Fan blade autonomous inspection method based on unmanned aerial vehicle

Abstract

The invention discloses a fan blade autonomous inspection method based on an unmanned aerial vehicle. The method comprises the following steps that S1, determining whether the geometric structure of ato-be-inspected fan is known, if yes, entering the step S2, if not, entering the step S3; S2, carrying out image shooting on a to-be-inspected fan, determining coordinate information of a plurality of inspection points on the fan in combination with the geometric structure of the to-be-inspected fan, and entering the step S4, the inspection points being target points shot during inspection; S3, carrying out image shooting on the to-be-inspected fan, acquiring coordinate information of a plurality of inspection points on the fan through image processing, and entering the step S4; and S4, according to the coordinate information of the inspection point, determining a cruise point coordinate and generating an autonomous cruise trajectory, the cruise point being a place where the unmanned aerial vehicle hovers and shoots, and the unmanned aerial vehicle completing inspection of the fan blade according to the autonomous cruise trajectory. According to the invention, the workload of autonomous inspection route generation can be effectively reduced, the accuracy of the route is improved, and the inspection efficiency of the fan is improved.

Description

technical field [0001] The present invention relates to fan blade inspection, in particular to an unmanned aerial vehicle-based method for autonomous inspection of fan blades. Background technique [0002] Among the clean energy sources that have been discovered, wind energy is the energy source with the most environmental protection, the most mature power generation technology, the most large-scale development and utilization, and the most promising commercial prospects among all clean energy and new energy utilization. The development of wind power is of great significance for adjusting the structure of traditional fossil energy, protecting green ecology, preventing energy depletion, and realizing the sustainable and comprehensive development of the national economy. Since the beginning of the 21st century, thanks to the rapid development of the Internet and the Internet of Things, countries have attached importance to the use of clean energy, and the cumulative total inst...

AI Technical Summary

Problems solved by technology

The traditional means of leaf inspection is manual inspection using telescopes and rope rappelling. Traditional leaf inspection has the following disadvantages: (1) high-altitude operation, high inspection cost, and high risk factor; (2) low inspection efficiency and high labor intensity; (3) ) The detection time is long, and the power generation loss is large when the machine is shut down

In addition to the traditional inspection method, the operator also observes the surface status of the blade through the real-time image displayed on the ground station. When suspicious points are found, the drone is remotely operated to collect images from various angles for further detailed inspection, which requires continuous manipulation. Adjusting the posture of the drone to facilitate shooting requires a lot of manpower, and the error will be large if the control is not good

This method of blade inspection solves the problems of inspection efficiency and personnel safety, but it also has certain limitations: blade inspection needs to be carried out by dedicated operation and maintenance personnel, and the operating threshold of drones is relatively high, so it is necessary to Cultivate a group of operation and maintenance personnel who not only have the knowledge of blade defects but also have the ability to operate drones, which virtually increases the labor cost

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