Image acquisition method, system, device and storage medium for non-stop inspection

Abstract

The present disclosure provides an image acquisition method, system, device and storage medium for non-stop inspection. The technical solution provided by the present disclosure can realize scanning and shooting of the fan blades of the wind turbine under the condition that the wind turbine is not stopped, so as to obtain the image data of the fan blades required for inspection. The technical solution provided by the present disclosure allows the wind turbine to be inspected and scanned frequently throughout the year, which greatly breaks through the limitation that the existing inspection method must be completed during the off-period of the wind power plant, and does not cause shutdown and affect the power generation efficiency of the wind turbine. At the same time, the technical solution provided by the present disclosure can be applied to unmanned aerial vehicles and other lightweight inspection equipment, which is convenient to implement and is not limited by external environment arrangement. The shooting image can more intuitively feedback the surface details of the fan blades, and has popularization value.

Description

Technical Field

[0001] This disclosure relates to the field of image acquisition technology, and specifically, discloses an image acquisition method, system, device, and storage medium for non-stop inspection. Background Technology

[0002] In the process of inspecting or examining a target object using image analysis, it is necessary to first capture images covering the surface of the target object. Then, computer analysis algorithms are used to analyze these images to obtain the required inspection or examination results. To obtain accurate inspection or examination results, the captured images must comprehensively and accurately cover the surface of the target object, and the images must be clear and identifiable.

[0003] In the existing technology, when inspecting large objects such as wind turbine blades, it is necessary to wait for the wind turbine to be in a shutdown window and for the wind turbine blades to be stopped before the inspection images can be taken and acquired. This is because when the wind turbine blades are rotating, the camera with a fixed field of view cannot capture clear photos covering the surface of the wind turbine blades. Summary of the Invention

[0004] This disclosure provides a method, system, device, and readable storage medium for image acquisition during non-stop inspection. Specifically, the first aspect of this disclosure provides a method for image acquisition during non-stop inspection, which uses an aircraft equipped with a camera to capture inspection images of the wind turbine blades of a wind turbine in operation. This image acquisition method includes the following steps:

[0005] Control the aircraft to move to a preset position facing the top of the wind turbine tower;

[0006] Control the camera to rotate so that the camera's rotational angular velocity matches the angular velocity of the wind turbine blades;

[0007] The camera is controlled to rotate and continuously capture images of the selected wind turbine blades, thereby enabling the acquisition of inspection images of wind turbine blades in motion.

[0008] In one possible implementation of the first aspect described above, controlling the aircraft to move to a predetermined position facing the top of the wind turbine tower includes the following steps:

[0009] The location of the wind turbine tower is obtained to plan the flight path of the aircraft, enabling the aircraft to move from its current location to a preset location;

[0010] Control the aircraft to hover in a preset position so that the camera's field of view is directly facing the top of the wind turbine tower.

[0011] In one possible implementation of the first aspect above, the preset position includes a position located on the windward side of the wind turbine, where the line connecting the center of the camera's field of view and the center of the wind turbine hub is perpendicular to the wind turbine surface; and

[0012] Located on the leeward side of the wind turbine, with the line connecting the center of the camera's field of view and the center of the wind turbine nacelle perpendicular to the rotor surface.

[0013] In one possible implementation of the first aspect above, controlling the camera to rotate so that the camera's rotational angular velocity matches the angular velocity of the wind turbine blades includes the following steps:

[0014] Continuously acquire motion information of the wind turbine blades to obtain the real-time angular velocity of the wind turbine blades in operation;

[0015] Control the camera to rotate at a real-time angular velocity.

[0016] In one possible implementation of the first aspect described above, controlling the camera to continuously scan and capture images of selected wind turbine blades includes the following steps:

[0017] Select a wind turbine blade that has not undergone inspection and photography as the chosen wind turbine blade;

[0018] The camera's framing area is controlled to gradually move from the root of the selected wind turbine blade to the tip of the blade, and continuous image capture is performed according to a preset strategy during the movement of the framing area, so that the acquired images can cover at least one surface of the wind turbine blade facing the camera.

[0019] In one possible implementation of the first aspect described above, controlling the camera to continuously scan and capture images of selected wind turbine blades includes the following steps:

[0020] After the camera finishes capturing an image of a single wind turbine blade, the camera's viewfinder is adjusted to focus on the top of the wind turbine tower.

[0021] The process continues until all wind turbine blades have been inspected and photographed.

[0022] The second aspect of this disclosure discloses an image acquisition system for non-stop inspection, applied to the image acquisition method for non-stop inspection provided in the first aspect. The system uses an aircraft carrying a camera to capture images of the wind turbine blades of a wind turbine in operation. This image acquisition system includes:

[0023] The aircraft control module is used to control the aircraft to move to a preset position facing the top of the wind turbine tower;

[0024] The camera motion module is used to control the rotation of the camera so that the camera and the wind turbine blades remain relatively stationary.

[0025] The camera imaging module is used to control the rotating camera to continuously scan and capture images of selected wind turbine blades, so as to acquire inspection images of wind turbine blades in motion.

[0026] In one possible implementation of the second aspect described above, the aircraft control module further includes;

[0027] The planning unit is used to obtain the position of the wind turbine tower in order to plan the flight path of the aircraft, so that the aircraft can move from the current position to the preset position;

[0028] The hovering unit is used to control the aircraft to hover in a preset position so that the camera's field of view is directly facing the top of the wind turbine tower.

[0029] A third aspect of this disclosure discloses an image acquisition device for non-stop inspection, comprising:

[0030] Memory, used to store computer programs;

[0031] A processor is used to execute computer programs to implement the image acquisition method for non-stop inspection as provided in the first aspect above.

[0032] The fourth aspect of this disclosure discloses a computer-readable storage medium storing a computer program that, when executed by a processor, implements the image acquisition method for non-stop inspection as provided in the first aspect above.

[0033] Compared with the prior art, this disclosure has the following beneficial effects:

[0034] The technical solution proposed in this disclosure enables the scanning and imaging of wind turbine blades without stopping the operation of the wind turbine, thereby obtaining the image data of the wind turbine blades required for inspection. This technical solution allows for year-round, routine, and frequent inspection and scanning of wind turbines, significantly overcoming the limitation of existing inspection methods that must be completed during the wind power plant's shutdown window, thus avoiding downtime and impacting the power generation efficiency of the wind turbine. Furthermore, the technical solution provided in this disclosure can be applied to lightweight inspection equipment such as drones, making implementation convenient and unrestricted by external environmental limitations. The captured images provide a more intuitive reflection of the surface details of the wind turbine blades, making it worthy of widespread application. Attached Figure Description

[0035] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0036] Figure 1 According to an embodiment of this disclosure, a flowchart illustrating an image acquisition method for non-stop inspection is shown.

[0037] Figure 2 According to an embodiment of this disclosure, a schematic flowchart is shown for controlling an aircraft to move to a preset position facing the top of a wind turbine tower.

[0038] Figure 3 According to an embodiment of this disclosure, a schematic diagram of a process for controlling a camera to continuously scan and capture images of selected wind turbine blades is shown.

[0039] Figure 4 According to an embodiment of this disclosure, a schematic diagram of the structure of an image acquisition system for non-stop inspection is shown;

[0040] Figure 5 According to an embodiment of this disclosure, a schematic diagram of the structure of an electronic device is shown;

[0041] Figure 6 According to an embodiment of this disclosure, a schematic diagram of the structure of a computer-readable storage medium is shown. Specific implementation methods

[0042] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0043] The term "comprising" and its variations as used herein signify open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "at least regionally based on". The terms "one example embodiment" and "one embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0044] As described in the background section, inspections are often conducted during the downtime of wind turbines. However, some embodiments of this application provide a method for acquiring inspection images without shutting down the turbine. This method involves setting up a camera mount on the ground and then installing a rotation system between the mount and the camera to match the camera's rotational angular velocity with that of the wind turbine blades. This allows for the acquisition of inspection images during the rotation of the wind turbine blades by shooting from a low angle.

[0045] However, in the above embodiments, during non-stop inspection and imaging of wind turbine blades, the ground-based imaging equipment is easily affected by the installation location and terrain of the wind turbine. Each time the wind turbine to be inspected is changed, the equipment must be moved and redeployed. Furthermore, since the imaging equipment is often far from the blades, additional large-sized custom-made cameras are required, resulting in very large and heavy brackets and rotating systems, making miniaturization difficult and hindering setup and deployment. In addition, the significant tilt angle during ground-based imaging of wind turbine blades increases the workload of subsequent image processing. To address these issues, this disclosure provides a solution that more conveniently enables non-stop inspection image acquisition of wind turbine blades.

[0046] Specifically, in some embodiments provided in this disclosure, Figure 1 A flowchart illustrating an image acquisition method for non-stop inspection is shown, employing an aircraft carrying a camera to capture inspection images of the wind turbine blades of a wind turbine in operation. Specifically, as... Figure 1 As shown, the image acquisition method described above may include the following steps:

[0047] Step 101: Control the aircraft to move to a preset position directly facing the top of the wind turbine tower. The specific limitations and control methods for this preset position will be explained in detail later.

[0048] Step 102: Control the camera to rotate so that the camera's rotational angular velocity is consistent with the angular velocity of the wind turbine blades.

[0049] Step 103: Control the rotating camera to continuously capture images of the selected wind turbine blades in order to acquire inspection images of the wind turbine blades in motion.

[0050] It is understandable that the technical solutions disclosed in steps 101 to 103 above can, on the one hand, enable non-stop inspection of wind turbine blades, and on the other hand, avoid many drawbacks of existing non-stop inspection solutions. The specific implementation of the above technical solutions will be further explained and illustrated below.

[0051] In the foregoing embodiments, further, Figure 2 The diagram illustrates a process for controlling an aircraft to move to a predetermined position facing the top of a wind turbine tower, which may include the following steps:

[0052] Step 201: Obtain the position of the wind turbine tower to plan the flight path of the aircraft, enabling it to move from its current position to a preset position. Understandably, during the flight path planning process, image recognition is primarily used to continuously identify the location of the wind turbine tower, controlling the aircraft to gradually ascend along the tower until the top of the tower is identified. Based on the aircraft's own positioning system and the acquired information such as the positions of the wind turbine blades, rotor surface, hub, and nacelle, the drone is controlled to hover at the predetermined preset position.

[0053] Step 202: Control the aircraft to hover at a preset position so that the camera's field of view is directly facing the top area of ​​the wind turbine tower. Specifically, the preset position can be located on the windward side of the wind turbine, where the line connecting the camera's field of view center and the center of the turbine hub is perpendicular to the rotor surface; or on the leeward side of the wind turbine, where the line connecting the camera's field of view center and the center of the turbine nacelle is perpendicular to the rotor surface. It is understood that during the inspection of the wind turbine blades, the camera can only capture the surface of the blades facing the viewfinder. To achieve a comprehensive inspection of the wind turbine blades, the above image acquisition process needs to be performed on both the windward and leeward sides of the wind turbine.

[0054] In the above embodiments, the preset position also needs to meet the safe distance between the aircraft and the wind turbine. The distance between the preset position and the wind turbine is also affected by the ambient wind force, the length of the wind turbine blades, the size of the camera's viewfinder area, etc. It needs to ensure that when hovering and shooting at the preset position, the area occupied by the surface of the wind turbine blades in the camera's viewfinder area is in a relatively suitable range.

[0055] In the foregoing embodiments, further, during the process of controlling the camera to rotate so that the camera's rotational angular velocity is consistent with the angular velocity of the wind turbine blades, considering that the rotational speed of the wind turbine blades changes with the magnitude of the ambient wind force, it is necessary to continuously acquire the motion information of the wind turbine blades to obtain the real-time angular velocity of the wind turbine blades in operation, and then control the camera to rotate at the real-time angular velocity. The acquisition of the motion information of the wind turbine blades can be achieved through methods such as video image recognition, and is not limited here.

[0056] In the foregoing embodiments, further, Figure 3 The diagram illustrates a process for controlling a camera to continuously scan and capture images of selected wind turbine blades, which may include the following steps:

[0057] Step 301: Select a wind turbine blade that has not been inspected and photographed as the selected wind turbine blade.

[0058] Step 302: Control the camera's viewfinder area to gradually move from the root of the selected wind turbine blade to the tip of the blade, and continuously capture images according to a preset strategy during the movement of the viewfinder area, so that the acquired images can cover at least one surface of the wind turbine blade facing the camera. It is understood that during the process of controlling the camera's viewfinder area to gradually move from the root of the selected wind turbine blade to the tip, the camera, in addition to maintaining its own rotational angular velocity consistent with the angular velocity of the wind turbine blade, also needs to oscillate relative to the ground to maintain a comprehensive scan of the wind turbine blade. Generally, aircraft carrying cameras are connected via gimbal components, so the camera's rotation and oscillation relative to the ground can be achieved through the gimbal component. In the specific shooting process, the preset strategy may include continuous shooting at a certain frequency or continuous shooting at intervals of oscillation distance, etc., as long as the captured images cover at least one surface of the wind turbine blade facing the camera; no specific limitation is made here.

[0059] Understandably, after the camera completes the image capture of a single wind turbine blade, it needs to be controlled to reset and swing, so that the camera's field of view is restored to its original state, facing the top of the wind turbine tower. Then, the scanning and shooting process is repeated on another wind turbine blade that has not undergone inspection and shooting, until the inspection images of all the wind turbine blades of a single wind turbine are acquired.

[0060] In one specific implementation of the above embodiments, it is understood that, since the technical solution provided in this disclosure requires carrying a camera on an aircraft and controlling the camera to rotate and swing for shooting, the camera itself must be lightweight enough to avoid carrying too many additional control devices, storage devices, transmission devices, etc., which results in the camera itself not having data storage capabilities. To ensure that the image data obtained from the inspection scan can be transmitted to the aircraft in a timely manner, a slip ring device can be used to transmit information data while maintaining relative rotation between the camera and the gimbal, preventing traditional transmission lines from interfering with the rotation between the camera and the gimbal. Those skilled in the art can also choose other feasible technical solutions to implement the technical solution of this disclosure, which are not limited here.

[0061] In some embodiments of this disclosure, Figure 4An image acquisition system for non-stop inspection is illustrated, applied to the image acquisition method for non-stop inspection provided in the aforementioned embodiments. It employs an aircraft carrying a camera to capture images of the wind turbine blades of a wind turbine in operation. Figure 4 As shown, this acquisition system may include:

[0062] The aircraft control module 001 is used to control the aircraft to move to a preset position facing the top area of ​​the wind turbine tower. Specifically, the aircraft control module 001 may further include a planning unit and a hovering unit. The planning unit is used to obtain the position of the wind turbine tower to plan the flight path of the aircraft, enabling it to move from its current position to the preset position. The hovering unit is used to control the aircraft to hover at the preset position so that the camera's framing area is directly facing the top area of ​​the wind turbine tower. This ensures the wind turbine blades on the surface are in a state that allows for direct observation, facilitating the rapid location of any missed areas.

[0063] The camera motion module 002 is used to control the camera to rotate so that the camera and the wind turbine blades remain relatively stationary.

[0064] The camera capturing module 003 is used to control the rotating camera to continuously scan and capture images of the selected wind turbine blades, thereby acquiring inspection images of the wind turbine blades in motion. As described in the foregoing embodiments, the oscillation of the viewfinder area during camera capture is achieved using the aforementioned camera motion module 002.

[0065] It is understood that the functions implemented by the aircraft control module 001 to the camera shooting module 003 in the above functional modules correspond one-to-one with the operations performed in steps 101 to 103 mentioned above, and will not be elaborated here.

[0066] It is understood that various aspects of the technical solutions disclosed herein can be implemented as systems, methods, or program products. Therefore, various aspects of the technical solutions disclosed herein can be specifically implemented in the following forms: a completely hardware implementation method, a completely software implementation method (including firmware, microcode, etc.), or an implementation method combining hardware and software aspects, which can be collectively referred to here as "circuit", "module" or "platform".

[0067] Those skilled in the art should understand that the various units, modules, or steps of this disclosure described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using program code executable by a computing device, thereby storing them in a storage medium for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module.

[0068] Figure 5 According to some embodiments of this disclosure, a schematic diagram of an electronic device is shown. This electronic device is used to implement the image acquisition method for non-stop inspection described in the foregoing embodiments. The following refers to... Figure 5 The electronic device 600 implemented according to the method described in this embodiment will be described in detail below. Figure 5 The electronic device 600 shown is merely an example and should not impose any limitation on the functionality and scope of use of any embodiment of the technical solution disclosed herein.

[0069] like Figure 5 As shown, the electronic device 600 is presented in the form of a general-purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different platform components (including storage unit 620 and processing unit 610), a display unit 640, etc.

[0070] The storage unit stores program code, which can be executed by the processing unit 610, enabling the processing unit 610 to implement the various functional modules in the image acquisition system for non-stop inspection described in this embodiment.

[0071] Storage unit 620 may include a readable medium in the form of a volatile storage unit, such as random access unit (RAM) 6201 and / or cache storage unit 6202, and may further include read-only storage unit (ROM) 6203.

[0072] Storage unit 620 may also include a program / utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including but not limited to: operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0073] Bus 630 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, an image acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0074] The audio / video signal synchronization processing device 600 can also communicate with one or more external devices 700 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable user interaction with the electronic device 600, and / or with any device that enables the electronic device to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via the input / output (I / O) interface 650. Furthermore, the electronic device 600 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via the network adapter 660. The network adapter 660 can communicate with other modules of the electronic device 600 via the bus 630. It should be understood that, although... Figure 5 As not shown in the diagram, other hardware and / or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0075] In some embodiments of this disclosure, a computer-readable storage medium is also provided, on which a computer program is stored. When the computer program is executed by a processor, it can implement the various functional modules of the image acquisition system for non-stop inspection described above.

[0076] Although other specific implementation methods are not listed exhaustively in this embodiment, in some possible implementation methods, the various aspects described in this disclosure can also be implemented in the form of a program product, which includes program code. When the program product is run on a terminal device, the program code is used to cause the terminal device to perform the steps described in the non-stop inspection image acquisition method according to the various embodiments of this disclosure.

[0077] Figure 6 A schematic diagram of the structure of a computer-readable storage medium is shown according to some embodiments of this disclosure. For example... Figure 6As shown, a program product 800 for implementing the above-described image acquisition method for non-stop inspection is described in an embodiment of the present disclosure. This product can be a portable compact disc read-only memory (CD-ROM) and includes program code, and can run on a terminal device, such as a personal computer. Of course, the program product generated according to this embodiment is not limited to this. In the present disclosure, the readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0078] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0079] Computer-readable storage media may include data signals propagated in baseband or as a carrier wave region, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable storage medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0080] Program code for performing the operations of the disclosed technical solutions can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, locally on the user's device, as a standalone software package, locally on the user's computing device, locally on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0081] In summary, the technical solution proposed in this disclosure enables the scanning and imaging of wind turbine blades without stopping the operation of the wind turbine, thereby obtaining the image data of the wind turbine blades required for inspection. The technical solution allows for year-round, routine, and frequent inspection and scanning of wind turbines, significantly overcoming the limitation of existing inspection methods that must be completed during the wind power plant's shutdown window, thus avoiding downtime and impacting the power generation efficiency of the wind turbine. Furthermore, the technical solution provided in this disclosure can be applied to lightweight inspection equipment such as drones, making it more convenient to implement than other existing non-stop inspection solutions. It is not limited by external environmental constraints, and the captured images provide a more intuitive reflection of the surface details of the wind turbine blades, making it worthy of widespread application.

[0082] The above description is only a description of the preferred embodiment of the technical solution disclosed herein, and is not intended to limit the scope of the technical solution disclosed herein. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. A method for acquiring images during non-stop inspection, characterized in that, An aircraft equipped with a camera is used to take inspection images of the wind turbine blades of a wind turbine in operation. The image acquisition method includes the following steps: Control the aircraft to move to a preset position facing the top of the wind turbine tower; the preset position includes a position on the windward side of the wind turbine, where the line connecting the center of the camera's field of view and the center of the wind turbine hub is perpendicular to the wind turbine surface; and a position on the leeward side of the wind turbine, where the line connecting the center of the camera's field of view and the center of the wind turbine nacelle is perpendicular to the wind turbine surface. The camera is controlled to rotate so that the angular velocity of the camera's rotation is consistent with the angular velocity of the wind turbine blades; The camera, which is controlled to rotate, continuously captures images of the selected wind turbine blades to acquire inspection images of the wind turbine blades in motion. The process of controlling the camera to continuously scan and capture images of the selected wind turbine blades includes the following steps: The wind turbine blade that has not undergone inspection and photography is selected as the chosen wind turbine blade; The camera's framing area is controlled to gradually move from the root of the selected wind turbine blade to the tip of the wind turbine blade, and continuous image capture is performed according to a preset strategy during the movement of the framing area, so that the acquired images can cover at least one surface of the wind turbine blade facing the camera.

2. The image acquisition method for non-stop inspection as described in claim 1, characterized in that, The process of controlling the aircraft to move to a preset position directly opposite the top of the wind turbine tower includes the following steps: The position of the wind turbine tower is obtained to plan the flight path of the aircraft, so that the aircraft moves from the current position to the preset position; The aircraft is controlled to hover at the preset position so that the camera's field of view is directly facing the top area of ​​the wind turbine's tower.

3. The image acquisition method for non-stop inspection as described in claim 1, characterized in that, Controlling the camera to rotate so that its rotational angular velocity matches the angular velocity of the wind turbine blades includes the following steps: The motion information of the wind turbine blades is continuously acquired to obtain the real-time angular velocity of the wind turbine blades in operation. The camera is controlled to rotate at the real-time angular velocity.

4. The image acquisition method for non-stop inspection as described in claim 1, characterized in that, The process of controlling the camera to continuously scan and capture images of the selected wind turbine blades includes the following steps: After the camera finishes capturing an image of a single wind turbine blade, the camera's viewfinder is controlled to return to the area directly facing the top of the wind turbine tower. The process continues until inspection images of all the wind turbine blades have been acquired.

5. An image acquisition system for non-stop inspection, characterized in that, The image acquisition method for non-stop inspection as described in any one of claims 1 to 4 uses an aircraft carrying a camera to take images of the wind turbine blades of a wind turbine in operation. The image acquisition system includes: The aircraft control module is used to control the aircraft to move to a preset position facing the top area of ​​the wind turbine tower; A camera motion module is used to control the camera to rotate so that the camera and the wind turbine blades remain relatively stationary. The camera imaging module is used to control the rotating camera to continuously scan and capture images of the selected wind turbine blades, so as to acquire inspection images of the wind turbine blades in motion.

6. The image acquisition system for non-stop inspection as described in claim 5, characterized in that, The aircraft control module further includes; The planning unit is used to obtain the position of the wind turbine tower in order to plan the flight path of the aircraft, so that the aircraft moves from the current position to the preset position; The hovering unit is used to control the aircraft to hover at the preset position so that the camera's field of view is directly facing the top area of ​​the wind turbine's tower.

7. An image acquisition device for non-stop inspection, characterized in that, include: Memory, used to store computer programs; A processor is configured to execute the computer program to implement the image acquisition method for non-stop inspection as described in any one of claims 1 to 4.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the image acquisition method for non-stop inspection as described in any one of claims 1 to 4.

Images