specially allocated to the fan, centering measurement of bearings, inspection of main frame welding seams and the like.
The detection and maintenance device comprises two groups of mechanical arms, wherein one group of mechanical arms is provided with an electric tool, such as a screwdriver, an electric drill bit, an inclined jaw vice, a tiger jaw vice, a wrench and the like with various specifications and models, so that the disassembly and installation work of conventional devices can be realized, for example, when the tripping problem of the circuit breaker occurs, images can be transmitted back to a master control center through video investigation, an expert system of the master control center is combined with a fan fault to judge whether the tripping of the circuit breaker can be closed or not, and after a breaker closing instruction sent by the master control center is received, the mechanical arms can complete a closing action; moreover, when the switch of certain part of fan trouble, pass back the image through unmanned inspection robot, the input inlet wire of discovery circuit breaker is not hard up to drop, after confirming the problem reason, according to power supply circuit maintenance operation flow, breaks off the back level circuit, loosens circuit breaker clamp bolt, inserts the corresponding port of circuit breaker with the cable that becomes flexible from new, makes the return circuit resume normal. Similarly, the tool carried by the robot arm can complete the replacement of the circuit breaker, the replacement of the relay coil, the replacement of the temperature and humidity switch, the replacement of the sensor and the like, as shown in fig. 4; the other group of mechanical arms is provided with a circuit instrument, and a probe can measure the voltage, the current, the capacitance, the resistance, the on-off and the like of a charged component, such as the measurement of a conducting rail, the voltage of a terminal strip, the voltage of a circuit breaker, the voltage of a relay, the voltage and the current of a collected signal, the measurement of an analog quantity channel and the like, so that the problem of the electrical component is maintained, and related data is recorded.
In the actual inspection process, when the unit has the tripping action of the circuit breaker caused by automatic protection, after the expert confirms that the protection component has no fault or is only caused by protection parameters, the robot can carry out the on-site circuit breaker reset to ensure that an electric loop is recovered to be normal; when a certain protective relay coil of a control loop of the robot group is burnt or a contact is blocked, the robot can check and confirm through a circuit measuring instrument and a circuit measuring instrument of a mechanical arm, and if the relay fault is confirmed to be caused, the robot can be disassembled and assembled and the circuit can be restored through a device disassembling tool of another group of mechanical arm equipment, so that the disassembly and maintenance work of the device can be completed by replacing manpower. The insulation measurement can be carried out on the conductor rail of the unit, operation and maintenance personnel can be helped to confirm the fault occurrence point in advance, and reference suggestions are provided for guiding the accurate positioning and spare part preparation of the operation and maintenance personnel, so that the operation and maintenance efficiency of the unit is improved.
Further, the data acquisition device comprises a high-definition camera device, an infrared sensing device and a noise measurement device, wherein,
a high-definition camera device is mainly used for shooting a video/photo of an inspection part or a video/photo of a fault part in real time, in the actual inspection process, a master control center establishes a unit file, the shot data are stored, the maintenance condition of a unit is convenient to record, the master control center confirms whether the bolt connection of a tower barrel has loosening signs or not according to the collected video image data when automatic inspection and maintenance are carried out, whether cracking signs exist in the welding seam of a main frame is detected, whether a device electrical loop in a control cabinet is loosened or not, whether abnormal conditions exist in the on-off state of a relay breaker and the like in the cabinet or not and the like, a diagnosis expert in the master control center can also carry out online consultation analysis according to the returned image data, confirm the fault type of the component, give a judgment conclusion and issue an execution instruction to an automatic inspection robot for maintenance.
The infrared sensing device monitors the temperature change of each component of the unit; the temperature rise of the fan executing component under a certain specific condition is sensed through the infrared sensing device for judgment, if the temperature change of the fan outside a transformer after grid connection, the temperature rise change of a converter power module under different loads during execution, the local temperature rise change of a generator body during operation, the temperature rise change of the body during operation of a gear box, the operation deviation of a bearing and a connecting shaft device and the like are checked, a master control center establishes a sample library for collected temperature data, the later-stage inspection is carried out for benchmarking, the temperature change curve of the unit component is comprehensively judged, and whether the state of a unit sleeve is normal or not is evaluated.
The noise measuring device is used for monitoring the noise change of each component of the unit, the noise monitoring device is used for identifying the sound spectrum level of a detected object during operation, judging the sound spectrum rule of the detected component during normal operation by monitoring the sound spectrum during the operation of a generator, the sound spectrum of a gear box, the sound spectrum of a frequency converter, the sound spectrum of an engine room, the wind sweeping spectrum during the operation of blades, the sound spectrum with foreign matters falling off inside the blades and the like, and capturing abnormal sound spectrums.
In a preferred embodiment, the climbing walking assisting device is a hinge sliding wheel, is matched with the mechanical arm to move in the fan cabin and the tower barrel, and realizes routing inspection tasks through other carrying devices in the moving process.
In this embodiment, as shown in fig. 5, the edge computing terminal integrates a 5G module, and establishes a 5G gateway (or establishes an intranet wifi) inside the wind turbine in a wireless manner, so that the wireless network is fully covered inside the wind turbine, and the gateway is connected back to the central control center through the ETH ring network. The automatic inspection robot automatically establishes network connection after entering the interior of the fan, ensures that the interior of the fan is disconnected from the automatic inspection robot due to the shielding of a tower drum on signals, simultaneously establishes communication with a master control center in combination with a wind field ring network, and the master control center can monitor the online connection state and the working state of the automatic inspection robot at the fan end in real time, can also complete remote control and instruction issuing on the automatic inspection robot through the edge computing terminal, and can also perform online arrangement and downloading on an execution action program in the robot; that is to say, the edge computing terminal is mainly used as a bridge for computing and transmitting between the master control center and the inspection robot. If the automatic inspection robot fails to access the wireless network for the first time, the connection is repeatedly established, and the connection condition of the automatic inspection robot is reported to the master control center in real time. In a preferred embodiment, the edge computing terminal model employs DEP 02A.
Meanwhile, video data, infrared sensing data and noise data collected by the automatic inspection robot are transmitted to the edge computing terminal through the 5G gateway, the data are decomposed and cleaned by strong computing power provided by the edge computing terminal, the obtained characteristic data are transmitted back to the master control center, and the master control center guides the robot to perform the next step of action through an internal private network arrangement algorithm and tasks according to an analysis result.
The edge computing terminal can receive the command of the master control center and issue the command to the automatic inspection robot, and can also perform arrangement and calculation on the action algorithm executed by the automatic inspection robot in the next step through the master control center, so that the terminal can control the next step of the robot. Particularly, after the network connection is disconnected, the edge computing terminal issues an instruction for stopping maintenance and returning to the unmanned transport device to the automatic inspection robot.
And (3) cleaning and extracting characteristic data in an archive base established for each fan in the master control center according to a dictionary learning method, and comprehensively judging the health state of the unit components by combining mathematical analysis methods such as trend analysis, frequency spectrum analysis, image recognition analysis, envelope analysis, wavelet analysis and the like so as to realize accurate diagnosis and predictive operation and maintenance.
It should be noted that, unless explicitly stated or limited otherwise, the terms "disposed" and "connected" in the description of the embodiments of the present invention are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases by those skilled in the art; the drawings in the embodiments are used for clearly and completely describing the technical scheme in the embodiments of the invention, and obviously, the described embodiments are a part of the embodiments of the invention, but not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are exemplary and should not be construed as limiting the present application and that changes, modifications, substitutions and alterations in the above embodiments may be made by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. The utility model provides a wind field unmanned on duty system based on robot is independently patrolled and examined which characterized in that includes:
the unmanned transportation device is used for loading or unloading the automatic inspection robot, bearing the task of communicating with the automatic inspection robot and the master control center and transporting the automatic inspection robot to a specified position according to the instruction of the master control center;
the automatic inspection robot executes an inspection task and comprises a climbing walking auxiliary device, a detection and maintenance device and a data acquisition device, wherein the climbing walking auxiliary device is used for assisting the automatic inspection robot to move and climb in a fan; the detection maintenance device is used for dismounting and mounting of conventional lifting in the fan and detecting the electrical parameters of the electrified device; the data acquisition device is used for acquiring the temperature, noise and installation condition of each part in the fan;
the edge computing terminal is arranged in the fan, is communicated with the master control center, establishes a 5G communication gateway in the fan to form a wireless network, and automatically accesses the wireless network when the automatic inspection robot enters the fan; the edge computing terminal receives a control instruction sent by the master control center, sends an action instruction to the automatic inspection robot and executes inspection work; the automatic inspection robot uploads the acquired data to the edge computing terminal, and the data are sent to the master control center by the edge computing terminal;
and the master control center receives the data sent by the edge terminal and issues a control instruction to the edge computing terminal and the unmanned transportation device.
2. The wind farm unattended system based on the autonomous inspection by the robot according to claim 1, wherein the unmanned transportation device is provided with an automatic cruise or route judgment sensor and a high-precision GPS positioning device, completes driving route planning according to a transportation instruction of a master control center, and uploads position information in real time during driving.
3. The wind field unmanned on duty system of independently patrolling and examining based on robot of claim 1 or 2, characterized in that, unmanned conveyer is equipped with high definition digtal camera and millimeter wave radar range unit for surrounding environment information snatchs and the detection of barrier, supplementary unmanned conveyer safety traffic.
4. The wind field unmanned on duty system based on robot is independently patrolled and examined to claim 1 or 2, characterized in that, unmanned conveyer is in radio station communication with automatic patrolling and examining robot after putting down, guarantees that automatic patrolling and examining robot breaks away from conveyer and gets into communication before the fan, accomplishes the state control to automatic patrolling and examining robot, and reports.
5. The wind field unattended system based on automatic robot inspection according to claim 1, wherein the detection and maintenance device comprises two groups of mechanical arms, one group of mechanical arms is provided with an electric tool for dismounting and mounting conventional devices in the wind turbine, and the other group of mechanical arms is provided with a circuit instrument for detecting voltage, current, resistance and capacitance parameters of a charged component.
6. The wind field unattended system based on autonomous patrol of the robot according to claim 1, wherein the data acquisition device comprises a high-definition camera device, an infrared sensing device and a noise measurement device;
the high-definition camera device is used for shooting a video/picture of the inspection part or a video/picture of the fault part in real time;
the infrared sensing device monitors the temperature change of each component of the unit;
and the noise measuring device monitors the noise change of each component of the unit.
7. The wind farm unattended system based on autonomous inspection by robot according to claim 5 or 6, wherein the maintenance process of the detection and maintenance device is as follows:
step 1, the automatic inspection robot transmits collected data back to a master control center;
step 2, if the fan part has a fault, the master control center issues a maintenance execution instruction to the automatic inspection robot, the step 3 is entered, and if the fan part has no fault, the automatic inspection robot executes the next inspection target;
and 3, the automatic inspection robot maintains or replaces the fault part through the first group of mechanical arms.
8. The wind farm unattended system based on autonomous inspection by robot according to claim 7, wherein the climbing walking assisting device is a hinge sliding wheel which is matched with a mechanical arm to move in a fan cabin and a tower barrel.
9. The wind farm unattended system based on autonomous inspection by the robot according to claim 1, wherein the edge computing terminal performs data cleaning and preprocessing after receiving the data collected by the automatic inspection robot, and transmits the characteristic data back to the master control center.
10. The wind farm unattended system based on autonomous inspection by the robot according to claim 9, wherein the master control center performs comprehensive judgment on fan faults or inspection conditions according to the received characteristic data, and issues a next instruction plan by using a judgment result as command information.
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