Flight path determining method for performing automatic inspection on fan through unmanned aerial vehicle and system thereof

Abstract

The invention provides a flight path determining method for performing automatic inspection on a fan through an unmanned aerial vehicle and a system thereof. The fan at least comprises a tower, a power generator, a wheel hub and an impeller. The impeller comprises a plurality of blades. The method comprises the steps of establishing a world coordinate system through using a ground center of the tower of the fan as an original O, wherein a Y axis is in a vertical direction, a Y axis is in a vertical upward direction, a Z axis is in a right north direction, and an X axis is a right east direction; performing translation transformation and rotation transformation according to the world coordinate system for generating a power generator coordinate system which corresponds with the power generator, performing translation transformation and rotation transformation according to the power generator coordinate system for generating a wheel hub coordinate system which corresponds with the wheelhub, and performing rotation transformation according to the wheel hub coordinate system for generating a blade coordinate system which corresponds with each blade; and setting a plurality of path points at the front side and / or back side of each blade through the blade coordinate system which corresponds with each blade, wherein each path point comprises a geographical position and camera attitude information, and forming a flight path according to the path points. The method and the system can conveniently realize path point planning and furthermore improve calculation efficiency.

Description

technical field [0001] The invention relates to wind turbine detection, in particular to a method and system for determining a flight path for automatic inspection of wind turbines by an unmanned aerial vehicle. Background technique [0002] A wind turbine is a power device that converts wind energy into mechanical work, which drives the rotor to rotate, and finally outputs alternating current. Wind turbines generally consist of components such as blades, generators, steering devices, towers, speed limiting safety mechanisms, and energy storage devices. [0003] During the long-term operation of the wind turbine, the surface of the blade will show various damages, such as damage to the protective film of the blade, peeling of the paint on the blade, freezing of the blade, cracks on the blade, and oil pollution on the blade. [0004] At present, when detecting damage on the surface of the blade, it is usually used to manually climb up the wind turbine for detection, which no...

AI Technical Summary

Problems solved by technology

[0004] At present, when detecting damage on the surface of the blade, it is usually used to manually climb up the wind turbine for detection, which not only consumes a lot of manpower, but also requires high-altitude operations when manually climbing up the wind turbine for detection, and the safety of the operators has a certain risks of

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