CN114740895A - Unmanned aerial vehicle-based wind generating set blade inspection path planning method - Google Patents
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Abstract
The invention relates to a wind generating set blade inspection path planning method based on an unmanned aerial vehicle, which comprises the following steps: controlling an unmanned aerial vehicle to fly to the vicinity of a hub of a target wind generating set, directly facing the center of the hub, adjusting the distance between the unmanned aerial vehicle and the center of the hub through laser ranging carried on the unmanned aerial vehicle, hovering the unmanned aerial vehicle, acquiring position information of the unmanned aerial vehicle at the moment as initial position data, and acquiring a blade image of the target wind generating set by using image acquisition equipment carried on the unmanned aerial vehicle; identifying included angle data of each blade of the current target wind generating set and the vertical direction based on the blade image of the target wind generating set; calculating position data of each blade of the target wind generating set according to the initial position data of the unmanned aerial vehicle, the included angle data of each blade of the target wind generating set and the vertical direction and the parameter data of the blades; and planning the routing inspection path of the unmanned aerial vehicle based on the position data of each blade of the target wind generating set and the initial position data of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to a wind generating set blade inspection path planning method based on an unmanned aerial vehicle, and belongs to the technical field of wind generating set blade inspection.
Background
In view of the increasing reliance on renewable energy sources, more wind turbine generators are currently being installed and relied upon to generate electricity than in the past. Wind power plants are faced with conventional obstacles such as rocks, dust and corrosion of the blades due to rain, atmospheric pollution, lightning and the like. Due to its design, even a small amount of leading edge erosion on the blade can negatively impact the performance and power generation capability of the wind turbine generator system.
In order to ensure the safe and efficient operation of the wind generating set, the blades of the wind generating set need to be routinely inspected so as to ensure the normal operation of the blades, and the current wind generating set blade inspection usually needs one or more skilled staff for inspection. Such manpower inspection is difficult to comprehensive observation unmanned aerial vehicle blade's the whole condition, and the labour consuming and time consuming of manual inspection still can appear casualties moreover.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a wind generating set blade inspection path planning method based on an unmanned aerial vehicle.
The technical scheme of the invention is as follows:
on one hand, the invention provides a wind generating set blade inspection path planning method based on an unmanned aerial vehicle, which comprises the following steps:
controlling an unmanned aerial vehicle to fly to the vicinity of a hub of a target wind generating set, directly facing the center of the hub, adjusting the distance between the unmanned aerial vehicle and the center of the hub through laser ranging carried on the unmanned aerial vehicle, hovering the unmanned aerial vehicle, acquiring position information of the unmanned aerial vehicle at the moment as initial position data, and acquiring an image of the target wind generating set by using image acquisition equipment carried on the unmanned aerial vehicle;
identifying included angle data of each blade of the current target wind generating set and the vertical direction based on the image of the target wind generating set;
calculating position data of each blade of the target wind generating set according to the initial position data of the unmanned aerial vehicle, the included angle data of each blade of the target wind generating set and the vertical direction and the parameter data of the blades;
and planning the inspection path of the unmanned aerial vehicle based on the position data of each blade of the target wind generating set and the initial position data of the unmanned aerial vehicle, and enabling the unmanned aerial vehicle to fly in the inspection path.
As a preferred embodiment, the method for identifying the angle data of the included angle between each blade of the current target wind generating set and the vertical direction based on the blade image of the target wind generating set specifically includes:
carrying out gray level setting operation on the blade image of the target wind generating set to obtain a gray level image;
performing edge operation on the gray level image, and filtering the background of the image to obtain an object outline in the image;
performing rectangular shape acquisition operation to acquire all rectangular targets in the image;
performing morphological expansion operation on the acquired images of all the rectangular targets and the original target wind generating set, and performing non-operation on the image of the original target wind generating set based on the expanded rectangular targets to obtain an image to be identified;
carrying out contour detection on an image to be recognized, and preliminarily screening contours with size proportions meeting preset conditions;
searching the preliminarily screened contour with the line angle difference of 120 degrees in the contour as a blade contour set;
and acquiring the included angle between each blade profile in the blade profile set and the vertical direction.
As a preferred embodiment, in the step of obtaining the current position information of the unmanned aerial vehicle as the initial position data:
the position information of the unmanned aerial vehicle at the moment comprises current longitude and latitude data, current orientation data and current height data relative to the starting ground of the unmanned aerial vehicle.
As a preferred embodiment, the step of calculating the position data of each blade of the target wind generating set according to the initial position data of the unmanned aerial vehicle, the included angle data of each blade of the target wind generating set with the vertical direction, and the parameter data of the blade specifically comprises:
taking the current longitude and latitude data, the current orientation data and the current height data relative to the starting ground of the unmanned aerial vehicle as starting points;
calculating the offset distance between the blade tip of each blade and the initial point through a triangular sine function and a triangular cosine function according to the angle data of the included angle between each blade and the vertical direction and the length data of the blade;
and calculating the longitude and latitude data of the blade tip of each blade according to the offset distance between the blade tip of each blade and the initial point and through a longitude and latitude direction angle and distance calculation formula.
As a preferred embodiment, the planning of the inspection path of the unmanned aerial vehicle based on the position data of each blade of the target wind turbine generator system and the initial position data of the unmanned aerial vehicle makes the unmanned aerial vehicle fly in the inspection path specifically include:
and calculating a routing inspection path based on the current longitude and latitude data of the unmanned aerial vehicle, the current orientation data of the unmanned aerial vehicle, the current height data of the unmanned aerial vehicle relative to the starting ground, the distance data between the unmanned aerial vehicle and the hub center of the wind generating set and the longitude and latitude data of each blade tip.
In another aspect, the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and is characterized in that the processor, when executing the program, implements the method for planning the inspection path of the blades of the wind turbine generator based on the unmanned aerial vehicle according to any embodiment of the present invention.
In yet another aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, wherein the program is executed by a processor to implement the method for planning the inspection path of the blades of the wind generating set based on the unmanned aerial vehicle according to any of the embodiments of the present invention.
The invention has the following beneficial effects:
1. the invention relates to a wind generating set blade inspection path planning method based on an unmanned aerial vehicle, which is characterized in that the unmanned aerial vehicle is used for inspecting the blades of the wind generating set, the included angle data of each blade of the wind generating set and the vertical direction is identified in real time, and the path planning is carried out based on the included angle data, so that the fan blade can be stopped at any angle in the inspection process, and the inspection efficiency is high.
2. The invention discloses a wind generating set blade inspection path planning method based on an unmanned aerial vehicle, and provides a method for identifying the included angle between each blade of a wind generating set and the vertical direction, which can quickly identify the blade outline in an image and accurately calculate the included angle between each blade and the vertical direction based on the blade outline.
Drawings
FIG. 1 is a flow chart of a method of an embodiment of the present invention;
FIG. 2 is an exemplary graph illustrating angle data identifying the angle of each blade from vertical in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be understood that the step numbers used herein are only for convenience of description and are not used as limitations on the order in which the steps are performed.
It is to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
The terms "comprises" and "comprising" indicate the presence of the described features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
The term "and/or" refers to and includes any and all possible combinations of one or more of the associated listed items.
The first embodiment is as follows:
referring to fig. 1, a wind generating set blade inspection path planning method based on an unmanned aerial vehicle comprises the following steps:
controlling the unmanned aerial vehicle, acquiring the position information of the unmanned aerial vehicle at the moment as initial position data, and acquiring the image of the target wind generating set by using image acquisition equipment carried on the unmanned aerial vehicle
The method comprises the steps that an unmanned aerial vehicle is controlled by a worker to fly to the position near a hub of a target wind generating set in a remote control mode, the unmanned aerial vehicle is directly opposite to the center of the hub, the distance between the unmanned aerial vehicle and the center of the hub is adjusted through laser ranging carried on the unmanned aerial vehicle, whether a specified distance (such as 15 meters) is achieved or not is judged, the unmanned aerial vehicle is hovered when the specified distance is achieved, the RTK high-precision positioning module carried on the unmanned aerial vehicle is adopted to obtain position information of the unmanned aerial vehicle at the moment as initial position data, an image acquisition device carried on the unmanned aerial vehicle is used for obtaining a blade image of the current target wind generating set, and a pan-tilt-zoom camera is used as the image acquisition device in the embodiment;
identifying included angle data of each blade of the current target wind generating set and the vertical direction through the image of the target wind generating set, so that included angle data between each blade and a stand column of the wind generating set can be obtained;
calculating position data of each blade of the target wind generating set according to the initial position data of the unmanned aerial vehicle, the distance information between the unmanned aerial vehicle and the target wind generating set, the included angle data between each blade of the target wind generating set and the vertical direction and the parameter data of the blade;
and planning an inspection path of the unmanned aerial vehicle based on the position data of each blade of the target wind generating set and the initial position data of the unmanned aerial vehicle, and enabling the unmanned aerial vehicle to fly along the inspection path.
As a preferred embodiment of this embodiment, the step of identifying angle data of included angles between each blade of the current target wind generating set and the vertical direction based on the blade image of the target wind generating set is implemented based on an OpenCV model, and the method specifically includes:
carrying out gray level setting operation on the blade image of the target wind generating set to obtain a gray level image;
performing edge operation on the gray level image, and filtering the background of the gray level image to obtain an object contour in the gray level image;
referring to fig. 2, a plug-in of OpenCV is used to perform a rectangular shape obtaining operation, so as to obtain all rectangular objects in an image;
performing morphological expansion operation on all the acquired rectangular targets and blade images of the original target wind generating set, and performing bit non-operation on the blade images of the original target wind generating set based on the expanded rectangular targets to obtain an image to be identified;
carrying out contour detection on an image to be recognized by utilizing an OpenCV plug-in, and preliminarily screening contours with size proportions meeting preset conditions;
searching contours with the angle difference of 120 degrees in the contours obtained through preliminary screening as a blade contour set, wherein the contour central line refers to a central line parallel to the length direction of the rectangular contour;
based on the position data of the target frame of each blade profile in the blade profile set, the included angle between each blade profile and the vertical direction can be calculated.
As a preferred implementation of this embodiment, in the step of obtaining the current position information of the unmanned aerial vehicle as the initial position data:
the position information of the drone at this time includes current latitude and longitude data (e.g., 112.13,30.12) of the drone, current orientation data (e.g., 45 °) of the drone, and current height data (e.g., 90 m) with respect to the starting ground.
In a preferred embodiment, the step of measuring the information on the distance between the unmanned aerial vehicle and the hub center of the target wind turbine generator set by using the laser ranging device mounted on the unmanned aerial vehicle comprises:
emergent light of the laser distance measuring device is controlled to hit a hub of the wind generating set, and the relative distance between the unmanned aerial vehicle and the center of the hub is obtained.
As a preferred embodiment of this embodiment, the step of calculating the position data of each blade of the target wind turbine generator system according to the initial position data of the unmanned aerial vehicle, the angle data of each blade of the target wind turbine generator system with respect to the vertical direction, and the parameter data of the blade specifically includes:
taking current longitude and latitude data (112.13,30.12), current orientation data (45 degrees) of the unmanned aerial vehicle and current height data (90 meters) relative to a starting ground as starting points;
calculating the offset distances of the blade tips of the blades and the initial point from top to bottom (height) and from left to right (the current facing direction of the unmanned aerial vehicle) through a triangular sine function and a triangular cosine function according to the included angle data (such as 75 degrees of No. 1 blades, 195 degrees of No. 2 blades and 315 degrees of No. 3 blades) of the blades and the pre-input side length data of the blades; the method specifically comprises the following steps:
taking the length of the blade as the hypotenuse of the right triangle, taking the included angle between the blade and the vertical direction as an angle alpha, knowing the hypotenuse of the right triangle and an angle alpha, then:
opposite side (sin α hypotenuse)
Adjacent side is cos alpha hypotenuse
Knowing the right triangle right angle subtends and an angle α, then:
bevel edge opposite edge/sin alpha
Adjacent side is cos α (opposite side/sin α)
Knowing the right triangle, the adjacent right edge and an angle α, then:
hypotenuse being adjacent edge/cos alpha
Opposite side sin α (adjacent side/cos α)
According to a function formula, the horizontal and vertical movement distances of the blade tip corresponding to the initial position are calculated through the blade angle and the blade length, and in the embodiment:
tip offset distance No. 1: left shift 48.2963, height-12.941;
tip offset distance No. 2: left shift-12.941: height 48.2963;
tip offset distance No. 3: leftwards moving to-35.3553, height to-35.3553;
knowing the data of the initial point, calculating the longitude and latitude data of the blade tip of each blade according to the offset distance between the blade tip of each blade and the initial point and through a longitude and latitude direction angle and distance calculation formula:
the method specifically comprises the following steps: acquiring longitude and latitude data of the starting point position, offset distance data and direction angle data (an angle from the north to the target point) of each blade tip, and for any blade tip:
latitude: phi 2 ═ asin (sin phi 1 · cos delta + cos phi 1 · sin delta · cos theta);
longitude: λ 2 ═ λ 1+ atan2(sin θ · sin δ · cos Φ 1, cos δ -sin Φ 1 · sin Φ 2);
the latitude and longitude in the above formula all need to be converted into radian, wherein: λ 2 is the result longitude, λ 1 is the start longitude, φ 2 is the result latitude, φ 1 is the result latitude, θ is the azimuth, R is the earth radius, δ represents the angular distance, i.e., d/R, d is the distance (km);
in this embodiment, the longitude and latitude data of each blade tip is:
no. 1 blade tip longitude and latitude data: 112.12964533, 30.11969321;
no. 2 blade tip longitude and latitude data: 112.13009503, 30.12008220;
no. 3 blade tip longitude and latitude data: 112.13025963,30.12022457.
As a preferred embodiment of this embodiment, the planning of the inspection path of the unmanned aerial vehicle based on the position data of each blade of the target wind turbine generator system and the initial position data of the unmanned aerial vehicle makes the unmanned aerial vehicle fly along the inspection path specifically include:
determining data of a starting point based on current longitude and latitude data of the unmanned aerial vehicle, current orientation data of the unmanned aerial vehicle and current height data of the unmanned aerial vehicle relative to the starting ground, calculating longitude and latitude data of a hub of a wind generating set based on distance data of the unmanned aerial vehicle and the hub of the wind generating set, and calculating longitude and latitude data corresponding to the left side, the right side and the back side of each blade according to longitude and latitude direction angles and distances after the data of the starting point, the longitude and latitude data of the hub of the wind generating set and the longitude and latitude data of blade tips of each blade are known; generating routing inspection paths according to the calculated longitude and latitude data of each path point in a specified sequence;
in this embodiment, the routing inspection path specifically includes:
hub center front- > No. 1 tip left-side- > hub center back-side- > No. 1 tip right-side- > hub center right-side;
hub center front- > No. 2 apex left-side- > hub center back-side- > No. 2 apex right-side- > hub center right-side;
hub center front- > No. 3 apex left-side- > hub center back-side- > No. 3 apex right-side- > hub center right-side;
example two:
the invention also provides electronic equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, and is characterized in that the processor executes the program to realize the unmanned aerial vehicle-based wind generating set blade inspection path planning method in any embodiment of the invention.
Example three:
the invention also provides a computer-readable storage medium on which a computer program is stored, wherein the program is executed by a processor to implement the method for planning the routing of the blades of the unmanned aerial vehicle-based wind turbine generator system according to any of the embodiments of the invention.
In the embodiments of the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, and indicates that three relationships may exist, for example, a and/or B, and may indicate that a exists alone, a and B exist simultaneously, and B exists alone. Wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c may represent: a, b, c, a and b, a and c, b and c or a and b and c, wherein a, b and c can be single or multiple.
Those of ordinary skill in the art will appreciate that the various elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of electronic hardware and computer software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the several embodiments provided in the present application, any function, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. A wind generating set blade inspection path planning method based on an unmanned aerial vehicle is characterized by comprising the following steps:
controlling an unmanned aerial vehicle to fly to the vicinity of a hub of a target wind generating set, directly facing the center of the hub, adjusting the distance between the unmanned aerial vehicle and the center of the hub through laser ranging carried on the unmanned aerial vehicle, hovering the unmanned aerial vehicle, acquiring position information of the unmanned aerial vehicle at the moment as initial position data, and acquiring a blade image of the target wind generating set by using image acquisition equipment carried on the unmanned aerial vehicle;
identifying included angle data of each blade of the current target wind generating set and the vertical direction based on the blade image of the target wind generating set;
calculating position data of each blade of the target wind generating set according to the initial position data of the unmanned aerial vehicle, the included angle data of each blade of the target wind generating set and the vertical direction and the parameter data of the blades;
and planning a blade inspection path of the unmanned aerial vehicle based on the position data of each blade of the target wind generating set and the initial position data of the unmanned aerial vehicle.
2. The method for planning the routing inspection path of the blades of the wind generating set based on the unmanned aerial vehicle according to claim 1, wherein the method for recognizing the angle data of the included angle between each blade of the current target wind generating set and the vertical direction based on the blade image of the target wind generating set specifically comprises the following steps:
carrying out gray level setting operation on the blade image of the target wind generating set to obtain a gray level image;
performing edge operation on the gray level image, and filtering the background of the image to obtain an object outline in the image;
performing rectangular shape acquisition operation to acquire all rectangular targets in the image;
performing morphological expansion operation on all the acquired rectangular targets and blade images of the original target wind generating set, and performing non-operation on the images of the original target wind generating set based on the expanded rectangular targets to obtain an image to be identified;
carrying out contour detection on an image to be recognized, and preliminarily screening contours with size proportions meeting preset conditions;
searching the preliminarily screened contours with the line angle difference of 120 degrees in the contours as a blade contour set;
and obtaining the included angle between each blade profile in the blade profile set and the vertical direction.
3. The method for planning the routing inspection path of the blades of the wind generating set based on the unmanned aerial vehicle as claimed in claim 1, wherein the step of obtaining the current position information of the unmanned aerial vehicle as initial position data comprises the following steps:
the position information of the unmanned aerial vehicle at the moment comprises current longitude and latitude data, current orientation data and current height data relative to the starting ground of the unmanned aerial vehicle.
4. The method for planning the routing inspection path of the blades of the wind generating set based on the unmanned aerial vehicle according to the claim 3, wherein the step of calculating the position data of each blade of the target wind generating set according to the initial position data of the unmanned aerial vehicle, the included angle data of each blade of the target wind generating set with the vertical direction and the parameter data of the blade specifically comprises the following steps:
taking the current longitude and latitude data, the current orientation data and the current height data relative to the starting ground of the unmanned aerial vehicle as starting points;
calculating the offset distance between the blade tip of each blade and the initial point through a triangular sine function and a triangular cosine function according to the angle data of the included angle between each blade and the vertical direction and the length data of the blade;
and calculating the longitude and latitude data of the blade tip of each blade through a longitude and latitude direction angle and distance calculation formula according to the offset distance between the blade tip of each blade and the initial point.
5. The method for planning the routing inspection path of the blades of the wind generating set based on the unmanned aerial vehicle as claimed in claim 4, wherein the step of planning the routing inspection path of the unmanned aerial vehicle based on the position data of the blades of the target wind generating set and the initial position data of the unmanned aerial vehicle makes the unmanned aerial vehicle fly along the routing inspection path specifically comprises the following steps:
and calculating a routing inspection path based on the current longitude and latitude data of the unmanned aerial vehicle, the current orientation data of the unmanned aerial vehicle, the current height data of the unmanned aerial vehicle relative to the starting ground, the distance data between the unmanned aerial vehicle and the hub center of the wind generating set and the longitude and latitude data of each blade tip.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the method of routing a blade of a drone-based wind turbine generator as claimed in any one of claims 1 to 5.
7. A computer-readable storage medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method for planning a blade path of a drone-based wind turbine generator set according to any one of claims 1 to 5.
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| CN115908049A (en) * | 2022-11-18 | 2023-04-04 | 众芯汉创（北京）科技有限公司 | Fan blade hovering position dynamic identification system based on intelligent identification |
| CN116206094A (en) * | 2023-04-28 | 2023-06-02 | 尚特杰电力科技有限公司 | Fan blade angle measuring method, device and system and electronic equipment |
| CN116912548A (en) * | 2023-07-19 | 2023-10-20 | 北京图知天下科技有限责任公司 | Blade image processing method based on fan dynamic inspection |
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