CN212809000U - Unmanned aerial vehicle system is patrolled and examined to wind-force - Google Patents
Unmanned aerial vehicle system is patrolled and examined to wind-force Download PDFInfo
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- CN212809000U CN212809000U CN202021314204.XU CN202021314204U CN212809000U CN 212809000 U CN212809000 U CN 212809000U CN 202021314204 U CN202021314204 U CN 202021314204U CN 212809000 U CN212809000 U CN 212809000U
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Abstract
The utility model discloses an unmanned aerial vehicle system is patrolled and examined to wind-force, including unmanned aerial vehicle, degree of depth camera, ring flange and computer, the degree of depth camera passes through the ring flange to be fixed on unmanned aerial vehicle, unmanned aerial vehicle is gone up to carry and is carried airborne data processing unit, first digital radio and first picture radio, wherein: the airborne data processing unit sends a wind driven generator surface data acquisition control signal to the depth camera and sends a flight control signal to the unmanned aerial vehicle; the utility model has the advantages that: the autonomous planning of the routing inspection path is realized, the requirements in the routing inspection process are met, a foundation is laid for improving the accuracy of wind power routing inspection, and the unmanned aerial vehicle is combined with the wind power routing inspection, so that the automation of the wind power routing inspection is facilitated; the depth camera is installed on unmanned aerial vehicle through the ring flange, is convenient for realize the installation of depth camera, also is convenient for when the depth camera wearing and tearing, dismantle to overhaul and change.
Description
Technical Field
The utility model belongs to the technical field of wind-force is patrolled and examined, concretely relates to unmanned aerial vehicle system is patrolled and examined to wind-force.
Background
Along with the development of science and technology, the application of automation technology is popularized to each field, and automation technology is also needed to be introduced to the aspect of wind power inspection, so unmanned aerial vehicle technology is combined with the automation technology to realize the automation of wind power inspection.
In order to realize autonomous planning of a routing inspection path, meet requirements in a routing inspection process and improve accuracy of wind power routing inspection, a wind power routing inspection unmanned aerial vehicle system is provided.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an unmanned aerial vehicle system is patrolled and examined to wind-force realizes patrolling and examining the autonomic planning of route and satisfying the requirement of patrolling and examining the in-process simultaneously, improves the exactness that wind-force was patrolled and examined.
In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides an unmanned aerial vehicle system is patrolled and examined to wind-force, includes unmanned aerial vehicle, degree of depth camera, ring flange and computer, the degree of depth camera passes through the ring flange to be fixed on unmanned aerial vehicle, unmanned aerial vehicle is last to carry on carries airborne data processing unit, first data transmission radio station and first picture transmission radio station, wherein:
the airborne data processing unit sends a wind driven generator surface data acquisition control signal to the depth camera and sends a flight control signal to the unmanned aerial vehicle;
the wind power video data collected by the depth camera are sent to a first image transmission station through an airborne data processing unit, and the wind power video data are sent to a ground end computer system through the first image transmission station for monitoring and displaying;
the wind power inspection unmanned aerial vehicle system realizes interactive transmission of control instructions and flight state data of the unmanned aerial vehicle between the wind power inspection unmanned aerial vehicle system and the ground end computer system through the first data transmission radio station.
Preferably, the unmanned aerial vehicle further comprises a positioning module which is carried on the unmanned aerial vehicle and connected with the airborne data processing unit.
Preferably, the unmanned aerial vehicle further comprises an obstacle avoidance module which is carried on the unmanned aerial vehicle and connected with the airborne data processing unit.
Preferably, the obstacle avoidance module is any one or combination of multiple of a millimeter wave radar, an ultrasonic sensor, an infrared distance measurement sensor and a laser distance measurement sensor.
Preferably, the unmanned aerial vehicle further comprises an inertia measurement module which is carried on the unmanned aerial vehicle and connected with the airborne data processing unit.
Preferably, still including carrying on unmanned aerial vehicle to with the continuous degree of depth information acquisition module of airborne data processing unit.
Preferably, still including carrying on unmanned aerial vehicle to the flabellum width information acquisition module that links to each other with airborne data processing unit.
Preferably, the unmanned aerial vehicle further comprises a flight control module which is carried on the unmanned aerial vehicle and connected with the airborne data processing unit.
Compared with the prior art, the beneficial effects of the utility model are that:
(1) the autonomous planning of the routing inspection path is realized, the requirements in the routing inspection process are met, a foundation is laid for improving the accuracy of wind power routing inspection, and the unmanned aerial vehicle is combined with the wind power routing inspection, so that the automation of the wind power routing inspection is facilitated;
(2) the depth camera is installed on unmanned aerial vehicle through the ring flange, is convenient for realize the installation of depth camera, also is convenient for when the depth camera wearing and tearing, dismantle to overhaul and change.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is an algorithm diagram of the present invention;
in the figure: 1. an unmanned aerial vehicle; 2. a depth camera; 3. a flange plate; 4. and (4) a computer.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example 1
Referring to fig. 1 and fig. 2, the present invention provides a technical solution: the utility model provides an unmanned aerial vehicle system is patrolled and examined to wind-force, includes unmanned aerial vehicle 1, degree of depth camera 2, ring flange 3 and computer 4, and degree of depth camera 2 passes through ring flange 3 to be fixed on unmanned aerial vehicle 1, and unmanned aerial vehicle 1 is gone up to carry on carries airborne data processing unit, first data radio and first picture radio of passing, wherein:
the airborne data processing unit sends a wind driven generator surface data acquisition control signal to the depth camera 2 and sends a flight control signal to the unmanned aerial vehicle 1;
the wind power video data collected by the depth camera 2 are sent to a first image transmission station through an airborne data processing unit, and the wind power video data are sent to a ground end computer 4 system through the first image transmission station for monitoring and displaying;
the wind power inspection unmanned aerial vehicle system realizes interactive transmission of control instructions and flight state data of the unmanned aerial vehicle 1 between the wind power inspection unmanned aerial vehicle system and the ground end computer 4 system through the first data transmission radio station.
In this embodiment, it is preferred, still including carrying on unmanned aerial vehicle 1 to the orientation module who links to each other with airborne data processing unit, airborne data processing unit passes through orientation module and obtains unmanned aerial vehicle 1's locating information.
In this embodiment, it is preferred, still including carrying on unmanned aerial vehicle 1 to keep away the barrier module that links to each other with airborne data processing unit, airborne data processing unit obtains unmanned aerial vehicle 1 aerogenerator's distance information through keeping away the barrier module.
In this embodiment, it is preferred, still include to carry on unmanned aerial vehicle 1 to the inertial measurement module who links to each other with airborne data processing unit, airborne data processing unit obtains unmanned aerial vehicle 1's acceleration and angular velocity signal through inertial measurement module.
In this embodiment, preferred, still including carrying on unmanned aerial vehicle 1 to carry on degree of depth camera 2 with unmanned aerial vehicle 1 with the continuous degree of depth information acquisition module that carries on of airborne data processing unit, constantly acquire degree of depth information from the flight in-process.
In this embodiment, preferably, the system further includes a fan blade width information acquisition module, which is mounted on the unmanned aerial vehicle 1 and connected to the airborne data processing unit, and acquires fan blade width information at each moment by using a camera of the depth camera 2.
In this embodiment, preferably, the system further comprises a flight control module which is mounted on the unmanned aerial vehicle 1 and connected with the airborne data processing unit, wherein the routing inspection air route generated by the ground station is sent to the first data transmission radio station through the second data transmission radio station, received by the first data transmission radio station and then transmitted to the airborne data processing unit, and then written into the flight control module through the airborne data processing unit; the unmanned aerial vehicle 1 automatically patrols and examines according to the route of patrolling and examining of writing in the flight control module.
Example 2
Referring to fig. 1 and fig. 2, the present invention provides a technical solution: the utility model provides an unmanned aerial vehicle system is patrolled and examined to wind-force, includes unmanned aerial vehicle 1, degree of depth camera 2, ring flange 3 and computer 4, and degree of depth camera 2 passes through ring flange 3 to be fixed on unmanned aerial vehicle 1, and unmanned aerial vehicle 1 is gone up to carry on carries airborne data processing unit, first data radio and first picture radio of passing, wherein:
the airborne data processing unit sends a wind driven generator surface data acquisition control signal to the depth camera 2 and sends a flight control signal to the unmanned aerial vehicle 1;
the wind power video data collected by the depth camera 2 are sent to a first image transmission station through an airborne data processing unit, and the wind power video data are sent to a ground end computer 4 system through the first image transmission station for monitoring and displaying;
the wind power inspection unmanned aerial vehicle system realizes interactive transmission of control instructions and flight state data of the unmanned aerial vehicle 1 between the wind power inspection unmanned aerial vehicle system and the ground end computer 4 system through the first data transmission radio station.
In this embodiment, it is preferred, still including carrying on unmanned aerial vehicle 1 to the orientation module who links to each other with airborne data processing unit, airborne data processing unit passes through orientation module and obtains unmanned aerial vehicle 1's locating information.
In this embodiment, it is preferred, still including carrying on unmanned aerial vehicle 1 to keep away the barrier module that links to each other with airborne data processing unit, airborne data processing unit acquires unmanned aerial vehicle 1 aerogenerator's distance information through keeping away the barrier module, keeps away the barrier module and is any one or the combination of multiple in millimeter wave radar, ultrasonic sensor, infrared distance measuring sensor, the laser range sensor.
In this embodiment, it is preferred, still include to carry on unmanned aerial vehicle 1 to the inertial measurement module who links to each other with airborne data processing unit, airborne data processing unit obtains unmanned aerial vehicle 1's acceleration and angular velocity signal through inertial measurement module.
In this embodiment, preferred, still including carrying on unmanned aerial vehicle 1 to carry on degree of depth camera 2 with unmanned aerial vehicle 1 with the continuous degree of depth information acquisition module that carries on of airborne data processing unit, constantly acquire degree of depth information from the flight in-process.
In this embodiment, preferably, the system further includes a fan blade width information acquisition module, which is mounted on the unmanned aerial vehicle 1 and connected to the airborne data processing unit, and acquires fan blade width information at each moment by using a camera of the depth camera 2.
In this embodiment, preferably, the system further comprises a flight control module which is mounted on the unmanned aerial vehicle 1 and connected with the airborne data processing unit, wherein the routing inspection air route generated by the ground station is sent to the first data transmission radio station through the second data transmission radio station, received by the first data transmission radio station and then transmitted to the airborne data processing unit, and then written into the flight control module through the airborne data processing unit; the unmanned aerial vehicle 1 automatically patrols and examines according to the route of patrolling and examining of writing in the flight control module.
The utility model discloses a theory of operation and use flow: the method for automatically planning the routing inspection path comprises the following steps:
the method comprises the following steps: the device comprises a wind driven generator, an unmanned aerial vehicle 1 and a depth camera 2;
step two: when the inspection is started, the unmanned aerial vehicle 1 hovers at a certain distance right in front of the point A, and the position information of B, C, D in a coordinate system which takes the point A as an original point and takes the horizontal and vertical directions as axes is estimated according to the angle information of the static fan blades;
step three: on the basis of the second step, a corresponding position target value can be given in a flight control program, so that the unmanned aerial vehicle 1 flies to a target point, and in the flight process, the unmanned aerial vehicle 1 carries a depth lens, so that on one hand, depth information is obtained in the flight process, and the data is utilized to keep the distance between the unmanned aerial vehicle 1 and a fan blade plane fixed by utilizing an algorithm in flight control; on the other hand, the depth lens scans in real time to obtain the local shape of the fan blade, the offset of the current unmanned aerial vehicle 1 and the central line position of the fan blade is analyzed according to the algorithm, and the target value is continuously adjusted according to the offset in the flight control program, so that the requirement of routing inspection is met.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (1)
1. The utility model provides an unmanned aerial vehicle system is patrolled and examined to wind-force, includes unmanned aerial vehicle (1), depth camera (2), ring flange (3) and computer (4), its characterized in that: degree of depth camera (2) are fixed on unmanned aerial vehicle (1) through ring flange (3), unmanned aerial vehicle (1) is gone up and is carried on airborne data processing unit, first data radio and first picture radio of passing, wherein: the airborne data processing unit sends a wind driven generator surface data acquisition control signal to the depth camera (2) and sends a flight control signal to the unmanned aerial vehicle (1); the wind power video data collected by the depth camera (2) are sent to a first image transmission station through an airborne data processing unit, and the wind power video data are sent to a ground end computer (4) system through the first image transmission station for monitoring and displaying; the wind power inspection unmanned aerial vehicle system realizes interactive transmission of control instructions and flight state data of the unmanned aerial vehicle (1) with the ground end computer (4) system through the first data transmission radio station; the positioning module is carried on the unmanned aerial vehicle (1) and connected with the airborne data processing unit; the unmanned aerial vehicle further comprises an obstacle avoidance module which is carried on the unmanned aerial vehicle (1) and connected with the airborne data processing unit; the obstacle avoidance module is any one or combination of multiple of a millimeter wave radar, an ultrasonic sensor, an infrared distance measurement sensor and a laser distance measurement sensor; the system also comprises an inertia measurement module which is carried on the unmanned aerial vehicle (1) and is connected with the airborne data processing unit; the unmanned aerial vehicle further comprises a depth information acquisition module which is carried on the unmanned aerial vehicle (1) and connected with the airborne data processing unit; the system also comprises a fan blade width information acquisition module which is carried on the unmanned aerial vehicle (1) and connected with the airborne data processing unit; the unmanned aerial vehicle is characterized by further comprising a flight control module which is carried on the unmanned aerial vehicle (1) and connected with the airborne data processing unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021314204.XU CN212809000U (en) | 2020-07-07 | 2020-07-07 | Unmanned aerial vehicle system is patrolled and examined to wind-force |
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| CN202021314204.XU CN212809000U (en) | 2020-07-07 | 2020-07-07 | Unmanned aerial vehicle system is patrolled and examined to wind-force |
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| CN212809000U true CN212809000U (en) | 2021-03-26 |
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