A wind power blade defect intelligent identification and positioning inspection system

Abstract

The present application relates to a kind of wind power blade defect intelligent identification and positioning inspection system;The inspection system includes mobile chassis so that it can be kept on wind turbine pillar and can move up and down along the pillar;The inspection system also includes extension platform, for the target blade is covered into around cover unit;The around cover unit has light shield, can cover target blade to isolate external light;In the around cover, the inspection unit can be around the target blade is set, so that the target blade is checked quickly based on optical characteristic quantity, finally realizes the intelligent wind power blade inspection of high efficiency and short cycle.

Description

Technical Field

[0001] This invention relates to the field of wind power machinery and equipment technology. Specifically, it relates to an intelligent identification and location inspection system for wind turbine blade defects. Background Technology

[0002] Wind energy is a renewable energy source, and in recent years, with the improvement of wind power stability and the further reduction in the cost of wind turbine blades, this green energy has developed rapidly. Wind turbine blades are the core component of a wind power system; their rotation converts the kinetic energy of the wind into usable energy. Wind turbine blades are generally made of carbon fiber or glass fiber reinforced composite materials, and defects and damage are inevitable during production and use. Therefore, quality inspection during production and ongoing monitoring during use are crucial. Non-destructive testing (NDT) technology and wind power quality inspection technology have become very important technologies in the production and use of wind turbine blades.

[0003] A review of publicly available technical solutions reveals that the technical solution with publication number CN113822844(A) proposes a method for inspecting wind turbine blades using a drone. This method involves the drone continuously acquiring images along the length of the blade, segmenting the images, and uploading them to a computer analysis system. Image algorithms are then used to analyze the types and locations of potential defects on the blade surface.

[0004] The foregoing description of the background art is intended only to facilitate understanding of the invention. This description does not endorse or acknowledge any common general knowledge in the materials mentioned. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent identification and location inspection system for wind turbine blade defects. The inspection system includes a movable chassis that can be held on the wind turbine support and moved up and down along the support. The inspection system also includes an extension platform for fitting the target blade into a surround cover unit. The surround cover unit has a light shield that can cover the target blade to isolate external light. An inspection unit that can surround the target blade is set inside the surround cover, thereby performing rapid inspection of the target blade based on optical characteristics, ultimately achieving high-efficiency and short-cycle intelligent wind turbine blade inspection.

[0006] The present invention adopts the following technical solution:

[0007] A wind turbine blade defect intelligent identification and location inspection system, the inspection system comprising a mobile base, an extension platform, a surround cover unit, and an inspection unit; wherein...

[0008] The mobile base includes a main unit base and a sub-unit base; the mobile base is configured to carry multiple components of the inspection system and working units, and moves along the support column of the target fan;

[0009] The extension platform is used to extend the surrounding cover unit and the inspection unit horizontally, so that the surrounding cover reaches the horizontal position of a target blade.

[0010] The surrounding cover unit is configured to extend the surrounding cover along the length direction of the target blade and cover part or all of the target blade.

[0011] The inspection unit is configured to rotate inside the surrounding cover unit about the central axis of the surrounding cover unit, thereby achieving a complete circumference inspection of the target blade along its length.

[0012] The inspection unit includes at least one spiral track disposed inside the surrounding cover unit, and at least one image acquisition device is configured for each track; the inspection unit moves along the track to perform a full rotation inspection of the target blade along its length.

[0013] Furthermore, the surrounding cover unit also includes an adjustable light source for providing light for the inspection unit during optical inspection; the adjustable light source is adjusted by the inspection system according to inspection needs, including parameters such as brightness.

[0014] The inspection unit uses optical inspection technology to inspect the surface of the target blade. It collects multiple optical characteristic parameters in the reflected light from the surface of the target blade, calculates the distribution characteristics of the brightness of the reflected light, and analyzes the distribution characteristics to determine the type, extent, and location of the defect.

[0015] Optionally, the inspection unit includes an imaging subunit, an optical feature calculation subunit, a shape feature calculation subunit, and a defect analysis subunit, wherein...

[0016] The imaging subunit is configured to acquire multiple optical features of the light reflected from the surface of the target blade, including at least average brightness, standard brightness difference, maximum brightness, and minimum brightness.

[0017] The shape feature calculation subunit is configured to divide the target blade into multiple regions based on the outer surface shape features of the target blade, and define the boundary coordinates of each region;

[0018] The optical feature calculation subunit is configured to analyze the optical feature quantities of the target blade in optical images of multiple regions based on the optical feature data collected by the imaging subunit and in combination with the shape features of the target blade, and to set threshold values ​​for multiple optical feature parameters in different regions.

[0019] The defect analysis subunit is configured to determine the defect pixels representing surface defects of the target blade in the optical image based on multiple optical feature thresholds, and record the image position of the defect pixels.

[0020] Optionally, the shape feature calculation subunit includes analyzing the surface shape features of the target blade based on the digital three-dimensional model of the target blade, and includes dividing the target blade surface into mesh regions based on the mesh division rules for planar and curved surfaces;

[0021] Optionally, the optical feature calculation subunit includes optical tracking analysis using a digital three-dimensional model of the target blade, using virtual technology to simulate a light source to illuminate multiple grid areas of the target blade with predetermined optical parameters, thereby obtaining the optical features of the reflected light from the target blade surface as reference optical features, and using the reference optical features to analyze and obtain the reference distribution features of the brightness degree of the reflected light.

[0022] Furthermore, this includes setting the first parameter Lup as the upper threshold and the second parameter Ldown as the upper threshold; the calculation methods for both are as follows:

[0023] First parameter Lup:

[0024] The second parameter Ldown:

[0025] In Equations 1 and 2, i is the number of the grid region; L represents the average brightness of the pixels in grid region i. i-max L represents the highest brightness of a pixel in the grid region numbered i. i-min σ(L) represents the lowest brightness of a pixel in the grid region numbered i. i ) represents the standard deviation of brightness of pixels in grid region i; coefficients α, α′, β, β′ are correction coefficients, which are set by technicians based on at least one or more of the following: the geometric characteristics of the grid region and the surface roughness requirements, surface curvature, and surface material requirements of the grid region.

[0026] Optionally, the surround cover unit includes a light shield with a double-layer structure for isolating the interior of the surround cover from external light; wherein the light shield includes an outer light shield and an inner light shield; the light shield is made of carbon fiber composite material; and a composite light-absorbing coating is applied to the outer surface of the outer light shield and the inner surface of the inner light shield.

[0027] Optionally, the movable base includes an adsorption mechanism for adsorbing onto the support column of the target fan; and a moving mechanism for linear movement along the support column and circular movement around the support column.

[0028] Optionally, the inspection system further includes calculating an inspection speed index Ex, and determining the moving speed of the moving base of the inspection system during inspection based on the inspection speed index Ex; the inspection speed index Ex is calculated as follows:

[0029]

[0030] In Equation 3, w is the climate safety index of the target wind turbine location, which is statistically measured based on at least one of the local wind frequency, air dust content, humidity, and temperature. A higher climate safety index indicates less damage to the blades; y is the total usage time of the target wind turbine; t is the number of days since the last inspection; s is the total surface area of ​​the target blade currently enclosed by the surrounding shroud unit, which can be calculated by combining the three-dimensional model with the position of the inspection system on the target blade in the length direction; n is the number of pixels with abnormal brightness values ​​in the optical image of the target blade currently enclosed by the surrounding shroud unit; δ is the structural risk coefficient, which can be set according to the mechanical properties and material of the target blade and after calculation by relevant technical personnel.

[0031] The beneficial effects achieved by this invention are:

[0032] 1. The inspection system of the present invention moves along the support column by means of a movable base attached to the support column, thereby realizing a stable and adjustable speed inspection process; unlike the current method of manual inspection or drone inspection, it can realize a safer and longer working method in harsh environments;

[0033] 2. The inspection system of the present invention further adjusts the inspection rate of the inspection system based on multiple factors such as the objective climate conditions of the wind turbine location and the operating time of the wind turbine, combined with the real-time preliminary inspection results, so as to conduct more targeted inspections on the suspected defect locations in real time.

[0034] 3. The inspection system of the present invention can use visible light characteristics as the main means of inspection, and can also incorporate other detection technologies such as ultrasonic waves and radiation penetration technology for further optimization of inspection;

[0035] 4. The inspection system of the present invention adopts a modular design and coordination in its hardware modules and devices, which can be flexibly optimized and changed in the later stages through software and hardware, saving a lot of later maintenance and upgrade costs. Attached Figure Description

[0036] The invention will be further understood from the following description taken in conjunction with the accompanying drawings. The components in the drawings are not necessarily drawn to scale, but rather the emphasis is on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0037] Figure 1 This is a schematic diagram of the inspection system described in this invention;

[0038] Figure 2 This is a schematic diagram of the movable base described in this invention;

[0039] Figure 3 This is a schematic diagram of the surrounding cover unit described in this invention;

[0040] Figure 4 This is a schematic diagram of the inspection unit described in this invention;

[0041] Figure 5 This is a schematic diagram of the brightness distribution frequency statistics curve in an embodiment of the present invention. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to its embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the present invention. Other systems, methods, and / or features of this embodiment will become apparent to those skilled in the art after reviewing the following detailed description. All such additional systems, methods, features, and advantages are intended to be included within this specification, within the scope of the invention, and protected by the appended claims. Further features of the disclosed embodiments are described in detail below, and these features will become apparent from the following detailed description.

[0043] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0044] Example 1:

[0045] With the rapid increase in demand for wind power generation, the size of wind turbines used in wind power generation has also grown to a very large size. At the same time, due to the optimization of dynamic design and mechanical performance design, the surface shape of wind turbine blades is composed of multiple curved surfaces with varying shapes, which increases the difficulty of inspection from a fixed angle.

[0046] Meanwhile, since wind turbine blades are generally located tens or even hundreds of meters in the air, inspection methods involving personnel climbing or using lifting facilities are highly dangerous and unsuitable for prolonged operation in harsh environments; therefore, this inspection system and its implementation method are proposed:

[0047] A wind turbine blade defect intelligent identification and location inspection system includes a mobile base 100, an extension platform 102, a surround cover unit 103, and an inspection unit; wherein,

[0048] The mobile base 100 includes a main unit base 101 and a secondary unit base 104; the mobile base 100 is configured to carry multiple components of the inspection system and working units, and moves along the support column of the target wind turbine;

[0049] The extension platform 102 is used to extend the surrounding cover unit 103 and the inspection unit in the horizontal direction, so that the surrounding cover reaches the horizontal position where a target blade 10 is located.

[0050] The surrounding cover unit 103 is configured to cover part or all of the target blade 10 by extending the surrounding cover along the length direction of the target blade 10;

[0051] The inspection unit is configured to rotate inside the surrounding cover unit 103 about the central axis of the surrounding cover unit 103, thereby achieving a complete circumference inspection of the target blade 10 along its length.

[0052] The inspection unit includes at least one spiral track disposed inside the surrounding cover unit 103, and at least one image acquisition device is configured for each track; the inspection unit moves along the track to perform a full rotation inspection of the target blade 10 along its length.

[0053] Furthermore, the surrounding cover unit 103 also includes an adjustable light source 303, which provides a light source for the inspection unit when performing optical inspection; the adjustable light source 303 is adjusted by the inspection system according to the inspection needs, including parameters such as brightness.

[0054] The inspection unit uses optical inspection technology to inspect the surface of the target blade 10. It collects multiple optical feature parameters in the reflected light from the surface of the target blade 10, calculates the distribution characteristics of the brightness of the reflected light, and determines the type, extent, and location of defects by analyzing the distribution characteristics.

[0055] Optionally, the inspection unit includes an imaging subunit, an optical feature calculation subunit, a shape feature calculation subunit, and a defect analysis subunit, wherein,

[0056] The imaging subunit is configured to acquire multiple optical features of the light reflected from the surface of the target blade 10, including at least the average brightness, standard brightness difference, maximum brightness, and minimum brightness.

[0057] The shape feature calculation subunit is configured to divide the target blade 10 into multiple regions based on the outer surface shape features of the target blade 10, and define the boundary coordinates of each region;

[0058] The optical feature calculation subunit is configured to analyze the optical feature quantities of the target blade 10 in optical images of multiple regions based on the optical feature data acquired by the imaging subunit and in combination with the shape features of the target blade 10, and to set threshold values ​​for multiple optical feature parameters in different regions.

[0059] The defect analysis subunit is configured to determine the defect pixels representing surface defects of the target blade 10 in the optical image based on multiple optical feature thresholds, and record the image position of the defect pixels.

[0060] Optionally, the shape feature calculation subunit includes analyzing the surface shape features of the target blade 10 based on the digital 3D model of the target blade 10, and includes dividing the surface of the target blade 10 into mesh regions based on the mesh division rules for planar and curved surfaces.

[0061] Optionally, the optical feature calculation subunit includes optical tracking analysis using a digital three-dimensional model of the target blade 10, using virtual technology to simulate a light source to illuminate multiple grid areas of the target blade 10 with predetermined optical parameters, thereby obtaining the optical features of the reflected light from the surface of the target blade 10 as reference optical features, and using the reference optical features to analyze and obtain the reference distribution features of the brightness degree of the reflected light.

[0062] Furthermore, this includes setting the first parameter Lup as the upper threshold and the second parameter Ldown as the upper threshold; the calculation methods for both are as follows:

[0063] First parameter Lup:

[0064] The second parameter Ldown:

[0065] In Equations 1 and 2, i is the number of the grid region; L represents the average brightness of the pixels in grid region i. i-max L represents the highest brightness of a pixel in the grid region numbered i. i-min σ(L) represents the lowest brightness of a pixel in the grid region numbered i. i ) represents the standard deviation of brightness of pixels in grid region i; coefficients α, α′, β, β′ are correction coefficients, which are set by technicians based on at least one or more of the following: the geometric characteristics of the grid region and the surface roughness requirements, surface curvature, and surface material requirements of the grid region.

[0066] Optionally, the surround unit 103 includes a light shield with a double-layer structure for isolating the interior of the surround from external light; wherein the light shield includes an outer light shield and an inner light shield; the light shield is made of carbon fiber composite material; and a composite light-absorbing coating is applied to the outer surface of the outer light shield and the inner surface of the inner light shield.

[0067] Optionally, the movable base 100 includes an adsorption mechanism for adsorbing onto the support column of the target fan; and a moving mechanism for linear movement along the support column and circular movement around the support column.

[0068] Optionally, the inspection system also includes calculating an inspection speed index Ex, and determining the moving speed of the inspection system's moving base during inspection based on the inspection speed index Ex; the inspection speed index Ex is calculated as follows:

[0069]

[0070] In Equation 3, w represents the climate safety index of the target wind turbine location, which is statistically measured based on at least one of the local climate factors, such as strong wind frequency, air dust content, humidity, and temperature. A higher climate safety index indicates less damage to the blades. y represents the total usage time of the target wind turbine. t represents the number of days since the last inspection. s represents the total surface area of ​​the target blade 10 currently enclosed by the surrounding shroud unit, which can be calculated by combining the three-dimensional model with the position of the inspection system of the target blade 10 in the length direction. n represents the number of pixels with abnormal brightness values ​​in the optical image of the target blade 10 currently enclosed by the surrounding shroud unit. δ represents the structural risk coefficient, which can be set based on the mechanical properties and material of the target blade 10 and after calculation by relevant technical personnel.

[0071] Alternatively, the following is one embodiment of the movable base 100;

[0072] As attached Figure 1As shown, the main unit base 101 and the secondary unit base 104 are respectively; the movable base 100 also includes a connecting device for binding the two unit bases together and keeping the unit bases in close contact with the periphery of the support column.

[0073] Among them, as attached Figure 2 The diagram shows a schematic of the sub-unit base 104. Each side of the sub-unit base 104 includes a belt storage compartment 110 for storing a high-strength elastic belt 112 and a roller 111 for winding the belt. The roller 111 is mounted on the upper and lower end faces of the belt storage compartment 110. The roller 111 has a spring recovery assembly for tightening and maintaining the belt 112.

[0074] On the other hand, the main unit base 101 includes fixing clamps on both sides of the base; the belts 112 on both sides of the sub-unit base 104 surround the support from both sides of the support and pass around the support, and reach both sides of the main unit base 101 respectively, and fix the front end of the belts 112 to the fixing clamps 113 on both sides of the main unit base 101.

[0075] The mobile base 100 includes at least one drive wheel 114; a portion of the drive wheel 114 contacts the support column and is exposed outside the base frame; the mobile base 100 also includes two auxiliary wheels 115 exposed to the outside and connected to the upper part of the drive wheel; furthermore, the drive wheel 114 is coupled to a set of drive motors and a transmission gearbox 116 via a shaft connection; the rotating gear of the drive wheel 114 meshes with the gear shaft at a right angle; and the mobile base 100 also includes an infrared distance sensor mounted on its bottom for measuring distance information from the support column.

[0076] Furthermore, the mobile base 100 also includes a wireless communication unit for wireless communication, and a control unit for controlling the drive motion of each unit base by controlling the drive motor, the infrared distance sensor and the wireless communication unit.

[0077] The infrared distance sensor continuously measures the distance between the bottom of the mobile base 100 and the support column, and sends the distance information to the control unit of the mobile base 100 to determine whether the mobile base 100 is moving away from the support column, so as to adjust the tension of the belt 112 in real time to ensure that the mobile base 100 has no risk of falling.

[0078] Furthermore, the movable base 100 includes a level sensor, which works in conjunction with an encoder configured inside the drive motor to measure the level of the movable base 100 and the distance the movable base 100 moves on the support column.

[0079] Furthermore, in one embodiment, the surrounding cover unit 103 is as shown in the attached diagram. Figure 3As shown, it includes a linear deployment drive assembly and a cascaded sleeve assembly; the sleeve assembly is preferably circular, but based on the shape of the target blade 10, the sleeve assembly can optionally be a regular polygon or an ellipse, etc.; the linear deployment drive assembly 210 extends axially along the central axis of the sleeve assembly, drives the outer cylinder to move, and transmits the movement along the path of the outer cylinder, middle cylinder and inner cylinder, realizing the deployment and retraction of the entire light shield; the main load-bearing structure of each cascaded sleeve assembly consists of four vertical beams 204 connecting the upper ring and the lower ring; the multiple vertical beams 204 are processed from high-rigidity carbon fiber rods and are evenly distributed at 90° on the circumference of the upper and lower rings to ensure that each cascaded sleeve has rigidity;

[0080] In one embodiment, the linear unfolding drive assembly 210 includes a left drive assembly and a right drive assembly; the cascaded sleeve assembly is composed of an inner sleeve assembly 203, a middle sleeve assembly 202, and an outer sleeve assembly 201, and each cascaded sleeve is composed of a lower ring 206, an upper ring 205, a vertical beam 204, an outer sleeve fixing block, a middle sleeve slider, an outer sleeve light-blocking cloth, and an outer sleeve connecting block.

[0081] Furthermore, each cascaded sleeve is surrounded by a light-blocking cloth 211. The light-blocking cloth 211 is made of a lightweight multi-layer structure and has a good light-blocking and heat-insulating effect. Twelve stringers are pulled out between the upper and lower rings of the cylinder to form vertical beams, which provide support for the light-blocking cloth 211 and constrain the shape of the light-blocking cloth 211 into a cylindrical shape, ultimately achieving a good light-blocking effect.

[0082] Furthermore, there are two sets of linear deployment drive components 210, arranged at a 180° angle on both sides of the sleeve assembly, to ensure that the cascaded sleeves are in a state of force balance when driven, thus ensuring the stability of the drive.

[0083] Further details are attached. Figure 2 As shown, the linear unfolding drive assembly 210 adopts a rhomboid frame configuration, which is divided into 4 rhomboids of the same size to form a quadrilateral transmission.

[0084] Furthermore, the linear deployment drive assembly 210 also includes a precision lead screw driver; the precision lead screw driver is supported by two lead screws on two of the outer frames of the rhomboid frame; by driving the lead screws and pushing the two outer frames to move, the deployment and retraction of the cascaded sleeve assembly is realized.

[0085] Example 2:

[0086] This embodiment should be understood to include at least all the features of any of the foregoing embodiments, and to further improve upon them;

[0087] This embodiment further proposes an implementation example of an inspection unit, as shown in the attached figure. Figure 4 As shown;

[0088] The inspection unit includes an image acquisition device 301, a track 302, and an adjustable light source 303; the adjustable light source 303 illuminates the surface of the target blade 10, and the image acquisition device 301 moves on the track 302 while keeping its center pointing towards the target blade 10 so that it can continuously acquire the reflected optical image of the target blade 10.

[0089] Among them, based on the length direction of the target blade 10, a central axis y is set so that the geometric centers of multiple radial sections of the target blade 10 along the central axis y are all located on the central axis y, or as many as possible are located on the central axis y.

[0090] Preferably, the image acquisition device 301 can be a camera, an optical sensor, an RGB optical sensor, or other image sensors, etc.

[0091] Preferably, the central axis y′ of the spiral of track 302 coincides with the central axis y; the pointing of image acquisition device 301 is kept horizontal or orthogonal to the central axis y; image acquisition device 301 receives light illuminated by adjustable light source 303 and diffusely reflected on the surface of target blade 10;

[0092] Preferably, the image acquisition device 301 has a driving device, which enables the image acquisition device 301 to move continuously along the track 302, or to move in steps at fixed intervals.

[0093] Preferably, the inspection unit further includes a memory; when the image acquisition device 301 acquires an optical image of the target blade 10, it simultaneously transmits the optical image to the memory; multiple optical images are stored in the memory;

[0094] However, since wind turbine blades generally have multiple curved surfaces, the reflection patterns vary. Therefore, the division of the curved surface regions needs to follow certain rules to ensure that:

[0095] (1) The shape of each grid should be as regular as possible;

[0096] (2) The size of the grid should be as uniform as possible;

[0097] (3) The grids should not overlap and should have as few gaps as possible;

[0098] (4) The mesh should be able to adaptively re-mesh;

[0099] (5) The curvature of the surface within the grid should be as gentle as possible;

[0100] The goal of listing the above conditions is to make the optical features of each grid region highly regular in order to facilitate the identification of pixels with abnormal optical features caused by surface defects.

[0101] Furthermore, brightness analysis is performed on each pixel of each acquired optical image, or brightness analysis is performed after combining multiple adjacent pixels, and statistics are made to generate multiple analysis records; each analysis record includes at least the identification of the position coordinates of each pixel on the target blade 10 and the brightness of that pixel;

[0102] Further details are attached. Figure 5 The diagram illustrates the frequency distribution of all pixels in brightness within a grid area. According to brightness analysis, the brightness distribution of the recessed defect portion (e.g., cracks, impact holes, peeling, etc.) on the surface of the target blade 10 will show peaks in the low brightness range (below Ldown mentioned below). This is because the light emitted by the adjustable light source 303 is absorbed and scattered by the recessed defect portion, so the image acquisition device 301 cannot fully receive it.

[0103] On the other hand, prominent defects (such as burrs, flash, rust spots, etc.) will have peaks in the high brightness range (higher than Lup mentioned below). This is because the light emitted by the adjustable light source 303 is reflected by the prominent defects in a specular or near-specular state, causing the image acquisition device 301 to receive strong reflected light.

[0104] Furthermore, in the statistical chart, a first parameter Lup is set as the upper threshold and a second parameter Ldown is set as the lower threshold. This allows the location coordinates of pixels with values ​​greater than the upper threshold and pixels with values ​​less than the lower threshold to be recorded. This enables the recording of the locations on multiple potentially defective target blades 10. Additionally, inspectors can further examine the locations of suspected defects.

[0105] Example 3:

[0106] This embodiment should be understood to include at least all the features of any of the foregoing embodiments, and to further improve upon them;

[0107] In actual inspection implementation, the inspection system can be placed on the support of the target wind turbine by inspectors. In a more automated implementation, the inspection system includes being moved to the location of the target wind turbine by an automated guided vehicle (AGV) through a positioning system, and the inspection system is guided to the support of the target wind turbine by an auxiliary transport device.

[0108] Furthermore, the inspection system includes the following operational steps:

[0109] (1) Rotate the target blade 10 of the target wind turbine to the lowest point and set the blade turbine brake to ensure that the blade is completely fixed;

[0110] (2) Correctly install and attach the mobile base 100 to the target wind turbine support;

[0111] (3) The movable base 100 moves to below the target blade 10 and the extension platform 102 extends so that the surrounding cover unit 103 reaches directly below the lowest point of the target blade 10.

[0112] (4) Expand the surrounding cover unit 103 and raise the movable base 100 so that the frontmost part of the target blade 10 enters the surrounding cover unit 103; tighten the light shields on the upper and lower end faces of the surrounding cover unit 103 to isolate external light inside the surrounding cover.

[0113] (5) Keep the adjustable light source 303 off, turn on the image acquisition device 301, and determine that the brightness inside the surrounding cover is low enough.

[0114] (6) Start optical inspection and set the travel speed of the moving base according to the inspection speed index Ex; and appropriately expand or contract the light shield of the upper and lower end faces of the surrounding shield unit 103 according to the cross-sectional outer diameter of the target blade 10.

[0115] (7) Determine the final position of the moving base 100 based on the length of the target blade 10 or based on the predetermined detection section length.

[0116] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0117] While the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications can be made without departing from the scope of the invention. That is, the methods, systems, and devices discussed above are examples. Various configurations can be appropriately omitted, substituted, or added to various processes or components. For example, in alternative configurations, methods can be performed in a different order than those described, and / or various components can be added, omitted, and / or combined. Moreover, features described with respect to certain configurations can be combined in various other configurations, such as different aspects and elements of the configuration can be combined in a similar manner. Furthermore, the elements therein can be updated as the technology develops; that is, many elements are examples and do not limit the scope of this disclosure or the claims.

[0118] Specific details are provided in the specification to offer a thorough understanding of exemplary configurations, including implementations. However, configurations can be practiced without these specific details; for example, well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary detail to avoid obscuring the configuration. This description provides only exemplary configurations and does not limit the scope, applicability, or configuration of the claims. Rather, the foregoing description of the configurations will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes can be made to the function and arrangement of the elements without departing from the spirit or scope of this disclosure.

[0119] In summary, the above detailed description is intended to be illustrative rather than restrictive, and it should be understood that these embodiments are for illustrative purposes only and not for limiting the scope of protection of the invention. After reading the description of this invention, those skilled in the art can make various alterations or modifications to the invention, and these equivalent changes and modifications also fall within the scope defined by the claims of this invention.

Claims

1. A wind turbine blade defect intelligent identification and positioning inspection system, characterized in that, The inspection system comprises a mobile base, an extension platform, a surrounding cover unit and an inspection unit; wherein The mobile base is configured to carry multiple components of the inspection system and a working unit, and to move along the pillar of a target wind turbine; The extension platform is used to extend the surrounding cover unit and the inspection unit in the horizontal direction, so that the surrounding cover reaches the horizontal position of a target blade; The surrounding cover unit is configured to extend the surrounding cover along the length direction of the target blade and cover part or all of the target blade, and comprises a light shield with a double-layer structure, which is used to isolate the inside of the surrounding cover from external light; The inspection unit is configured to rotate around the central axis of the surrounding cover unit inside the surrounding cover unit, so as to realize complete one-turn inspection of the target blade in the length direction; At least one spiral track is arranged inside the surrounding cover unit, and at least one inspection unit is arranged for each track; the inspection unit moves along the track, so as to realize one-turn inspection of the target blade in the length direction; The surrounding cover unit further comprises an adjustable light source arranged therein, which is used to provide light source for the inspection unit when performing optical inspection; the adjustable light source is adjusted in terms of parameters including brightness by the inspection system according to the inspection requirement; The inspection unit uses optical inspection technology to inspect the surface of the target blade, acquires multiple optical characteristic parameters in the reflected light of the surface of the target blade, calculates the distribution characteristics of the brightness of the reflected light, and determines the type, degree and position of defects by analyzing the distribution characteristics, The inspection system further comprises a calculation of an inspection speed index Ex, according to which the moving speed of the mobile base of the inspection system during inspection is determined; the calculation of the inspection speed index Ex is as follows: , formula 3; In formula 3, w is the climate safety index of the location of the target wind turbine, which is statistically measured according to at least one of the wind frequency, air sand content, humidity and temperature of the location; the higher the climate safety index, the smaller the damage to the blade; y is the total use time of the target wind turbine; t is the number of days from the last inspection; s is the total surface area of the target blade currently wrapped by the surrounding cover unit, which is obtained by calculating the three-dimensional model combined with the position of the target blade in the length direction of the inspection system; n is the number of pixels with abnormal brightness in the optical image of the target blade currently wrapped by the surrounding cover unit; and δ is the structural risk coefficient, which is set according to the mechanical properties and material of the target blade and calculated by relevant technical personnel.

2. The wind turbine blade defect intelligent identification and positioning inspection system according to claim 1, wherein, The inspection unit comprises an imaging subunit, an optical characteristic calculation subunit, a shape characteristic calculation subunit and a defect analysis subunit, wherein The imaging subunit is configured to acquire multiple optical characteristics of the reflected light of the surface of the target blade, including at least average brightness, standard brightness difference, maximum brightness and minimum brightness; The shape feature calculation subunit is configured to divide the target blade into multiple regions according to the outer surface shape feature of the target blade, and define the boundary coordinates of each region; The optical feature calculation subunit is configured to analyze the optical feature quantity of the target blade on the optical image in multiple regions according to the optical feature data collected by the imaging subunit and in combination with the shape feature of the target blade, and set multiple optical feature parameter thresholds for different regions; The defect analysis subunit is configured to judge the defect pixels representing the surface defects of the target blade in the optical image according to the multiple optical feature quantity thresholds, and record the image positions of the defect pixels.

3. The wind turbine blade defect intelligent identification and positioning inspection system according to claim 2, wherein The shape feature calculation subunit comprises analyzing the surface shape feature of the target blade according to the digital three-dimensional model of the target blade, and comprises dividing the grid regions on the basis of the plane and curved surface grid division rules and the target blade surface.

4. The wind turbine blade defect intelligent identification and positioning inspection system according to claim 3, characterized in that, The optical feature calculation subunit comprises using the digital three-dimensional model of the target blade for optical tracking analysis, using virtual technology to simulate a light source to irradiate multiple grid regions of the target blade with predetermined optical parameters, thereby obtaining the optical features of the corresponding target blade surface reflected light as the reference optical features, and obtaining the reference distribution features of the reflected light brightness degree numbers by analyzing the reference optical features. 5.The wind power blade defect intelligent identification and positioning inspection system of claim 4, wherein, The optical feature calculation subunit comprises setting a first parameter Lup as an upper threshold and a second parameter Ldown as a lower threshold; the calculation methods of the two parameters are as follows: Lup: , formula 1; Second parameter Ldown: , formula 2; In formula 1 and formula 2, i is the number of the grid area; is the average brightness of the pixels of the grid area numbered i, is the highest brightness of the pixels in the grid area numbered i, is the lowest brightness of the pixels in the grid area numbered i, is the standard deviation of the brightness of the pixels in the grid area numbered i; the coefficients a, a', b, b' are correction coefficients, which are set by the technician according to at least one or more of the geometric characteristics of the grid area and the surface roughness requirements, the surface curvature, and the surface material requirements of the grid area. 6.The wind power blade defect intelligent identification and positioning inspection system according to claim 1, wherein, The light shield comprises an outer light shield and an inner light shield; the light shield is made of carbon fiber composite material; and a composite light absorption coating is coated on the outer surface of the outer light shield and the inner surface of the inner light shield.

7. The wind turbine blade defect intelligent identification and positioning inspection system according to claim 1, wherein, The moving base comprises: An adsorption mechanism for adsorbing the support of the target wind turbine; A moving mechanism for linear motion along the support and circular motion around the support.

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