Wind generating set blade following method and device based on unmanned aerial vehicle

Abstract

The invention provides a wind generating set blade following method and device based on an unmanned aerial vehicle. The method comprises the steps that an camera shooting image returned by the unmanned aerial vehicle in real time is received, and a target object is determined according to the camera shooting image; according to the target object, a first imaging point of a centroid point of the target object in a main camera of the unmanned aerial vehicle and a second imaging point of the centroid point of the target object in an auxiliary camera are determined; the coordinate value of the first imaging point in a main camera coordinate system and the coordinate value of the second imaging point in an auxiliary camera coordinate system are acquired, and the current coordinate value of thetarget object in the main camera coordinate system is determined; and when the target object exceeds the preset position range, the position of the unmanned aerial vehicle is adjusted so as to followblades. Therefore, under the condition that an impeller is not locked, fixed-point observation can be carried out on the unmanned aerial vehicle, and follow-up can be carried out along with the movement of the blades; and the target is always in the observable range, the unmanned aerial vehicle wind power blade inspection is carried out in the unmanned aerial vehicle target automatic tracking process, and the blade checking mode efficiency of the unmanned aerial vehicle is improved.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and device for following blades of a wind power generating set based on an unmanned aerial vehicle. Background technique [0002] In the wind power industry, it is necessary to check the damage status of wind power blades. [0003] In the existing technology, the wind turbine will be shut down first, then the impeller will be locked in the inverted Y state, and then an inverted Y route will be planned, and then the drone will fly autonomously and take a comprehensive photo inspection of the wind turbine blades. [0004] However, the drone inspection method in the prior art needs to wait for the impeller to be completely stationary and locked before it can be implemented. This is because when the impeller is not locked, it may be rotated to varying degrees due to the impact of the gust of wind, and the blade may collide with the drone that is troubleshoo...

AI Technical Summary

Problems solved by technology

[0005] The present invention provides a method and device for following a blade of a wind power generating set based on an unmanned aerial vehicle, so as to solve the problem that if the blade inspection method for locking the impeller in the prior art is implemented when it is clearly known that a certain blade is suspected to be damaged Time consuming and inefficient due to the need to wait for the impeller to come to a complete standstill and complete the locking procedure

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