Path planning method for realizing fan inspection shooting based on unmanned rotorcraft

Abstract

The invention discloses a path planning method for realizing fan inspection shooting based on a rotor unmanned aerial vehicle. The method comprises the following steps: step 1, planning a fan wheel azimuth angle and rotation angle image acquisition path; step 2, planning an image acquisition path of the included angle between the fan blade and the tower drum; 3, planning an image acquisition path of the front edge of the fan blade; 4, planning a front / back image acquisition path of the fan blade; according to the fan inspection shooting method provided by the invention, the path for shooting the fan blade is automatically generated and converted into the KML file or the protocol file, and then the KML file or the protocol file is uploaded to the unmanned rotorcraft carrying the pan-tilt camera, so that intelligent inspection of the fan is realized, and the working efficiency is several times that of manual flight shooting; and the fan can stop at any angle for shooting, the path planning algorithm can automatically generate a path meeting the optimal shooting angle of the fan blade, the path is coupled with the azimuth angle of the fan, and the shot picture is clearer.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a path planning method based on a rotor unmanned aerial vehicle to realize the inspection and shooting of wind turbines. Background technique [0002] With the development of science and technology, and the country's continuous investment in new energy in recent years, wind power generation has made great progress, and new requirements have been put forward for the intelligent inspection of wind turbines. The existing inspection method is that operators use The fan blades are inspected by means of telescopes or climbing. With the development of robot technology, there is a method of using rotor drones to inspect the wind turbines. The detection efficiency is low, and it is impossible to quickly determine the best shooting angle, which affects the quality of the photos taken. Contents of the invention [0003] The purpose of the present invention is to provide ...

AI Technical Summary

Problems solved by technology

[0002] With the development of science and technology, and the country's continuous investment in new energy in recent years, wind power generation has made great progress, and new requirements have been put forward for the intelligent inspection of wind turbines. The existing inspection method is that operators use The fan blades are inspected by means of telescopes or climbing. With the development of robot technology, there is a method of using rotor drones to inspect the wind turbines. The detection efficiency is low, and the best shooting angle cannot be quickly determined, which affects the quality of the photos taken

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