Camera-shooting-guided deicing unmanned aerial vehicle for wind power blades

Abstract

The invention provides a camera-shooting-guided deicing unmanned aerial vehicle for a wind power blade, and relates to the technical field of wind power plant maintenance equipment, the camera-shooting-guided deicing unmanned aerial vehicle comprises a main body, the whole main body is of a square structure, and a plurality of aircrafts are arranged at the top of the main body; the central control chip is arranged in the main body and is used for controlling each part of the main body; and the identification assembly is arranged on one side of the main body and is used for carrying out searchlighting identification on the surface of the wind power blade. According to the device, through a multi-sensor fusion technology and an identification program of a central control chip, the position, the thickness and the coverage area of an ice layer can be accurately judged, and the accuracy and the efficiency of deicing operation are improved. And meanwhile, the beating assembly and the hot melting assembly are combined, two deicing modes of mechanical beating and thermal assistance are provided, different types of ice layers are effectively treated, and the deicing efficiency is remarkably improved.

Description

Technical Field

[0001] The invention relates to the technical field of wind farm maintenance equipment, in particular to a camera-guided deicing drone for wind turbine blades. Background Art

[0002] With the widespread application of wind power generation around the world, the maintenance of wind turbine blades has become one of the key factors to ensure the long-term and stable operation of wind turbines. Especially in cold areas or in winter, wind turbine blades are prone to ice, which will not only reduce the efficiency of wind turbines, but may also damage the blade structure and even cause safety accidents. Therefore, it is particularly important to remove ice from the blades in a timely and effective manner. Traditional deicing methods include manual climbing and removal, spraying with chemical solvents, and installing heating systems, but these methods have problems such as complex operation, high cost, and great environmental impact. In recent years, the development of drone technology has provided a new solution for the deicing of wind turbine blades.

[0003] Although the existing UAV deicing technology has improved the deicing efficiency to a certain extent, there are still some shortcomings. First, many existing solutions lack an efficient recognition system, making it difficult to accurately judge the thickness and distribution of ice on the blade surface, resulting in unsatisfactory deicing results. Second, some deicing methods rely too much on a single method, such as using only mechanical knocking or hot air heating, which cannot effectively deal with different types of ice layers. Summary of the invention

[0004] The present invention aims to solve the shortcomings existing in the background technology and provide a camera-guided de-icing drone for wind turbine blades, which can provide precise identification assistance so that the drone can be guided more accurately and can also provide a combined de-icing means to effectively improve the de-icing efficiency.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a camera-guided de-icing drone for wind turbine blades, comprising: a main body, which is a square structure as a whole, and a plurality of aircraft are arranged on the top of the main body; a central control chip, which is arranged inside the main body and is used to control various parts of the main body; an identification component, which is arranged on one side of the main body and is used to searchlight and identify the surface of the wind turbine blade; a knocking component, which is arranged below the identification component and is used to chisel and de-ice the surface of the wind turbine blade; and a hot melt component, which is arranged below the knocking component and is used to assist in heating the knocking component and facilitate the knocking.

[0006] Furthermore, the identification component includes: an identification block arranged on one side of the main body, and a plurality of cameras are arranged on one side of the identification block; an infrared transmitter arranged on one side of the identification block, and an infrared receiver is arranged under the infrared transmitter, and multiple infrared transmitters correspond to multiple infrared receivers; searchlights are arranged on both sides of the identification block; and an identification program is arranged inside the central control chip, and the camera, infrared transmitter and infrared receiver on one side of the identification block are connected to the central control chip through a data line, and the central control chip processes and analyzes the signals of the camera and the infrared receiver through the identification program.

[0007] Furthermore, the striking assembly includes: an anti-seismic chamber opened on one side of the main body, a driving block is provided on one side of the anti-seismic chamber; a de-icing platform slidably connected to the inside of the driving block, a driving groove is opened on one side of the de-icing platform, a driving motor is provided on one side of the driving block, one side of the driving motor is driven and connected to the driving rod through a driving shaft, and the driving rod is threadedly engaged with the driving groove; a de-icing shovel is provided on one side of the de-icing platform, traction grooves are opened on both sides of the de-icing shovel, traction motors are provided on both sides of the de-icing shovel inside the de-icing platform, one side of the traction motor is connected to a circular traction plate through a driving shaft, one side of the traction plate is provided with a traction rod, and the traction rod is slidably connected to the traction groove.

[0008] Furthermore, the hot melt assembly includes: a hot melt bin arranged on one side of the main body, a hot melt pipe connected to one side of the top of the hot melt bin, and a blower is provided inside the hot melt pipe; a lap joint platform arranged at the bottom of the end of the de-icing table, and the end of the hot melt pipe is arranged above the lap joint platform; and multiple electric heating pipes are arranged inside the hot melt bin, and the multiple electric heating pipes are evenly distributed.

[0009] Furthermore, the recognition program at least includes a temperature measurement module for determining the temperature of data received by an infrared receiver, a grayscale module for performing grayscale processing on the camera image, and a module for identifying the light path in the image after grayscale processing, and determining the thickness of the ice layer on the surface of the fan blade and the size of the ice covering the surface based on the refraction and scattering of light.

[0010] Furthermore, a plurality of anti-vibration springs are provided on the inner wall of the anti-vibration chamber, and the anti-vibration springs are connected to the driving block.

[0011] Furthermore, a return pipe is provided on one side of the hot melt chamber, a receiving plate is provided on one side of the bottom of the lap joint, and the receiving plate is located below the de-icing shovel, and the end of the return pipe is connected to the top of the receiving plate.

[0012] Furthermore, the end of the hot melt tube is arranged in an inclined structure, and the top of the hot melt tube is arranged toward the bottom of the deicing shovel.

[0013] Furthermore, a battery compartment is provided on one side of the main body, and a detachable battery is provided inside the battery compartment, and the battery is electrically connected to the aircraft, central control chip, camera, infrared transmitter, infrared receiver, searchlight, drive motor, traction motor, blower and electric heating tube respectively.

[0014] The present invention provides a camera-guided deicing drone for wind turbine blades, which has the following beneficial effects:

[0015] The advantage of the present invention is that, by adopting multi-sensor fusion technology such as cameras, infrared transmitters and infrared receivers, combined with the recognition program of the central control chip, it can accurately determine the position, thickness and coverage area of ​​the ice layer, thereby improving the accuracy and efficiency of the de-icing operation; at the same time, combined with the knocking component and the hot melt component, two de-icing methods of mechanical knocking and thermal assistance are provided, which can effectively deal with different types of ice layers and significantly improve the de-icing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 It is a cross-sectional view of the overall structure of the present invention.

[0018] Figure 3 It is a schematic diagram of the internal structure of the earthquake-resistant warehouse of the present invention.

[0019] Figure 4 It is a schematic diagram of the structure of the de-icing shovel of the present invention.

[0020] Figure 5 It is a schematic diagram of the receiving plate structure of the present invention.

[0021] Figure 6 It is a schematic diagram of the working structure of the present invention.

[0022] Figure 7 It is a working schematic diagram of the central control chip of the present invention.

[0023] Figure 1-7In: 1-main body; 101-aircraft; 102-battery compartment; 103-battery; 104-central control chip; 104a-recognition program; 2-recognition block; 201-camera; 202-infrared transmitter; 203-infrared receiver; 204-searchlight; 3-anti-seismic compartment; 301-anti-seismic spring; 4-driving block; 401-driving motor; 402-driving rod; 403-de-icing platform; 404-driving slot; 405-traction motor; 406-traction plate; 407-traction rod; 408-de-icing shovel; 409-traction slot; 5-hot melt compartment; 501-lapping platform; 502-hot melt pipe; 503-blower; 504-electric heating pipe; 505-receiving plate; 506-return pipe. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0025] The disclosure below provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the various specific processes and material examples provided by the present application, but those of ordinary skill in the art can appreciate the application of other processes and / or the use of other materials.

[0026] The embodiment of the present application provides a camera-guided deicing drone for wind turbine blades. The camera-guided deicing drone for wind turbine blades can achieve multi-sensor fusion technology such as cameras, infrared transmitters and infrared receivers, combined with the recognition program of the central control chip, and can accurately determine the position, thickness and coverage area of ​​the ice layer, thereby improving the accuracy and efficiency of deicing operations; at the same time, combined with the knocking component and the hot melt component, two deicing methods, mechanical knocking and thermal assistance, are provided, which effectively handle different types of ice layers and significantly improve deicing efficiency. The following is a detailed description of the camera-guided deicing drone for wind turbine blades. It should be noted that the description order of the following embodiments does not limit the preferred order of the embodiments.

[0027] The present application is described in detail below in conjunction with the accompanying drawings and specific implementation methods. Figure 1-7The camera-guided deicing drone for wind turbine blades provided in this embodiment mainly includes a camera-guided deicing drone for wind turbine blades, including: a main body 1, the main body 1 is a square structure as a whole, and a plurality of aircraft 101 are arranged on the top of the main body 1; a central control chip 104, the central control chip 104 is arranged inside the main body 1, and is used to control various parts of the main body 1; an identification component, the identification component is arranged on one side of the main body 1, and is used to searchlight and identify the surface of the wind turbine blade; a knocking component, the knocking component is arranged below the identification component, and is used to chisel and de-ice the surface of the wind turbine blade; and a hot melt component, the hot melt component is arranged below the knocking component, and is used to assist in heating the knocking component and facilitate chiseling;

[0028] During use, the main body 1 adopts a square structure design, with multiple aircraft 101 installed on the top. These aircraft are usually rotors or propellers, which are controlled by the central control chip 104 to realize the take-off, hovering, movement and landing of the drone. This layout enables the drone to be stably positioned in the air and can flexibly approach different parts of the wind turbine blades. The square structure provides good load distribution, helps to keep the equipment balanced, and ensures safe and efficient operation.

[0029] The identification component includes: an identification block 2 disposed on one side of the main body 1, and a plurality of cameras 201 are disposed on one side of the identification block 2; an infrared transmitter 202 disposed on one side of the identification block 2, and an infrared receiver 203 is disposed below the infrared transmitter 202, and the plurality of infrared transmitters 202 correspond to the plurality of infrared receivers 203; searchlights 204 disposed on both sides of the identification block 2; an identification program 104a disposed inside the central control chip 104, and the camera 201, the infrared transmitter 202 and the infrared receiver 203 on one side of the identification block 2 are connected to the central control chip 104 through a data line, and the central control chip 104 processes and analyzes the signals of the camera 201 and the infrared receiver 203 through the identification program 104a;

[0030] During use, the camera 201 on the recognition block 2 captures images of the surface of the wind turbine blade, the infrared transmitter 202 and the infrared receiver 203 are used together to detect temperature changes, and the searchlight 204 provides sufficient lighting. All information is transmitted to the central control chip 104 and processed by the recognition program 104a, so that the position, thickness and coverage of the ice layer on the blade can be accurately determined through multi-sensor fusion, thereby guiding subsequent de-icing actions to ensure accurate strikes.

[0031] Among them, the recognition program 104a at least includes a temperature measurement module for judging the temperature of the data received by the infrared receiver 203, a grayscale module for grayscale processing of the camera 201, and a light path in the image after grayscale processing, and judges the thickness of the ice layer on the surface of the fan blade and the size of the ice surface based on the refraction and scattering of light. Using this method, the drone can be guided to quickly identify whether there is ice remaining on the fan blade. Through intelligent data processing, the drone can make the best decision according to the actual situation, thereby improving the accuracy and efficiency of the operation.

[0032] The striking assembly includes: an anti-vibration chamber 3 opened on one side of the main body 1, a driving block 4 is provided on one side of the anti-vibration chamber 3; a de-icing platform 403 slidably connected to the inside of the driving block 4, a driving groove 404 is opened on one side of the de-icing platform 403, a driving motor 401 is provided on one side of the driving block 4, one side of the driving motor 401 is driven and connected to a driving rod 402 through a driving shaft, and the driving rod 402 is threadedly engaged with the driving groove 404; a de-icing shovel 408 is provided on one side of the de-icing platform 403, traction grooves 409 are opened on both sides of the de-icing shovel 408, traction motors 405 are provided on both sides of the de-icing platform 403, a circular traction plate 406 is connected to one side of the traction motor 405 through a driving shaft, a traction rod 407 is provided on one side of the traction plate 406, and the traction rod 407 is slidably connected to the traction groove 409;

[0033] During use, the driving motor 401 drives the driving rod 402 to rotate via the driving shaft. Since the driving rod 402 is threadedly engaged with the driving groove 404 on the de-icing platform 403, the de-icing platform 403 will move, thereby adjusting the protruding length of the de-icing shovel 408, thereby adjusting the de-icing distance of the de-icing shovel 408. At the same time, the traction motor 405 drives the traction plate 406 to rotate via the driving shaft. At this time, the traction rod 407 performs a circular motion and drives the de-icing shovel 408 to perform a horizontal reciprocating motion from the driving groove 404, so that it hits the ice layer, thereby completing mechanical de-icing.

[0034] Among them, a plurality of anti-seismic springs 301 are arranged on the inner wall of the anti-seismic bin 3, and the anti-seismic springs 301 are connected to the driving block 4. During the continuous cutting and collision, the contact between the de-icing shovel 408 and the ice layer will cause the main body 1, the de-icing platform 403 and the driving block 4 to vibrate. During the vibration process, the anti-seismic spring 301 can absorb the impulse generated by the vibration, and convert the impulse into elastic potential energy to compress and rebound. In this process, the energy consumption generated by compression and rebound is used to reduce the impact force, so that the main body 1 is more stable during the de-icing process.

[0035] The hot melt assembly includes: a hot melt chamber 5 disposed on one side of the main body 1, a hot melt pipe 502 is connected to one side of the top of the hot melt chamber 5, and a blower 503 is arranged inside the hot melt pipe 502; a lap joint 501 is arranged at the bottom of the end of the deicing table 403, and the end of the hot melt pipe 502 is arranged above the lap joint 501; a plurality of electric heating pipes 504 are arranged inside the hot melt chamber 5, and the plurality of electric heating pipes 504 are evenly distributed;

[0036] During use, the electric heating tube 504 heats the air, and the blower 503 blows the hot air toward the ice layer through the hot melt tube 502. The hot air directly acts on the ice surface to accelerate its melting. The thermal auxiliary method can quickly soften the ice layer and improve the de-icing efficiency by combining with physical knocking. This method can improve the de-icing efficiency.

[0037] Among them, a return pipe 506 is provided on one side of the hot melt bin 5, and a receiving plate 505 is provided on one side of the bottom of the overlapping platform 501, and the receiving plate 505 is located below the de-icing shovel 408, and the end of the return pipe 506 is connected to the top of the receiving plate 505. During use, the receiving plate 505 can receive the melted ice layer and turn it into water, and the water flow is guided through the return pipe 506 into the hot melt bin 5. At this time, the water inside the hot melt bin 5 will continue to evaporate. Through evaporation, the evaporated steam will pass through the hot melt pipe 502 under the blowing of the blower 503, and the steam that absorbs more heat will be sprayed onto the surface of the ice surface. Compared with the case of direct blowing of hot air, this effect has a higher melting efficiency. In the actual de-icing process, using water with a higher specific heat capacity as a heat carrier can carry more heat, thereby directly improving the de-icing efficiency.

[0038] Among them, the end of the hot melt tube 502 is arranged in an inclined structure, and the top of the hot melt tube 502 is arranged toward the bottom of the de-icing shovel 408. By utilizing the inclined hot melt tube 502, steam can be directly sprayed under the de-icing shovel 408. By utilizing this process, the contact position can be heated and melted more directly, thereby improving the melting efficiency.

[0039] Among them, a battery compartment 102 is opened on one side of the main body 1, and a detachable battery 103 is arranged inside the battery compartment 102, and the battery 103 is electrically connected to the aircraft 101, the central control chip 104, the camera 201, the infrared transmitter 202, the infrared receiver 203, the searchlight 204, the drive motor 401, the traction motor 405, the blower 503 and the electric heating tube 504 respectively.

[0040] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0041] The above is a detailed introduction to a camera-guided de-icing drone for wind turbine blades provided in an embodiment of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the technical solutions and core ideas of the present application. Ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some of the technical features therein with equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A camera-guided deicing drone for wind turbine blades, characterized in that: include: A main body (1), the main body (1) being arranged in a square structure as a whole, and a plurality of flying devices (101) being arranged on the top of the main body (1); A central control chip (104), the central control chip (104) being arranged inside the main body (1) and used for controlling various parts of the main body (1); An identification component, which is arranged on one side of the main body (1) and is used to perform searchlight identification on the surface of the wind turbine blade; A knocking component, which is arranged below the identification component and is used to chip and remove ice from the surface of the wind turbine blade; and A hot melt component is arranged below the striking component and is used for providing auxiliary heating to the striking component and facilitating excavation.

2. The camera-guided deicing drone for wind turbine blades according to claim 1, characterized in that: The identification component comprises: An identification block (2) disposed on one side of the main body (1), wherein a plurality of cameras (201) are disposed on one side of the identification block (2); An infrared transmitter (202) is arranged on one side of the identification block (2), an infrared receiver (203) is arranged below the infrared transmitter (202), and a plurality of the infrared transmitters (202) correspond to a plurality of the infrared receivers (203); Searchlights (204) arranged on both sides of the identification block (2); An identification program (104a) is arranged inside the central control chip (104); a camera (201), an infrared transmitter (202) and an infrared receiver (203) on one side of the identification block (2) are connected to the central control chip (104) via a data line; and the central control chip (104) processes and analyzes signals from the camera (201) and the infrared receiver (203) via the identification program (104a).

3. The camera-guided deicing drone for wind turbine blades according to claim 1, characterized in that: The striking assembly comprises: An anti-vibration chamber (3) is provided on one side of the main body (1), and a driving block (4) is provided on one side inside the anti-vibration chamber (3); A deicing platform (403) is slidably connected to the interior of the driving block (4), a driving groove (404) is provided on one side of the deicing platform (403), a driving motor (401) is provided on one side of the driving block (4), one side of the driving motor (401) is drivingly connected to the driving rod (402) via a driving shaft, and the driving rod (402) is threadedly engaged with the driving groove (404); A de-icing shovel (408) is arranged on one side of the de-icing platform (403), and traction grooves (409) are provided on both sides of the de-icing shovel (408). Traction motors (405) are provided inside the de-icing platform (403) on both sides of the de-icing shovel (408), and one side of the traction motor (405) is connected to a circular traction plate (406) through a driving shaft, and a traction rod (407) is provided on one side of the traction plate (406), and the traction rod (407) is slidably connected to the traction groove (409).

4. The camera-guided deicing drone for wind turbine blades according to claim 2, characterized in that: The hot melt assembly comprises: A hot melt chamber (5) is arranged on one side of the main body (1), a hot melt pipe (502) is connected to one side of the top of the hot melt chamber (5), and a blower (503) is arranged inside the hot melt pipe (502); A lap joint platform (501) is arranged at the bottom of the end of the deicing platform (403), and the end of the hot melt pipe (502) is arranged above the lap joint platform (501); A plurality of electric heating tubes (504) are arranged inside the hot melt chamber (5), and the plurality of electric heating tubes (504) are arranged at equal distances from each other.

5. The camera-guided deicing drone for wind turbine blades according to claim 2, characterized in that: The identification program (104a) at least comprises a temperature measurement module for determining the temperature of data received by the infrared receiver (203), a grayscale module for performing grayscale processing on the image captured by the camera (201), and a module for identifying the light path in the image after grayscale processing, and determining the thickness of the ice layer on the surface of the fan blade and the size of the ice surface based on the refraction and scattering of light.

6. The camera-guided deicing drone for wind turbine blades according to claim 3, characterized in that: A plurality of anti-vibration springs (301) are arranged on the inner wall of the anti-vibration bin (3), and the anti-vibration springs (301) are connected to the driving block (4).

7. The camera-guided deicing drone for wind turbine blades according to claim 4, characterized in that: A return pipe (506) is provided on one side of the hot melt chamber (5), a receiving plate (505) is provided on one side of the bottom of the bridging platform (501), and the receiving plate (505) is located below the de-icing shovel (408), and the end of the return pipe (506) is connected to the top of the receiving plate (505).

8. The camera-guided deicing drone for wind turbine blades according to claim 4, characterized in that: The end of the hot melt tube (502) is arranged in an inclined structure, and the top of the hot melt tube (502) is arranged toward the bottom of the de-icing shovel (408).

9. The camera-guided deicing drone for wind turbine blades according to claim 1, characterized in that: A battery compartment (102) is provided on one side of the main body (1), a detachable storage battery (103) is provided inside the battery compartment (102), and the storage battery (103) is electrically connected to the aircraft (101), the central control chip (104), the camera (201), the infrared transmitter (202), the infrared receiver (203), the searchlight (204), the driving motor (401), the traction motor (405), the blower (503) and the electric heating pipe (504) respectively.

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