Wind turbine inspection method, device, storage medium and electronic equipment

Abstract

The present application discloses a wind turbine inspection method, device, storage medium and electronic device, wherein the method includes: controlling a first device to move above a target wind turbine to obtain a reference wind turbine yaw angle of the target wind turbine; based on the reference wind turbine yaw angle and the real-time wind turbine yaw angle change value sent by a second device, controlling the first device to move to the front of the wind turbine hub of the target wind turbine; using the front of the wind turbine hub as a first waypoint, one side of the wind turbine blade rotation plane of the target wind turbine as a second waypoint, the rear of the wind turbine hub as a third waypoint, and the other side of the wind blade rotation plane opposite to the second waypoint as a fourth waypoint, and generating an inspection route for the first device based on the waypoint positions of each waypoint; and updating the inspection route in real time based on the real-time wind turbine yaw angle change value. The method and device provided by the present application can determine the inspection route of the first device without shutting down the wind turbine, thereby improving the inspection efficiency of the wind turbine.

Description

Technical Field

[0001] The present application relates to the field of wind turbine technology, and more specifically, to a wind turbine inspection method, device, storage medium, and electronic equipment. Background Art

[0002] Wind turbine blades are key components of wind turbines and the devices that capture wind energy. Therefore, their safety and reliability are crucial for ensuring the proper operation of wind turbines. Using equipment with flight imaging capabilities (such as drones) to inspect wind turbine blades allows for fault detection and confirmation, as well as inspection of blade surface damage. However, current inspections, whether manual or equipment-based, are performed while the wind turbine is shut down, resulting in low inspection efficiency and loss of power generation.

[0003] Therefore, how to determine the inspection route of the equipment without shutting down the wind turbine has become a technical problem that needs to be solved urgently in the industry. Summary of the Invention

[0004] The present application provides a wind turbine inspection method, device, storage medium and electronic device to solve the technical problem in the prior art of how to determine the inspection route of the equipment without shutting down the wind turbine.

[0005] In a first aspect, the present application provides a wind turbine inspection method, comprising:

[0006] Controlling the first device to move above a target wind turbine to obtain a reference wind turbine yaw angle of the target wind turbine;

[0007] Based on the reference wind turbine yaw angle and the real-time wind turbine yaw angle change value sent by the second device, the first device is controlled to move to the front of the wind turbine hub of the target wind turbine;

[0008] The inspection route for the first device is generated based on the waypoint positions of the first waypoint, the second waypoint, the third waypoint, and the fourth waypoint, using the front of the wind turbine hub as a first waypoint, one side of the rotation plane of the wind blades of the target wind turbine as a second waypoint, the rear of the wind turbine hub as a third waypoint, and the other side of the rotation plane of the wind blades opposite to the second waypoint as a fourth waypoint.

[0009] The inspection route is updated in real time based on the real-time wind turbine yaw angle change value.

[0010] In some embodiments, before updating the inspection route in real time based on the real-time wind turbine yaw angle change value, the method further includes:

[0011] When the difference between the real-time wind turbine yaw angle change value corresponding to the first time and the real-time wind turbine yaw angle change value corresponding to the second time is less than a preset threshold, the first device is controlled to inspect the target wind turbine based on the inspection route.

[0012] In some embodiments, updating the inspection route in real time based on the real-time wind turbine yaw angle change value includes:

[0013] Split the route between any two adjacent waypoints into multiple segments;

[0014] The inspection route is updated in the next flight segment based on an average of the real-time wind turbine yaw angle change values of the target wind turbine in the current flight segment by the first device.

[0015] In some embodiments, the updating of the inspection route in real time based on the real-time wind turbine yaw angle change value further includes:

[0016] When the distance difference between the position of the first device and the second waypoint or the fourth waypoint is less than a preset distance, collecting the real-time wind turbine yaw angle change value based on the first frequency;

[0017] The first frequency is greater than the reference frequency.

[0018] In some embodiments, controlling the first device to move above a target wind turbine to obtain a reference wind turbine yaw angle of the target wind turbine includes:

[0019] determining a fifth waypoint based on the wind turbine blade rotation plane and the wind turbine hub height of the target wind turbine;

[0020] controlling the first device to move along the fifth waypoint and the sixth waypoint to a seventh waypoint, and collecting a top view of the target wind turbine at the seventh waypoint; a line connecting the sixth waypoint and the fifth waypoint is perpendicular to a horizontal plane, and a height of the sixth waypoint is greater than a preset height, where the preset height is the sum of the height of the fifth waypoint and the length of the wind turbine blade; the seventh waypoint is directly above the target wind turbine, and a line connecting the seventh waypoint and the sixth waypoint is parallel to the horizontal plane;

[0021] The reference wind turbine yaw angle is determined based on the top view.

[0022] In some embodiments, controlling the first device to move to the front of the wind turbine hub of the target wind turbine includes:

[0023] Set the point directly above the target wind turbine as the eighth waypoint;

[0024] A flight route is generated based on the eighth waypoint, the ninth waypoint, and the tenth waypoint; a line connecting the ninth waypoint and the eighth waypoint is parallel to a horizontal plane, a distance between the ninth waypoint and the eighth waypoint is greater than a length of the wind turbine blade; and the tenth waypoint is directly in front of the wind turbine hub.

[0025] The first device is controlled to move from the eighth waypoint along the ninth waypoint to the tenth waypoint, so that the first device moves to the front of the wind turbine hub of the target wind turbine.

[0026] In some embodiments, controlling the first device to move from the eighth waypoint along the ninth waypoint to the tenth waypoint includes:

[0027] In the process of the first device passing through the eighth waypoint, the ninth waypoint and the tenth waypoint in sequence, the latest waypoint position of the eighth waypoint, the ninth waypoint or the tenth waypoint is determined in real time based on the baseline wind turbine yaw angle and the real-time wind turbine yaw angle change value, and the flight route of the first device and the camera angle of the first device are adjusted.

[0028] In some embodiments, the second device includes a ground device, and the real-time wind turbine yaw angle change value is obtained based on the following steps:

[0029] The second device continuously collects wind turbine images of the target wind turbine;

[0030] The real-time wind turbine yaw angle change value is determined based on the image change values between consecutive wind turbine images.

[0031] In some embodiments, the second device and the first device are of the same type, and the real-time wind turbine yaw angle change value is obtained based on the following steps:

[0032] controlling the second device to move to a target position;

[0033] Emitting laser light onto the rotating plane of the wind turbine blade based on the second device;

[0034] The real-time wind turbine yaw angle change value is determined based on the trigger point position of the laser and the wind turbine blade rotation plane and the target position.

[0035] In some embodiments, the route between the first waypoint and the second waypoint is the windward route of the target wind turbine;

[0036] The route between the second waypoint and the third waypoint is the leeward route of the target wind turbine;

[0037] The second waypoint is the leading edge route or the trailing edge route of the target wind turbine;

[0038] The fourth waypoint is the leading edge route or the trailing edge route of the target wind turbine;

[0039] The updating of the inspection route in real time based on the real-time wind turbine yaw angle change value includes:

[0040] Determine in real time the latest waypoint position of the first waypoint, the second waypoint, the third waypoint or the fourth waypoint based on the real-time wind turbine yaw angle change value;

[0041] Based on the latest waypoint positions and the latest inspection routes of the respective waypoints, the first device is controlled to inspect the target wind turbine in sequence along the first waypoint, the second waypoint, the third waypoint and the fourth waypoint.

[0042] In some embodiments, after controlling the first device to inspect the target wind turbine along the first waypoint, the second waypoint, the third waypoint, and the fourth waypoint in sequence based on the latest waypoint positions and the latest inspection route of each waypoint, the method further includes:

[0043] Setting inspection conditions based on the battery capacity of the first device, the number of inspection laps of the inspection route, or wind turbine images collected by the first device;

[0044] The inspection is terminated when the current inspection result meets the inspection conditions.

[0045] In a second aspect, the present application provides a wind turbine inspection device, comprising:

[0046] an acquisition module, configured to control the first device to move above a target wind turbine to acquire a reference wind turbine yaw angle of the target wind turbine;

[0047] a control module, configured to control the first device to move to the front of the wind turbine hub of the target wind turbine based on the reference wind turbine yaw angle and the real-time wind turbine yaw angle change value sent by the second device;

[0048] a route module, configured to use the front of the wind turbine hub as a first waypoint, one side of the wind turbine blade rotation plane of the target wind turbine as a second waypoint, the rear of the wind turbine hub as a third waypoint, and the other side of the wind turbine blade rotation plane opposite to the second waypoint as a fourth waypoint, and generate an inspection route for the first device based on the waypoint positions of the first waypoint, the second waypoint, the third waypoint, and the fourth waypoint;

[0049] An updating module is used to update the inspection route in real time based on the real-time wind turbine yaw angle change value.

[0050] In a third aspect, the present application provides a non-transitory computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned method when executed by a processor.

[0051] In a fourth aspect, the present application provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to implement the above method when executing the program through the computer program.

[0052] In a fifth aspect, the present invention further provides a computer program product, comprising a computer program, which implements the above method when executed by a processor.

[0053] The wind turbine inspection method, device, storage medium and electronic device provided in the present application control the movement of the first device to the front of the wind turbine hub through the reference wind turbine yaw angle, determine the first waypoint, the second waypoint, the third waypoint and the fourth waypoint through the position of the wind turbine hub and the rotation plane of the wind turbine blades, generate the inspection route of the first device through the four waypoints, and update the inspection route in real time through the real-time wind turbine yaw angle change value. The inspection route of the first device can be determined without stopping the wind turbine, and the wind turbine can be safely inspected without stopping the wind turbine without human intervention, thereby improving the inspection efficiency of the wind turbine. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0055] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0056] Figure 1 A flow chart of a wind turbine inspection method provided in an embodiment of the present application;

[0057] Figure 2 One of the schematic diagrams of the wind turbine yaw angle provided in the embodiment of the present application;

[0058] Figure 3 The second schematic diagram of the wind turbine yaw angle provided in the embodiment of the present application;

[0059] Figure 4 A front view of a fan provided in an embodiment of the present application;

[0060] Figure 5A left side view of the fan provided in an embodiment of the present application;

[0061] Figure 6 A schematic diagram of an inspection route provided in an embodiment of the present application;

[0062] Figure 7 One of the schematic diagrams of wind turbine inspection provided in an embodiment of the present application;

[0063] Figure 8 The second schematic diagram of the wind turbine inspection provided in the embodiment of the present application;

[0064] Figure 9 A schematic diagram of determining the yaw angle of a wind turbine provided in an embodiment of the present application;

[0065] Figure 10 A schematic diagram of the structure of a wind turbine inspection device provided in an embodiment of the present application;

[0066] Figure 11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0067] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0068] It should be noted that the terms "first", "second" etc. in this application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable in appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, the process, method, system, product or equipment comprising a series of steps or modules is not necessarily limited to those steps or modules clearly listed, but may include other steps or modules that are not clearly listed or that are inherent to these processes, methods, products or equipment.

[0069] The wind turbine inspection method provided in the embodiment of the present application is applicable to a terminal, which may be various electronic devices, including but not limited to servers, smart phones, tablet computers, laptop computers, and desktop computers.

[0070] Figure 1 A flow chart of the wind turbine inspection method provided in the embodiment of the present application is shown as follows: Figure 1 As shown, the method includes step 110, step 120, step 130 and step 140. The steps of the method flow are only a possible implementation of the present application.

[0071] Step 110: Control the first device to move above the target wind turbine to obtain a reference wind turbine yaw angle of the target wind turbine.

[0072] Specifically, the execution subject of the wind turbine inspection method provided in the embodiment of the present application is a wind turbine inspection device, which can be a hardware device independently set in the terminal or a software program running in the terminal.

[0073] The first device is a device with flight and shooting functions, and may include a drone, a camera, a gimbal, and an onboard processor.

[0074] Among them, the drone is used to carry the camera and fly to the designated location; the camera is used to collect pictures and videos of wind turbine blades; the gimbal is used to load the camera; and the onboard processor is used to guide the drone to fly automatically and safely.

[0075] A wind turbine includes a wind tower, a wind nacelle, a wind hub, and wind blades connected to the wind hub. The target wind turbine is the wind turbine to be inspected.

[0076] Figure 2 One of the schematic diagrams of the wind turbine yaw angle provided in the embodiment of the present application; Figure 3 The second schematic diagram of the wind turbine yaw angle provided in the embodiment of the present application is as follows: Figure 2 and Figure 3 As shown in the figure, the true north direction can be defined as a line, and the yaw angle of the wind turbine refers to the angle between the nacelle and the true north line segment. Figure 3 The yaw angle of the medium-speed wind turbine is 180°.

[0077] Because the fan state of the target fan in the embodiment of the present application can be a non-stop state, the fan yaw angle may change in real time. Therefore, when starting the inspection task, it is necessary to control the first device to move above the target fan, and obtain the baseline fan yaw angle of the target fan by collecting a top view of the target fan from above.

[0078] The non-stop state means that the fan blades are not locked, that is, the fan blades will move with the wind.

[0079] The target wind turbine may be directly above the wind turbine hub. After the first device moves to directly above the wind turbine hub, the device angle may be adjusted to capture a top view of the target wind turbine and obtain a reference wind turbine yaw angle of the target wind turbine.

[0080] The device angle includes at least one of the overall device angle of the first device and the camera angle on the first device. Adjusting the device angle can include adjusting the drone angle, adjusting the camera angle, or adjusting both the drone angle and the camera angle. The specific adjustment method should be determined based on actual circumstances.

[0081] The camera angle can be adjusted by rotating the pan / tilt. The pan / tilt angle can be adjusted to capture a top view of the target wind turbine.

[0082] Step 120 : Based on the reference wind turbine yaw angle and the real-time wind turbine yaw angle change value sent by the second device, control the first device to move to the front of the wind turbine hub of the target wind turbine.

[0083] Specifically, after the first device is above the target wind turbine and obtains the reference wind turbine yaw angle, it can first adjust the device angle according to the reference wind turbine yaw angle, and then move from above the target wind turbine to directly in front of the wind turbine hub of the target wind turbine, and continue to adjust the device angle according to the real-time wind turbine yaw angle change value during the movement; it can also move directly from above the target wind turbine to directly in front of the wind turbine hub of the target wind turbine, and first adjust the device angle according to the reference wind turbine yaw angle during the movement, and then continuously adjust the device angle according to the real-time wind turbine yaw angle change value; it can also move directly from above the target wind turbine to directly in front of the wind turbine hub of the target wind turbine, and start adjusting the device angle according to the real-time wind yaw angle change value after reaching directly in front.

[0084] Because it is difficult to obtain the real-time wind turbine yaw angle change value of the target wind turbine through the first device when the first device moves from above the target wind turbine to directly in front of the wind turbine hub, the real-time wind turbine yaw angle change value can be obtained through the second device, and the real-time wind turbine yaw angle change value is sent to the first device so that the first device can adjust the device angle, thereby controlling the first device to move to directly in front of the wind turbine hub, and finally making the camera of the first device face directly in front of the wind turbine hub.

[0085] Step 130: Set the front of the wind turbine hub as the first waypoint, one side of the wind turbine blade rotation plane of the target wind turbine as the second waypoint, the rear of the wind turbine hub as the third waypoint, and the other side of the wind blade rotation plane opposite to the second waypoint as the fourth waypoint, and generate an inspection route for the first device based on the waypoint positions of the first waypoint, the second waypoint, the third waypoint, and the fourth waypoint.

[0086] Specifically, Figure 4 A front view of a fan provided in an embodiment of the present application; Figure 5 This is a left side view of the fan provided in the embodiment of the present application; Figure 4 and Figure 5As shown, the exterior surfaces of the wind turbine blade in the embodiment of the present application include the windward surface, the trailing edge surface, the leeward surface and the leading edge surface. Through the above inspection route, the first device can inspect each exterior surface of the wind turbine blade.

[0087] Figure 6 This is a schematic diagram of the inspection route provided in the embodiment of the present application. Figure 6 As shown, after the first device moves to the front of the fan hub, this point is used as the starting point, that is, the front of the fan hub is used as the first waypoint, and one side of the fan blade rotation plane of the target fan is used as the second waypoint. Figure 6 The position point of the middle trailing edge route is the second waypoint. The route between the first waypoint and the second waypoint is the windward side route of the target wind turbine, that is, the first device can inspect the windward side of the wind turbine blade when moving from the first waypoint to the second waypoint.

[0088] The second waypoint is the leading edge route or trailing edge route of the target wind turbine, so Figure 6 The position point of the leading edge route in the figure can also be used as the second waypoint, that is, when the first device is at the second waypoint, the trailing edge surface or the leading edge surface of the wind turbine blade can be inspected.

[0089] The rear of the wind turbine hub is taken as the third waypoint, and the route between the second and third waypoints is the leeward route of the target wind turbine; the other side of the wind turbine blade rotation plane opposite to the second waypoint is taken as the fourth waypoint. Figure 6 The location point of the middle leading edge route is the fourth waypoint.

[0090] The fourth waypoint can be the target wind turbine's leading edge or trailing edge. If the second waypoint is the leading edge, the fourth waypoint is the trailing edge; if the second waypoint is the trailing edge, the fourth waypoint is the leading edge. The specific route corresponding to the fourth waypoint and the second waypoint depends on the exterior surfaces that the first device can inspect while on that route.

[0091] The distances between the first waypoint and the third waypoint and the wind turbine hub, and the distances between the second waypoint and the fourth waypoint and the wind turbine blade rotation plane can be limited according to specific circumstances. The distances must ensure that the first device does not collide with the wind turbine hub, that the first device does not intersect with the wind turbine blade rotation plane, and that the motion range of the first device is within a safe range.

[0092] A circle of operating routes for the first device can be generated through the first waypoint, the second waypoint, the third waypoint, and the fourth waypoint, so as to inspect various exterior surfaces of the wind turbine.

[0093] Inspection routes can be divided into wind turbine windward side inspection routes, leeward side inspection routes, leading edge routes and trailing edge routes according to the appearance of the wind turbine blades.

[0094] Inspection routes for each exterior surface of the wind blade can be generated using information such as the wind blade angle, blade length, and wind tower height.

[0095] The windward route can be that the drone is at the starting position directly in front of the wind turbine hub and moves horizontally to the right; the leeward route can be that the drone is at the starting position directly behind the wind turbine hub and moves horizontally to the right.

[0096] The leading edge route can be that the first device is on one side of the rotation plane of the fan blade, or the starting position of the first device is directly above the fan hub and moves horizontally to the right; the trailing edge route can be that the first device is on the other side of the rotation plane of the fan blade, or the starting position of the first device is directly above the fan hub and moves horizontally to the left.

[0097] When inspecting the leading and trailing edges, because there is backlighting when shooting upwards, the leading and trailing edge surfaces will be photographed downwards on both sides of the fan blade's rotating plane.

[0098] Step 140: Update the inspection route in real time based on the real-time wind turbine yaw angle change value.

[0099] Specifically, because the wind turbine blades and wind turbine cabin are constantly rotating, after the inspection route is generated, the positions of the first waypoint, the second waypoint, the third waypoint and the fourth waypoint change in real time. Therefore, during the flight of the first device, the inspection route needs to be continuously updated according to the real-time wind turbine yaw angle change value, and the movement of the first device needs to be controlled to ensure that safe inspections can be carried out without stopping the wind turbine.

[0100] The wind turbine inspection method provided in the embodiment of the present application controls the movement of the first device to the front of the wind turbine hub through the reference wind turbine yaw angle, determines the first waypoint, the second waypoint, the third waypoint and the fourth waypoint through the position of the wind turbine hub and the rotation plane of the wind turbine blades, generates an inspection route for the first device through the four waypoints, and updates the inspection route in real time through the real-time wind turbine yaw angle change value. The inspection route of the first device can be determined without stopping the wind turbine, and the wind turbine can be safely inspected without stopping the wind turbine without human intervention, thereby improving the inspection efficiency of the wind turbine.

[0101] It should be noted that each implementation method of the present application can be freely combined, the order can be changed, or it can be executed separately, and does not need to rely on or depend on a fixed execution order.

[0102] In some embodiments, before step 140, the method further includes:

[0103] When the difference between the real-time wind turbine yaw angle change value corresponding to the first time and the real-time wind turbine yaw angle change value corresponding to the second time is less than a preset threshold, the first device is controlled to inspect the target wind turbine based on the inspection route.

[0104] Step 140 includes:

[0105] Split the route between any two adjacent waypoints into multiple segments;

[0106] Based on the average of the real-time wind turbine yaw angle change values of the target wind turbines in the current flight segment of the first device, the inspection route is updated in the next flight segment.

[0107] Step 140 also includes:

[0108] When the distance difference between the position of the first device and the second waypoint or the fourth waypoint is less than a preset distance, collecting a real-time wind turbine yaw angle change value based on the first frequency;

[0109] The first frequency is greater than the reference frequency.

[0110] Specifically, when the fan's motion state is extremely unstable, it may increase flight safety risks and flight losses of the first device, and may also affect the first device's ability to capture the fan. Therefore, the first device can be controlled to perform inspections when the fan's motion is relatively stable.

[0111] A preset threshold can be set. If the difference between the real-time fan yaw angle change value corresponding to the first time and the real-time fan yaw angle change value corresponding to the second time is greater than or equal to the preset threshold, it indicates that the current fan movement is unstable, and you can wait until the fan stabilizes before passing the first equipment inspection.

[0112] If the difference between the real-time yaw angle change value of the fan corresponding to the first time and the real-time yaw angle change value of the fan corresponding to the second time is less than the preset threshold, it indicates that the current fan movement is relatively stable and the first device can be started for inspection.

[0113] The time interval between the first time and the second time can be determined according to the current environment, for example, the time interval can be set to 20 seconds. If the yaw angle of the wind turbine changes little within 20 seconds, the inspection is started.

[0114] When starting an inspection, the route between two adjacent waypoints can be split into multiple segments. For example, the route between the first waypoint and the second waypoint can be split into three segments, corresponding to the blade root segment, the blade middle segment, and the blade tip segment respectively.

[0115] The adjustment angle of the inspection route for the next flight segment may be determined according to the average of the real-time wind turbine yaw angle change values of the target wind turbines in the current flight segment of the first device.

[0116] For example, the angle of the first device when moving in the mid-blade segment is adjusted according to the average of the real-time wind turbine yaw angle change values of the target wind turbines in the blade root segment.

[0117] Because even if the first device is not completely aligned with the wind blades, an accurate wind blade image can be obtained through image correction. Therefore, when the wind movement is relatively stable, an accurate wind blade image can be obtained even if the mean of the real-time wind turbine yaw angle change value has a certain error with the actual wind turbine yaw angle.

[0118] The frequency of collecting real-time wind turbine yaw angle changes within each flight segment can be set based on the actual scenario, for example, 5 seconds. The frequency of collecting real-time wind turbine yaw angle changes within each flight segment can be different. The base frequency is the frequency of collecting real-time wind turbine yaw angle changes within each flight segment.

[0119] If the position of the first device is close to the second waypoint, it means that the first device is about to reach the leading edge route or the trailing edge route. This is because the first device can only collect the leading edge surface or the trailing edge surface with a better angle when it is on the positive side of the wind blade rotation plane. Therefore, it is necessary to increase the collection frequency of the real-time wind turbine yaw angle change value to ensure that the first device can move to the positive side of the wind blade rotation plane and remain on the positive side.

[0120] Therefore, the first frequency may be greater than the reference frequency, and the first frequency may be set to 2 seconds.

[0121] The wind turbine inspection method provided in the embodiment of the present application improves the accuracy of the inspection route by controlling the first device to inspect the wind turbine when the wind turbine movement is relatively stable, and adjusting the inspection route in real time during the inspection process of the first device.

[0122] In some embodiments, step 110 includes:

[0123] determining a fifth waypoint based on the wind turbine blade rotation plane and the wind turbine hub height of the target wind turbine;

[0124] The first device is controlled to move along the fifth and sixth waypoints to the seventh waypoint, and a top view of the target wind turbine is captured at the seventh waypoint; a line connecting the sixth waypoint and the fifth waypoint is perpendicular to the horizontal plane, and a height of the sixth waypoint is greater than a preset height, which is the sum of the height of the fifth waypoint and the length of the wind turbine blade; the seventh waypoint is directly above the target wind turbine, and a line connecting the seventh waypoint and the sixth waypoint is parallel to the horizontal plane;

[0125] Determine the baseline wind turbine yaw angle based on the top view.

[0126] Specifically, Figure 7 This is one of the schematic diagrams of wind turbine inspection provided in the embodiment of the present application; Figure 7 As shown, a route Line1 for the first device to move to above the target wind turbine may be generated.

[0127] Line1 includes three waypoints, the fifth waypoint ( Figure 7 The latitude and longitude of the middle waypoint 1) is on the side of the wind turbine blade rotation plane, and the height is the height of the wind turbine hub; the sixth waypoint ( Figure 7 The longitude and latitude of the middle waypoint 2) are the longitude and latitude of the first waypoint, and the height is greater than the sum of the wind turbine hub height and the wind turbine blade length; the seventh waypoint ( Figure 7 The longitude and latitude of waypoint 3) are the longitude and latitude of the wind turbine tower, and its height is greater than the sum of the hub height and the length of the wind turbine blades.

[0128] That is, the first device moves from the take-off point to the fifth waypoint, then moves vertically upward from the fifth waypoint to the sixth waypoint, and then moves from the sixth waypoint to the seventh waypoint, and can move to directly above the wind turbine.

[0129] You can directly rotate the gimbal to rotate the camera, or the first device can rotate to capture images. In this case, the first device's device angle is facing true north, where true north is 0 degrees. Alternatively, if the first device's orientation is not specified, the reference wind turbine yaw angle is determined based on the difference between the gimbal's current angle and the shooting angle.

[0130] After the first device is positioned directly above the wind turbine, the PTZ pitch angle can be adjusted to bring the PTZ vertically downward to obtain a bird's-eye view of the wind turbine. Deep learning can be used to perform image segmentation and combine it with the current PTZ yaw angle to obtain a baseline wind turbine yaw angle.

[0131] After the first device moves directly above the wind turbine, the drone's nose can be adjusted to face due north, and the gimbal's orientation is also due north. This system uses the North-East-Down (NED) coordinate system. After the first device reaches the seventh waypoint, the gimbal points downward. The video stream is analyzed and image segmentation is used to detect the target wind turbine's blades, nacelle, and hub. The current yaw position of the wind turbine is then determined by analyzing the orientation of the nacelle in the image.

[0132] The wind turbine inspection method provided in the embodiment of the present application determines the route of the first device moving to the top of the wind turbine through the size information and position information of each structure of the wind turbine, thereby obtaining the reference wind turbine yaw angle, thereby improving the accuracy of obtaining the yaw angle; by setting the fifth waypoint, the sixth waypoint and the seventh waypoint, the first device can be prevented from yaw while ensuring the safety of the first device, and the operating route of the first device can be adjusted in time to improve the efficiency of obtaining the yaw angle.

[0133] In some embodiments, step 120 includes:

[0134] Set the point directly above the target wind turbine as the eighth waypoint;

[0135] A flight route is generated based on the eighth, ninth, and tenth waypoints; the line connecting the ninth and eighth waypoints is parallel to the horizontal plane, and the distance between the ninth and eighth waypoints is greater than the length of the wind turbine blade; and the tenth waypoint is directly in front of the wind turbine hub;

[0136] The first device is controlled to move from the eighth waypoint along the ninth waypoint to the tenth waypoint, so that the first device moves to the front of the wind turbine hub of the target wind turbine.

[0137] Controlling the first device to move from the eighth waypoint along the ninth waypoint to the tenth waypoint includes:

[0138] As the first device passes through the eighth waypoint, the ninth waypoint, and the tenth waypoint in sequence, the latest waypoint position of the eighth waypoint, the ninth waypoint, or the tenth waypoint is determined in real time based on the baseline wind turbine yaw angle and the real-time wind turbine yaw angle change value, and the flight route of the first device and the camera angle of the first device are adjusted.

[0139] Specifically, after the first device is directly above the wind turbine, a route of the first device from directly above the wind turbine to directly in front of the wind turbine hub can be generated according to the current wind turbine yaw information.

[0140] Figure 8 This is the second schematic diagram of the wind turbine inspection provided in the embodiment of the present application. Figure 8 As shown in FIG, based on the reference wind turbine yaw angle, a route Line2 is generated to reach the front of the wind turbine hub.

[0141] Line2 includes three waypoints, the eighth waypoint ( Figure 8 Waypoint 1) is the current location of the first device, that is, directly above the wind turbine; the ninth waypoint ( Figure 8 The longitude and latitude of the middle waypoint 2 are the longitude and latitude in front of the wind turbine hub, and the altitude is the current altitude of the first device; the tenth waypoint ( Figure 8 The longitude and latitude of waypoint 3) are the longitude and latitude in front of the hub, and the height is the hub height.

[0142] At the tenth waypoint, the first device's yaw angle is the wind turbine's yaw angle plus 180°, meaning the first device is facing the wind turbine hub. The yaw angle between the first device and the wind turbine can range from -180° to +180°. The first device can adjust its yaw angle at any point in Line 2, simply adjusting it to face the wind turbine hub at the tenth waypoint.

[0143] The wind turbine inspection method provided in the embodiment of the present application sets a route so that the first device moves to the front of the wind turbine hub and faces the wind turbine hub, thereby preparing for the next inspection and improving the inspection efficiency.

[0144] In some embodiments, the second device includes a ground device, and the real-time wind turbine yaw angle change value is obtained based on the following steps:

[0145] The second device continuously collects wind turbine images of the target wind turbine;

[0146] Based on the image change values between consecutive wind turbine images, the real-time wind turbine yaw angle change value is determined.

[0147] The second device is of the same type as the first device. The real-time wind turbine yaw angle change value is obtained based on the following steps:

[0148] controlling the second device to move to a target position;

[0149] Based on the second device, a laser is emitted onto the rotating plane of the wind turbine blade;

[0150] Based on the trigger point position and target position of the laser and the wind turbine blade rotation plane, the real-time wind turbine yaw angle change value is determined.

[0151] Specifically, the ground equipment may include a personal computer (PC), a camera, and a pan / tilt head. The PC is used to communicate with the first device and process captured images or videos, for example, combining the position of one or more wind turbine blades in a video into a multi-channel video set; the camera is used to capture images of wind turbine blades and videos of the wind turbine; and the pan / tilt head is used to mount the camera.

[0152] The type of the second device can be determined according to the environment in which the wind turbine is located, that is, whether to use ground equipment or a drone device of the same type as the first equipment.

[0153] For example, for wind turbines installed at sea, it is difficult to install ground equipment, so a second device that can fly in the air is used.

[0154] If the second device is a ground device, the real-time wind turbine yaw angle change value is obtained in the following way:

[0155] According to the longitude and latitude of the ground equipment, the longitude and latitude of the first equipment, the longitude and latitude of the target wind turbine, and the camera POS data in the ground equipment, such as the camera yaw angle, pitch angle and roll angle, the pixel length that the actual wind turbine length should occupy in the camera image can be calculated. The change in pixel length is recorded based on the real-time video analysis of the three blades in the target wind turbine to calculate the yaw angle information of the wind turbine relative to the ground equipment, and then the yaw angle of the wind turbine can be inferred through the yaw angle information of the ground equipment itself.

[0156] The second device continuously collects wind turbine images of the target wind turbine and calculates the wind turbine's yaw angle change value based on the image change values between the consecutive wind turbine images. The image change values include the wind turbine's position change data in the consecutive images.

[0157] The ground equipment can track each wind turbine blade separately, record the pixel position of the wind turbine blade at a moment, and when the three blades reach this position again at the next moment and the serial numbers of each blade change, the wind turbine rotates 1 / 3 of a circle. The time change between the two moments is recorded as t, and the time it takes for the wind turbine blade to rotate one circle is calculated as 3t, thereby determining the wind turbine blade speed.

[0158] If the second device is of the same type as the first device, the real-time wind turbine yaw angle change value is obtained as follows:

[0159] The two drones obtain the wind turbine blade speed and yaw angle in a similar way to ground equipment. The only difference is that it is necessary to correct the deviations caused by the drones in the process of maintaining stability, including the deviations caused by latitude, longitude and altitude, as well as the deviations caused by the drone camera POS data.

[0160] Figure 9 A schematic diagram of determining the yaw angle of a wind turbine provided in an embodiment of the present application is shown in FIG. Figure 9 As shown, point A is the target position of the second device. The two laser radars onboard the second device are projected onto the rotating plane of the wind turbine blades to calculate the vertical angle of the line connecting the laser trigger points. This angle is the yaw angle of the wind turbine.

[0161] The target position is the position where the two lidars can be placed on the rotating plane of the wind turbine blades.

[0162] The wind turbine inspection method provided in the embodiment of the present application obtains the real-time wind turbine yaw angle change value through the second device, and performs inspection through the cooperation of the first device and the second device, thereby improving the inspection efficiency.

[0163] In some embodiments, step 140 includes:

[0164] Determine in real time the latest waypoint position of the first waypoint, the second waypoint, the third waypoint or the fourth waypoint based on the real-time wind turbine yaw angle change value;

[0165] Based on the latest waypoint position and the latest inspection route of each waypoint, the first device is controlled to inspect the target wind turbine along the first waypoint, the second waypoint, the third waypoint and the fourth waypoint in sequence.

[0166] After controlling the first device to inspect the target wind turbine along the first waypoint, the second waypoint, the third waypoint, and the fourth waypoint in sequence based on the latest waypoint positions and the latest inspection route of each waypoint, the method further includes:

[0167] Setting inspection conditions based on the battery capacity of the first device, the number of inspection laps of the inspection route, or wind turbine images collected by the first device;

[0168] The inspection is terminated when the current inspection result meets the inspection conditions.

[0169] Specifically, the battery life of the first device may be determined according to the battery capacity of the first device, and the inspection is terminated if the current inspection time has reached the battery life.

[0170] In the embodiment of the present application, a patrol will be performed along the first waypoint, the second waypoint, the third waypoint and the fourth waypoint and finally back to the first waypoint. The number of patrol circles can be set, and the patrol will end when the current patrol is equal to the set number of patrol circles.

[0171] The wind turbine images collected by the first device may also be analyzed in real time. If the currently collected images have covered all exterior surfaces of the wind turbine blades, the inspection may be terminated.

[0172] The wind turbine inspection method provided in the embodiment of the present application ends the inspection when the current inspection result meets the preset inspection conditions, thereby improving the inspection efficiency.

[0173] The wind turbine inspection device provided in an embodiment of the present application is described below. The wind turbine inspection device described below and the wind turbine inspection method described above can be referenced to each other.

[0174] Figure 10 A schematic diagram of the structure of the wind turbine inspection device provided in the embodiment of the present application is shown as follows: Figure 10 As shown, the device includes an acquisition module 1010 , a control module 1020 , a route module 1030 and an update module 1040 .

[0175] An acquisition module, configured to control the first device to move above a target wind turbine to acquire a reference wind turbine yaw angle of the target wind turbine;

[0176] A control module, configured to control the first device to move to the front of a fan hub of a target wind turbine based on a reference wind turbine yaw angle and a real-time wind turbine yaw angle change value sent by the second device;

[0177] a route module, configured to use the front of the wind turbine hub as a first waypoint, one side of the rotation plane of the wind blades of the target wind turbine as a second waypoint, the rear of the wind turbine hub as a third waypoint, and the other side of the rotation plane of the wind blades opposite to the second waypoint as a fourth waypoint, and generate an inspection route for the first device based on the waypoint positions of the first waypoint, the second waypoint, the third waypoint, and the fourth waypoint;

[0178] The update module is used to update the inspection route in real time based on the real-time wind turbine yaw angle change value.

[0179] Specifically, according to an embodiment of the present application, any multiple modules among the acquisition module, control module, route module and update module can be combined into one module for implementation, or any one of the modules can be split into multiple modules.

[0180] Alternatively, at least part of the functionality of one or more of these modules may be combined with at least part of the functionality of other modules and implemented in one module.

[0181] According to an embodiment of the present application, at least one of the acquisition module, control module, route module and update module can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application-specific integrated circuit (ASIC), or can be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or can be implemented in any one of the three implementation methods of software, hardware and firmware, or in an appropriate combination of any of them.

[0182] Alternatively, at least one of the acquisition module, the control module, the route module and the update module may be at least partially implemented as a computer program module, and when the computer program module is executed, the corresponding function may be performed.

[0183] The wind turbine inspection device provided in the embodiment of the present application controls the movement of the first device to the front of the wind turbine hub through the reference wind turbine yaw angle, determines the first waypoint, the second waypoint, the third waypoint and the fourth waypoint through the position of the wind turbine hub and the rotation plane of the wind turbine blades, generates an inspection route for the first device through the four waypoints, and updates the inspection route in real time through the real-time wind turbine yaw angle change value. The inspection route of the first device can be determined without stopping the wind turbine, and the wind turbine can be safely inspected without stopping the wind turbine without human intervention, thereby improving the inspection efficiency of the wind turbine.

[0184] In some embodiments, the wind turbine inspection device further includes a status module, which is specifically configured to:

[0185] When the difference between the real-time wind turbine yaw angle change value corresponding to the first time and the real-time wind turbine yaw angle change value corresponding to the second time is less than a preset threshold, the first device is controlled to inspect the target wind turbine based on the inspection route.

[0186] In some embodiments, the update module is specifically configured to:

[0187] Split the route between any two adjacent waypoints into multiple segments;

[0188] Based on the average of the real-time wind turbine yaw angle change values of the target wind turbines in the current flight segment of the first device, the inspection route is updated in the next flight segment.

[0189] In some embodiments, the update module is further specifically configured to:

[0190] When the distance difference between the position of the first device and the second waypoint or the fourth waypoint is less than a preset distance, collecting a real-time wind turbine yaw angle change value based on the first frequency;

[0191] The first frequency is greater than the reference frequency.

[0192] In some embodiments, the acquisition module is specifically configured to:

[0193] determining a fifth waypoint based on the wind turbine blade rotation plane and the wind turbine hub height of the target wind turbine;

[0194] The first device is controlled to move along the fifth and sixth waypoints to the seventh waypoint, and a top view of the target wind turbine is captured at the seventh waypoint; a line connecting the sixth waypoint and the fifth waypoint is perpendicular to the horizontal plane, and a height of the sixth waypoint is greater than a preset height, which is the sum of the height of the fifth waypoint and the length of the wind turbine blade; the seventh waypoint is directly above the target wind turbine, and a line connecting the seventh waypoint and the sixth waypoint is parallel to the horizontal plane;

[0195] Determine the baseline wind turbine yaw angle based on the top view.

[0196] In some embodiments, the control module is specifically configured to:

[0197] Set the point directly above the target wind turbine as the eighth waypoint;

[0198] A flight route is generated based on the eighth, ninth, and tenth waypoints; the line connecting the ninth and eighth waypoints is parallel to the horizontal plane, and the distance between the ninth and eighth waypoints is greater than the length of the wind turbine blade; and the tenth waypoint is directly in front of the wind turbine hub;

[0199] The first device is controlled to move from the eighth waypoint along the ninth waypoint to the tenth waypoint, so that the first device moves to the front of the wind turbine hub of the target wind turbine.

[0200] In some embodiments, the control module includes an angle control submodule, which is specifically configured to:

[0201] As the first device passes through the eighth waypoint, the ninth waypoint, and the tenth waypoint in sequence, the latest waypoint position of the eighth waypoint, the ninth waypoint, or the tenth waypoint is determined in real time based on the baseline wind turbine yaw angle and the real-time wind turbine yaw angle change value, and the flight route of the first device and the camera angle of the first device are adjusted.

[0202] In some embodiments, the second device includes ground equipment, and the wind turbine inspection device further includes a first real-time module, which is specifically configured to:

[0203] The second device continuously collects wind turbine images of the target wind turbine;

[0204] Based on the image change values between consecutive wind turbine images, the real-time wind turbine yaw angle change value is determined.

[0205] In some embodiments, the second device and the first device are of the same type, and the wind turbine inspection device further includes a second real-time module, which is specifically configured to:

[0206] controlling the second device to move to a target position;

[0207] Based on the second device, a laser is emitted onto the rotating plane of the wind turbine blade;

[0208] Based on the trigger point position and target position of the laser and the wind turbine blade rotation plane, the real-time wind turbine yaw angle change value is determined.

[0209] In some embodiments, the route between the first waypoint and the second waypoint is the windward route of the target wind turbine;

[0210] The route between the second waypoint and the third waypoint is the leeward route of the target wind turbine;

[0211] The second waypoint is the leading edge route or the trailing edge route of the target wind turbine;

[0212] The fourth waypoint is the leading edge route or the trailing edge route of the target wind turbine.

[0213] The update module is also specifically used to:

[0214] Determine in real time the latest waypoint position of the first waypoint, the second waypoint, the third waypoint or the fourth waypoint based on the real-time wind turbine yaw angle change value;

[0215] Based on the latest waypoint position and the latest inspection route of each waypoint, the first device is controlled to inspect the target wind turbine along the first waypoint, the second waypoint, the third waypoint and the fourth waypoint in sequence.

[0216] In some embodiments, the wind turbine inspection device further includes a termination module, which is specifically configured to:

[0217] After controlling the first device to inspect the target wind turbine along the first waypoint, the second waypoint, the third waypoint, and the fourth waypoint in sequence based on the latest waypoint positions and the latest inspection route of each waypoint, setting inspection conditions based on the battery capacity of the first device, the number of inspection laps of the inspection route, or the wind turbine images collected by the first device;

[0218] The inspection is terminated when the current inspection result meets the inspection conditions.

[0219] It should be noted here that the wind turbine inspection device provided in the embodiment of the present application can implement all the method steps implemented in the above-mentioned wind turbine inspection method embodiment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0220] Figure 11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application, such as Figure 11 As shown, the electronic device may include: a processor (Processor) 1110, a communication interface (Communications Interface) 1120, a memory (Memory) 1130 and a communication bus (Communications Bus) 1140, wherein the processor 1110, the communication interface 1120, and the memory 1130 communicate with each other via the communication bus 1140. The processor 1110 may call the logic commands in the memory 1130 to execute the above method, which includes:

[0221] Controlling the first device to move above the target wind turbine to obtain a reference wind turbine yaw angle of the target wind turbine;

[0222] Based on the reference wind turbine yaw angle and the real-time wind turbine yaw angle change value sent by the second device, the first device is controlled to move to the front of the wind turbine hub of the target wind turbine;

[0223] The front of the wind turbine hub is used as a first waypoint, one side of the rotation plane of the wind turbine blades of the target wind turbine is used as a second waypoint, the rear of the wind turbine hub is used as a third waypoint, and the other side of the wind blade rotation plane opposite to the second waypoint is used as a fourth waypoint. An inspection route for the first device is generated based on the waypoint positions of the first waypoint, the second waypoint, the third waypoint, and the fourth waypoint.

[0224] The inspection route is updated in real time based on the real-time wind turbine yaw angle change value.

[0225] In addition, the logical commands in the above-mentioned memory can be implemented in the form of software function modules and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several commands to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0226] The processor in the electronic device provided in the embodiment of the present application can call the logic instructions in the memory to implement the above method. Its specific implementation method is consistent with the implementation method of the aforementioned method and can achieve the same beneficial effects, which will not be repeated here.

[0227] An embodiment of the present application further provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method provided in each of the above embodiments is executed.

[0228] Its specific implementation is consistent with the aforementioned method implementation and can achieve the same beneficial effects, so it will not be repeated here.

[0229] An embodiment of the present application provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0230] The device embodiments described above are merely illustrative, wherein the modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, i.e., they may be located in one place or distributed across multiple network modules. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Those skilled in the art can understand and implement the present invention without inventive effort.

[0231] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0232] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A wind turbine inspection method, characterized in that: include: Controlling the first device to move above a target wind turbine to obtain a reference wind turbine yaw angle of the target wind turbine; Based on the reference wind turbine yaw angle and the real-time wind turbine yaw angle change value sent by the second device, the first device is controlled to move to the front of the wind turbine hub of the target wind turbine; The inspection route for the first device is generated based on the waypoint positions of the first waypoint, the second waypoint, the third waypoint, and the fourth waypoint, using the front of the wind turbine hub as a first waypoint, one side of the rotation plane of the wind blades of the target wind turbine as a second waypoint, the rear of the wind turbine hub as a third waypoint, and the other side of the rotation plane of the wind blades opposite to the second waypoint as a fourth waypoint. updating the inspection route in real time based on the real-time wind turbine yaw angle change value; The updating of the inspection route in real time based on the real-time wind turbine yaw angle change value includes: Split the route between any two adjacent waypoints into multiple segments; updating the inspection route in the next flight segment based on an average of the real-time wind turbine yaw angle change values of the target wind turbine in the current flight segment by the first device; Also includes: When the distance difference between the position of the first device and the second waypoint or the fourth waypoint is less than a preset distance, collecting the real-time wind turbine yaw angle change value based on the first frequency; The first frequency is greater than the reference frequency.

2. The wind turbine inspection method according to claim 1, characterized in that: Before updating the inspection route in real time based on the real-time wind turbine yaw angle change value, the method further includes: When the difference between the real-time wind turbine yaw angle change value corresponding to the first time and the real-time wind turbine yaw angle change value corresponding to the second time is less than a preset threshold, the first device is controlled to inspect the target wind turbine based on the inspection route.

3. The wind turbine inspection method according to claim 1, characterized in that: The controlling the first device to move above the target wind turbine to obtain a reference wind turbine yaw angle of the target wind turbine includes: determining a fifth waypoint based on the wind turbine blade rotation plane and the wind turbine hub height of the target wind turbine; controlling the first device to move along the fifth waypoint and the sixth waypoint to a seventh waypoint, and collecting a top view of the target wind turbine at the seventh waypoint; a line connecting the sixth waypoint and the fifth waypoint is perpendicular to a horizontal plane, and a height of the sixth waypoint is greater than a preset height, where the preset height is the sum of the height of the fifth waypoint and the length of the wind turbine blade; the seventh waypoint is directly above the target wind turbine, and a line connecting the seventh waypoint and the sixth waypoint is parallel to the horizontal plane; The reference wind turbine yaw angle is determined based on the top view.

4. The wind turbine inspection method according to claim 1, characterized in that: The controlling the first device to move to the front of the wind turbine hub of the target wind turbine includes: Set the point directly above the target wind turbine as the eighth waypoint; generating a flight route based on the eighth waypoint, the ninth waypoint, and the tenth waypoint; wherein a line connecting the ninth waypoint and the eighth waypoint is parallel to a horizontal plane, and a distance between the ninth waypoint and the eighth waypoint is greater than a length of the wind turbine blade; and wherein the tenth waypoint is directly in front of the wind turbine hub, and a line connecting the tenth waypoint and the ninth waypoint is perpendicular to the horizontal plane; The first device is controlled to move from the eighth waypoint along the ninth waypoint to the tenth waypoint, so that the first device moves to the front of the wind turbine hub of the target wind turbine.

5. The wind turbine inspection method according to claim 4, characterized in that: The controlling the first device to move from the eighth waypoint along the ninth waypoint to the tenth waypoint includes: In the process of the first device passing through the eighth waypoint, the ninth waypoint and the tenth waypoint in sequence, the latest waypoint position of the eighth waypoint, the ninth waypoint or the tenth waypoint is determined in real time based on the baseline wind turbine yaw angle and the real-time wind turbine yaw angle change value, and the flight route of the first device and the camera angle of the first device are adjusted.

6. The wind turbine inspection method according to claim 1, characterized in that: The second device includes a ground device, and the real-time wind turbine yaw angle change value is obtained based on the following steps: The second device continuously collects wind turbine images of the target wind turbine; The real-time wind turbine yaw angle change value is determined based on the image change values between consecutive wind turbine images.

7. The wind turbine inspection method according to claim 1, characterized in that: The second device and the first device are of the same type, and the real-time wind turbine yaw angle change value is obtained based on the following steps: controlling the second device to move to a target position; Emitting laser light onto the rotating plane of the wind turbine blade based on the second device; The real-time wind turbine yaw angle change value is determined based on the trigger point position of the laser and the wind turbine blade rotation plane and the target position.

8. The wind turbine inspection method according to claim 1, characterized in that: The route between the first waypoint and the second waypoint is the windward route of the target wind turbine; The route between the second waypoint and the third waypoint is the leeward route of the target wind turbine; The second waypoint is the leading edge route or the trailing edge route of the target wind turbine; The fourth waypoint is the leading edge route or the trailing edge route of the target wind turbine; The updating of the inspection route in real time based on the real-time wind turbine yaw angle change value includes: Determine in real time the latest waypoint position of the first waypoint, the second waypoint, the third waypoint or the fourth waypoint based on the real-time wind turbine yaw angle change value; Based on the latest waypoint positions and the latest inspection routes of the respective waypoints, the first device is controlled to inspect the target wind turbine in sequence along the first waypoint, the second waypoint, the third waypoint and the fourth waypoint.

9. The wind turbine inspection method according to claim 8, characterized in that: After controlling the first device to inspect the target wind turbine along the first waypoint, the second waypoint, the third waypoint, and the fourth waypoint in sequence based on the latest waypoint positions and the latest inspection route of each waypoint, the method further includes: Setting inspection conditions based on the battery capacity of the first device, the number of inspection laps of the inspection route, or wind turbine images collected by the first device; The inspection is terminated when the current inspection result meets the inspection conditions.

10. A wind turbine inspection device, characterized in that: include: an acquisition module, configured to control the first device to move above a target wind turbine to acquire a reference wind turbine yaw angle of the target wind turbine; a control module, configured to control the first device to move to the front of the wind turbine hub of the target wind turbine based on the reference wind turbine yaw angle and the real-time wind turbine yaw angle change value sent by the second device; a route module, configured to use the front of the wind turbine hub as a first waypoint, one side of the wind turbine blade rotation plane of the target wind turbine as a second waypoint, the rear of the wind turbine hub as a third waypoint, and the other side of the wind turbine blade rotation plane opposite to the second waypoint as a fourth waypoint, and generate an inspection route for the first device based on the waypoint positions of the first waypoint, the second waypoint, the third waypoint, and the fourth waypoint; An updating module, configured to update the inspection route in real time based on the real-time wind turbine yaw angle change value; The real-time updating of the inspection route based on the real-time wind turbine yaw angle change value includes: splitting the route between any two adjacent waypoints into multiple segments; updating the inspection route in the next segment based on the average of the real-time wind turbine yaw angle change values of the target wind turbine of the first device in the current segment; and also includes: when the distance difference between the position of the first device and the second waypoint or the fourth waypoint is less than a preset distance, collecting the real-time wind turbine yaw angle change value based on a first frequency; wherein the first frequency is greater than a reference frequency.

11. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the wind turbine inspection method according to any one of claims 1 to 9 is implemented.

12. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the wind turbine inspection method according to any one of claims 1 to 9 through the computer program.

13. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the wind turbine inspection method according to any one of claims 1 to 9 is implemented.

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