A UAV inspection method for unknown wind turbine structure
A technology of unmanned aerial vehicles and wind turbines, applied in photogrammetry/video metrology, instruments, surveying and mapping and navigation, etc., can solve problems such as high labor costs, large manpower, and large errors, and achieve high reliability and improved efficiency Effect
Active Publication Date: 2021-05-18
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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Problems solved by technology
In the existing method, the operator observes the state of the blade surface through the real-time image displayed on the ground station, and when suspicious points are found, the drone is remotely operated to collect images from various angles for further detailed inspection, which requires continuous manipulation and adjustment of the posture of the drone. Shooting requires a lot of manpower, and if the control is not good, the error will be large, and the manpower cost is also high.
In addition, when the structure of the fan is known, the method of using the structure information of the fan to optimize the algorithm to realize the autonomous inspection of the UAV can greatly reduce the labor cost and improve the efficiency, but it is not efficient for the unknown structure of the fan inspection method
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[0046] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following description.
[0047] like figure 1 As shown, a UAV inspection method for an unknown wind turbine structure includes the following steps:
[0048] S1. Take multi-angle photos of the fan as a whole from a long distance. The fan should be included in the photo and close to the center of the photo. Process the photo to obtain the coordinate information of key inspection points;
[0049] S2. Using the obtained coordinate information of the key inspection point to calculate the coordinate information of the inspection point that divides the blade into equal parts;
[0050]S3. Use the coordinate information of the inspection point to calculate the required coordinate information of the patrol point, and generate the flight track;
[0051] S4. The drone takes ...
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The invention discloses a UAV patrol inspection method for an unknown wind turbine structure, which includes the following steps: S1. Take multi-angle photos of the whole wind turbine at a long distance. Process and obtain the coordinate information of key inspection points; S2. Use the obtained coordinate information of key inspection points to calculate the coordinate information of the inspection points that divide the leaves into equal parts; S3. Use the coordinate information of the inspection points to calculate the required coordinates of the inspection points Information, generate track; S4. The UAV takes off and arrives at the cruise point, and uses the coordinate information of the inspection point to adjust the posture of the UAV to make it face the target point; S5. Before taking pictures at the cruise point, check the inspection point Perform a target recognition, adjust the attitude of the gimbal again, and place the inspection point as close to the center of the photo as possible. The invention can place the inspection point as close as possible to the center of the photo, and while improving the efficiency, the reliability of the autonomous inspection of the UAV is stronger.
Description
technical field [0001] The invention relates to the inspection of blades of a fan, in particular to an inspection method of an unmanned aerial vehicle whose structure information of the fan is unknown. Background technique [0002] Blades are an important component of wind turbines. Due to the harsh environment of wind turbines, blades are damaged by natural factors such as wind, sand, rain, snow, and lightning when they are operating in harsh environments, resulting in surface shedding, trachoma, lightning strikes, blades, etc. Defects such as edge wear require regular inspection and maintenance of the blades to prevent accidents caused by defects. The traditional blade inspection method is manual inspection using telescopes and rope rappelling, which has the disadvantages of high risk factor, low efficiency, and high cost. With the gradual development of the wind power market, large-scale wind turbines have appeared one after another, and the length of the blades has also...
Claims
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IPC IPC(8): G05D1/08G01C11/00G05D1/10
CPCG01C11/00G05D1/0808G05D1/101
Inventor 潘佳捷张红雨毛翔张志鹏吴冰航靳一丹
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA