A terahertz-based windmill 3D reconstruction display system

Abstract

The present invention belongs to the field of terahertz technology, and in particular, relates to a terahertz-based windmill three-dimensional reconstruction display system, an aircraft: an unmanned aerial vehicle carrier, a guide tube, and a terahertz imager, wherein the guide tube and the terahertz imager are both arranged at the lower end of the unmanned aerial vehicle carrier, a guide rod is inserted in the guide tube, and a rangefinder is fixedly connected to the front end of the guide rod; a detection method in conjunction with the unmanned aerial vehicle carrier includes: S1, using the unmanned aerial vehicle carrier to lift off and carry the terahertz imager; S2, the guide rod on the unmanned aerial vehicle carrier cooperates with the rangefinder to lock to a fixed position and measure the spacing; S3, the above-mentioned measurement data is summarized and calculated and sent to the unmanned aerial vehicle carrier. The advantage is that compared with the traditional detection technology, the present invention uses an unmanned aerial vehicle with a terahertz imager to form a relatively fixed temporary position by following the rotation of the blades, thereby completing the effect of accurately measuring the rotating blades and reconstructing a three-dimensional model for analysis.

Description

Technical Field

[0001] The present invention belongs to the field of terahertz technology, and in particular relates to a terahertz-based three-dimensional windmill reconstruction and display system. Background Art

[0002] Terahertz refers to electromagnetic waves with a frequency of 0.1-10THz, which is between infrared and microwaves and is in the transition stage from macroscopic electronics to microscopic optoelectronics. Terahertz wave sources usually contain several cycles of electromagnetic oscillations and cover a wide frequency band. The frequency band of a single pulse can reach the range of GHz to tens of THz, which can be used to analyze and study the spectral characteristics of materials over a large range.

[0003] Like imaging technologies in other wavebands, THz imaging technology also uses THz rays to illuminate the object to be measured, obtains sample information through transmission or reflection of the object, and then forms an image. THz imaging technology can be divided into two modes: pulse and continuous. It has the characteristics of THz time-domain spectroscopy technology. At the same time, it can perform functional imaging of material groups and obtain the refractive index distribution inside the material.

[0004] Wind power generation uses large rotating blades, which are driven by natural wind to rotate and generate electricity. It is a good clean energy. Because the wind turbine is exposed to the outdoor environment for a long time, the blade materials usually include composite fiber, composite wood and glass fiber. Therefore, the huge blades also have a service life and require regular maintenance and inspection. However, due to their large size and height, personnel are usually unable to perform accurate inspections and maintenance on them. The rotating blades will also pose a greater threat to personnel.

[0005] To this end, we propose a terahertz-based windmill 3D reconstruction and display system to solve the above problems. Summary of the invention

[0006] The purpose of the present invention is to provide a terahertz-based windmill three-dimensional reconstruction and display system that can be used uuuuu.

[0007] To achieve the above-mentioned purpose, the present invention adopts the following technical solutions: a terahertz-based windmill three-dimensional reconstruction display system, aircraft: an unmanned aerial vehicle carrier, a guide tube, and a terahertz imager, wherein the guide tube and the terahertz imager are both arranged at the lower end of the unmanned aerial vehicle carrier, a guide rod is inserted into the guide tube, and a rangefinder is fixedly connected to the front end of the guide rod;

[0008] The detection methods for drone carriers include:

[0009] S1. Use a drone to carry a terahertz imager into the air;

[0010] S2. The guide rod on the UAV cooperates with the rangefinder to lock the fixed position and measure the distance;

[0011] S3. The above measurement data are summarized and calculated and sent to the UAV carrier, and the UAV carrier locks a single wind turbine blade through the data to follow the circular motion;

[0012] S4. After completing the circular motion, the UAV vehicle balances the torque again, so that the terahertz imager performs linear motion measurement along the locked wind turbine blade.

[0013] In the above-mentioned terahertz-based windmill three-dimensional reconstruction display system, the terahertz imager is arranged below the guide tube.

[0014] In the above-mentioned terahertz-based windmill three-dimensional reconstruction display system, the guide rod is a telescopic structure with a built-in spring.

[0015] In the above-mentioned terahertz-based windmill three-dimensional reconstruction display system, a card cover is provided between the guide rod and the rangefinder, the card cover is fixedly connected to the rangefinder, and the card cover is movably connected to the pipe opening of the guide pipe.

[0016] In the above-mentioned terahertz-based windmill three-dimensional reconstruction display system, a groove is provided at the lower end of the UAV vehicle, an electric push rod is fixedly connected in the groove, and the electric push rod is fixedly connected to the guide tube.

[0017] In the above-mentioned terahertz-based windmill three-dimensional reconstruction display system, the measurement initial point of the drone vehicle is located at the rotating shaft where the wind turbine blades are connected to each other.

[0018] In the above-mentioned terahertz-based windmill 3D reconstruction display system, the method for measuring the rotation speed of a single blade is:

[0019] The rangefinder measures the distance between the initial position and the target position;

[0020] The drone vehicle carries a rangefinder and moves multiple units laterally, and senses the distance of the blade detected for the first time;

[0021] Calculate the angular velocity and linear velocity of the blade rotation according to the number of blades and the time of repeated detection;

[0022] After a single measurement is completed, the fan blades are returned to the rotating shaft where they are connected to each other to reset, and the above measurement action is repeated until the measurement is completed.

[0023] In the above-mentioned terahertz-based windmill three-dimensional reconstruction display system, the distance between the rangefinder on the guide rod and the target blade is always maintained at 1-1.5m.

[0024] In the above-mentioned terahertz-based windmill three-dimensional reconstruction display system, the terahertz imager always follows a single blade for lateral measurement, and the measurement trajectory is a spiral line. The measured data is transmitted back to the ground through an unmanned aerial vehicle for modeling and imaging.

[0025] In the above-mentioned terahertz-based windmill three-dimensional reconstruction display system, when the wind turbine blades are running at variable speeds or rotating rapidly, the UAV vehicle performs motion measurement in a pulse motion manner.

[0026] Compared with existing technologies, the advantages of this terahertz-based windmill 3D reconstruction display system are:

[0027] The present invention cooperates with the set UAV carrier and the rangefinder, guide rod and terahertz imager to achieve the purpose of using the rangefinder and guide rod on the UAV carrier to more accurately calculate the distance between the UAV carrier and the wind turbine blades, and through point calculation, the UAV carrier can follow the rotation of the blades to form a relatively fixed position, thereby achieving the effect of non-stop measurement of a single blade, and then using the terahertz imager to scan it, and finally the data is transmitted back for calculation, thereby completing the effect of accurately measuring the rotating blades and reconstructing a three-dimensional model for analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of an application of a terahertz-based windmill three-dimensional reconstruction display system provided by the present invention;

[0029] Figure 2 It is a schematic diagram of the structure of an unmanned aerial vehicle carrier of a terahertz-based windmill three-dimensional reconstruction display system provided by the present invention;

[0030] Figure 3 It is a front structural schematic diagram of a terahertz-based windmill three-dimensional reconstruction and display system provided by the present invention;

[0031] Figure 4 It is a schematic diagram of the elongated structure of a guide rod of a terahertz-based windmill three-dimensional reconstruction and display system provided by the present invention;

[0032] Figure 5 yes Figure 3 Schematic diagram of the bottom structure;

[0033] Figure 6 It is a schematic diagram of the installation structure of an electric push rod of a terahertz-based windmill three-dimensional reconstruction display system provided by the present invention;

[0034] Figure 7 This is a flight measurement trajectory diagram of an unmanned aerial vehicle carrier of a terahertz-based windmill three-dimensional reconstruction display system provided by the present invention;

[0035] Figure 8 It is a flow chart of a detection method of a terahertz-based windmill three-dimensional reconstruction display system provided by the present invention.

[0036] In the figure, 1 is a UAV carrier, 2 is a guide tube, 3 is a terahertz imager, 4 is a guide rod, 5 is a card cover, 6 is a groove, 7 is an electric push rod, and 8 is a rangefinder. DETAILED DESCRIPTION

[0037] The following examples are for illustrative purposes only and are not intended to limit the scope of the present invention.

[0038] Example

[0039] Wind power generation uses large rotating blades, which are driven by natural wind to rotate and generate electricity. It is a good clean energy. Terahertz refers to electromagnetic waves with a frequency of 0.1-10THz, which is between infrared and microwaves and is in the transition stage from macro electronics to micro optoelectronics. Terahertz wave sources usually contain several cycles of electromagnetic oscillations, and the frequency band coverage is very wide. Like imaging technologies in other bands, THz imaging technology also uses THz rays to irradiate the object to be measured, and obtains sample information through transmission or reflection of the object, and then forms an image. Since wind turbines are exposed to the outdoor environment for a long time, the blade materials usually include composite fibers, composite wood and glass fibers. Therefore, the huge blades also have a service life and require regular maintenance and inspections. However, due to their large size and height, personnel are usually unable to perform accurate inspections and inspections. The rotating blades also pose a greater threat to personnel, such as Figure 1 As shown, this scheme designs a terahertz-based windmill three-dimensional reconstruction display system, which includes a physical vehicle: an unmanned aerial vehicle 1, a guide tube 2, and a terahertz imager 3, wherein: the unmanned aerial vehicle 1 is used for flying and moving vehicles, and the terahertz imager 3 performs corresponding system imaging. The unmanned aerial vehicle 1 adopts a high-power multi-axis unmanned aerial vehicle system, and the load capacity of the unmanned aerial vehicle is 20-50kg. Since the wind turbine will generate force during operation, and the convective airflow in the high altitude will also greatly interfere with the stability of the unmanned aerial vehicle, a high-power unmanned aerial vehicle is used to effectively control its stability, thereby achieving a stable measurement effect. Therefore, in order to ensure the measurement effect, the operating environment is preferably selected in weather with a crosswind force not higher than 1m / s.

[0040] The specific structure of the drone is as follows: Figure 3-6 As shown, the guide tube 2 and the terahertz imager 3 are both arranged at the lower end of the UAV carrier 1, wherein there is another ground operation station for controlling the UAV and data modeling. The UAV carrier 1 mainly carries two parts, namely, the measurement imaging part and the guidance part. The measurement imaging part relies on the terahertz imager 3 for imaging the blades and columns of the wind turbine, and the guidance part includes the guide tube 2, etc.;

[0041] The terahertz imager 3 is arranged below the guide tube 2 so that its probe will not be blocked by the guide part. As shown in the figure, the terahertz imager 3 can be designed into various special shapes to avoid the UAV vehicle 1 or the guide part. A guide rod 4 is inserted into the guide tube 2. The guide rod 4 is used to extend the measuring device forward to avoid the influence of the UAV vehicle 1 and facilitate better positioning operations. The specific positioning and speed measurement method is: a rangefinder 8 is fixedly connected to the front end of the guide rod 4. The rangefinder 8 can use infrared, millimeter wave radar, or laser, and is mainly used to measure the distance between the UAV vehicle 1 and the target object;

[0042] Among them, the guide rod 4 is a telescopic structure, which can be stored in the UAV carrier 1 before use to improve the flight flexibility. A spring is built into the guide rod 4, which supports the guide rod 4 of the telescopic structure. At the same time, it will not cause too much impact on the UAV carrier 1 body after it contacts the target object. In addition, a card cover 5 is provided between the guide rod 4 and the rangefinder 8, and the card cover 5 is fixedly connected to the rangefinder 8. The card cover 5 is movably connected to the pipe mouth of the guide tube 2. The function of the card cover 5 is to engage with the guide tube 2 in the initial stage to retract the guide rod 4, and the opening and closing method adopts an active opening and closing method: a groove 6 is provided at the lower end of the UAV carrier 1, and an electric push rod 7 is fixedly connected in the groove 6. The electric push rod 7 is fixedly connected to the guide tube 2. Therefore, after the electric push rod 7 is pushed, the guide tube 2 will be separated from the engagement with the card cover 5, so the guide rod 4 will be pushed out and fully unfolded;

[0043] The steps for using the drone carrier 1 are: connect to the drone carrier 1 on the ground station, then release the drone carrier 1, select the contact direction between the drone carrier 1 and the target object according to the local wind direction and geographical conditions, and after the selection is completed, use the drone carrier 1 to fly to the corresponding position. This scheme prefers the intersection axis of the three blades. The target object has no displacement here, so it is convenient to perform positioning measurement. After the drone carrier 1 reaches the predetermined position, the guide rod 4 is completely popped out to unfold the rangefinder 8, and the rangefinder 8 is used to locate the distance between the target object and the drone carrier 1 for positioning. The positioning distance is maintained at 1-1.5m. After positioning is completed, the measurement step can be entered.

[0044] like Figure 1 , 8 As shown, the detection method for cooperating with the UAV vehicle 1 includes:

[0045] S1. Use the drone 1 to carry the terahertz imager 3. The initial measurement point of the drone 1 is located at the shaft where the wind turbine blades are connected to each other. After positioning at this point, the measurement operation can be carried out immediately. In addition, according to the location and area at that time, the back of the wind turbine can be selected for measurement. The measurement method and location are similar to the above.

[0046] S2, the guide rod 4 on the UAV carrier 1 cooperates with the rangefinder 8 to lock at a fixed point and measure the distance, the rangefinder 8 sends a signal to detect the position of the wind turbine, and after receiving the signal, the rangefinder 8 transmits the signal to the ground station through the electrical connection with the UAV carrier 1 to complete the position calculation, and then the ground station transmits the position to the UAV carrier 1 to control the direction of its flight movement until it is adjusted to the predetermined position;

[0047] The method for measuring the rotation speed of a single blade is as follows: the distance between the initial position and the target position is measured by the rangefinder 8 to determine the distance between the UAV carrier 1 and the target object, and then the distance between the rangefinder 8 on the guide rod 4 and the target blade is always maintained at 1-1.5m, which is actually the distance between the rangefinder 8 and the target object. 1-1.5m can effectively avoid the traction caused by the rotation of the wind blade, and at the same time, there is enough distance to adjust and avoid when encountering crosswind;

[0048] After completing the positioning operation, the UAV carrier 1 carries the rangefinder 8 and moves horizontally for multiple units, and senses and detects the blade distance detected for the first time. The position of the horizontal movement can be controlled by the ground station, and can be adjusted according to local conditions without being set in advance. Until the rangefinder 8 detects the position of the target object, the rangefinder 8 will deviate from the shaft of the fan after moving, and then the rangefinder 8 will be unable to detect the signal for a short time until it contacts one of the blades. The rangefinder 8 will receive the detection signal again to determine the distance between the target objects, and then as the blades rotate, the rangefinder 8 will lose the signal again. Through program setting, the number of fan blades is pre-entered, such as the conventional 3-blade fan. Then the rangefinder 8 detects the signal again and loses it again until the signal is detected for the fourth time. The interval time is calculated through the ground station detection, thereby calculating the angular velocity and linear velocity of the fan blade rotation;

[0049] After a single measurement is completed, the fan blades are returned to the rotating shaft where they are connected to each other to reset, and the above measurement action is repeated until the measurement is completed, that is, all blade data are measured for imaging operations;

[0050] S3. The above measurement data are summarized and calculated and sent to the UAV carrier 1. The UAV carrier 1 locks a single wind turbine blade through data to follow the circular motion. After calculating the angular velocity and linear velocity of the blade rotation according to the number of blades and the time of repeated detection, the flight of the UAV carrier 1 can be controlled by the ground station to follow the fourth detected blade for circular rotation. At this time, the UAV carrier 1 and the blade are momentarily relatively stationary. Then, through the calculation of the ground control station, the UAV carrier 1 is controlled to make corresponding lateral movements at the relatively stationary position, and the terahertz imager 3 can be used to scan the blade. After scanning, the data is transmitted back to the ground station through the UAV carrier 1 for calculation, thereby completing the three-dimensional modeling and performing imaging analysis on the blade.

[0051] like Figure 7 As shown, S4, after the UAV carrier 1 completes the circular motion, it balances the torque again, so that the terahertz imager 3 performs linear motion measurement along the locked wind turbine blade. The terahertz imager 3 always follows a single blade for lateral measurement, and the measurement trajectory is a spiral line. The measured data is transmitted back to the ground through the UAV carrier 1 for modeling and imaging. The above method is a conventional uniform speed measurement method. In some cases, external influences cannot be controlled, such as wind force and blade speed. When the blade rotates too fast, the UAV carrier 1 cannot perform positioning and tracking well. Therefore, it is necessary to perform motion measurement through a pulse motion method, that is, it stops following after a period of time and stays in place until it rotates to the changed position again in the next circle to continue measuring. This is repeated to complete the measurement operation under complex conditions. Compared with traditional detection technology, the use of the UAV carrier 1 with the terahertz imager 3 to follow the rotation of the blade to form a relatively fixed temporary position, thereby completing the effect of accurately measuring the rotating blade and reconstructing the three-dimensional model for analysis, saving the cost of manpower investment, and also reducing the difficulty of maintenance and guarantee.

[0052] Although the terms such as UAV carrier 1, guide tube 2, terahertz imager 3, guide rod 4, card cover 5, groove 6, electric push rod 7, rangefinder 8 are used more frequently in this article, the possibility of using other terms is not excluded. The use of these terms is only for more convenient description and explanation of the essence of the present invention; interpreting them as any additional limitation is contrary to the spirit of the present invention.

Claims

1. A terahertz-based windmill three-dimensional reconstruction display system, characterized in that: include, Aircraft: an unmanned aerial vehicle carrier (1), a guide tube (2), and a terahertz imager (3), wherein the guide tube (2) and the terahertz imager (3) are both arranged at the lower end of the unmanned aerial vehicle carrier (1), a guide rod (4) is inserted into the guide tube (2), and a rangefinder (8) is fixedly connected to the front end of the guide rod (4); The detection method for the unmanned aerial vehicle (1) includes: S1. Using an unmanned aerial vehicle (1) to launch a terahertz imager (3); S2, the guide rod (4) on the UAV carrier (1) cooperates with the rangefinder (8) to lock at a fixed point and measure the distance; S3, the UAV carrier (1) locks a single wind turbine blade through data and follows the circular motion; S4, after completing the circular motion, the UAV vehicle (1) balances the torque again, so that the terahertz imager (3) performs linear motion measurement along the locked wind turbine blade; The measurement initial point of the UAV carrier (1) is located at the rotating shaft where the wind turbine blades are connected to each other. The method for measuring the rotation speed of a single blade is as follows: The rangefinder (8) measures the distance between the initial position and the target position; The drone vehicle (1) carries a rangefinder (8) and moves laterally in multiple units, and senses and detects the distance of the blade detected for the first time; Calculate the angular velocity and linear velocity of the blade rotation according to the number of blades and the time of repeated detection; After a single measurement is completed, the fan blades are returned to the rotating shaft where they are connected to each other to reset, and the above measurement action is repeated until the measurement is completed; The distance between the rangefinder (8) on the guide rod (4) and the target blade is always maintained at 1-1.5 m, and the terahertz imager (3) always follows a single blade for lateral measurement, and the measurement trajectory is a spiral line. The measured data is transmitted back to the ground through the unmanned aerial vehicle (1) for modeling and imaging. When the wind turbine blade is running at a variable speed or rotating rapidly, the unmanned aerial vehicle (1) performs motion measurement in a pulse motion mode.

2. The terahertz-based windmill three-dimensional reconstruction display system according to claim 1 is characterized in that: The terahertz imager (3) is arranged below the guide tube (2).

3. The terahertz-based windmill three-dimensional reconstruction display system according to claim 1 is characterized in that: The guide rod (4) is a telescopic structure and has a built-in spring.

4. The terahertz-based windmill three-dimensional reconstruction display system according to claim 3 is characterized in that: A card cover (5) is provided between the guide rod (4) and the distance meter (8), the card cover (5) is fixedly connected to the distance meter (8), and the card cover (5) is movably card-connected to the tube opening of the guide tube (2).

5. The terahertz-based windmill three-dimensional reconstruction display system according to claim 1, characterized in that: The lower end of the drone carrier (1) is provided with a groove (6), an electric push rod (7) is fixedly connected in the groove (6), and the electric push rod (7) is fixedly connected to the guide tube (2).

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