Inspection system of wind power cabin

Abstract

The invention provides an inspection system for a wind power cabin. The inspection system comprises a communication network, an inspection robot, a track and a monitoring background, the communication network comprises an equipment end arranged in a wind power cabin and a user end arranged on a ground station, and the equipment end and the user end are in wireless connection; the track is provided with a charging port connected with an external power supply, and the inspection robot is charged in a contact manner through the charging port; the inspection robot is movably arranged on the track, and the inspection robot is in wireless connection with the equipment end so as to upload monitoring data information to the monitoring background; and the monitoring background monitors the data information to control the operation of the inspection robot on the track. The track drives the inspection robot to move in the wind power cabin, the inspection robot collects corresponding monitoring data information in the moving process and uploads the monitoring data information to the monitoring background through the communication network, the monitoring background controls operation of the inspection robot through the monitoring data information, and therefore manual work is replaced to complete all-weather inspection tasks.

Description

Technical Field

[0001] The invention belongs to the technical field of inspection robots, and in particular relates to an inspection system for a wind turbine cabin. Background Art

[0002] With the rapid development of the new energy industry, the scale of wind power generation has expanded, the number of wind power equipment has increased, and power inspection has become an important part of wind power generation. Power inspection is a process of periodic inspection of the operating status, working parameters and safety hazards of power equipment. It is one of the main means for power plants to improve the working efficiency of power equipment and prevent safety accidents. At present, wind power plant inspections are mainly manual inspections, which have many problems: first, inspection personnel need to work at heights, which poses a great safety hazard; second, there are many wind turbines and the layout is complex, so the inspection efficiency is low and the labor cost is high; third, fault judgment depends on personnel experience, which is prone to mistakes and may subjectively ignore safety hazards; fourth, information statistical analysis is time-consuming and labor-intensive, and has poor timeliness. Therefore, how to build a complete set of automated inspection systems is a difficult problem that needs to be solved urgently in response to the current development of wind power. Summary of the invention

[0003] In order to solve the problem of how to build a complete automatic inspection system to solve the problems existing in manual inspection as described in the background technology, the present invention proposes the following technical solutions:

[0004] A patrol system for a wind turbine cabin, comprising: a communication network, a patrol robot, a track and a monitoring background; the communication network comprises a device end arranged in the wind turbine cabin and a user end arranged in a ground station, and the device end and the user end are wirelessly connected; a charging port connected to an external power supply is provided on the track, and the patrol robot is contact-charged via the charging port; the patrol robot is movably arranged on the track, and the patrol robot is wirelessly connected to the device end to upload monitoring data information to the monitoring background; the monitoring background controls the operation of the patrol robot on the track through the monitoring data information.

[0005] Among them, the inspection robot includes: a controller, a servo motor, a power supply module, a sensor device and a battery; the controller is respectively connected to the servo motor and the battery, and communicates bidirectionally with the monitoring background through the communication network; the servo motor adjusts the operating state according to the pulse signal sent by the controller to drive the track to move; the input end of the power supply module is connected to the battery and the external power supply through the charging port, and the output end of the power supply module is respectively connected to the controller, the servo motor and the sensor device; the sensor device exchanges data with the monitoring background through the communication network, thereby monitoring the operating status of the equipment in the wind turbine cabin.

[0006] Furthermore, the monitoring background includes: a login module, a real-time preview module, a status monitoring module, a remote module and an intelligent center; the login module is used to establish a human-computer interaction interface corresponding to the sensor device, and associate the real-time preview module, the status monitoring module and the remote module in the human-computer interaction interface; the real-time preview module is used to broadcast the image information fed back by the sensor device in real time, and store it in the intelligent center; the status monitoring module is connected to the controller through the communication network to control the pulse signal generated by the controller, and monitor the power status of the battery; the remote module is used to receive remote control signals transmitted from the outside, so as to issue control instructions to the sensor device; the intelligent center is used to receive data transmitted by the communication network and send it to the login module, the real-time preview module, the status monitoring module and the remote module respectively.

[0007] Furthermore, the sensing device includes: a pan-tilt camera and an algorithm cabin; the pan-tilt camera and the algorithm cabin are respectively installed on the track, and the algorithm cabin is connected to the wind turbine through an industrial stethoscope; when the servo motor drives the track to run, the pan-tilt camera feeds back image data to the real-time preview module; the algorithm cabin collects the sound signal of the wind turbine and analyzes the sound signal through an audio algorithm, so as to send an alarm to the status monitoring module when the wind turbine is abnormal.

[0008] Furthermore, the user end includes: a first switch, a second switch, and a first router; one side of the first switch is connected to the monitoring background, and the other side of the first switch is connected to one end of the second switch through an optical fiber network; the other end of the second switch is connected to the first router through a network cable, and the first router is connected to the device end through a wireless relay.

[0009] Furthermore, each of the human-computer interaction interfaces is associated with the corresponding sensor device through an IP address and a port number. After each of the sensor devices is connected to the login module, the data information fed back by the sensor device is visually displayed in the human-computer interaction interface.

[0010] Furthermore, the monitoring background also includes a voice module; the voice module is embedded in the human-computer interaction interface, and the voice module is connected to a directional microphone to collect voice data. After distinguishing the voice signal and background noise in the voice data, the intelligent center converts the voice signal into a text command and sends it to the corresponding sensing device through the communication network.

[0011] Beneficial effects: The present invention drives the inspection robot to move in the wind turbine cabin through the track. The inspection robot collects corresponding monitoring data information while moving and uploads it to the monitoring background through the communication network. The monitoring background controls the operation of the inspection robot through the monitoring data information, thereby replacing manual work to complete all-weather inspection tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 A schematic diagram of a framework structure of an inspection system for a wind turbine cabin according to an embodiment of the present invention;

[0013] Figure 2 A schematic diagram of the movement trajectory of the inspection robot in the wind turbine cabin according to an embodiment of the present invention;

[0014] Figure 3 FIG. 4 is a schematic diagram of the structure of a communication network according to an embodiment of the present invention. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solution and advantages of the present application clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0016] It should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing this patent and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this patent.

[0017] Figure 1 The figure is a schematic diagram of the framework structure of a patrol inspection system for a wind turbine cabin according to an embodiment of the present invention.

[0018] Reference Figure 1 According to an embodiment of the present invention, a patrol system for a wind turbine cabin includes: a communication network 1, a patrol robot 2, a track 3 and a monitoring background 4. The communication network 1 includes: a device terminal 11 provided inside the wind turbine cabin and a user terminal 12 provided at a ground station, and the device terminal 11 and the user terminal 12 are wirelessly connected. A charging port 31 connected to an external power supply 5 is provided on the track 3, and the patrol robot 2 is contact-charged through the charging port 31. The patrol robot 2 is movably arranged on the track 3, and the patrol robot 2 is wirelessly connected to the device terminal 11, so as to upload monitoring data information to the monitoring background 4. The monitoring background 4 controls the operation of the patrol robot 2 on the track 3 through the monitoring data information.

[0019] Specifically, the inspection robot 2 includes: a controller 21, a servo motor 22, a power supply module 23, a sensor device 24 and a battery 25. Among them, the controller 21 is an intelligent control chip with multiple serial ports, the communication port of the controller 21 is connected to the monitoring background 4, and the data acquisition port of the controller 21 is connected to the servo motor 22 and the battery 25 respectively. In this embodiment, the controller 21 uses the intelligent control chip STM32F103VET6, and in other embodiments, the same type of control chip GD32F103VET6 can also be selected. The servo motor 22 is connected to the track 3, thereby driving the track 3 to move. The operating state of the servo motor 22 includes the rotation direction and the rotation speed. The monitoring background 4 adjusts the pulse signal sent by the controller 21 through instructions, thereby adjusting the operating state of the servo motor 22 to change the operating trajectory of each sensor device 24 and the data acquisition process.

[0020] Figure 2 Schematic diagram of the movement trajectory of the inspection robot 2 in the wind turbine cabin according to an embodiment of the present invention.

[0021] Reference Figure 2 , wherein the track 3 and the shell of the inspection robot 2 are both mature existing designs, and the commonly used track 3 includes ground type and suspension type. In order to adapt to the internal space of the wind turbine cabin, the base of the track 3 in this embodiment adopts a ground type, which is elliptical in shape as a whole. The base of the track 3 and the shell of the inspection robot 2 are connected by heavy-duty rollers or guide rail racks, and the power system of the entire track 3 is provided by the servo motor 22.

[0022] The power supply module 23 is a commonly used DC step-down circuit. The input end of the power supply module 23 is connected to the battery 25 and the external power supply 5 through the charging port 31, so as to provide corresponding working voltages to the controller 21, the servo motor 22, and each sensor device 24. One side of the battery 25 is connected to the external power supply 5 through the charging port 31 to charge when the battery is insufficient. The other side of the battery 25 is connected to the monitoring background 4 through the controller 21, so as to feedback the power status inside the battery 25 in real time, so as to quickly respond when the battery 25 is insufficient by adjusting the operating status of the servo motor 22 to move the charging port 31 to abut against the charging end of the battery 25. The sensor device 24 includes a device for monitoring images or audio. Each sensor device 24 exchanges data with the monitoring background 4 through the communication network 1, so as to monitor the operating status of the equipment in the wind turbine cabin.

[0023] Continue to refer to Figure 1, further, the monitoring background 4 includes: a login module 41, a real-time preview module 42, a status monitoring module 43, a remote module 44 and an intelligent hub 45. Among them, the login module 41 is connected to the corresponding sensor device 24 through the IP address, port number, user name and password information, so as to generate a visual human-computer interaction interface. Among them, the human-computer interaction interface is associated with the real-time preview module 42, the camera control module, the status monitoring module 43, and the remote module 44. After the intelligent hub 45 recognizes and converts the external input data information, the human-computer interaction interface displays the real-time image information or audio information of the corresponding module respectively. Among them, the real-time preview module 42 is connected to the image data intersection device in the sensor device 24. When the image data acquisition device logs in, the human-computer interaction interface can jump to the real-time preview module 42 to broadcast the image information fed back by the image data acquisition device in real time. In addition, the image broadcast by the human-computer interaction interface can be stored in the intelligent hub 45.

[0024] The status monitoring module 43 is connected to the controller 21 through the communication network 1 to control the pulse signal generated by the controller 21, and monitors the status of the battery 25 according to the power status of the battery 25 uploaded by the controller 21, so that the battery 25 maintains sufficient power to support the inspection robot 2 to complete the patrol task. The remote module 44 is used to expand the control range. After receiving the remote control signal transmitted from the outside, the remote module 44 identifies and generates corresponding control instructions and sends them to each sensor device 24, so that the staff can perform remote office operations.

[0025] Figure 3 FIG. 1 is a schematic diagram of the structure of a communication network 1 according to an embodiment of the present invention.

[0026] Reference Figure 3 , wherein the communication network 1 covers the ground site and the interior of the wind turbine cabin, the device end 11 is fixedly arranged on the wall of the wind turbine cabin, and is connected to the communication port set in the inspection robot 2 by WIFI9 or WIFI9+routing. The user end 12 includes: a first switch 121, a second switch 122 and a first router 123. Among them, one side of the first switch 121 is connected to the monitoring background 4, and the other side of the first switch 121 is connected to one end of the second switch 122 through the optical fiber network 6. The other end of the second switch 122 is connected to the first router 123 through the network cable 7, and the first router 123 is connected to the device end 11 through the wireless relay 8.

[0027] In this embodiment, the sensing device 24 includes: a pan-tilt camera and an algorithm cabin. The main equipment that needs to be monitored in the wind turbine cabin is the shaft, coupling, gearbox and wind turbine. The pan-tilt camera integrates a visible light camera module and a thermal imaging module, which can collect image data of the above equipment in the wind turbine cabin during operation and feedback to the real-time preview module 42, so as to play the real-time thermal imaging video of the equipment during operation in the human-computer interaction interface. The pan-tilt camera is fixedly installed on the track 3. When the track 3 is running, the pan-tilt camera adjusts its posture according to the instructions issued by the monitoring background 4, thereby changing the viewing angle of the collected image. The algorithm cabin is fixedly set on the track 3, and the algorithm cabin is connected to the wind turbine through a small industrial stethoscope, so as to collect audio data of the wind turbine when it is running. Among them, the algorithm cabin and the industrial stethoscope are connected by radio, and the industrial stethoscope is fixedly installed on the periphery of the wind turbine, so as to monitor the sound signals generated by the wind turbine during operation. The algorithm cabin analyzes the acquired sound signals during operation and analyzes them through the audio algorithm, thereby sending an alarm to the status monitoring module 43 when the wind turbine generator set operates abnormally.

[0028] Preferably, in another embodiment, the monitoring background 4 also includes a voice module 46. The voice module 46 is embedded in the human-computer interaction interface, and the voice module 46 is connected to a directional microphone to collect voice data. Specifically, when the voice module 46 collects voice signals, the collected voice signals are first feature extracted using the Mel-frequency cepstral coefficients, and the features obtained after extraction form a frequency spectrum, and the frequency spectrum is converted into Mel frequencies after passing through a set of Mel filters, thereby separating the voice signal from the background noise. Finally, the Mel-frequency spectrum is subjected to a discrete cosine transform to obtain the cepstral coefficients. The hidden Markov model set in the intelligent hub 45 analyzes the cepstral coefficients, thereby calculating the optimal state sequence of the input signal. The intelligent hub 45 solves the state sequence according to the Viterbi algorithm, and quickly finds the optimal path through dynamic programming, thereby identifying the most likely voice text and generating corresponding text commands that are consistent with the control instructions and sending them to the corresponding sensor device 24.

[0029] To sum up, the present invention drives the inspection robot to move in the wind turbine cabin through tracks. The inspection robot collects corresponding monitoring data information while moving and uploads it to the monitoring background through the communication network. The monitoring background controls the operation of the inspection robot through the monitoring data information, thereby replacing manual work to complete all-weather inspection tasks.

[0030] The foregoing describes certain embodiments of the invention. Other embodiments are within the scope of the following claims.

[0031] The terms "exemplary," "example," and the like used throughout this specification mean "used as an example, instance, or illustration" and do not mean "preferred" or "advantageous" over other embodiments. The detailed description includes specific details for the purpose of providing an understanding of the described techniques. However, these techniques can be implemented without these specific details. In some instances, in order to avoid obscuring the concepts of the described embodiments, well-known structures and devices are shown in block diagram form.

[0032] The optional implementation modes of the embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above implementation modes. Within the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical solutions of the embodiments of the present invention, and these simple modifications all belong to the protection scope of the embodiments of the present invention.

[0033] The above description of the contents of this specification is provided to enable any person of ordinary skill in the art to implement or use the contents of this specification. Various modifications to the contents of this specification will be apparent to those of ordinary skill in the art, and the general principles defined herein may be applied to other variations without departing from the scope of protection of the contents of this specification. Therefore, the contents of this specification are not limited to the examples and designs described herein, but are consistent with the widest range of principles and novel features disclosed herein.

Claims

1. A wind turbine cabin inspection system, characterized in that: include: A communication network (1), an inspection robot (2), a track (3) and a monitoring background (4); the communication network (1) comprises a device end (11) arranged in a wind turbine cabin and a user end (12) arranged in a ground station, the device end (11) and the user end (12) being wirelessly connected; the track (3) is provided with a charging port (31) connected to an external power source (5), the inspection robot (2) is contact-charged via the charging port (31); the inspection robot (2) is movably arranged on the track (3), the inspection robot (2) and the device end (11) are wirelessly connected to upload monitoring data information to the monitoring background (4); the monitoring background (4) controls the operation of the inspection robot (2) on the track (3) through the monitoring data information.

2. According to the inspection system for wind turbine nacelle described in claim 1, it is characterized in that: The inspection robot (2) comprises: a controller (21), a servo motor (22), a power supply module (23), a sensor device (24) and a battery (25); the controller (21) is connected to the servo motor (22) and the battery (25) respectively, and communicates bidirectionally with the monitoring background (4) through the communication network (1); the servo motor (22) adjusts the operating state according to the pulse signal sent by the controller (21) to drive the track (3) to move; the input end of the power supply module (23) is connected to the battery (25) and the external power source (5) through the charging port (31), and the output end of the power supply module (23) is connected to the controller (21), the servo motor (22) and the sensor device (24) respectively; the sensor device (24) exchanges data with the monitoring background (4) through the communication network (1), thereby monitoring the operating state of the equipment in the wind turbine cabin.

3. According to the inspection system for wind turbine nacelle described in claim 2, it is characterized in that: The monitoring backend (4) comprises: a login module (41), a real-time preview module (42), a status monitoring module (43), a remote module (44) and an intelligent hub (45); the login module (41) is used to establish a human-computer interaction interface corresponding to the sensor device (24), and associate the real-time preview module (42), the status monitoring module (43) and the remote module (44) in the human-computer interaction interface; the real-time preview module (42) is used to broadcast the image information fed back by the sensor device (24) in real time, and store it in the intelligent hub (45); The state monitoring module (43) is connected to the controller (21) via the communication network (1) to control the pulse signal generated by the controller (21) and monitor the power state of the storage battery (25); the remote module (44) is used to receive a remote control signal transmitted from the outside, thereby issuing a control instruction to the sensor device (24); the intelligent hub (45) is used to receive data transmitted by the communication network (1) and send it to the login module (41), the real-time preview module (42), the state monitoring module (43) and the remote module (44) respectively.

4. The inspection system for a wind turbine nacelle according to claim 3, characterized in that: The sensing device (24) comprises: a pan-tilt camera (241) and an algorithm cabin (242); the pan-tilt camera (241) and the algorithm cabin (242) are respectively installed on the track (3), and the algorithm cabin (242) is connected to the wind turbine generator set through an industrial stethoscope; when the servo motor (22) drives the track (3) to operate, the pan-tilt camera (241) feeds back image data to the real-time preview module (42); the algorithm cabin (242) collects sound signals from the wind turbine generator set and analyzes the sound signals through an audio algorithm, so as to send an alarm to the status monitoring module (43) when the wind turbine generator set is abnormal.

5. The inspection system for a wind turbine nacelle according to claim 3, characterized in that: The user end (12) comprises: a first switch (121), a second switch (122), and a first router (123); one side of the first switch (121) is connected to the monitoring background (4), and the other side of the first switch (121) is connected to one end of the second switch (122) via an optical fiber network (6); the other end of the second switch (122) is connected to the first router (123) via a network cable (7), and the first router (123) is connected to the device end (11) via a wireless relay (8).

6. The inspection system for a wind turbine nacelle according to claim 3, characterized in that: Each of the human-computer interaction interfaces is associated with the corresponding sensor device (24) via an IP address and a port number. After each of the sensor devices (24) is connected to the login module (41), the data information fed back by the sensor device (24) is visually displayed in the human-computer interaction interface.

7. The inspection system for a wind turbine nacelle according to claim 3, characterized in that: The monitoring background (4) also includes a voice module (46); the voice module (46) is embedded in the human-computer interaction interface, and the voice module (46) is connected to a directional microphone to collect voice data. After distinguishing the voice signal and background noise in the voice data, the intelligent hub (45) converts the voice signal into a text command and sends it to the corresponding sensor device (24) through the communication network (1).

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