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Automatic flight method for wind turbine generator blade routing inspection blade area route

A wind turbine, automatic flight technology, applied in non-electric variable control, vehicle position/route/altitude control, computer parts and other directions, can solve the problem that the wind turbine cannot be inspected, the operator's remote control is difficult, and the inspection results are inaccurate. And other issues

Pending Publication Date: 2021-04-02
华能安阳能源有限责任公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It is difficult for the operator to control the remote control well, and the route planning in advance cannot effectively inspect the wind turbines in various environments, resulting in inaccurate inspection results

Method used

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  • Automatic flight method for wind turbine generator blade routing inspection blade area route
  • Automatic flight method for wind turbine generator blade routing inspection blade area route
  • Automatic flight method for wind turbine generator blade routing inspection blade area route

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0042] Such as figure 1 As shown, a method for automatic flight of a wind turbine blade inspection blade area route in the present invention includes the following steps:

[0043] The first step is to establish the UAV 4 space positioning coordinate system:

[0044] Such as figure 1 and figure 2 As shown, stop the wind turbine and put the blades in the figure 1 In the inverted Y position shown, the center of the hub of the wind turbine is artificially set as the origin of the coordinate system, and a three-dimensional coordinate system is established, in which the horizontal direction is the X axis and the Z axis, and the vertical direction of the horizontal plane is the Y axis. Coordinates are in cm.

[0045] The second step is to set the inspection path point:

[0046] Specifically, such as figure 1 As shown, set the hub center of the wind turbine as the origin of the coordinate system, and its coordinates are (0, 0, 0), and set the first blade 1, the second blade 2, ...

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Abstract

The invention discloses an automatic flight method for a wind turbine generator blade routing inspection blade area route. The method comprises the steps: step1, establishing an unmanned aerial vehicle space positioning coordinate system; step 2, setting inspection path points in a space positioning coordinate system according to the appearance parameters of the wind turbine generator; step 3, setting a flight inspection route of the unmanned aerial vehicle blade area for inspection; step 4, acquiring an infrared image of the wind turbine generator blade; step 5, dividing different temperatureregions of the infrared image, constructing a wind turbine generator contour, and setting the wind turbine generator contour as an infrared region of interest; step 6, acquiring a shot image in the inspection process to perform accurate region segmentation, and performing deep learning on the accurate region image by adopting a deep learning model to acquire confidence; step 7, performing fusioncalculation on the infrared region of interest obtained in the step 5 and the accurate region picture obtained in the step 6; step 8, regenerating an image; step 9, adjusting the position of the unmanned aerial vehicle in real time according to the image to complete automatic flight inspection.

Description

technical field [0001] The invention belongs to the technical field of automatic inspection by unmanned aerial vehicles, in particular to an automatic flight method for inspection of blade area routes of wind turbine blades. 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 are generally composed of a cabin (transmission mechanism and generator), blades, towers and other components. During the operation of wind turbines, the surface of the blades will show various damages, such as paint peeling, blade freezing, cracking, lightning strikes, etc. At present, the traditional wind turbine blade inspection usually uses manual climbing on the wind turbine and high-altitude operations for inspection, which not only consumes a lot of manpower, but also has great potential safety hazards. [0003] Therefore, the detection of wind turb...

Claims

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Application Information

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IPC IPC(8): G06T7/00G06T7/11G06T7/136G06T7/73G06K9/32G06K9/62G05D1/10
CPCG05D1/101G06T7/0004G06T7/11G06T7/136G06T7/73G06T2207/10048G06T2207/10016G06T2207/20081G06T2207/30164G06V10/25G06F18/25
Inventor 刘汉政冯晓东韩建锋马俊祥王磊王恩民任鑫童彤王华赵鹏程杨晓峰
Owner 华能安阳能源有限责任公司
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