Unmanned aerial vehicle based wind farm intelligent inspection system and unmanned aerial vehicle

Abstract

The present disclosure relates to a kind of unmanned aerial vehicle-based wind farm intelligent inspection system and unmanned aerial vehicle.It includes unmanned aerial vehicle, database, server, positioning module, posture adjustment module, acquisition module, connection module and processor, acquisition module is used to collect the image data of each detection point of wind farm;Positioning module is used to position the position of unmanned aerial vehicle, to cooperate with acquisition module to collect wind farm image data;Posture adjustment module is used to adjust the flight posture of unmanned aerial vehicle;Connection module is used to guide the position of unmanned aerial vehicle, to guide unmanned aerial vehicle to each wind power tower in wind farm and carry out inspection;Wherein, connection module is set on each wind power tower, and the unmanned aerial vehicle in the range of entry identification is matched and connected;The present application is connected by positioning module, posture adjustment module, acquisition module, connection module and server, realizes the calling of detection point and inspection route, so that the efficiency of inspection is higher, and the accuracy is more accurate.

Description

Technical Field

[0001] This disclosure relates to the field of drone inspection equipment, specifically to a drone-based intelligent inspection system for wind farms and the drone itself. Background Technology

[0002] With the continuous breakthroughs in my country's wind power technology, wind power generation is receiving more and more attention, and the scale of wind farms is gradually expanding. If the unit fails and shuts down, it will lead to a reduction in power generation and generate high maintenance costs. Therefore, it is necessary to conduct regular inspections of wind turbine units. Traditionally, the inspection of wind turbine blades is mostly done manually, such as using telescopes for observation and high-altitude inspection by workers. This method has the following disadvantages: (1) Most wind farms are widely distributed and have complex terrain, which makes traditional manual inspections very difficult; (2) Wind farm inspection tasks are heavy, traditional manual inspection is inefficient, time-consuming, and results in significant downtime losses; (3) Inspection personnel work at heights, which poses a high safety risk. Summary of the Invention

[0003] The purpose of this disclosure is to provide a device designed to solve the aforementioned technical problems of manual inspection of wind turbine units.

[0004] To achieve the above objectives, this disclosure provides an intelligent wind farm inspection system based on unmanned aerial vehicles (UAVs), including a UAV, a database, and a server. The system further includes a positioning module, an attitude adjustment module, a data acquisition module, a connection module, and a processor. The positioning module, attitude adjustment module, and data acquisition module are all mounted on the UAV. The processor is connected to the positioning module, attitude adjustment module, data acquisition module, connection module, server, and database. The server is connected to the positioning module, attitude adjustment module, data acquisition module, and connection module.

[0005] The acquisition module is used to acquire image data from each detection point, which is a wind turbine tower in the wind farm.

[0006] The positioning module is used to locate the position of the UAV, so as to cooperate with the acquisition module to acquire the image data;

[0007] The attitude adjustment module is used to adjust the flight attitude of the UAV;

[0008] The connection module is installed on each of the wind turbine towers and is used to pair and connect with drones entering the identification range, and to guide the drones to inspect the detection points. The connection module includes a connection unit and a guidance unit. The connection unit is used to connect with the drone to generate the drone's inspection path. The guidance unit is used to guide the drone to the detection point according to the inspection path.

[0009] The connection unit includes an identification component, an authentication terminal, and a pairer. The identification component is used to identify drones entering the identification range. The authentication terminal is used to verify the identity of the drones entering the identification range and obtain a verification result. The pairer is used to send a pairing code to the drones based on the verification result, so that the drones and the pairer can establish a binding relationship.

[0010] The pairing code is calculated using the following formula:

[0011]

[0012] Among them, Check m (v) is the value corresponding to the v-th character in the pairing code of drone m; λ is a random number whose value is related to the number of connections between drone m and the authentication terminal; R j The weight of the executed task; n is the total number of executed tasks; j is the sequence number of the currently executed task; D is the flight permission level of UAV m; F m (u) is the value corresponding to the u-th character in the previous pairing code of drone m; r(z) is the value corresponding to the z-th character in the identification code ID of drone m.

[0013] Optionally, the drone includes a microcontroller, and the attitude adjustment module is connected to the microcontroller; the attitude adjustment module includes an adjustment unit and a detection unit; the adjustment unit is used to adjust the attitude of the drone; the detection unit is used to detect the wind force of the wind farm.

[0014] The detection unit includes a detection cavity, a wind direction detection component, and a wind force measurement component, wherein the wind direction detection component and the wind force measurement component are disposed in the detection cavity; the wind direction detection component is used to detect the wind direction at the detection point; and the wind force measurement component is used to detect the wind force at the detection point.

[0015] The wind direction detection component includes a wind vane, a connecting rod, a sensing disk, and a position sensor. The sensing disk is hinged to the upper top wall of the detection cavity, and the connecting rod is coaxially arranged with the sensing disk. The sensing disk is provided with a plurality of direction markers, each of which is distributed along the end face of the sensing disk. The wind vane is nested with the connecting rod. The position sensor is disposed on the wind vane and measures the position of each direction marker on the sensing disk.

[0016] Optionally, the guidance unit includes a sensing radar, a guide rod, a lifting component, and a rotating component; the sensing radar is used to sense the position of the UAV, and the lifting component is disposed at one end of the guide rod, the other end of the guide rod being hinged to the rotating component; the lifting component is used to adjust the pitch height of the guide rod to guide different detection points;

[0017] The lifting component includes a lifting rod, a height detection element, and a lifting drive mechanism. One end of the lifting rod is hinged to the wall of the guide rod, and the other end is hinged to the rotating component. The lifting drive mechanism is driven by the lifting rod to adjust the extension length of the lifting rod. The height detection element is disposed on the lifting rod and is used to detect the lifting height of the lifting rod.

[0018] Optionally, the positioning module includes a positioning unit and an interaction unit. The positioning unit is used to locate the position of the UAV. The interaction unit interacts with the positioning data of the UAV and the position data of the wind farm based on the position of the positioning unit to realize the positioning of the detection point.

[0019] The positioning unit includes a positioning probe and a transmitter. The positioning probe is used to locate the current position of the UAV. The transmitter is used to send the positioning data of the positioning probe to the interaction unit for interaction or comparison.

[0020] Optionally, the acquisition module includes an acquisition unit and a storage unit. The acquisition unit is used to acquire image data of the detection points to obtain acquired data; the storage unit is used to store the acquired data.

[0021] The acquisition unit includes an acquisition probe and a steering component. The acquisition probe is used to acquire image data. The acquisition probe is mounted on the steering component. The steering component is used to detect and adjust the acquisition angle of the acquisition probe.

[0022] Optionally, the steering component includes a steering rod, a fixed base, a steering detection element, and a steering drive mechanism. The upper end face of the fixed base is detachably connected to the lower end face of the UAV fuselage. One end of the steering rod is driven to connect with the steering drive mechanism to form a rotating part, and the rotating part is connected to the fixed base. The other end of the steering rod is connected to the outer wall of the acquisition probe. The steering detection element is disposed on the steering rod and detects the rotation angle of the steering rod.

[0023] Optionally, after the positioning module determines the location data of the UAV, the UAV sends an interaction request command to the interaction unit; the interaction unit responds to the interaction request command to determine the physical location of the detection point; wherein, the physical location is determined jointly by the GPS positioning data of the positioning probe and the sensing radar of the guidance unit.

[0024] Optionally, the wind force measuring component includes a wind measuring plate, a ventilation hole, a rotational speed detection element, and a set of uprights. The ventilation hole allows air to pass through to detect the wind force in the actual environment. The uprights are symmetrically arranged on both sides of the wind measuring plate. One end of each upright is connected to the end face of the wind measuring plate and is coaxially arranged. The other end of each upright is connected to the rotational speed detection element to form a detection part. The detection part is arranged in the ventilation hole to detect the wind force passing through the ventilation hole.

[0025] In addition, to achieve the above objectives, this disclosure also provides a drone for use in the above-mentioned drone-based intelligent wind farm inspection system provided in this disclosure, comprising: the drone includes a fuselage, a landing frame, a battery chamber, and a plurality of flight units; the battery chamber is disposed on the lower end face of the fuselage; wherein the landing frame is disposed on the lower end face of the fuselage, and the landing frame is disposed in the same direction as the battery chamber;

[0026] Each of the flight units is disposed around the periphery of the fuselage and is used to provide lift for flight.

[0027] Optionally, the drone also includes a battery that is detachably snapped into the battery cavity.

[0028] Through the above technical solution, the present disclosure can achieve the following technical effects:

[0029] 1. By connecting the positioning module, posture adjustment module, data acquisition module, and connection module to the server, the detection points and inspection routes can be called, making the efficiency and accuracy of the inspection more accurate and reliable.

[0030] 2. Through the cooperation of the positioning module and the acquisition module, when the UAV moves to the set detection point, the processor controls the acquisition module to acquire image data of the wind farm detection point;

[0031] 3. Adjust the drone's flight attitude using the attitude adjustment module;

[0032] 4. By employing the attitude adjustment module and the connection module in cooperation, the UAV can perform inspections based on the set inspection points during the inspection process, thereby improving the inspection accuracy of the inspection points;

[0033] 5. By assigning new pairing codes, errors and omissions caused by the same drone performing different inspection tasks are effectively prevented, ensuring the quality and safety of the inspection.

[0034] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0035] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0036] Figure 1 This is a schematic diagram of the system of the present invention;

[0037] Figure 2 This is a schematic diagram of the structure of the drone and charging platform of the present invention;

[0038] Figure 3 This is a schematic diagram of the structure of the UAV of the present invention;

[0039] Figure 4 This is a schematic diagram of the structure of the lifting component of the present invention;

[0040] Figure 5 This is a schematic diagram of the structure of the UAV and the adjustment unit of the present invention;

[0041] Figure 6 This is a schematic diagram of the structure of the wind direction detection component and the wind force measurement component of the present invention;

[0042] Figure 7 This is a top view of the sensing disk and direction marker of the present invention;

[0043] Figure 8 This is a schematic diagram of the battery and limiting member of the present invention;

[0044] Figure 9 This is a schematic diagram of the guiding unit of the present invention;

[0045] Figure 10 This is a schematic diagram of a scene where a drone inspects a wind turbine tower according to the present invention.

[0046] Explanation of reference numerals in the attached figures

[0047] 1. Unmanned Aerial Vehicle (UAV); 2. Steering Component; 3. Data Acquisition Probe; 4. Flight Unit; 5. Landing Frame; 6. Charging Platform; 7. Locking Unit; 8. Locking Cavity; 9. First Charging Cavity; 10. First Receiving Cavity; 11. Moving Rod; 12. Adsorption Nozzle; 13. Lifting Component; 14. Battery; 15. Locking Groove; 16. Lifting Platform; 17. Sensor; 18. Lifting Rod; 19. Propeller; 20. Motor; 21. Adjusting Rod; 22. Adjusting Seat; 23. Detection Unit; 24. Detection Cavity; 25. Anemometer; 26. Induction Disc; 27. Anemometer Plate; 28. Rotation Speed ​​Detector; 29. ​​Limiting Groove; 30. Limiting Rod; 31. Limiting Drive Mechanism; 32. Contact Point; 33. Direction Marker; 34. Support Platform; 35. Rotating Seat; 36. Guide Rod; 37. Lifting Rod; 38. Lifting Drive Mechanism; 39. Sensor Radar; 40. Storage Cavity. Detailed Implementation

[0048] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0049] Example 1.

[0050] according to Figures 1-10 As shown, this embodiment provides a wind farm intelligent inspection system based on unmanned aerial vehicles (UAVs), including UAV 1, database, server, positioning module, attitude adjustment module, data acquisition module, connection module and processor.

[0051] The processor is connected to the positioning module, posture adjustment module, data acquisition module, connection module, server, and database control respectively. Based on the processor, the positioning module, posture adjustment module, data acquisition module, connection module, server, and database are centrally controlled to realize the sharing and interaction of inspection routes, detection points, and obstacles.

[0052] The server is connected to the positioning module, posture adjustment module, data acquisition module, and connection module respectively. The server is a self-built server to ensure that the system runs within a private network and ensures the security of the inspection data. At the same time, the system is connected to the management and control platform built on the self-built server and is called under the management and control platform. This ensures that the system has strong functional scalability, is easy to modify and maintain, and that the entire management and control platform does not rely on the network infrastructure components of public cloud operators, thus eliminating the cost of later infrastructure component services.

[0053] During the inspection of wind farms, an intelligent three-dimensional inspection method with good autonomy and high quality can be formed, thereby improving inspection efficiency, reducing inspection cycle, reducing personal safety risks, providing evidence for monitoring illegal construction, and improving the safety benefits of disaster early warning.

[0054] During the inspection process of UAV 1, it is necessary to connect with the server through the positioning module, attitude adjustment module, data acquisition module, and connection module to realize the calling of detection points and inspection routes, so as to make the inspection efficiency and accuracy more accurate and reliable.

[0055] In this system, the positioning module, attitude adjustment module, and acquisition module are all installed on the UAV 1. The acquisition module is used to collect image data from various detection points in the wind farm. The positioning module is used to locate the position of the UAV 1 to cooperate with the acquisition module in collecting image data from the wind farm. Through the cooperation of the positioning module and the acquisition module, when the UAV moves to the set detection point, the processor controls the acquisition module to collect image data from the detection point in the wind farm.

[0056] During the inspection process, UAV 1 needs to adjust its flight attitude based on the actual environmental data to obtain the most accurate inspection image data. This is achieved through an attitude adjustment module mounted on UAV 1, which adjusts its flight attitude accordingly. Furthermore, UAV 1 also needs to cooperate with a connection module during the inspection process to collect image data from various wind turbine towers in the wind farm. The connection module guides UAV 1 to its designated inspection points on each wind turbine tower. The connection module is installed on each wind turbine tower and pairs with and connects to UAV 1 that enters the recognition range. Through the cooperation of the attitude adjustment module and the connection module, UAV 1 can perform inspections based on the set inspection points, thereby improving the accuracy of the inspections.

[0057] The connection module includes a connection unit and a guidance unit. The connection unit is used to connect with the UAV 1 to establish the inspection path guidance of the UAV 1. The guidance unit guides the UAV 1 to the detection point according to the set detection point.

[0058] The connection unit includes an identification component, an authentication terminal, and a pairer. The identification component is used to identify the drone 1 entering the identification range; the authentication terminal is used to verify the identity of the drone 1 entering the identification range; the pairer, based on the verification result of the authentication terminal, assigns a pairing code to the drone 1 to establish a binding relationship between the drone 1 and the pairer; after successful verification, the pairer assigns a pairing code to the drone 1, which is calculated according to the following formula:

[0059]

[0060] Among them, Check m (v) is the value corresponding to the v-th character in the pairing code of drone m; λ is a random number whose value is related to the number of connections between drone m and the authentication terminal; Rj The weight of the executed task; n is the total number of executed tasks; j is the sequence number of the currently executed task; D is the flight permission level of UAV m; F m (u) is the value corresponding to the u-th character in the previous pairing code of drone m; r(z) is the value corresponding to the z-th character in the identification code ID of drone m.

[0061] After the inspection of UAV 1 is completed, the pairer unbinds from UAV 1 and waits for the next inspection of UAV 1. When the inspection is carried out again, a new pairing code is granted through the connection module to realize the new inspection operation. By granting a new pairing code, errors and omissions caused by different inspection tasks of the same UAV 1 are effectively prevented, ensuring the quality and safety of the inspection.

[0062] In one embodiment of this disclosure, the guidance unit includes a sensing radar 39, a guide rod 36, a lifting component, and a rotating component. The sensing radar 39 is used to sense the position of the UAV 1, and the lifting component is disposed at one end of the guide rod 36, with the other end of the guide rod 36 hinged to the rotating component. The lifting component is used to adjust the pitch height of the guide rod 36 to guide different detection points. The guidance unit also includes a support platform 34, which is used to support the rotating component and the lifting component. The support platform 34 is disposed on the outer wall of the wind turbine tower and is used to guide the UAV 1.

[0063] The lifting component includes a lifting rod 37, a height detection component, and a lifting drive mechanism 38. One end of the lifting rod 37 is hinged to the wall of the guide rod 36, and the other end is hinged to the rotating component. The lifting drive mechanism 38 is driven by the lifting rod 37 to adjust the extension length of the lifting rod 37. The height detection component is installed on the lifting rod 37 to detect the lifting height of the lifting rod 37.

[0064] The rotating component includes an angle detection element, a rotating seat 35, and a rotation drive mechanism. The angle detection element is used to detect the rotation angle of the rotating seat 35. The rotating seat 35 is hinged to the support platform 34. At the same time, the rotation drive mechanism is driven to the rotating seat 35, so that the rotating seat 35 can rotate along the hinge position. One end of the guide rod 36 is hinged to the upper edge of the outer wall of the rotating seat 35, and the other end extends away from the rotating seat 35. Meanwhile, one end of the lifting rod 37 of the lifting component is hinged to the rod wall of the guide rod 36, and the other end is hinged to the middle of the outer wall of the rotating seat 35. It is worth noting that the lifting rod 37 is designed to be telescopic and is telescopic under the drive of the lifting drive mechanism 38.

[0065] The coordinate parameters (x, y, z) of the UAV 1 entering the identification range and the current position coordinate parameters (u, v, w) of the guidance unit are obtained by the sensing radar 39, and the dynamic guidance distance D(t) between them is calculated:

[0066]

[0067] The coordinate parameters (x, y, z) of the UAV and the position coordinate parameters (u, v, w) of the guidance unit are automatically obtained based on the positioning probes set on the UAV and the guidance unit; d is the minimum safe distance between the UAV and the obstacle, and its value is a fixed value.

[0068] In addition, the guidance unit precisely guides the drone 1 according to the set detection points, so as to collect image data of the detection points after guiding the drone 1 to the detection points; the inspection points of the drone 1 are as follows: Figure 10 As shown.

[0069] In addition, the present invention also provides a drone 1, wherein the drone 1 includes a fuselage body, a landing frame 5, a battery cavity, a microcontroller and a plurality of flight units 4, the battery cavity is disposed on the lower end surface of the fuselage body, wherein the lower end surface of the fuselage body is provided with the landing frame 5, and the landing frame 5 is arranged in the same direction as the battery cavity.

[0070] Each flight unit 4 is located around the fuselage to provide lift for flight; a microcontroller is located on the UAV 1 and is connected to each flight unit 4 for control.

[0071] In one embodiment of this disclosure, the drone 1 further includes a battery that is adapted to and removably snapped into the battery cavity.

[0072] The battery cavity is equipped with a limiting component to lock the battery, allowing it to contact the contact point 32 at the bottom of the battery cavity and supply power to the drone 1. Additionally, the limiting components are symmetrically arranged within the battery cavity to limit battery movement and prevent poor contact caused by battery displacement. The limiting components are also connected to the microcontroller of the drone 1. A locking groove 15 is provided around the battery to cooperate with the limiting components in locking the battery and preventing it from falling out.

[0073] The limiting component includes a limiting groove 29, a limiting rod 30, and a limiting drive mechanism 31. The limiting groove 29 is located on the inner wall of the battery cavity. The middle part of the limiting rod 30 is hinged to the inner wall of the limiting groove 29 via a crossbar. One end of the extension rod is hinged to one end of the limiting rod 30, and the other end is driven to the limiting drive mechanism 31. When locking the battery, the microcontroller controls the limiting drive mechanism 31 to extend the extension rod. At this time, the limiting rod 30 rotates along the hinge position, so that the other end of the limiting rod 30 abuts against the locking groove 15, locking the battery in the battery cavity. When it is necessary to unlock the battery, the microcontroller controls the limiting drive mechanism 31 to retract the extension rod. At this time, the limiting rod 30 rotates along the hinge position, releasing the battery from the lock.

[0074] The flight unit 4 includes several propellers 19 and motors 20. Each propeller 19 is connected to each motor 20 to provide lift to the UAV 1. In addition, the flight unit 4 is connected to the fuselage body through connecting stiffeners.

[0075] In one embodiment of this disclosure, the attitude adjustment module is mounted on the UAV 1 and is detachably connected to the UAV 1 and connected to the microcontroller of the UAV 1; the attitude adjustment module includes an adjustment unit and a detection unit 23, the detection unit 23 is used to detect the wind force of the wind farm to cooperate with the adjustment unit to adjust the attitude of the UAV 1; the adjustment unit is used to adjust the attitude of the UAV 1 to stabilize the body of the UAV 1.

[0076] The detection unit 23 includes a detection cavity 24, a wind direction detection component, and a wind force measurement component. Both the wind direction detection component and the wind force measurement component are disposed in the detection cavity 24. The wind direction detection component is used to detect the wind direction at the detection point, and the wind force measurement component is used to detect the wind force at the detection point.

[0077] The wind direction detection component includes a wind vane 25, a connecting rod, a sensing disk 26, and a position sensor. The sensing disk 26 is hinged to the upper top wall of the detection cavity 24, and the connecting rod is coaxially arranged with the sensing disk 26.

[0078] The induction disk 26 is provided with several directional markers 33, and each directional marker 33 is distributed along the end face of the induction disk 26 and corresponds to each direction; the anemometer 25 is nested with the connecting rod to detect the wind direction at the detection point; the position sensor is set on the anemometer 25 and senses each directional marker 33 on the induction disk 26 to realize the determination or determination of the wind direction.

[0079] The wind force measurement component includes a wind measuring plate 27, ventilation holes, a rotational speed detection element 28, and a set of uprights. The ventilation holes allow airflow to detect the wind force in the actual environment. A set of uprights is symmetrically arranged on both sides of the wind measuring plate 27, with one end of each upright connected to the end face of the wind measuring plate 27 and coaxially arranged. The other end of each upright is connected to the rotational speed detection element 28 to form a detection section. The detection section is located in the ventilation holes to detect the wind force passing through the ventilation holes. During the detection process, the wind measuring plate 27 drives the rotational speed detection element 28 to rotate. The wind force can be obtained by detecting the rotational speed of the rotational speed detection element 28. The rotational speed of the rotational speed detection element 28 is set based on empirical methods, which will not be elaborated here.

[0080] The wind direction and wind force of the environment in which the UAV 1 is located are detected by the wind direction detection component and the wind force measurement component. The attitude of the UAV 1 is adjusted by the adjustment unit according to the wind direction and wind force data to ensure that the attitude of the UAV 1 is stable during the inspection process and that the acquisition module can obtain sufficiently high-definition image data.

[0081] The adjustment unit includes an adjustment rod 21, an attitude detector, a set of adjustment seats 22, and an adjustment drive mechanism. The flight unit 4 of the UAV 1 is mounted on the adjustment rod 21, and the adjustment drive mechanism is located at both ends of the adjustment rod 21 to form a set of drive units. The drive units are respectively connected to the set of adjustment seats 22 to adjust the flight attitude of the UAV 1. The attitude detector is used to detect the flight attitude of the UAV 1 and feed back the current attitude of the UAV 1 to the processor and the microcontroller of the UAV 1. Based on the attitude detector, the flight attitude of the flight unit 4 of the UAV 1 is adjusted so that the UAV 1 can maintain the set attitude to cooperate with the acquisition module to acquire image data of the detection points.

[0082] In addition, during the process of adjusting the flight attitude of the UAV 1, the processor can transmit the adjusted data to the microcontroller of the UAV 1, and control the adjustment drive mechanism through the microcontroller to synchronously drive a set of adjustment seats 22 to adjust the flight attitude of the UAV 1.

[0083] In one embodiment of this disclosure, the positioning module includes a positioning unit and an interaction unit. The positioning unit is used to locate the position of the UAV 1. The interaction unit triggers the interaction between the positioning data of the UAV 1 and the position data of the wind farm based on the position of the positioning unit, so as to realize the positioning of the detection point.

[0084] The positioning unit includes a positioning probe and a transmitter. The positioning probe is used to locate the current position of the UAV 1. The transmitter sends the positioning data from the positioning probe to the interaction unit for interaction or comparison.

[0085] In one embodiment of this disclosure, the acquisition module includes an acquisition unit and a storage unit. The acquisition unit is used to acquire image data at various detection points in the wind farm. The storage unit is used to store the acquired data from the acquisition unit. The acquisition unit includes an acquisition probe 3 and a steering component 2. The acquisition probe 3 is used to acquire image data. The acquisition probe 3 is mounted on the steering component 2, and the steering component 2 is used to detect and adjust the acquisition angle of the acquisition probe 3.

[0086] The acquisition probe 3 includes, but is not limited to, the following: visible light sensors, infrared sensors, cameras, vision sensors, video cameras, high-definition zoom cameras, infrared cameras, night vision cameras, lidar, and other devices that can be used to acquire image data.

[0087] In one embodiment of this disclosure, after the location data of the UAV 1 is determined, it sends an interaction request command to the interaction unit. The interaction unit responds to the interaction request command and determines the physical location of the detection point during the inspection of the UAV 1. The physical location is determined jointly by the GPS positioning data of the positioning probe and the sensing radar 39 of the guidance unit.

[0088] In one embodiment of this disclosure, the steering component 2 includes a steering rod, a fixed seat, a steering detection element, and a steering drive mechanism. The upper end face of the fixed seat is detachably connected to the lower end face of the fuselage of the UAV 1. One end of the steering rod is driven to connect with the steering drive mechanism to form a rotating part, which is connected to the fixed seat. The other end of the steering rod is connected to the outer wall of the acquisition probe 3. The steering detection element is disposed on the steering rod and detects the rotation angle of the steering rod. Through the cooperation of the steering component 2 and the acquisition probe 3, the UAV 1 can acquire image data according to the defined angle of the wind farm during inspection, thereby improving the quality and efficiency of image acquisition.

[0089] In addition, the acquisition unit and the adjustment unit work together to enable the acquisition unit to acquire image data near the set detection point, so as to acquire as many images as possible, ensure that images of wind farm faults can be acquired, and make the images of abnormal locations at the detection point visible.

[0090] Example 2.

[0091] This embodiment should be understood to include at least all the features of any of the foregoing embodiments, and to further improve upon them, such as... Figures 1-10 As shown, the inspection system also includes a battery swapping module and a charging platform 6. The battery swapping module is set on the charging platform 6 and is used to charge and replace the battery 14 of the drone 1.

[0092] The charging platform 6 is set on the inspection path of the drone 1 to assist the drone 1 in charging or resting; the charging platform 6 includes a docking plate for the drone 1 to dock; a storage cavity 40 is set on the docking plate, and the battery swapping module is set in the storage cavity 40.

[0093] The battery swapping module includes a charging unit, a locking unit 7, and a replacement unit. The charging unit is used to charge the battery of the drone 1; the replacement unit is used to replace the battery 14 of the drone 1; the locking unit 7 is used to cooperate with the replacement unit to replace the battery 14 of the drone 1; the battery swapping module is set in the storage cavity 40 to enable charging of the battery 14.

[0094] The replacement unit includes a sensor 17 and a lifting member 13. The lifting member 13 is used to lift the battery 14 of the drone 1 so as to cooperate with the limiting member to remove the battery 14 of the drone 1.

[0095] The lifting component 13 includes a lifting platform 16, a lifting rod 18, and a lifting drive mechanism. One end of the lifting rod 18 is connected to the lower end face of the lifting platform 16, and the other end of the lifting rod 18 is driven to the lifting drive mechanism. The sensor 17 is disposed on the upper end face of the lifting platform 16 and senses the underside of the drone 1 to trigger the locking unit 7 to lock the drone 1.

[0096] After the lifting member 13 approaches the battery cavity of the drone 1, the sensor 17 senses the activation probe located on the lower end face of the battery cavity, causing the limiting member in the battery cavity to unlock the battery 14, so that the battery 14 can be replaced.

[0097] The locking unit 7 is installed on the charging platform 6 and locks the landing frame 5 of the drone 1 when the battery 14 is replaced, so that the drone 1 will not shift when the battery 14 is replaced.

[0098] In addition, the docking plate is provided with a locking cavity 8 for accommodating the locking unit 7. The locking unit 7 includes several clamping claws, a clamping drive mechanism, a support plate, a lifting rod 37, and a lifting drive mechanism 38. The clamping drive mechanism is driven to connect with each clamping claw to form a locking part. The locking part is located on the upper end surface of the support plate. One end of the lifting rod 37 is vertically fixed to the lower end surface of the support plate, and the other end of the lifting rod 37 is driven to connect with the lifting drive mechanism 38. The lifting drive mechanism 38 is fixed on the bottom wall of the locking cavity 8.

[0099] The replacement unit includes a first charging chamber 9, a second charging chamber, a charging component, a first moving component, and a second moving component. The first charging chamber 9 and the second charging chamber are disposed on the inner wall of the storage chamber 40 and communicate with the storage chamber 40. When the lifting component 13 descends to the lowest point, the first moving component sends the replaced battery 14 on the lifting platform 16 back to the first charging chamber 9 (the first charging chamber 9 is empty and contains a fully charged battery 14). After the replaced battery 14 returns to the first charging chamber 9 for charging, the second moving component moves the fully charged battery 14 in the second charging chamber to the lifting platform 16, and under the lifting operation of the lifting component 13, transports the fully charged battery 14 to the battery chamber. The processor controls the limiting component to lock the battery 14, thus confining the battery 14 in the battery chamber.

[0100] Specifically, when replacing battery 14, the removed battery 14 is first sent into an empty charging chamber, and the fully charged battery 14 is moved out of the charging chamber. Therefore, the procedure is not limited to the steps described above, which is something that those skilled in the art can foresee without a doubt, and therefore will not be described in detail.

[0101] The first moving component is positioned facing the opening of the first charging cavity 9, and the second moving component is positioned facing the opening of the second charging cavity.

[0102] In addition, charging components are provided in both the first charging cavity 9 and the second charging cavity.

[0103] The charging components are used to charge the battery 14; wherein the charging components are respectively disposed in the first charging cavity 9 and the second charging cavity.

[0104] The charging component includes a charging contact and a power detector. The charging contact makes contact with the contact point 32 of the battery 14 to charge the battery 14. The power detector is used to detect the power of the battery 14. Once the battery 14 is fully charged, the charging contact stops charging the battery 14. The charging contact can be electrically connected to the circuit after transformation on the wind turbine tower, which makes it easier to obtain electrical energy and further improves the efficiency of battery 14 replacement.

[0105] The first moving component and the second moving component have similar structures, so the structure of the first moving component will be used for description. The structure of the second moving component can be referred to the first moving component.

[0106] The first moving component includes a moving rod 11, a moving drive mechanism, an adsorption nozzle 12, a connecting pipe, and an adsorption pump. One end of the moving rod 11 is driven to connect with the moving drive mechanism to form a moving part, and the other end of the moving rod 11 extends vertically toward the side away from the moving part. The adsorption nozzle 12 is located on the end of the moving rod 11 away from the moving drive mechanism, and one end of the connecting pipe is connected to the adsorption nozzle 12, while the other end is connected to the adsorption pump to provide suction, adsorb onto the outer surface of the battery 14, and move the battery 14 in conjunction with the moving part.

[0107] Meanwhile, the movable rod 11 is designed to be telescopic and can extend or retract under the drive of the movable drive mechanism.

[0108] In addition, the storage cavity 40 is provided with a first receiving cavity 10 and a second receiving cavity for accommodating the first moving member and the second moving member, and when the first moving member and the second moving member are not in motion, they are respectively hidden in the first receiving cavity 10 and the second receiving cavity.

[0109] By replacing the battery 14 in the drone 1 using the battery swapping module, the interruption of the inspection task caused by insufficient power is effectively avoided. Compared with the traditional operation of the drone 1, which requires returning to charge or wireless charging, the battery swapping module shortens the charging time and speeds up the inspection efficiency.

[0110] Example 3.

[0111] This embodiment should be understood to include at least all the features of any of the foregoing embodiments, and to further improve upon them, according to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 and Figure 10 Furthermore, the UAV1 management platform includes general function modules, wind power function modules, photovoltaic function modules, and power transmission and transformation function modules. The management platform can manage the entire process of UAV1 inspection operations. Through the UAV1 management platform, autonomous inspection operations of new energy power plants can be realized, improving the efficiency and quality of inspection operations, reducing the operation and maintenance costs of new energy power plants, increasing the equipment failure elimination rate, reducing power generation losses, and increasing economic benefits.

[0112] The general function module is used to view or record the videos, images, cruise logs, and detection points collected by the UAV 1; the wind power function module is used to call the UAV 1 to inspect the lines of the wind power discharge field; the photovoltaic function module is used to call the UAV 1 to inspect the lines of the photovoltaic power plant; and the power transmission and transformation function module is used to call the UAV 1 to inspect general power transmission lines.

[0113] The drone 1 management platform can manage drone 1 inspection operations in all aspects, and the management process is standardized and the management operations are traceable; in particular, the efficiency of drone 1 inspection operations has been greatly improved.

[0114] Among them, the drone management platform can classify and manage the daily inspection-related personnel, inspection units and inspection equipment in a refined manner.

[0115] In addition, the drone management platform can also perform hierarchical and layered visual management of wind turbines, photovoltaic modules, transmission lines and inspection equipment in the power plant within its management scope; and can intelligently identify, label and locate massive amounts of drone inspection image data, and distinguish various fault types.

[0116] Meanwhile, after the drone inspection is completed and all inspection data is collected, an inspection report is automatically generated; and it is then edited based on the results of the automatic detection, allowing modification of information such as the type and location of the detected fault, with manual review to ensure accuracy and export of the inspection report; so as to adjust the next stage of the inspection task.

[0117] Meanwhile, with the help of 5G and BeiDou positioning technologies, the location of the drone can be accurately determined, and the collected image data can be quickly transmitted to the server or management platform. In addition, drone inspection based on 5G communication and BeiDou positioning can effectively reduce the power supply failure rate, shorten the emergency response time after an accident, and improve the management level of the new energy industry.

[0118] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0119] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0120] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. An unmanned aerial vehicle (UAV) based intelligent inspection system for wind farms, comprising a UAV, a database and a server, characterized in that, The system further comprises a positioning module, a posture adjusting module, an acquisition module, a connecting module and a processor, the positioning module, the posture adjusting module and the acquisition module are all arranged on the unmanned aerial vehicle; the processor is connected with the positioning module, the posture adjusting module, the acquisition module, the connecting module, the server and the database respectively; the server is connected with the positioning module, the posture adjusting module, the acquisition module and the connecting module respectively; The acquisition module is used for acquiring image data of each detection point, and the detection point is each wind power tower in a wind power field. The positioning module is used for positioning the position of the unmanned aerial vehicle to cooperate with the acquisition module to acquire the image data. The posture adjusting module is used for adjusting the flight posture of the unmanned aerial vehicle. The connecting module is arranged on each wind power tower and is used for pairing and connecting the unmanned aerial vehicle entering the identification range and guiding the position of the unmanned aerial vehicle to make the unmanned aerial vehicle patrol the detection point; the connecting module comprises a connecting unit and a guiding unit, the connecting unit is used for connecting with the unmanned aerial vehicle to generate a patrol path of the unmanned aerial vehicle; the guiding unit is used for guiding the unmanned aerial vehicle to reach the detection point according to the patrol path. The connecting unit comprises an identification member, an identity verification terminal and a pairer, the identification member is used for identifying the unmanned aerial vehicle entering the identification range; the identity verification terminal is used for verifying the identity of the unmanned aerial vehicle entering the identification range to obtain a verification result; the pairer is used for sending a pairing code to the unmanned aerial vehicle according to the verification result to make the unmanned aerial vehicle establish a binding relationship with the pairer; The pairing code is calculated through the following relationship: wherein Check m (v) is the value corresponding to the vth character in the pairing code of the UAV m; λ is a random number, and the value is related to the number of connections between the UAV m and the identity verification terminal; R j is the weight for performing a task; n is the total number of task items; j is the serial number of the current task item; D is the level of the flight permission of the UAV m; F m (u) is the value corresponding to the uth character in the pairing code of the UAV m; r(z) is the value corresponding to the zth character in the identification code ID of the UAV m. 2.The unmanned aerial vehicle (UAV) -based intelligent wind farm inspection system of claim 1, wherein, The unmanned aerial vehicle comprises a microcontroller, the posture adjusting module is connected with the microcontroller; the posture adjusting module comprises an adjusting unit and a detecting unit; the adjusting unit is used for adjusting the posture of the unmanned aerial vehicle; the detecting unit is used for detecting the wind power of the wind power field. The detecting unit comprises a detection cavity, a wind direction detecting member and a wind power measuring member, the wind direction detecting member and the wind power measuring member are arranged in the detection cavity; the wind direction detecting member is used for detecting the wind direction of the detection point; the wind power measuring member is used for detecting the wind power of the detection point. The wind direction detecting member comprises a wind measuring flag, a connecting rod, a sensing disc and a position sensing piece, the sensing disc is hinged with the upper top wall of the detection cavity, and the connecting rod is coaxially arranged with the sensing disc; a plurality of direction marking pieces are arranged on the sensing disc and distributed along the end face of the sensing disc; the wind measuring flag is nested with the connecting rod; the position sensing piece is arranged on the wind measuring flag and is used for measuring the position of each direction marking piece on the sensing disc. 3.The unmanned aerial vehicle based intelligent wind farm inspection system of claim 1, wherein, The guiding unit comprises an induction radar, a guiding rod, a lifting member and a rotating member; the induction radar is used for sensing the position of the unmanned aerial vehicle, the lifting member is arranged at one end of the guiding rod, and the other end of the guiding rod is hinged to the rotating member; the lifting member is used for adjusting the pitch height of the guiding rod to guide different detection points. The lifting member comprises a lifting rod, a height detection member and a lifting driving mechanism; one end of the lifting rod is hinged to the rod wall of the guiding rod, and the other end is hinged to the rotating member; the lifting driving mechanism is drivingly connected to the lifting rod to adjust the extension length of the lifting rod; the height detection member is arranged on the lifting rod to detect the lifting height of the lifting rod. 4.The unmanned aerial vehicle (UAV) -based intelligent wind farm inspection system of claim 1, wherein, The positioning module comprises a positioning unit and an interaction unit; the positioning unit is used for positioning the position of the unmanned aerial vehicle; the interaction unit interacts the positioning data of the unmanned aerial vehicle and the position data of the wind farm based on the position of the positioning unit to realize the positioning of the detection point. The positioning unit comprises a positioning probe and a transmitter; the positioning probe is used for positioning the current position of the unmanned aerial vehicle; the transmitter is used for sending the positioning data of the positioning probe to the interaction unit for interaction or comparison. 5.The unmanned aerial vehicle (UAV) -based intelligent wind farm inspection system of claim 1, wherein, The acquisition module comprises an acquisition unit and a storage unit; the acquisition unit is used for acquiring image data of the detection point to obtain acquisition data; the storage unit is used for storing the acquisition data. The acquisition unit comprises an acquisition probe and a turning member; the acquisition probe is used for acquiring image data; the acquisition probe is arranged on the turning member; the turning member is used for adjusting the acquisition angle of the acquisition probe. 6.The UAV-based intelligent wind farm inspection system of claim 5, wherein, The turning member comprises a turning rod, a fixing seat, a turning detection member and a turning driving mechanism; the upper end surface of the fixing seat is detachably connected to the lower end surface of the fuselage of the unmanned aerial vehicle; one end of the turning rod is drivingly connected to the turning driving mechanism to form a rotating part, and the rotating part is connected to the fixing seat; the other end of the turning rod is connected to the outer wall of the acquisition probe; the turning detection member is arranged on the turning rod and detects the rotation angle of the turning rod. 7.The UAV-based intelligent wind farm inspection system of claim 4, wherein, After the positioning module determines the position data of the unmanned aerial vehicle, the unmanned aerial vehicle sends an interaction request instruction to the interaction unit; the interaction unit responds to the interaction request instruction to determine the physical position of the detection point; wherein the physical position is determined by the GPS positioning data of the positioning probe and the induction radar of the guiding unit. 8.The UAV-based intelligent wind farm inspection system of claim 2, wherein, The wind measuring member comprises a wind measuring plate, a ventilation hole, a rotating speed detection member and a group of vertical rods; the ventilation hole is provided for wind to pass through to detect the wind power of the actual environment; the vertical rods are symmetrically arranged on both sides of the wind measuring plate; one end of the vertical rod is connected to the end surface of the wind measuring plate and coaxially arranged; the other end of the vertical rod is connected to the rotating speed detection member to form a detection part; the detection part is arranged in the ventilation hole to detect the wind power passing through the ventilation hole.

9. A UAV applied to the UAV-based intelligent inspection system of the wind farm, according to any one of claims 1-8, characterized in that, The unmanned aerial vehicle comprises a fuselage, a landing frame, a battery cavity and a plurality of flight units; the battery cavity is arranged at the lower end surface of the fuselage; wherein the lower end surface of the fuselage is provided with the landing frame, and the landing frame is arranged in the same direction as the battery cavity. Each flight unit is arranged at the circumferential side of the fuselage, and is used for providing the lift of flight.

10. The unmanned aerial vehicle of claim 9, wherein, The unmanned aerial vehicle further comprises a battery, and the battery is detachably connected with the battery cavity.

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