Adaptive adjustment method, device and equipment for flight parameters of wind turbine inspection drone

Abstract

The present invention provides a method, device and equipment for adaptively adjusting the flight parameters of a wind turbine inspection UAV, the method comprising: determining the wind turbine inspection route stage the UAV is currently in according to the real-time position of the UAV and the relative position relationship between the UAV and the wind turbine during the flight of the UAV; determining standard flight parameters according to the wind turbine inspection route stage the UAV is currently in; correcting the real-time flight parameters of the UAV based on the standard flight parameters; and controlling the UAV to fly according to the corrected flight parameters in the wind turbine inspection route stage it is currently in. The method solves the technical problem that the control method of the UAV in the prior art is not flexible enough and can only be inspected according to a pre-set flight speed. In consideration of the efficiency of the inspection, the staff can often only set the flight speed according to the lower limit that meets the standard, resulting in low efficiency of the UAV inspection.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a method, a device and equipment for adaptively adjusting flight parameters of a wind turbine inspection unmanned aerial vehicle. Background Art

[0002] Wind power is a clean energy source. With the maturity of new energy technologies such as wind power, the corresponding power generation equipment is also constantly upgraded. A large number of wind turbines are put into use around the world, which also puts forward higher requirements for the operation and maintenance of wind turbines and other related equipment. Due to regional factors, most wind farms are located in remote areas, and wind turbines are scattered. The traditional manual inspection and operation and maintenance of wind farms and wind turbines has problems such as poor safety, heavy workload, and low efficiency.

[0003] With the development of drone technology, drone technology has been applied to many fields. There are already relevant records of using drones to inspect wind turbines to replace manual operations. Drone inspections can achieve high-altitude flight, long-distance, and fast operations, greatly improving inspection efficiency.

[0004] The application of drones has brought great convenience to wind power inspections. In the technical solution for wind turbine inspections, drones will pre-generate inspection routes and fly along the inspection routes, thereby completing wind turbine inspections and identifying abnormalities on the blades.

[0005] It should be noted that in the prior art, drones often fly at a pre-set flight speed, that is, the flight speed of the drone is always fixed from the beginning to the end of the inspection. However, the control method of this type of drone is not flexible enough, and the inspection can only be carried out at a pre-set flight speed. Considering the efficiency of the inspection, the staff can often only set the flight speed according to the lower limit that meets the standard, resulting in low efficiency of drone inspections. Summary of the invention

[0006] The purpose of the present invention is to provide a method, device and equipment for adaptively adjusting the flight parameters of a wind turbine inspection UAV, so as to solve the technical problem that the control method of the UAV in the prior art is not flexible enough and can only perform inspections according to a pre-set flight speed. Considering the efficiency of the inspection, the staff can often only set the flight speed according to the lower limit that meets the standard, resulting in low UAV inspection efficiency.

[0007] To achieve the above object, the present invention adopts the following technical solution:

[0008] According to a first aspect of the present invention, a method for adaptively adjusting flight parameters of a wind turbine inspection UAV is provided, the method comprising:

[0009] During the flight of the UAV, the wind turbine inspection route stage currently located by the UAV is determined according to the real-time position of the UAV and the relative position relationship between the UAV and the wind turbine;

[0010] Determining standard flight parameters according to the wind turbine inspection route stage that the UAV is currently in;

[0011] Correcting the real-time flight parameters of the UAV based on the standard flight parameters to obtain final flight parameters for controlling the flight of the UAV;

[0012] The UAV is controlled to fly according to the corrected flight parameters within the current wind turbine inspection route phase.

[0013] As an optional scheme of the present invention, in the step of determining the wind turbine inspection route stage that the UAV is currently in according to the real-time position of the UAV and the relative position relationship between the UAV and the wind turbine during the flight of the UAV, the wind turbine inspection route stage includes: one or more of: take-off stage, wind turbine measurement stage, inspection stage and return stage.

[0014] As an optional solution of the present invention, the step of determining the standard flight parameters according to the wind turbine inspection route stage currently located by the UAV specifically includes:

[0015] Obtain the operating speed parameters of the fan blades;

[0016] Get the real-time power of the drone;

[0017] Obtain weather information of the drone’s environment;

[0018] The standard flight parameters are determined according to the current wind turbine inspection route stage, the operating speed parameters of the wind turbine blades, the real-time power of the UAV, and the meteorological information of the environment in which the UAV is located.

[0019] As an optional solution of the present invention, the step of correcting the real-time flight parameters of the UAV based on the standard flight parameters includes:

[0020] The real-time flight parameters are adjusted to the standard flight parameters according to the preset speed change.

[0021] According to a second aspect of the present invention, a device for adaptively adjusting flight parameters of a wind turbine inspection UAV is provided, the device comprising:

[0022] A first determination unit is used to determine the wind turbine inspection route stage currently located by the drone according to the real-time position of the drone and the relative position relationship between the drone and the wind turbine during the flight of the drone;

[0023] A second determination unit is used to determine standard flight parameters according to the wind turbine inspection route stage currently located by the UAV;

[0024] A correction unit, used to correct the real-time flight parameters of the UAV based on the standard flight parameters to obtain final flight parameters for controlling the flight of the UAV;

[0025] The control unit is used to control the UAV to fly according to the corrected flight parameters within the current wind turbine inspection route stage.

[0026] As an optional solution of the present invention, the route phase includes: one or more of a take-off phase, a wind turbine measurement phase, an inspection phase, and a return phase.

[0027] As an optional solution of the present invention, the second determining unit includes:

[0028] A first acquisition module is used to acquire the operating speed parameters of the fan blades;

[0029] The second acquisition module is used to obtain the real-time power of the drone;

[0030] The third acquisition module is used to obtain the meteorological information of the environment in which the UAV is located;

[0031] The determination module is used to determine standard flight parameters according to the current wind turbine inspection route stage, the operating speed parameters of the wind turbine blades, the real-time power of the drone, and the meteorological information of the environment in which the drone is located.

[0032] As an optional solution of the present invention, the correction unit includes:

[0033] The adjustment module is used to adjust the real-time flight parameters to the standard flight parameters according to the preset speed change, so as to obtain the final flight parameters for controlling the flight of the unmanned aerial vehicle.

[0034] According to a third aspect of the present invention, there is provided an electronic device, comprising a memory and a processor, wherein the memory stores computer instructions, and when the computer instructions are executed by the processor, any one of the above methods is executed.

[0035] According to a fourth aspect of the present invention, there is provided a non-transitory computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the computer program causes any one of the above methods to be performed.

[0036] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0037] The adaptive adjustment method of the flight parameters of the wind turbine inspection UAV provided by the present invention determines the wind turbine inspection route stage that the UAV is currently in according to the real-time position of the UAV and the relative position relationship between the UAV and the wind turbine during the flight of the UAV; determines the standard flight parameters according to the wind turbine inspection route stage that the UAV is currently in; corrects the real-time flight parameters of the UAV based on the standard flight parameters; and controls the UAV to fly according to the corrected flight parameters in the current wind turbine inspection route stage. The flight parameters can be corrected for the current wind turbine inspection route stage of the inspection UAV to adapt to different route stages, which solves the problem that the control method of the UAV in the prior art is not flexible enough and can only be inspected according to a pre-set flight speed. In consideration of the efficiency of the inspection, the staff can often only set the flight speed according to the lower limit that meets the standard, resulting in a technical problem of low efficiency of the UAV inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0039] Figure 1 This is a flow chart of a method for adaptively adjusting flight parameters of a wind turbine inspection UAV according to an embodiment of the present invention;

[0040] Figure 2 It is a flow chart of a method for adaptively adjusting flight parameters of a wind turbine inspection UAV that can be selected in an embodiment of the present invention;

[0041] Figure 3 Schematic diagram of a device for adaptively adjusting flight parameters of a wind turbine inspection UAV according to an embodiment of the present invention;

[0042] Figure 4 A schematic diagram of an optional adaptive adjustment device for flight parameters of a wind turbine inspection UAV according to an embodiment of the present invention.

[0043] Figure 5 The present invention is a structural block diagram of an electronic device. DETAILED DESCRIPTION

[0044] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0045] The following detailed description is an exemplary description, which is intended to provide further detailed description of the present invention. Unless otherwise specified, all technical terms used in the present invention have the same meaning as those generally understood by those skilled in the art to which the present application belongs. The terms used in the present invention are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention.

[0046] Example 1

[0047] like Figure 1 As shown, Embodiment 1 of the present invention provides a method for adaptively adjusting flight parameters of a wind turbine inspection UAV, the method comprising the following steps:

[0048] Step S1: during the flight of the UAV, the wind turbine inspection route stage currently located by the UAV is determined according to the real-time position of the UAV and the relative position relationship between the UAV and the wind turbine.

[0049] In this step S1, the controller of the drone or other hardware devices with data processing functions can be used as the executor of this method. During the entire process of the drone performing wind turbine inspection, this method can first determine the real-time position of the drone and the relative position relationship between the drone and the wind turbine. For example, the drone is in front of or behind the wind turbine hub, or directly above the aircraft cabin. Then, based on the real-time position of the drone and the relative position relationship between the drone and the wind turbine, it is determined which route stage of the wind turbine inspection the drone is in.

[0050] It should be noted here that the route stage of wind turbine inspection can include any stage of the entire process from drone takeoff, inspection to return.

[0051] As a specific example of the above steps, the route stage includes one or more: take-off stage, wind turbine measurement stage, inspection stage, and return stage. This solution can dynamically and adaptively adjust the flight parameters of the drone after identifying which route stage of the wind turbine inspection the drone is in. In a more specific example, in the take-off stage, the drone only needs to fly from the take-off position to the target position, and the flight speed can be 8m / s. In the wind turbine measurement stage and inspection stage, the wind turbine needs to turn on the image acquisition module on the one hand, and on the other hand, the distance to the wind turbine is close to avoid sudden changes in the wind turbine yaw angle to cause accidents. Therefore, slow flight is required, and the flight speed can be 1m / s. In the return stage, the drone can fly at a speed of 8m / s. In this way, the drone can complete the entire wind turbine inspection process safely and quickly.

[0052] Step S2: determining standard flight parameters according to the wind turbine inspection route stage that the UAV is currently in.

[0053] In step S2, the standard flight parameter may be a standard flight speed, that is, each different wind turbine inspection route stage corresponds to a standard flight speed. This solution may determine which wind turbine inspection route stage the drone is in and then match the corresponding standard flight speed.

[0054] It should be noted here that the standard flight parameter can be a standard flight speed, or other flight parameters such as flight attitude.

[0055] like Figure 2 As shown, this step S2 determines the standard flight parameters according to the wind turbine inspection route stage that the drone is currently in, and specifically includes the following steps:

[0056] Step S21, obtaining the operating speed parameters of the fan blades.

[0057] Step S22, obtaining the real-time power level of the drone.

[0058] Step S23, obtaining weather information of the environment in which the drone is located.

[0059] Step S24, determining standard flight parameters according to the current wind turbine inspection route stage, the operating speed parameters of the wind turbine blades, the real-time power of the UAV, and the meteorological information of the environment in which the UAV is located.

[0060] As a specific example of the above steps, in this solution, the standard flight parameters can be determined by comprehensively considering the running speed parameters of the wind turbine blades, the real-time power of the drone, the meteorological information of the environment in which the drone is located, and the current wind turbine inspection route stage, so that the flight parameters of the drone after correction are more in line with the scene in which the drone is located. In a more specific example, if the wind turbine blades are running at a faster speed at this time, in the inspection stage, in order to ensure the safety of the drone, the speed of the drone can be lowered, or in the return stage of the drone, if the power threshold of the drone is low at this time, this solution will speed up the flight speed of the drone, or in the case of sudden weather changes, such as foggy weather, in order to avoid safety accidents, this solution will reduce the flight speed of the drone.

[0061] Step S3: correcting the real-time flight parameters of the UAV based on the standard flight parameters to obtain final flight parameters for controlling the flight of the UAV.

[0062] As an exemplary explanation, after the standard flight speed is obtained, the real-time flight parameters of the UAV can be corrected according to the standard flight parameters in a preset correction manner.

[0063] Optionally, step S3 corrects the real-time flight parameters of the UAV based on the standard flight parameters, including:

[0064] Step S31, adjusting the real-time flight parameters to the standard flight parameters according to the preset speed change.

[0065] As a specific example of the above steps, in this solution, after determining the standard flight parameters, the drone is not directly controlled to fly according to the standard flight parameters, but the real-time flight parameters are adjusted to the standard flight parameters according to the preset speed change slowly and regularly. This method can prevent the standard flight parameters from differing too much from the real-time flight parameters, which may cause safety accidents due to sudden increases or decreases in speed.

[0066] Step S4: Control the UAV to fly according to the corrected flight parameters within the current wind turbine inspection route phase.

[0067] It should be noted here that, through the above steps, this solution determines the route stage of the UAV according to the real-time position of the UAV, and adaptively adjusts the flight parameters of the UAV according to the route stage of the UAV. Since the UAV does not need to fly slowly in certain route stages, the flight speed in the route stages where slow flight is not required can be increased, and the flight speed in the route stages where slow flight is required can be lowered. Therefore, this solution solves the problem that the control method of UAVs in the prior art is not flexible enough and can only be inspected according to a pre-set flight speed. Considering the efficiency of the inspection, the staff can often only set the flight speed according to the lower limit that meets the standard, resulting in low efficiency of UAV inspection.

[0068] Example 2

[0069] like Figure 3 As shown, Embodiment 2 of the present invention further provides a device for adaptively adjusting flight parameters of a wind turbine inspection UAV, the device comprising:

[0070] The first determination unit 30 is used to determine the wind turbine inspection route stage currently located by the drone according to the real-time position of the drone and the relative position relationship between the drone and the wind turbine during the flight of the drone.

[0071] The second determination unit 32 is used to determine standard flight parameters according to the wind turbine inspection route stage that the UAV is currently in.

[0072] The correction unit 34 is used to correct the real-time flight parameters of the UAV based on the standard flight parameters to obtain final flight parameters for controlling the flight of the UAV.

[0073] The control unit 36 ​​is used to control the UAV to fly according to the corrected flight parameters within the current wind turbine inspection route stage.

[0074] Applied to the embodiment of the present invention, in the whole process of the drone performing wind turbine inspection, this solution can first determine the real-time position of the drone and the relative position relationship between the drone and the wind turbine, such as the drone is on the front, back or directly above the aircraft cabin of the wind turbine hub, and then determine the route stage of the wind turbine inspection that the drone is in based on the real-time position of the drone and the relative position relationship between the drone and the wind turbine. It should be noted here that the route stage of the wind turbine inspection can include any stage of the whole process of taking off, inspecting and returning from the drone. The above-mentioned standard flight parameters can be standard flight speeds, that is, each different wind turbine inspection route stage corresponds to a standard flight speed. This solution can determine which wind turbine inspection route stage the drone is in and then match the corresponding standard flight speed. It should be noted here that the standard flight parameters can be standard flight speeds or other flight parameters such as flight attitude. After obtaining the standard flight speed, the real-time flight parameters of the drone can be corrected according to the standard flight parameters in accordance with the preset correction method.

[0075] Through the above-mentioned multiple units, the route stage of the drone is determined according to the real-time position of the drone, and the flight parameters of the drone are adaptively adjusted according to the route stage of the drone. Since the drone does not need to fly slowly in some route stages, the flight speed in the route stages where slow flight is not required can be increased, and the flight speed in the route stages where slow flight is required can be lowered. Therefore, this solution solves the problem that the control method of drones in the prior art is not flexible enough and can only be inspected according to a pre-set flight speed. Considering the efficiency of the inspection, the staff can often only set the flight speed according to the lower limit that meets the standard, resulting in a technical problem of low drone inspection efficiency.

[0076] Optionally, the route phases may include: a take-off phase, a wind turbine measurement phase, an inspection phase, and a return phase.

[0077] like Figure 4 As shown, the second determining unit 32 may include the following:

[0078] A first acquisition module 320 is used to acquire the operating speed parameters of the fan blades;

[0079] The second acquisition module 322 is used to obtain the real-time power of the drone;

[0080] The third acquisition module 324 is used to obtain the meteorological information of the environment in which the UAV is located;

[0081] The determination module 326 is used to determine standard flight parameters according to the current wind turbine inspection route stage, the operating speed parameters of the wind turbine blades, the real-time power of the UAV, and the meteorological information of the environment in which the UAV is located.

[0082] Optionally, the correction unit includes: an adjustment module, used to adjust the real-time flight parameters to the standard flight parameters according to a preset speed change.

[0083] Example 3

[0084] The present invention also provides an electronic device 100 for implementing the adaptive adjustment method of the flight parameters of the wind turbine inspection drone in the above embodiment; the electronic device 100 includes a memory 101, at least one processor 102, a computer program 103 stored in the memory 101 and executable on the at least one processor 102, and at least one communication bus 104. The memory 101 can be used to store the computer program 103, and the processor 102 implements the steps of the adaptive adjustment method of the flight parameters of the wind turbine inspection drone in embodiment 1 by running or executing the computer program stored in the memory 101 and calling the data stored in the memory 101. The memory 101 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data (such as audio data) created according to the use of the electronic device 100, etc. In addition, the memory 101 may include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices.

[0085] At least one processor 102 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 102 may be a microprocessor or any conventional processor, etc. The processor 102 is the control center of the electronic device 100, and uses various interfaces and lines to connect various parts of the entire electronic device 100.

[0086] The memory 101 in the electronic device 100 stores a plurality of instructions to implement a method for adaptively adjusting the flight parameters of a wind turbine inspection drone, and the processor 102 can execute the plurality of instructions to implement:

[0087] During the flight of the UAV, the wind turbine inspection route stage currently located by the UAV is determined according to the real-time position of the UAV and the relative position relationship between the UAV and the wind turbine;

[0088] Determining standard flight parameters according to the wind turbine inspection route stage that the UAV is currently in;

[0089] Correcting the real-time flight parameters of the UAV based on the standard flight parameters;

[0090] The UAV is controlled to fly according to the corrected flight parameters within the current wind turbine inspection route phase.

[0091] Example 4

[0092] If the module / unit integrated in the electronic device 100 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. Computer-readable media may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory and read-only memory (ROM, Read-Only Memory).

[0093] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0094] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0095] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0096] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for adaptively adjusting flight parameters of a wind turbine inspection drone, characterized in that: The steps include: During the flight of the drone, the wind turbine inspection route stage currently located by the drone is determined according to the real-time position of the drone and the relative position relationship between the drone and the wind turbine; Determining standard flight parameters according to the wind turbine inspection route stage that the UAV is currently in; Correcting the real-time flight parameters of the UAV based on the standard flight parameters to obtain final flight parameters for controlling the flight of the UAV; In the step of determining the wind turbine inspection route stage currently located by the drone according to the real-time position of the drone and the relative position relationship between the drone and the wind turbine during the flight of the drone, the wind turbine inspection route stage includes: one or more of a take-off stage, a wind turbine measurement stage, an inspection stage, and a return stage; The step of determining the standard flight parameters according to the wind turbine inspection route stage currently in which the UAV is located specifically includes: Obtain the operating speed parameters of the fan blades; Get the real-time power of the drone; Obtain weather information of the drone’s environment; The standard flight parameters are determined according to the current wind turbine inspection route stage, the operating speed parameters of the wind turbine blades, the real-time power of the UAV, and the meteorological information of the environment in which the UAV is located.

2. The method for adaptively adjusting the flight parameters of a wind turbine inspection UAV according to claim 1 is characterized in that: The step of correcting the real-time flight parameters of the UAV based on the standard flight parameters includes: The real-time flight parameters are adjusted to the standard flight parameters according to the preset speed change.

3. An adaptive adjustment device for the flight parameters of a wind turbine inspection drone, characterized in that: include: A first determination unit is used to determine the wind turbine inspection route stage currently located by the drone according to the real-time position of the drone and the relative position relationship between the drone and the wind turbine during the flight of the drone; A second determination unit is used to determine standard flight parameters according to the wind turbine inspection route stage currently located by the UAV; A correction unit, used to correct the real-time flight parameters of the UAV based on the standard flight parameters to obtain final flight parameters for controlling the flight of the UAV; The route phase includes: one or more of a take-off phase, a wind turbine measurement phase, an inspection phase, and a return phase; The second determining unit includes: A first acquisition module is used to acquire the operating speed parameters of the fan blades; The second acquisition module is used to obtain the real-time power of the drone; The third acquisition module is used to obtain the meteorological information of the environment in which the UAV is located; The determination module is used to determine standard flight parameters according to the current wind turbine inspection route stage, the operating speed parameters of the wind turbine blades, the real-time power of the UAV and the meteorological information of the environment in which the UAV is located, so as to obtain the final flight parameters for controlling the flight of the UAV.

4. The adaptive adjustment device for the flight parameters of the wind turbine inspection UAV according to claim 3 is characterized in that: The correction unit comprises: The adjustment module is used to adjust the real-time flight parameters to the standard flight parameters according to the preset speed change.

5. An electronic device, characterized in that: It comprises a processor and a memory, wherein the processor is used to execute a computer program stored in the memory to implement the method for adaptively adjusting flight parameters of a wind turbine inspection UAV as claimed in claim 1 or 2.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one instruction, and when the at least one instruction is executed by the processor, the method for adaptively adjusting the flight parameters of the wind turbine inspection UAV as described in claim 1 or 2 is implemented.

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