A method for dynamic inspection of a fan and an electronic device

Abstract

This invention provides a method and electronic device for dynamic inspection of wind turbines. The method includes: determining a target viewpoint on the radius of the wind turbine rotor, wherein there is a redundant distance between the target viewpoint and the blade tip position of the wind turbine rotor radius, and the wind turbine rotor radius is the horizontal radius of the circular wheel generated by the rotation of the wind turbine blades; planning multiple viewpoints between the center of the wind turbine rotor radius and the target viewpoint based on the target viewpoint; translating the multiple viewpoints according to the real-time yaw direction and anti-yaw direction of the wind turbine to obtain inspection waypoints on the front and back of the wind turbine; and controlling a rangefinder to measure the distance to the wind turbine blades when a drone hovers over each inspection waypoint, and controlling the drone camera to take pictures based on the ranging results. This solves the problem of low efficiency in planning inspection waypoints for dynamic wind turbine inspections in the prior art.

Description

Technical Field

[0001] This invention relates to the field of wind turbine inspection, and in particular to a method and electronic equipment for dynamic inspection of wind turbines. Background Technology

[0002] With the increasing share of wind power generation and the growing number of onshore and offshore wind turbines installed year by year, the inspection of wind turbine blades has gradually become a challenge. Compared with other inspection solutions, drone inspection is low-cost, highly efficient, requires less human intervention, and is flexible and reliable.

[0003] Currently, drone-based wind turbine blade inspection methods are mainly divided into two types: static inspection and dynamic inspection. Static inspection involves locking the wind turbine while it is stopped, and then controlling the drone to perform the inspection. This method undoubtedly reduces the power generation efficiency of the wind turbine. Dynamic inspection solves the problem of power generation loss caused by static inspection. The principle of dynamic inspection is that it does not require the wind turbine to be stopped. While the wind turbine is running, images of all blades are collected by rotating the wind turbine blades and hovering the drone's camera. Patent No. CN114296483A discloses an intelligent inspection method for wind turbines while they are running. This method discloses a specific waypoint generation method. In order to ensure that the drone can acquire images of both sides of the wind turbine, four waypoints are first generated sequentially on both sides of the wind turbine to form a rectangle. Then, waypoints are planned on the two sides of the rectangle.

[0004] It should be noted that, in the above-mentioned dynamic inspection technology, on the one hand, the method for planning waypoints is relatively complex, and waypoints on both sides of the wind turbine need to be calculated multiple times to obtain them; on the other hand, the above-mentioned dynamic inspection technology controls the camera to keep taking pictures when the UAV arrives at each inspection waypoint, and stops taking pictures only after taking pictures of three blades before moving on to the next waypoint, which may result in invalid pictures being taken.

[0005] In view of this, the present invention is proposed. Summary of the Invention

[0006] This invention provides a method and electronic device for dynamic inspection of wind turbines to solve the problem of low efficiency in the planning of inspection routes for dynamic wind turbines in the prior art.

[0007] According to a first aspect of the present invention, a method for dynamic inspection of a wind turbine is provided, comprising: determining a target viewpoint on the radius of the wind turbine rotor, wherein there is a redundant distance between the target viewpoint and the tip position of the wind turbine rotor, and the wind turbine rotor radius is the radius of the wheel generated by the rotation of the wind turbine blades in the horizontal direction; planning multiple viewpoints between the center of the wind turbine rotor radius and the target viewpoint based on the target viewpoint; translating the multiple viewpoints according to the real-time yaw direction and the anti-yaw direction of the wind turbine to obtain inspection waypoints on the front and back of the wind turbine; and controlling a rangefinder to measure the distance to the wind turbine blades when a UAV hovers over each inspection waypoint, and controlling the UAV camera to take pictures according to the ranging results.

[0008] Further, determining the redundancy distance includes: determining the maximum length of the wind turbine radius that the drone camera can capture at the inspection distance; obtaining a preset proportion of the wind turbine blade tip occupying the image captured by the drone camera; and determining the redundancy distance based on the preset proportion and the maximum length.

[0009] Furthermore, based on the target viewpoint, multiple viewpoints are planned between the center of the wind turbine radius and the target viewpoint, including: determining the number S of viewpoints between the wind turbine blade root and the target viewpoint based on the distance between the target viewpoint and the tip of the wind turbine blade, the maximum length, and the wind turbine radius; planning S viewpoints on the wind turbine radius, wherein the distance between any two adjacent viewpoints in the S viewpoints is equal.

[0010] Furthermore, the method also includes: generating waypoints on both sides of the wind turbine based on the target viewpoint. Generating waypoints on both sides of the wind turbine based on the target viewpoint includes: generating an arc with the target viewpoint as the center and the inspection distance as the radius, and determining two waypoints on the arc, wherein the two waypoints form a straight line with the target viewpoint, and each straight line has the same angle with the radius of the wind turbine.

[0011] Furthermore, before controlling the rangefinder to measure the distance to the wind turbine blades, the method further includes: adjusting the angle between the yaw direction of the rangefinder hovering at each waypoint and the yaw direction of the camera according to a preset strategy, wherein, in the preset strategy, the distance between the waypoint and the hub center is inversely proportional to the size of the angle corresponding to the waypoint, and the maximum value of the angle is less than a preset angle.

[0012] Furthermore, the drone camera is controlled to take pictures based on the ranging results, including: the drone camera is controlled to take pictures when all of the following conditions are met simultaneously: the laser reflectivity received by the rangefinder at the current moment is greater than the first preset reflectivity; the laser reflectivity received by the rangefinder at the previous moment is less than the second preset reflectivity; the distance measured by the rangefinder meets the preset range; and there is a preset interval between the current moment and the moment when the camera last took a picture.

[0013] Furthermore, before controlling the drone camera to take pictures based on the ranging results, the method also includes: adjusting the drone's flight altitude based on the drone's real-time waypoint and real-time wind speed; and adjusting the camera's attitude based on the flight altitude and inspection distance.

[0014] According to a second aspect of the present invention, an electronic device is provided, including a memory and a processor, wherein the memory stores computer instructions that, when executed by the processor, cause any of the methods described above to be performed.

[0015] This invention provides a method and electronic device for dynamic inspection of wind turbines. The method includes: determining a target viewpoint on the radius of the wind turbine rotor, wherein there is a redundant distance between the target viewpoint and the blade tip position of the wind turbine rotor radius, and the wind turbine rotor radius is the horizontal radius of the circular wheel generated by the rotation of the wind turbine blades; planning multiple viewpoints between the center of the wind turbine rotor radius and the target viewpoint based on the target viewpoint; translating the multiple viewpoints according to the real-time yaw direction and anti-yaw direction of the wind turbine to obtain inspection waypoints on the front and back of the wind turbine; and controlling a rangefinder to measure the distance to the wind turbine blades when a drone hovers over each inspection waypoint, and controlling the drone camera to take pictures based on the ranging results. This solves the problem of low efficiency in planning inspection waypoints for dynamic wind turbine inspections in the prior art. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating the method for dynamic inspection of wind turbines provided in an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of the target viewpoint determined on the radius of the wind turbine according to an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of multiple viewpoints planned between the center of the circle and the target viewpoint, provided in an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of multiple waypoints obtained from a viewpoint according to an embodiment of the present invention;

[0021] Figure 5 This is a schematic diagram of waypoints corresponding to two target viewpoints provided in an embodiment of the present invention;

[0022] Figure 6 This is a schematic diagram of a wind turbine crossing waypoints provided in an embodiment of the present invention;

[0023] Figure 7 This is a schematic diagram of a wind turbine crossing waypoints in the prior art;

[0024] Figure 8 This is a schematic diagram of the drone on the front and back of the wind turbine provided in an embodiment of the present invention. Detailed Implementation

[0025] To make the above and other features and advantages of the present invention clearer, the invention will be further described below with reference to the accompanying drawings. It should be understood that the specific embodiments given herein are for the purpose of explanation to those skilled in the art and are exemplary only, not restrictive.

[0026] In the following description, numerous specific details are set forth to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that the specific details are not required to practice the invention. In other instances, well-known steps or operations have not been described in detail to avoid obscuring the invention.

[0027] This solution provides a method and electronic equipment for dynamic inspection of wind turbines, combined with... Figure 1 The method includes:

[0028] Step S11: Determine the target viewpoint on the wind turbine radius, wherein there is a redundant distance between the target viewpoint and the blade tip position of the wind turbine radius, and the wind turbine radius is the horizontal radius of the wheel generated by the rotation of the wind turbine blades.

[0029] Specifically, this solution can be implemented by an airborne computer or server, or other devices with data processing capabilities. The aforementioned wind turbine radius can be obtained by a UAV flying over the wind turbine, collecting data via lidar, and then modeling the data. The wind turbine radius is used to characterize a wind turbine blade in a horizontal position. The target viewpoint planned on the wind turbine radius is as follows: Figure 2 As shown, combined with Figure 2 There is a redundant distance between the target viewpoint and the blade tip, meaning that the planned position of the target viewpoint is near the blade tip but does not coincide with the blade tip.

[0030] It should be noted that the concept of viewpoint in this scheme refers to the position that the drone camera will capture. The viewpoint planned within the radius of the wind turbine is a point on the wind turbine blade that is in a horizontal state when the wind turbine is actually rotating. The drone camera is aimed at this point when taking pictures.

[0031] It should also be noted that when the drone flies over the wind turbine, it first identifies the yaw angle of the wind turbine and then models the wind turbine to obtain the attitude of the wind turbine radius.

[0032] Step S13: Based on the target viewpoint, plan multiple viewpoints between the center of the wind turbine radius circle and the target viewpoint.

[0033] Specifically, in combination Figure 3 This scheme can evenly plan multiple viewpoints between the center of the circle and the target viewpoint, with the distance between any two viewpoints being equal.

[0034] Step S15: The multiple viewpoints are translated according to the real-time yaw direction and the reverse yaw direction of the wind turbine to obtain the inspection points on the front and back of the wind turbine.

[0035] Specifically, in combination Figure 4 After planning all viewpoints on the horizontal radius, this scheme differs from existing technologies that require multiple calculations for each waypoint. Instead, it simply translates all viewpoints along the real-time yaw direction and the reverse yaw direction to obtain all inspection waypoints on the front and back of the wind turbine. Compared with existing technologies, this scheme requires less computation and has higher waypoint generation efficiency. Moreover, since this scheme generates inspection waypoints based on viewpoints on the blades, it can ensure that the UAV can capture images of the blades within its attitude range.

[0036] Step S17: When the drone hovers over each inspection point, control the rangefinder to measure the distance to the wind turbine blades, and control the drone camera to take pictures based on the distance measurement results.

[0037] Specifically, after planning the inspection waypoints on the front and back of the wind turbine, this solution can control the drone to inspect and photograph the wind turbine blades according to the inspection waypoints. It should be noted that during dynamic inspection, since the wind turbine blades are constantly rotating, at a certain moment one blade must be in a horizontal state, that is, coincide with the radius of the wind turbine wheel. The drone camera can then capture images of the blade at the waypoint. It should also be noted that this solution differs from existing technologies, which control the drone camera to take pictures only after the drone reaches the waypoint. Because there are large gaps between adjacent blades of the wind turbine, if the drone continuously takes pictures, it will lead to unnecessary waste of resources and capture a large number of invalid images (images that do not contain the wind turbine blades). Therefore, this solution proposes to add a laser rangefinder to the drone and control the laser rangefinder to measure the distance in the direction of the horizontal radius after the drone reaches the waypoint. The drone camera is then controlled to take pictures based on the distance measurement result. In other words, this solution can use the laser rangefinder to determine whether a blade has passed the horizontal radius of the wind turbine. The drone camera is only controlled to take pictures when a blade is detected to be passing by, and the drone camera stops working when no blade is passing by. This saves hardware resources and avoids invalid pictures.

[0038] It should also be noted that during the rotation of the wind turbine, the blade tips rotate at very high speeds, and the area of ​​the blade tips is relatively small. Therefore, using a strategy that triggers image capture, it is possible that the rangefinder may not detect the blade tips, thus failing to trigger an image capture and resulting in missed shots. Figure 5 The generated waypoints include two corresponding waypoints based on the target viewpoint: waypoint 1 and waypoint 2. Since there is a redundant distance between the target viewpoint and the leaf tip (i.e., the target viewpoint and the leaf tip do not coincide), when the UAV is positioned at these two waypoints, the leaf tip captured by the UAV will not appear at the edge of the image, but rather in the middle area. If the leaf tip captured by the UAV does not appear at the edge of the image, since the yaw angle of the camera and the yaw angle of the rangefinder are the same in the UAV, the UAV camera will inevitably capture the leaf tip, and the rangefinder will inevitably be triggered to take a picture by the leaf tip. Therefore, this solution, through the two corresponding waypoints generated based on the target viewpoint, ensures that, within the UAV's attitude range at these two waypoints, the rangefinder can measure the leaf tip at a certain moment, thus triggering a picture and preventing missed shots of the leaf tip.

[0039] Optionally, determining the redundancy distance includes:

[0040] Step S1300: Determine the maximum length of the wind turbine radius that the drone camera can capture at the inspection distance.

[0041] Specifically, the aforementioned inspection distance can be greater than or equal to the safe distance between the drone and the wind turbine during the inspection process. The maximum length of the aforementioned wind turbine radius is the maximum area that the drone camera can cover at the inspection distance. The following is the specific calculation method for the maximum length k:

[0042]

[0043] Where W is the width of the image captured by the drone camera, p is the pixel size of the camera, and f is the focal length of the camera.

[0044] Step S1301: Obtain the preset ratio of the wind turbine blade tip occupying the image captured by the drone camera, and determine the redundancy distance based on the preset ratio and the maximum length.

[0045] Specifically, the aforementioned preset ratio can be 3 / 4, meaning that this scheme can be preset so that the leaf tip occupies 3 / 4 of the captured image. This is because if the leaf tip occupies 3 / 4 of the image, the camera will inevitably capture the leaf tip portion. Then, this scheme determines the redundancy distance D based on the preset ratio and the maximum length. r The following is the redundancy distance D. r Specific calculation method:

[0046] D r = (1 - preset ratio) × k.

[0047] Optionally, step S13 plans multiple viewpoints between the center of the wind turbine radius and the target viewpoint based on the target viewpoint, including:

[0048] Step S131: Determine the number S of viewpoints between the wind turbine blade root and the target viewpoint based on the distance between the target viewpoint and the tip of the wind turbine blade, the maximum length, and the radius of the wind turbine.

[0049] Specifically, the method for calculating the number of viewpoints S is as follows:

[0050] Where, r b Let D be the radius of the wind turbine. r is the redundancy distance, and k is the maximum length.

[0051] Step S132: Plan S viewpoints on the radius of the wind turbine, wherein the distance between any two adjacent viewpoints in the S viewpoints is equal.

[0052] Optionally, the method further includes: generating waypoints on both sides of the wind turbine based on the target viewpoint, wherein generating waypoints on both sides of the wind turbine based on the target viewpoint includes: combining... Figure 6An arc is generated with the target viewpoint as the center and the inspection distance as the radius. Two crossing points are determined on the arc. The two crossing points and the target viewpoint form a straight line respectively. The angle between each straight line and the radius of the wind turbine is the same, and the angle between each straight line and the radius of the wind turbine can be 45°.

[0053] Specifically, when drones conduct dynamic inspections, they need to circumnavigate from the front of the wind turbine to the back. In existing technologies, such as... Figure 7 As shown, the drone travels at right angles during its traversal, meaning the line connecting the two waypoints is perpendicular to the wind turbine. However, this method results in a longer flight time for the drone. This embodiment generates waypoints using circular arcs, allowing the drone to quickly traverse from the front to the back of the wind turbine while ensuring safety.

[0054] Optionally, before controlling the rangefinder to measure the distance to the wind turbine blades in step S17, the method further includes:

[0055] The angle between the yaw direction of the rangefinder hovering at each waypoint and the yaw direction of the camera is adjusted according to a preset strategy. In the preset strategy, the distance between the waypoint and the center of the hub is inversely proportional to the size of the angle corresponding to the waypoint, and the maximum value of the angle is less than a preset angle (which can be 18°).

[0056] Specifically, to ensure stable camera capture even when the wind turbine impeller's movement obstructs the laser rangefinder's field of view during inspections, this solution adjusts the angle between the rangefinder's yaw direction and the camera's yaw direction at each waypoint. This ensures that the laser rangefinder is aligned with a position close to the impeller's center at each waypoint, thereby obtaining valid data and triggering image capture. Since the UAV's nose and the laser rangefinder are rigidly connected, during actual inspections, simply aligning the UAV's nose with a position close to the wind turbine impeller's center is sufficient. It should be noted that at the blade root and blade tip, this solution sets the maximum angle of UAV yaw (UAV rangefinder yaw) to load yaw at 18°, gradually decreasing towards the center of the impeller.

[0057] During the process of collecting data at each waypoint, the drone will continuously adjust the angle between the nose and the gimbal to ensure that the wind turbine can continuously trigger the camera to take pictures. It will hover for about 15 seconds at each waypoint to ensure that data of each wind turbine impeller can be collected at the waypoint location.

[0058] Optionally, the drone camera can be controlled to take pictures based on the ranging results, including:

[0059] Control the drone camera to take pictures if all of the following conditions are met simultaneously:

[0060] The laser reflectivity received by the rangefinder at the current moment is greater than the first preset reflectivity of 40; the laser reflectivity received by the rangefinder at the previous moment is less than the second preset reflectivity of 40; the distance measured by the rangefinder meets the preset range [inspection distance - 30, inspection distance + 30]; there is a preset interval of 200ms between the current moment and the moment when the camera last took a picture.

[0061] It should be noted that the aforementioned first preset reflectivity can be determined by the ranging characteristics of the laser rangefinder itself. If the reflectivity received at the current moment is less than or equal to 40, the ranging distance is considered inaccurate, and the photo will not be triggered at this moment to save hardware resources.

[0062] Optionally, before controlling the drone camera to take a picture based on the ranging result, the method further includes:

[0063] Step S161: Adjust the drone's flight altitude according to the drone's real-time waypoint and real-time wind speed;

[0064] Step S162: Adjust the camera's attitude based on the flight altitude and inspection distance.

[0065] The technical effects and details of steps S161 to S162 described above are explained below:

[0066] Due to the turbulence caused by the wind turbine blades, the pitch angle of the drone differs when inspecting the front and back of the wind turbine rotor. Figure 8 As shown, when the drone is in front of the wind turbine, its nose is tilted upwards at an angle to the horizontal plane, while when it is behind the turbine, the drone's nose is tilted downwards at an angle to the horizontal plane. Therefore, when the drone is inspecting the back of the wind turbine, if the turbine rotor speed is too high, the rotor may not be captured at the moment the camera takes a picture after the exposure. Therefore, compensation needs to be made in the drone's flight altitude and gimbal tilt angle. During the process of the drone passing through the wind turbine, that is, flying from the front of the turbine to the back, the drone's altitude will slowly increase to a certain height, which is adjusted according to the turbine's rotational speed. At the same time, the drone's gimbal will slowly adjust its pitch angle downwards. The size of this angle is:

[0067]

[0068] Where h e The value of D indicates the height at which the drone ascends from the front of the wind turbine to the back of the wind turbine. D represents the inspection distance.

[0069] It should be understood that the specific features, operations, and details described above regarding the method of the present invention can also be similarly applied to the apparatus and system of the present invention, or vice versa. Furthermore, each step of the method of the present invention described above can be performed by a corresponding component or unit of the apparatus or system of the present invention.

[0070] It should be understood that the various modules / units of the device of the present invention can be implemented entirely or partially by software, hardware, firmware, or a combination thereof. Each module / unit can be embedded in the processor of a computer device in hardware or firmware form, or can be stored in the memory of a computer device in software form for the processor to call and execute the operation of the module / unit. Each module / unit can be implemented as an independent component or module, or two or more modules / units can be implemented as a single component or module.

[0071] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores computer instructions executable by the processor, which, when executed by the processor, instruct the processor to perform steps of the methods of embodiments of the present invention. The computer device can be broadly categorized as a server, terminal, or any other electronic device with the necessary computing and / or processing capabilities. In one embodiment, the computer device may include a processor, memory, network interface, communication interface, etc., connected via a system bus. The processor of the computer device can be used to provide the necessary computing, processing, and / or control capabilities. The memory of the computer device may include a non-volatile storage medium and internal memory. The non-volatile storage medium may store an operating system, computer programs, etc. The internal memory can provide an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface and communication interface of the computer device can be used to connect and communicate with external devices via a network. When the computer program is executed by the processor, it performs the steps of the methods of the present invention.

[0072] This invention can be implemented as a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, causes the steps of the methods of embodiments of the invention to be performed. In one embodiment, the computer program is distributed across multiple network-coupled computer devices or processors, such that the computer program is stored, accessed, and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, may be executed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations may be executed by one or more computer devices or processors, and one or more other method steps / operations may be executed by one or more other computer devices or processors. One or more computer devices or processors may execute a single method step / operation, or execute two or more method steps / operations.

[0073] Those skilled in the art will understand that the method steps of this invention can be performed by a computer program instructing related hardware, such as a computer device or processor, to perform the steps of this invention when executed. Depending on the context, any references herein to memory, storage, databases, or other media may include non-volatile and / or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid-state drive, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0074] The technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features are described, any combination of these technical features should be considered to be covered by this specification, provided that such combination does not contain contradictions.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for dynamic inspection of wind turbines, characterized in that, include: A target viewpoint is determined on the radius of the wind turbine rotor, wherein there is a redundant distance between the target viewpoint and the tip position of the wind turbine rotor radius, and the wind turbine rotor radius is the radius of the circular wheel generated by the rotation of the wind turbine blades in the horizontal direction; Based on the target viewpoint, multiple viewpoints are planned between the center of the wind turbine radius circle and the target viewpoint; The multiple viewpoints are translated according to the real-time yaw direction and anti-yaw direction of the wind turbine to obtain the inspection points on the front and back of the wind turbine. When the drone hovers over each inspection point, the rangefinder is controlled to measure the distance to the wind turbine blades, and the drone camera is controlled to take pictures based on the distance measurement results. Determining the redundancy distance includes: determining the maximum length of the wind turbine radius that the drone camera can capture at the inspection distance; obtaining a preset proportion of the wind turbine blade tip occupying the image captured by the drone camera; and determining the redundancy distance based on the preset proportion and the maximum length. Generating waypoints on both sides of the wind turbine based on the target viewpoint includes: generating an arc with the target viewpoint as the center and the inspection distance as the radius, and determining two waypoints on the arc, wherein the two waypoints form a straight line with the target viewpoint, and each straight line makes the same angle with the radius of the wind turbine.

2. The method according to claim 1, characterized in that, Based on the target viewpoint, multiple viewpoints are planned between the center of the wind turbine radius circle and the target viewpoint, including: The number of viewpoints S between the wind turbine blade root and the target viewpoint is determined based on the distance between the target viewpoint and the blade tip, the maximum length, and the rotor radius. S viewpoints are planned on the radius of the wind turbine, wherein the distance between any two adjacent viewpoints is equal.

3. The method according to claim 1, characterized in that, Before the rangefinder measures the distance to the wind turbine blades, the method further includes: The angle between the yaw direction of the rangefinder hovering at each waypoint and the yaw direction of the camera is adjusted according to a preset strategy. In the preset strategy, the distance between the waypoint and the center of the hub is inversely proportional to the size of the angle corresponding to the waypoint, and the maximum value of the angle is less than the preset angle.

4. The method according to claim 1, characterized in that, Based on the ranging results, control the drone's camera to take pictures, including: Control the drone camera to take pictures if all of the following conditions are met simultaneously: The laser reflectivity received by the rangefinder at the current moment is greater than the first preset reflectivity; The laser reflectance received by the rangefinder at the previous time step is less than the second preset reflectance. The distance measured by the rangefinder meets the preset range; There is a preset interval between the current moment and the moment the camera last took a picture.

5. The method according to claim 1, characterized in that, Before controlling the drone camera to take pictures based on the ranging results, the method further includes: The drone's flight altitude is adjusted based on its real-time waypoint and wind speed; the camera's attitude is adjusted based on the flight altitude and inspection distance.

6. An electronic device comprising a memory and a processor, wherein the memory stores computer instructions, characterized in that, When executed by the processor, the computer instructions cause any one of the methods of claims 1 to 5 to be performed.

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