Unmanned aerial vehicle inspection control method, device and equipment and unmanned aerial vehicle inspection device

Abstract

The invention relates to the technical field of electronics, and discloses an unmanned aerial vehicle inspection control method, device and equipment and an unmanned aerial vehicle inspection device.According to the method, a controller in the unmanned aerial vehicle inspection device obtains distance measurement information and / or image information of a visual marker in the inspection process; the motion control information is generated based on the distance measurement information and / or the image information of the visual marker and the position information of the plurality of hovering points in the preset inspection route so as to control the unmanned aerial vehicle inspection device to sequentially move to each hovering point according to the inspection route, so that inspection is realized, GPS positioning information is not needed, wireless communication is not needed in the flight process, and the unmanned aerial vehicle inspection device is convenient to use. According to the invention, internal positioning and autonomous routing inspection path planning of the wind turbine generator can be realized only through ranging information acquired by the system and / or image information of the visual marker, the technical problem of autonomous routing inspection of an unmanned aerial vehicle in a closed space is solved, autonomous routing inspection of the interior of the wind turbine generator is realized, the workload of manual routing inspection can be remarkably reduced, and the working efficiency is improved. And the inspection quality and efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the field of electronic technology, and in particular to an unmanned aerial vehicle inspection control method, device, equipment and an unmanned aerial vehicle inspection device. Background Art

[0002] With the large-scale development of wind power, the intelligent operation and maintenance of wind turbines is becoming more and more important. In order to ensure the reliable operation of wind turbines, operation and maintenance personnel need to regularly inspect wind turbines to detect abnormal conditions of the units in a timely manner. The traditional inspection mode is manual inspection through telescopes or Spider-Man. At present, the use of drones for external inspection of wind turbines has been widely used. Autonomous inspection of drones based on differential positioning technology has also been rapidly developed and has begun to be applied to external intelligent inspection of wind turbines. However, for the internal inspection of wind turbines, personnel are still required to enter the tower and blades for inspection. Manual inspection is inefficient and has high safety risks. In order to overcome the problem of manual inspection inside wind turbines, some pilot applications using online monitoring cameras, rail robots or crawling robots for inspection have appeared on the market. However, the inspection range of the above methods is relatively limited and the inspection efficiency is still not high. In addition, since the signals of GPS and RTK positioning technologies are weak or non-existent in the internal area of ​​the wind turbine, it is impossible to accurately locate the robot and control the robot well, resulting in that the drone inspection technology solution used outdoors cannot be applied to the internal inspection of wind turbines. Summary of the invention

[0003] In view of this, the present invention provides a drone inspection control method, device, equipment and drone inspection device to solve the problems in the related art of using a robot to inspect the inside of a wind turbine, such as a limited inspection scope and the inability to accurately control the robot due to weak internal signals of the wind turbine.

[0004] In a first aspect, the present invention provides a method for controlling an unmanned aerial vehicle inspection, the method comprising:

[0005] Obtain preset inspection route information for the internal area of ​​the wind turbine to be inspected, the preset inspection route includes the position information of multiple hovering points in the internal area of ​​the wind turbine to be inspected, and the preset inspection route information is determined by the basic information of the wind turbine unit to be inspected; when it is monitored that the unmanned aerial vehicle inspection device enters the internal area of ​​the wind turbine to be inspected to work, the distance measurement information and / or the image information of the visual marker are obtained in real time; based on the distance measurement information and / or the image information of the visual marker and the position information of the multiple hovering points, motion control information is generated, and the motion control information is used to control the unmanned aerial vehicle inspection device to move to each hovering point in sequence according to the inspection route, so that the unmanned aerial vehicle inspection device collects the inspection information of the corresponding hovering points.

[0006] The drone inspection control method provided by the present invention is applied to a controller in a drone inspection device to obtain preset inspection route information of an internal area of ​​a wind turbine to be inspected, wherein the preset inspection route includes position information of multiple hovering points in the internal area of ​​the wind turbine to be inspected; when it is monitored that the drone inspection device enters the internal area of ​​the wind turbine to be inspected, distance measurement information and / or image information of visual markers are obtained in real time; motion control information is generated based on the distance measurement information and / or image information of visual markers and position information of multiple hovering points, and the motion control information is used to control the drone inspection device to move to each hovering point in sequence according to the inspection route, so that the drone inspection device collects inspection information of the corresponding hovering points. The method provided by the present invention obtains ranging information and / or image information of visual markers during the inspection process, generates motion control information based on the ranging information and / or image information of visual markers and the position information of multiple hovering points in a preset inspection route, so as to control the unmanned aerial vehicle inspection device to move to each hovering point in sequence according to the inspection route to achieve inspection. It does not need to rely on GPS positioning information, nor does it need to rely on wireless communication during flight. It can achieve internal positioning of the unit and autonomous inspection path planning by relying only on the ranging information and / or image information of visual markers collected by itself, thus overcoming the technical difficulties of autonomous inspection of unmanned aerial vehicles in confined spaces, realizing autonomous inspection of the interior of wind turbines, and significantly reducing the workload of manual inspections and improving the quality and efficiency of inspections.

[0007] In an optional embodiment, if the internal area of ​​the wind turbine to be inspected is a tower, and the tower includes multiple tower segments, the step of generating motion control information based on ranging information and / or image information of visual markers and position information of multiple hovering points includes: when the UAV inspection device needs to inspect the target tower segment, obtaining the position information of the segmented through-hole corresponding to the target tower segment; based on the position information of the segmented through-hole corresponding to the target tower segment, controlling the UAV inspection device to enter the target tower segment.

[0008] The method provided in this optional implementation manner controls the UAV inspection device to enter the target tower section through the position information of the segmented through-hole corresponding to the target tower section, thereby ensuring that the UAV inspection device can accurately enter the target tower section for inspection.

[0009] In an optional implementation, based on the position information of the segmented through hole corresponding to the target tower segment, the unmanned aerial vehicle inspection device is controlled to enter the target tower segment for inspection, including:

[0010] When it is monitored that the UAV inspection device enters the target tower section, tower inspection motion control information is generated based on the real-time acquired distance measurement information and / or image information of the visual marker and the preset tower inspection route information inside the tower, and the tower inspection motion control UAV inspection device moves to each hovering point in sequence according to the preset tower inspection route information, so that the UAV inspection device collects inspection information of the corresponding hovering point;

[0011] When the spatial distance satisfies the first relational expression, it is determined that the UAV inspection device moves to the hovering point. The spatial distance is determined based on the distance measurement information and / or image information of the visual marker acquired in real time. The spatial distance includes the spatial distances of multiple orientations measured by the UAV inspection device in the tower. The first relational expression is:

[0012]

[0013] Among them, lf, lb, ll, lr, lu are the spatial distances in the front, rear, left, right and top directions measured by the UAV inspection device in the tower, Δd is the error value, df, db, dl, dr, du, dd are the size information of the center point of the UAV inspection device from its front, rear, left, right, top and bottom edges.

[0014] In an optional embodiment, if the internal area of ​​the wind turbine to be inspected is the blade cavity, the step of generating motion control information based on the ranging information and / or the image information of the visual marker and the position information of multiple hovering points also includes: obtaining the position information and / or the tilt angle of the blade through the hole where the root of the blade passes, the tilt angle of the blade is calculated by the image information of the target visual marker collected by the UAV inspection module, and the target visual marker is set at the edge position of the blade cavity to be inspected; determining the flight route angle of the UAV inspection device based on the position information and / or the tilt angle of the hole where the root of the blade passes; and controlling the UAV inspection device to enter the blade cavity for inspection based on the flight route angle of the UAV inspection device.

[0015] The method provided in this optional implementation manner determines the flight route angle of the UAV inspection device by the inclination angle of the blade, and controls the UAV inspection device to enter the inner cavity of the blade for inspection according to the flight route angle of the UAV inspection device, thereby ensuring that the UAV inspection device can accurately enter the inner cavity of the blade.

[0016] In an optional embodiment, controlling the drone inspection device to enter the blade cavity for inspection based on the flight path angle of the drone inspection device includes:

[0017] The blade cavity detects that the UAV inspection device is inspecting the blade cavity, and controls the UAV inspection device to inspect based on the real-time acquired ranging information and / or image information of the visual marker and preset blade cavity inspection route information. The blade cavity includes a leading edge cavity and a trailing edge cavity.

[0018] In an optional implementation, the internal area of ​​the wind turbine to be inspected also includes a nacelle or a hub of the wind turbine set.

[0019] In a second aspect, the present invention provides a drone inspection device, the device comprising: an image acquisition module, a distance measurement module, a drone module and a controller;

[0020] The controller is connected to the image acquisition module, the ranging module, and the drone module respectively, and is used to execute the drone inspection control method of the first aspect or any corresponding embodiment thereof.

[0021] In a third aspect, the present invention provides a UAV inspection control device, which includes: a first acquisition module, used to obtain preset inspection route information of the internal area of ​​the wind turbine to be inspected, the preset inspection route includes the position information of multiple hovering points in the internal area of ​​the wind turbine to be inspected, and the preset inspection route information is determined by the basic information of the wind turbine unit to be inspected; a second acquisition module, used to acquire the distance measurement information and / or the image information of the visual marker in real time when it is monitored that the UAV inspection device enters the internal area of ​​the wind turbine to be inspected; a first control module, used to generate motion control information based on the distance measurement information and / or the image information of the visual marker, and the position information of multiple hovering points, the motion control information is used to control the UAV inspection device to move to each hovering point in sequence according to the inspection route, so that the UAV inspection device collects the inspection information of the corresponding hovering point.

[0022] In a fourth aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the drone inspection control method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0023] In a fifth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the drone inspection control method of the first aspect or any corresponding embodiment thereof.

[0024] In a sixth aspect, the present invention provides a computer program product, comprising computer instructions, which are used to enable a computer to execute the drone inspection control method of the above-mentioned first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 is a flow chart of a UAV inspection control method according to an embodiment of the present invention;

[0027] Figure 2 is a flow chart of another unmanned aerial vehicle inspection control method according to an embodiment of the present invention;

[0028] Figure 3 A schematic diagram of a specific example of a tower inspection by a drone inspection device;

[0029] Figure 4 A schematic diagram of another specific example of a tower inspection by a drone inspection device;

[0030] Figure 5 It is a schematic diagram of a specific example of the UAV inspection device inspecting the inner cavity of a wind turbine blade;

[0031] Figure 6 A schematic diagram of another specific example of a UAV inspection device inspecting the inner cavity of a wind turbine blade;

[0032] Figure 7 is a structural block diagram of a drone inspection device according to an embodiment of the present invention;

[0033] Figure 8 is a structural block diagram of a drone inspection control device according to an embodiment of the present invention;

[0034] Fig. 9 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0036] In the related technologies, the use of drones for external inspection of wind turbines has been widely used, and autonomous inspection of drones based on differential positioning technology has also developed rapidly and has begun to be applied to external intelligent inspection of wind turbines. However, for the internal inspection of wind turbines, personnel are still required to enter the tower and blades for inspection. Manual inspection is inefficient and has high safety risks. In order to overcome the problem of manual inspection inside wind turbines, some pilot applications using online monitoring cameras, rail robots or crawling robots for inspection have appeared on the market. However, the inspection range of the above methods is relatively limited, and the inspection efficiency is still not high. In addition, since the signals of GPS and RTK positioning technologies are weak or absent in the internal area of ​​the wind turbine, the robot cannot be accurately positioned and cannot be well controlled, resulting in the drone inspection technology solution used outdoors not being applicable to the internal inspection of wind turbines.

[0037] In view of this, a drone inspection control method provided in an embodiment of the present application can be applied to a controller in a drone inspection device to realize drone inspection control. The method provided by the present invention controls the drone inspection device to move to each hovering point in sequence according to the inspection route to realize inspection by acquiring ranging information and / or image information of visual markers during the inspection process, and generating control information based on the ranging information and / or image information of visual markers and the position information of multiple hovering points in the preset inspection route, without relying on GPS positioning information or wireless communication during flight. It can realize internal positioning of the unit and autonomous inspection path planning by relying only on the ranging information and / or image information of visual markers collected by itself, overcoming the technical difficulties of autonomous inspection of drones in confined spaces, realizing autonomous inspection of the interior of wind turbines, and significantly reducing the workload of manual inspections and improving inspection quality and efficiency.

[0038] According to an embodiment of the present invention, an embodiment of a drone inspection control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown here.

[0039] In this embodiment, a drone inspection control method is provided, which can be used for the controller in the above-mentioned drone inspection device. In the embodiment of the present application, the drone inspection device is provided with an image acquisition module and a ranging module. When the drone inspection device is inspecting, the ranging module can measure the distance between it and the surrounding obstacles, and the image acquisition module can collect surrounding visual information to realize autonomous flight. Figure 1 is a flow chart of a drone inspection control method according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0040] Step S101, obtaining preset inspection route information of the internal area of ​​the wind turbine to be inspected, wherein the preset inspection route includes position information of a plurality of hovering points in the internal area of ​​the wind turbine to be inspected.

[0041] Exemplarily, the internal area of ​​the wind turbine to be inspected may be the internal area of ​​the wind turbine that needs to be inspected. In the embodiment of the present application, the internal area of ​​the wind turbine to be inspected may include, but is not limited to, the wind turbine tower, the inner cavity of the wind turbine blades, the wind turbine nacelle and the hub. The preset inspection route information is an inspection route determined based on the inspection requirements and the internal structure of the wind turbine to be inspected. The preset inspection route includes the location information of multiple hovering points. Each hovering point is used for the unmanned aerial vehicle inspection device to hover to the corresponding position to collect inspection information from all directions. The preset inspection route information is determined by the basic information of the wind turbine to be inspected. The basic information of the wind turbine to be inspected includes the spatial size information of the internal area of ​​the wind turbine.

[0042] Step S102, when it is monitored that the UAV inspection device enters the internal area of ​​the wind turbine to be inspected, the distance measurement information and / or the image information of the visual marker are obtained in real time.

[0043] For example, the distance measurement information is monitored by a distance measurement module provided in the drone inspection device, and the distance measurement module may be a non-contact distance measurement module using laser, radar or image vision, etc. The image information of the visual marker is collected by the image acquisition module.

[0044] Step S103, generates motion control information based on ranging information and / or image information of visual markers and position information of multiple hovering points. The motion control information is used to control the UAV inspection device to move to each hovering point in sequence according to the inspection route, so that the UAV inspection device can collect inspection information of the corresponding hovering points.

[0045] Exemplarily, the position information of the drone inspection device can be determined based on the distance measurement information and / or the image information of the visual marker, and motion control information is generated based on the position information of the device and the position information of multiple hovering points to control the drone inspection device to move to the corresponding hovering point for inspection. In the embodiment of the present application, if the internal area of ​​the wind turbine to be inspected is a tower, when the drone inspection device inspects the tower, it first hovers at a certain positioning point, collects image information inside the tower by pitching the pan-tilt, and then completes the image information collection of one circle inside the tower by rotating the drone inspection device or the pan-tilt. Then move to the next hovering point and continue to collect image information until all inspection tasks in a section of the tower are completed.

[0046] The drone inspection control method provided in this embodiment obtains ranging information and / or image information of visual markers during the inspection process, generates motion control information based on the ranging information and / or image information of visual markers and the position information of multiple hovering points in a preset inspection route, so as to control the drone inspection device to move to each hovering point in sequence according to the inspection route to achieve inspection. It does not need to rely on GPS positioning information, nor does it need to rely on wireless communication during flight. It can achieve internal positioning of the unit and autonomous inspection path planning by relying only on the ranging information and / or image information of visual markers collected by itself, thus overcoming the technical difficulties of autonomous inspection of drones in confined spaces, and realizing autonomous inspection of the interior of wind turbines. It can significantly reduce the workload of manual inspections and improve the quality and efficiency of inspections.

[0047] In this embodiment, a drone inspection control method is provided, which can be used for the controller in the above-mentioned drone inspection device. In the embodiment of the present application, the drone inspection device is provided with an image acquisition module and a ranging module. When the drone inspection device is inspecting, the ranging module can measure the distance between it and the surrounding obstacles, and the image acquisition module can collect surrounding visual information to realize autonomous flight. Figure 2 is a flow chart of a drone inspection control method according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0048] Step S201, obtaining preset inspection route information of the internal area of ​​the wind turbine to be inspected, the preset inspection route includes the position information of multiple hovering points in the internal area of ​​the wind turbine to be inspected, and the preset inspection route information is determined by the basic unit information of the wind turbine to be inspected. Figure 1 Step S102 of the illustrated embodiment will not be described in detail here.

[0049] Step S202: When the drone inspection device is detected to enter the internal area of ​​the wind turbine to be inspected, real-time distance measurement information and / or image information of visual markers are obtained. Figure 1 Step S102 of the illustrated embodiment will not be described in detail here.

[0050] Step S203, generates motion control information based on ranging information and / or image information of visual markers and position information of multiple hovering points. The motion control information is used to control the UAV inspection device to move to each hovering point in sequence according to the inspection route, so that the UAV inspection device can collect inspection information of the corresponding hovering points.

[0051] Specifically, before the above step S203, the following steps are also included:

[0052] Step S2031, when the UAV inspection device needs to inspect the target tower section, obtain the position information of the segmented through hole corresponding to the target tower section.

[0053] Exemplarily, in an embodiment of the present application, a visual marker is provided on the inner wall of the tower on the closer side above the center of the segmented through-hole of the target tower segment. When the UAV inspection device needs to inspect the target tower segment, the image acquisition module of the UAV inspection module will collect image information corresponding to the visual marker to determine the position of the visual marker, and determine the position information of the segmented through-hole corresponding to the target tower segment based on the position information of the visual marker.

[0054] Step S2032, based on the position information of the segmented through hole corresponding to the target tower segment, control the drone inspection device to enter the target tower segment for inspection.

[0055] Exemplarily, the target tower section may be the next tower section that the drone inspection device needs to enter. When the drone inspection device needs to enter the next tower section, the drone inspection device is first positioned to a position directly above or below the segmented through hole in the tower, and then flies vertically up or down, through the smaller segmented through hole, to achieve the switching of different tower sections. In the embodiment of the present application, when the drone inspection device needs to enter the next tower section, it is assumed that the distance between the center position of the segmented through hole in the tower and the inner wall of the tower on the closer side is k, and a visual marker is provided on the inner wall of the tower on the closer side above the center of the through hole, and the distance from the top plate of the tower section is hk. When the image acquisition module searches for the visual marker, the drone inspection device is moved so that the visual marker is at the center position (or a certain position) of the image when the lens posture is horizontal (or at a certain angle). Assuming that df, db, dl, dr, du, and dd are the dimensions from the center point of the drone inspection device to the edges of the front, back, left, right, top, and bottom devices, respectively, the spatial distances of the device measured by the ranging module in front, back, left, right, top, and bottom are lf, lb, ll, lr, lu, and ld, respectively. Assuming that the lens aimed at the visual marker is facing forward, and the position of the UAV inspection device satisfies the following formula (1), and then moves vertically downward H-hk, it can enter the next section of the tower through the segmented through hole in the tower.

[0056]

[0057] Among them, Δd is the allowable error of the UAV inspection device from the suspension point.

[0058] like Figure 3As shown, when the drone inspection device needs to enter the second section of the tower 4 from the first section of the tower 3, it is assumed that the distance between the center position of the segmented through hole 6 in the tower and the inner wall 2 on the closer side of the tower is k, and a visual marker 7 is set on the inner wall of the tower on the closer side above the center of the through hole, and the distance from the tower segment top plate is hk. When the image acquisition module searches for the visual marker 7, the drone inspection device is moved so that the visual marker is at the center position (or a certain position) of the image when the lens posture is horizontal (or at a certain angle), assuming that the lens aimed at the visual marker is forward, and the position of the drone inspection device satisfies formula (1), and then moves vertically downward by H-hk, it can enter the next section of the tower through the segmented through hole 6 in the tower.

[0059] In the embodiment of the present application, when no visual markers are set, the drone inspection device can also autonomously enter the next section of the tower through the compass module and information such as the azimuth angle of the segmented through hole.

[0060] In some optional implementations, the above step S2032 includes:

[0061] When it is monitored that the UAV inspection device enters the target tower section, tower inspection motion control information is generated based on the real-time acquired distance measurement information and / or image information of visual markers and preset tower inspection route information inside the tower, and the tower inspection motion control UAV inspection device moves to each hovering point in sequence according to the preset tower inspection route information, so that the UAV inspection device collects inspection information of the corresponding hovering point; when the spatial distance satisfies the first relationship, it is determined that the UAV inspection device moves to the hovering point, and the spatial distance is determined based on the real-time acquired distance measurement information and / or image information of visual markers, and the spatial distance includes the spatial distances of multiple orientations measured by the UAV inspection device in the tower, and the first relationship is:

[0062]

[0063] Among them, lf, lb, ll, lr, lu are the spatial distances in the front, rear, left, right and top directions measured by the UAV inspection device in the tower, Δd is the allowable error value, df, db, dl, dr, du, dd are the size information of the center point of the UAV inspection device from its front, rear, left, right, top and bottom edges.

[0064] See also Figure 4, the drone inspection device 1 inspects the i-th section of the tower barrel 2, the inner diameter of this section of the tower barrel is D, and the height is H. Assume that the position of the first suspension point of the drone inspection device is at the central position at a distance h1 from the top plate of the tower barrel section, and the position of the second suspension point is at the central position at a distance h2 from the top plate of the tower barrel section. The measured spatial distances in the front, back, left, right, up, and down directions are lf, lb, ll, lr, lu, and ld respectively. Then, when the measured spatial distances satisfy the above formula (2), the drone inspection device reaches the first suspension point.

[0065] After the drone inspection device enters the i-th section of the tower barrel, it moves vertically downward by h1, and then moves according to the following movement rules:

[0066] If |h1 - lu - du| > Δd, then move downward by h1 - lu - du;

[0067] If lf + df > lb + db, then move forward by 0.5g(lf + df - lb - db), if lf + df < lb + db, then move backward by 0.5g(lb + db - lf - df);

[0068] If ll + dl > lr + dr, then move left by 0.5g(ll + dl - lr - dr), if ll + dl < lr + dr, then move right by 0.5g(lr + dr - ll - dl);

[0069] Until the above formula (2) is satisfied, it is considered that the drone inspection device moves to the first suspension point. After the inspection at the first suspension point is completed, it moves vertically downward by h2 - h1, and then adopts the above strategy to move to the second suspension point and continue the inspection task.

[0070] Specifically, if the area to be inspected inside the fan is the inner cavity of the blade, the above step S203 further includes:

[0071] Step S2033, when the drone inspection device needs to enter the inner cavity of the blade, obtain the position information and / or inclination angle of the root through-hole of the blade. The inclination angle of the blade is calculated from the image information of the target visual marker collected by the drone inspection module. The target visual marker is set at the edge position of the cavity of the blade to be inspected.

[0072] Exemplarily, in the embodiment of the present application, as Figure 5 shown, 8 is the inner web of the blade, and a visual marker 11 is provided at the inner wall position near the leading edge (or trailing edge) of the fan blade. Assume that the distance from the center of the cavity at the leading edge 9 to the marker is a1, and the distance from the center of the cavity at the trailing edge 10 to the marker 11 is a2. To adapt to the autonomous inspection of the fan blade at any angle, visual markers are set inside the hub of the unit, and the visual markers can indicate the angle of the fan blade.

[0073] Step S2034, determining the flight route angle of the UAV inspection device based on the position information and / or the tilt angle of the blade root through the hole.

[0074] For example, the drone inspection device can calculate the angle of the blade through image vision detection technology, and use this angle to set the flight route angle of the drone inspection device to inspect the inner cavity of the blade.

[0075] Step S2035, controlling the drone inspection device to enter the blade cavity for inspection based on the flight route angle of the drone inspection device.

[0076] For example, in the embodiments of the present application, Figure 6 As shown, 12 is the inner wall of the blade, and for the retention angle The blades (assuming the blades have a retention angle of Defined as the angle of the plumb line rotated counterclockwise to the center line of the blade), after the UAV inspection device 1 passes through the through hole of the blade root, when the image acquisition module searches for the visual marker, the UAV inspection device is moved so that the visual marker is at the center position (or a certain position) of the image when the lens posture is horizontal (or at a certain angle). Assuming that the lens aimed at the visual marker is forward, and the position of the UAV inspection device satisfies the following formula (3), then move along the angle The blade can enter the inner cavity of the leading edge of the blade for inspection by linear motion.

[0077]

[0078] In some optional implementations, the above step S2035 includes:

[0079] When the drone inspection device is detected inspecting the inner cavity of the blade, the drone inspection device is controlled to inspect based on the real-time acquired ranging information and / or image information of the visual marker and preset blade inner cavity inspection route information.

[0080] For example, in the embodiment of the present application, the blade cavity includes a leading edge cavity and a trailing edge cavity. When inspecting the leading edge cavity of the fan blade, the spatial distance of the drone inspection device in front, back, left, right, up and down directions always satisfies formula (4), and then the drone inspection device is continuously inspected at an angle of The linear motion of the robot is realized, and at the same time, the image acquisition module continuously acquires the image information of the leading edge inner cavity.

[0081]

[0082] When the UAV inspection finds that the spatial distances in the front, back, left, right, up and down directions satisfy equation (5), it is considered that the UAV inspection device has reached the blade tip and cannot continue inspection. Then the UAV inspection device moves along the angle The straight line returns to exit the leading edge cavity.

[0083] lf+lb≤Δl or ll+lr≤Δl or lu+ld≤Δl (5)

[0084] Among them, Δl is the size parameter of the minimum space that the UAV inspection device can enter.

[0085] After the UAV inspection device returns and flies out of the leading edge cavity, when the image acquisition module searches for the visual marker, the UAV inspection device is moved so that the visual marker is at the center of the image (or a certain position) when the lens attitude is horizontal (or at a certain angle). Assuming that the lens aimed at the visual marker is forward and the position of the UAV inspection device satisfies equation (6), then the UAV inspection device is moved along the angle The inspection strategy of the UAV inspection device for the trailing edge of the blade is similar to that for the leading edge.

[0086]

[0087] When inspecting the inner cavity of the blade, if the UAV inspection device measures that one of the front, back, left, right, up and down spatial distances is greater than a certain threshold, it will not be included in the calculation of the corresponding items in equations (3) to (6). If the measured ll and lr are greater than 10m, |ll+dl-lr-dr|≤Δd and ll+lr≤Δl in equations (3) to (6) will not be included in the calculation.

[0088] In some optional embodiments, the internal area of ​​the wind turbine to be inspected also includes the wind turbine cabin or the hub. For example, when inspecting the wind turbine cabin and the hub, the drone inspection device performs horizontal movement for inspection. During the inspection, the spatial distance between the drone inspection device in front and behind (or left and right) and up and down always satisfies formula (7), and then the drone inspection device continuously moves horizontally, and at the same time, the image acquisition module continuously collects image information.

[0089]

[0090] When the UAV inspection device measures that the spatial distances in the front, back, left, right, up and down directions satisfy equation (8), it is considered that the UAV inspection device has entered a corner and cannot continue inspection, so it exits horizontally and readjusts its position.

[0091] lf+lb≤Δl or ll+lr≤Δl or lu+ld≤Δl (8)

[0092] In some optional embodiments, the method further comprises:

[0093] Step a1: if it is detected that the power of the drone inspection module is lower than a preset power, the current inspection location information is saved. For example, the preset power can be determined according to demand, and the embodiment of the present application does not specifically limit it.

[0094] Step a2, controlling the drone inspection module to return to the drone cabin module for charging.

[0095] For example, in an embodiment of the present application, when the drone inspection device detects that the battery is low during the inspection process, it will save the inspection location information and automatically return to recharge. After charging is complete, it will automatically fly to the last inspection location to continue to complete the inspection task.

[0096] The drone inspection control method proposed in the embodiment of the present application does not need to rely on GPS location information, nor does it need to rely on wireless communication during flight. It can achieve internal positioning of the unit and autonomous inspection path planning by relying only on its own measurement information, overcoming the technical difficulties of autonomous inspection of drones in confined spaces; the invented device is arranged inside the wind turbine unit, and can realize autonomous inspection of the wind turbine unit cabin, tower, and blades at any angle by the drone inspection device, which can significantly reduce the workload of manual inspection and improve the inspection quality and efficiency. In addition, the technical solution provided by the present invention is suitable for indoor and small confined spaces (such as pipelines, etc.), is simple to implement, does not require complex on-site modifications, has low implementation costs, good economy, and good promotion prospects.

[0097] In this embodiment, a drone inspection device is also provided. Figure 7 is a structural block diagram of a drone inspection device according to an embodiment of the present invention. Figure 7 As shown, the device comprises:

[0098] Image acquisition module 701, distance measurement module 702, drone module 703 and controller 704;

[0099] The controller 704 is connected to the image acquisition module 701 , the distance measurement module 702 , and the drone module 703 respectively, and is used to execute the drone inspection control method in the above embodiment.

[0100] Exemplarily, in the embodiment of the present application, the device further includes a lighting module, a communication connection module, and a charging connection module. The drone module 703 is used for inspection flight, has an anti-collision function, and can be adapted to flight in a small space; the image acquisition module 701 is used to capture visible light and (or) infrared image information of the inspected object during the drone inspection process, and can also be used to obtain visual information around the drone module to achieve autonomous flight; the lighting module is connected to the drone module or the image acquisition module, and is used to illuminate the inspected object, so that in a dim light environment, the image acquisition module 701 can still collect clear visible light and (or) infrared image information; the ranging module 702 is used to measure the spatial distance between the drone module and the surrounding obstacles in front, behind, left, right, up and down; the communication connection module and the charging connection module can be connected to the drone cabin module, the drone cabin module is used to park the drone module, and establish a communication connection and a charging connection with the drone module, the drone cabin module can transmit data, instructions and other information with the drone module through wired or wireless communication, and can charge the drone module through contact or non-contact.

[0101] The device may also include a pan / tilt module for controlling the pitch or horizontal movement of the image acquisition module to achieve image acquisition in a wider range at a single hovering point. The drone inspection device may also have a compass function for identifying the direction and assisting in achieving autonomous flight.

[0102] The drone inspection device proposed in the embodiment of the present application does not need to rely on GPS location information, nor does it need to rely on wireless communication during flight. It can achieve internal positioning of the unit and autonomous inspection path planning by relying only on its own measurement information, overcoming the technical difficulties of autonomous inspection of drones in confined spaces; the invented device is arranged inside the wind turbine unit, and can realize autonomous inspection of the wind turbine unit cabin, tower, and blades at any angle by the drone inspection device, which can significantly reduce the workload of manual inspections and improve the quality and efficiency of inspections. In addition, the technical solution provided by the present invention is suitable for indoors and small confined spaces (such as pipelines, etc.), is simple to implement, does not require complex on-site modifications, has low implementation costs, good economic efficiency, and good promotion prospects.

[0103] In this embodiment, a drone inspection control device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and will not be repeated here. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0104] This embodiment provides a drone inspection control device, such as Figure 8 As shown, including:

[0105] The first acquisition module 801 is used to acquire preset inspection route information of the internal area of ​​the wind turbine to be inspected, wherein the preset inspection route includes position information of multiple hovering points in the internal area of ​​the wind turbine to be inspected, and the preset inspection route information is determined by basic unit information of the wind turbine to be inspected;

[0106] The second acquisition module 802 is used to acquire the distance measurement information and / or the image information of the visual marker in real time when the drone inspection device is detected to enter the internal area of ​​the wind turbine to be inspected;

[0107] The first control module 803 is used to generate motion control information based on ranging information and / or image information of visual markers and position information of multiple hovering points. The motion control information is used to control the UAV inspection device to move to each hovering point in sequence according to the inspection route, so that the UAV inspection device can collect inspection information of the corresponding hovering points.

[0108] In some optional implementations, the first control module 803 includes:

[0109] The first acquisition submodule is used to acquire the position information of the segmented through hole corresponding to the target tower section when the UAV inspection device needs to inspect the target tower section;

[0110] The first control submodule is used to control the UAV inspection device to enter the target tower section for inspection based on the position information of the segmented through hole corresponding to the target tower section.

[0111] In some optional implementations, the first control submodule includes:

[0112] The first inspection unit is used to generate tower inspection motion control information based on the real-time acquired distance measurement information and / or image information of the visual marker and preset tower inspection route information inside the tower when the drone inspection device is detected to enter the target tower section, and the tower inspection motion control drone inspection device moves to each hovering point in sequence according to the preset tower inspection route information, so that the drone inspection device collects inspection information of the corresponding hovering point;

[0113] When the spatial distance satisfies the first relational expression, it is determined that the UAV inspection device moves to the hovering point. The spatial distance is determined based on the distance measurement information and / or image information of the visual marker acquired in real time. The spatial distance includes the spatial distances of multiple orientations measured by the UAV inspection device in the tower. The first relational expression is:

[0114]

[0115] Among them, lf, lb, ll, lr, lu are the spatial distances in the front, rear, left, right and top directions measured by the UAV inspection device in the tower, Δd is the error value, df, db, dl, dr, du, dd are the size information of the center point of the UAV inspection device from its front, rear, left, right, top and bottom edges.

[0116] In some optional implementations, the first control module 803 further includes:

[0117] The second acquisition submodule is used to obtain the inclination angle of the blade. The position information of the blade root through the hole and / or the inclination angle of the blade are calculated from the image information of the target visual marker collected by the UAV inspection module. The target visual marker is set at the edge position of the cavity of the blade to be inspected;

[0118] A determination submodule, used to determine the flight path angle of the UAV inspection device based on the position information and / or the tilt angle of the blade root through the hole of the blade;

[0119] The second control submodule is used to control the UAV inspection device to enter the blade cavity for inspection based on the flight route angle of the UAV inspection device.

[0120] In some optional implementations, the second control submodule includes:

[0121] The second inspection unit is used to control the UAV inspection device to inspect the blade cavity based on the real-time acquired ranging information and / or image information of the visual marker and preset blade cavity inspection route information when it is monitored that the UAV inspection device is inspecting the blade cavity, wherein the blade cavity includes a leading edge cavity and a trailing edge cavity.

[0122] In some optional implementations, the internal area of ​​the wind turbine to be inspected also includes a nacelle or a hub of the wind turbine.

[0123] In some optional embodiments, the above device includes:

[0124] A saving module is used to save the current inspection position information if it is detected that the power of the drone inspection module is lower than the preset power;

[0125] The fourth control module is used to control the UAV inspection module to return to the UAV cabin module for charging.

[0126] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0127] The drone inspection control device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0128] The embodiment of the present invention also provides a computer device having the above Figure 8 The drone inspection control device shown.

[0129] See also Fig. 9 , Fig. 9 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Fig. 9 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Fig. 9 A processor 10 is taken as an example.

[0130] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0131] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0132] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0133] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0134] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0135] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0136] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0137] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A drone inspection control method, characterized in that: A controller used in a drone inspection device, the method comprising: Acquire preset inspection route information of the internal area of ​​the wind turbine to be inspected, wherein the preset inspection route includes position information of multiple hovering points in the internal area of ​​the wind turbine to be inspected, and the preset inspection route information is determined by basic unit information of the wind turbine to be inspected; When it is detected that the UAV inspection device enters the internal area of ​​the wind turbine to be inspected, real-time acquisition of distance measurement information and / or image information of visual markers; Motion control information is generated based on the ranging information and / or image information of the visual marker and the position information of multiple hovering points. The motion control information is used to control the UAV inspection device to move to each hovering point in sequence according to the inspection route, so that the UAV inspection device can collect inspection information of the corresponding hovering points.

2. The method according to claim 1, characterized in that If the internal area of ​​the wind turbine to be inspected is a tower, and the tower includes multiple tower sections, the step of generating motion control information based on the distance measurement information and / or the image information of the visual marker and the position information of multiple hovering points includes: When the UAV inspection device needs to inspect a target tower section, the position information of the segmented through hole corresponding to the target tower section is obtained; Based on the position information of the segmented through-hole corresponding to the target tower segment, the drone inspection device is controlled to enter the target tower segment for inspection.

3. The method according to claim 2, characterized in that The controlling the drone inspection device to enter the target tower section for inspection based on the position information of the segmented through hole corresponding to the target tower section includes: When it is monitored that the UAV inspection device enters the target tower section, tower inspection motion control information is generated based on the real-time acquired distance measurement information and / or image information of the visual marker and the preset tower inspection route information inside the tower, and the tower inspection motion control UAV inspection device moves to each hovering point in sequence according to the preset tower inspection route information, so that the UAV inspection device collects inspection information of the corresponding hovering point; When the spatial distance satisfies the first relational expression, it is determined that the UAV inspection device moves to the hovering point. The spatial distance is determined based on the distance measurement information and / or image information of the visual marker acquired in real time. The spatial distance includes the spatial distances of multiple orientations measured by the UAV inspection device in the tower. The first relational expression is: Among them, lf, lb, ll, lr, lu are the spatial distances in the front, rear, left, right and top directions measured by the UAV inspection device in the tower, Δd is the error value, df, db, dl, dr, du, dd are the size information of the center point of the UAV inspection device from its front, rear, left, right, top and bottom edges.

4. The method according to claim 1, characterized in that: If the internal area of ​​the wind turbine to be inspected is the blade cavity, the step of generating motion control information based on the distance measurement information and / or the image information of the visual marker and the position information of the plurality of hovering points also includes: When the drone inspection device needs to enter the inner cavity of the blade, it obtains the position information and / or the inclination angle of the blade root through the hole, and the inclination angle of the blade is calculated by the image information of the target visual marker collected by the drone inspection module, and the target visual marker is set at the edge position of the blade cavity to be inspected; Determine the flight path angle of the drone inspection device based on the position information and / or the tilt angle of the blade root through the hole of the blade; Based on the flight route angle of the unmanned aerial vehicle inspection device, the unmanned aerial vehicle inspection device is controlled to enter the inner cavity of the blade for inspection.

5. The method according to claim 4, characterized in that The controlling the drone inspection device to enter the blade inner cavity for inspection based on the flight route angle of the drone inspection device comprises: When the UAV inspection device is monitored to inspect the blade cavity, the UAV inspection device is controlled to inspect based on the real-time acquired ranging information and / or image information of the visual marker and the preset blade cavity inspection route information, and the blade cavity includes a leading edge cavity and a trailing edge cavity.

6. The method according to claim 1, characterized in that The internal area of ​​the wind turbine to be inspected also includes the nacelle or hub of the wind turbine set.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: If it is detected that the power of the drone inspection module is lower than the preset power, the current inspection position information is saved; The drone inspection module is controlled to return to the drone cabin module for charging.

8. An unmanned aerial vehicle inspection device, characterized in that: The device comprises: Image acquisition module, ranging module, drone module and controller; The controller is connected to the image acquisition module, the distance measurement module, and the drone module respectively, and is used to execute the drone inspection control method as described in any one of claims 1 to 7.

9. A drone inspection control device, characterized in that: A controller used in a drone inspection device, the device comprising: A first acquisition module is used to acquire preset inspection route information of the internal area of ​​the wind turbine to be inspected, wherein the preset inspection route includes position information of multiple hovering points in the internal area of ​​the wind turbine to be inspected, and the preset inspection route information is determined by basic unit information of the wind turbine to be inspected; The second acquisition module is used to acquire the distance measurement information and / or the image information of the visual marker in real time when the drone inspection device is detected to enter the internal area of ​​the wind turbine to be inspected; The first control module is used to generate motion control information based on the ranging information and / or the image information of the visual marker and the position information of multiple hovering points. The motion control information is used to control the UAV inspection device to move to each hovering point in sequence according to the inspection route, so that the UAV inspection device can collect inspection information of the corresponding hovering points.

10. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the unmanned aerial vehicle inspection control method according to any one of claims 1 to 7 by executing the computer instructions.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the drone inspection control method according to any one of claims 1 to 7.

12. A computer program product, characterized in that It includes computer instructions, and the computer instructions are used to enable a computer to execute the unmanned aerial vehicle inspection control method according to any one of claims 1 to 7.

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