A wind power blade flight maintenance operation system

Abstract

The application provides a wind power blade flight maintenance operation system, which comprises a UAV, a detection robot, and a release and recovery mechanism. The UAV is used to carry the detection robot to a wind power blade and take the detection robot back after the detection robot completes operation. The detection robot can be adsorbed on the wind turbine blade and is used to detect the performance of the wind power blade. The release and recovery mechanism is installed on the UAV and can be connected and separated with the detection robot under the control of an intelligent system. The UAV can carry the detection robot to fly and contact the wind power blade, and then the UAV flies back after the detection robot is placed on the wind power blade through the release and recovery mechanism. The wind power blade is detected by the detection robot. After the detection robot completes detection, the UAV takes off and combines with the detection robot through the release and recovery mechanism and takes the detection robot back, so that the problems of the danger of traditional manual operation and the difficulty of adsorbing the operation robot on the blade are solved.

Description

Technical Field

[0001] This invention relates to the field of new energy wind power technology, and in particular to a wind turbine blade flight maintenance system. Background Technology

[0002] Wind power is currently a key clean energy source being developed globally. Wind turbine blades, as crucial components of wind turbine generators, are susceptible to various problems during long-term operation. These include structural issues, fatigue-induced cracks, and breaks in the internal wiring used for lightning protection, increasing the risk of lightning strikes during the rainy season. Failure to detect these problems promptly can lead to serious safety accidents. Because wind turbine blades can be tens or even hundreds of meters long, with blade tips reaching tens to twenty meters above the ground, current inspections are primarily conducted manually at height using suspended platforms or "spider-men" techniques, which is inefficient and carries high safety risks. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention provides a wind turbine blade flight inspection and maintenance system that can contact wind turbine blades while in flight. After stable contact, the system releases an inspection robot to perform various contact-based inspection tasks on wind turbine blades.

[0004] The specific technical solution is as follows: A wind turbine blade flight maintenance system, including...

[0005] A drone is used to transport the inspection robot to the wind turbine blade and bring it back after the inspection robot has completed its work.

[0006] The inspection robot can be attached to the wind turbine blades to inspect their performance.

[0007] The release and recovery mechanism, installed on a drone, can dock with and separate from the inspection robot under the control of an intelligent system.

[0008] The UAV includes a main frame structure, a rotor power assembly, a rotor connector, a rotor duct protective cover, an antenna assembly, landing gear, and a battery. The main frame structure is connected to the rotor duct protective cover via the rotor connector. The rotor power assembly is installed inside the rotor duct protective cover. The antenna assembly is installed on the main frame structure and is connected to a controller via a wireless signal. The landing gear is installed on the main frame structure and is perpendicular to the plane of the rotor duct protective cover. The battery is installed on the landing gear. A release and recovery mechanism is installed on the main frame structure.

[0009] The main body of the skeletal structure is equipped with four rotor duct protective covers. Each rotor duct protective cover contains one set of rotor power components. Adjacent rotor duct protective covers are connected by duct protective frames. The duct protective frames are U-shaped and are used for guidance when the UAV approaches the wind turbine blades.

[0010] The main body of the skeleton is equipped with two landing gears, and the release and recovery mechanism is located at the center between the two landing gears. When the release and recovery mechanism is connected to the detection robot, the two landing gears are symmetrically distributed on both sides of the detection robot.

[0011] The main body of the aircraft frame is equipped with a vision sensor, which is connected to an image recognition system. The image recognition system locks onto the wind turbine blades and adjusts the heading and spatial attitude to align the center position of the UAV with the wind turbine blades.

[0012] The drone is equipped with a negative pressure adsorption system, which includes a negative pressure generator and contact feet. The negative pressure generator is connected to the contact feet through a pipe. The contact feet are used to make contact with the wind turbine blades when the drone approaches them, and the negative pressure generated by the negative pressure generator causes the contact feet to adhere to the wind turbine blades.

[0013] The inspection robot includes a robot body, wheels, a negative pressure adsorption assembly, a lidar, a vision sensor, an infrared sensor, and an end effector. The wheels and the negative pressure adsorption assembly are mounted on the robot body. The negative pressure adsorption assembly is used to adsorb the robot body onto the wind turbine blade. The wheels are used to move the robot body on the surface of the wind turbine blade. The end effector is used to monitor or repair the wind turbine blade. The wheels, negative pressure adsorption assembly, lidar, vision sensor, infrared sensor, and end effector are all connected to the control system of the inspection robot.

[0014] The end effector is a robotic arm, which includes a large arm, a small arm, and a working end. The large arm is connected to the detection robot body through a first joint, the small arm is connected to the large arm through a second joint, and the working end is connected to the small arm through a third joint.

[0015] The release and recovery mechanism includes a U-shaped connector connected to the drone. A through groove is provided on the U-shaped connector, and first connectors are provided on the U-shaped connectors on both sides of the through groove. The middle of the first connector is connected to the U-shaped connector. One end of the first connector is hinged to the middle of the first gripper, and the other end is hinged to the middle of the second gripper. The first and second grippers are located within and pass through the through groove. The end of the first gripper is hinged to the second connector, and the end of the second gripper is hinged to the third connector. The second and third connectors are hinged together. A telescopic rod is installed between the hinge point of the second and third connectors and the first connector, and the telescopic rod is connected to the drone's control system.

[0016] An infrared sensor is mounted on the U-shaped connector, and the infrared sensor is connected to the control system of the UAV.

[0017] The beneficial effects of this invention are as follows:

[0018] The drone can carry an inspection robot to fly and contact wind turbine blades. The inspection robot is placed on the wind turbine blade through a release and recovery mechanism, and then the drone flies back. The inspection robot inspects the wind turbine blade. After the inspection robot completes the inspection, the drone takes off and combines with the inspection robot through the release and recovery mechanism to bring it back. This solves the problems of the danger of traditional manual operation and the difficulty of attaching the robot to the blade.

[0019] The inspection robot can switch between robotic arms and working ends to achieve various operation modes, thereby increasing the automation coverage of wind turbine blade operations.

[0020] The drone is equipped with a visual sensor that can use object surface visual recognition algorithm to prevent navigation errors and accidents caused by satellite signal blockage when it is close to wind turbine blades and towers;

[0021] The drones, inspection robots, and release and recovery mechanisms utilize carbon fiber and aerospace-grade aluminum materials, which enhances the robots' endurance while ensuring operational performance. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0023] Figure 1 This is a schematic diagram of the working environment of the present invention;

[0024] Figure 2This is a schematic diagram of the structure of the present invention when it is close to the wind turbine blade;

[0025] Figure 3 for Figure 2 Side view;

[0026] Figure 4 A schematic diagram of the release and recovery mechanism; Detailed Implementation

[0027] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention; however, the present invention may be implemented in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0028] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0029] This invention provides a wind turbine blade aerial maintenance system, the operating scenario of which is wind turbine blades for wind power generation, such as... Figure 1 As shown: the wind turbine blade 503 is installed on the wind turbine nacelle 502, the wind turbine nacelle 502 is installed on the wind turbine tower 501, and the wind turbine blade 503 is suspended in the air. Example

[0030] like Figure 2-3 As shown, a wind turbine blade aerial inspection and maintenance system includes a drone 1, used to transport an inspection robot 2 to the wind turbine blade and bring it back after the inspection robot 2 completes its work; the inspection robot 2 can be attached to the wind turbine blade for inspecting the performance of the wind turbine blade; and a release and recovery mechanism 3, installed on the drone 1, can dock with and separate from the inspection robot 2 under the control of an intelligent system.

[0031] Specifically, the UAV 1 includes a main frame structure 101, four rotor power units 102, rotor connectors 103, four rotor duct protective covers 104, an antenna assembly 105, landing gear 106, and a battery 108. The main frame structure 101 is connected to each rotor duct protective cover 104 via rotor connectors 103. A duct protective frame 107 is installed between adjacent rotor duct protective covers 104. The duct protective frame 107 is U-shaped and serves as a guide when the UAV 1 approaches the wind turbine blades. Specifically, the U-shaped duct protective frame 107 guides the wind turbine blades into the middle of the U-shaped duct protective frame 107, allowing the inspection robot 2 carried by the UAV 1 to fit closely onto the wind turbine blades, thus placing the inspection robot 2 on the wind turbine blades. Each rotor duct protective cover 104 houses a set of rotor power units 102. The antenna assembly 105 is mounted on the main body of the frame structure 101. The antenna assembly 105 is connected to the controller via a wireless signal to enable remote control of the drone's flight. Two landing gears 106 are mounted on the main body of the frame structure 101. The landing gears 106 are perpendicular to the plane containing the rotor duct protective cover 104. The release and recovery mechanism 3 is located at the center between the two landing gears 106. When the release and recovery mechanism 3 is connected to the detection robot 2, the two landing gears 106 are symmetrically distributed on both sides of the detection robot 2. Each landing gear 106 is equipped with a battery 108, which is fixed to the landing gear 106 by a fixing plate.

[0032] Preferably, a vision sensor 111 is installed on the main body 101 of the aircraft frame structure. The vision sensor 111 is connected to an image recognition system. The image recognition system locks onto the wind turbine blades and adjusts the heading and spatial attitude to align the center position of the UAV with the wind turbine blades, preventing navigation errors and accidents caused by the wind turbine blades blocking the wireless signal when approaching the wind turbine blades and tower.

[0033] The UAV 1 is equipped with a negative pressure adsorption system, which includes a negative pressure generator (not shown in the figure, but can be installed in a suitable position) and contact feet 112. The negative pressure generator is connected to the contact feet 112 through a pipe. The contact feet are used to contact the wind turbine blades when the UAV approaches them, and the negative pressure generated by the negative pressure generator causes the contact feet 112 to adhere to the wind turbine blades.

[0034] The inspection robot 2 includes an inspection robot body 207, wheels 201, a negative pressure adsorption component 202, a lidar 203, a vision sensor 204, an infrared sensor 205, and a working end effector 206. The wheels 201 and the negative pressure adsorption component 202 are mounted on the inspection robot body 207. The negative pressure adsorption component 202 is used to adsorb the inspection robot body 207 onto the wind turbine blade. The wheels 201 are used to move the inspection robot body 207 on the surface of the wind turbine blade. The working end effector 206 is used to monitor or repair the wind turbine blade. The wheels 201, the negative pressure adsorption component 202, the lidar 203, the vision sensor 204, the infrared sensor 205, and the working end effector 206 are respectively connected to the control system of the inspection robot 2.

[0035] The end effector 206 is preferably a robotic arm, which includes a large arm, a small arm, and a working end. The large arm is connected to the detection robot body 207 through a first joint, the small arm is connected to the large arm through a second joint, and the working end is connected to the small arm through a third joint.

[0036] Preferred, such as Figure 4 The release and recovery mechanism 3 shown includes a U-shaped connector 31, which is connected to the UAV 1. A through groove 39 is provided on the U-shaped connector 31, and first connectors 32 are provided on both sides of the through groove 39. The middle of the first connector 32 is connected to the U-shaped connector 31. One end of the first connector 32 is hinged to the middle of the first gripper 33, and the other end is hinged to the middle of the second gripper 34. The first gripper 33 and the second gripper 34... 4 is located in and passes through the through groove 39. The end of the first gripper 33 is hinged to the second connector 35. The end of the second gripper 34 is hinged to the third connector 36. The second connector 35 and the third connector 36 are hinged together. A telescopic rod 37 is installed between the hinge of the second connector 35 and the third connector 36 and the first connector 32. An infrared sensor 38 is installed on the U-shaped connector 31. The telescopic rod 37 and the infrared sensor 38 are respectively connected to the control system of the UAV.

[0037] The drone 1, the detection robot 2, and the release and recovery mechanism 3 are made of carbon fiber or aerospace aluminum materials, or a combination of both, which improves the robot's endurance while ensuring operational performance.

[0038] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A wind turbine blade aerial maintenance system, characterized in that: include A drone (1) is used to transport the inspection robot (2) to the wind turbine blade and bring it back after the inspection robot (2) has completed its work; The inspection robot (2) can be attached to the wind turbine blades to inspect the performance of the wind turbine blades; The release and recovery mechanism (3) is installed on the drone (1) and can dock and separate from the detection robot (2) under the control of the intelligent system; The UAV (1) includes a main body (101) of the frame structure, a rotor power assembly (102), a rotor connector (103), a rotor duct protective cover (104), an antenna assembly (105), a landing gear (106), and a battery (108). The main body (101) of the frame structure is connected to the rotor duct protective cover (104) through the rotor connector (103). A duct protective frame (107) is installed between adjacent rotor duct protective covers (104). The duct protective frame (107) is U-shaped and is used for guidance when the UAV (1) approaches the wind turbine blade. The U-shaped duct protective frame (107) can guide the wind turbine blade into the middle of the U-shaped duct protective frame (107) when the UAV (1) approaches the wind turbine blade, so that the detection robot (2) carried by the UAV (1) can be placed close to the wind turbine blade. The UAV (1) is equipped with a negative pressure adsorption system, which includes a negative pressure machine and a contact foot (112). The negative pressure machine is connected to the contact foot (112) through a pipe. When the wind turbine blade enters the middle of the U-shaped duct protective frame (107), the contact foot (112) contacts the wind turbine blade and can be adsorbed onto the wind turbine blade by the negative pressure generated by the negative pressure machine. The release and recovery mechanism (3) includes a U-shaped connector (31), which is connected to the UAV (1). A through groove (39) is provided on the U-shaped connector (31). First connectors (32) are provided on the U-shaped connectors (31) on both sides of the through groove (39). The middle part of the first connector (32) is connected to the U-shaped connector (31). One end of the first connector (32) is hinged to the middle part of the first gripper (33), and the other end is hinged to the middle part of the second gripper (34). The first gripper (33) and the second gripper (34) are positioned... The first gripper (33) is hinged to the second connector (35) at the end of the first gripper (33), and the second gripper (34) is hinged to the third connector (36). The second connector (35) and the third connector (36) are hinged to each other. A telescopic rod (37) is installed between the hinge of the second connector (35) and the third connector (36) and the first connector (32). An infrared sensor (38) is installed on the U-shaped connector (31). The telescopic rod (37) and the infrared sensor (38) are respectively connected to the control system of the UAV.

2. The wind turbine blade aerial maintenance system according to claim 1, characterized in that: The rotor power assembly (102) is installed inside the rotor duct protective cover (104). The antenna assembly (105) is installed on the main body of the airframe structure (101). The antenna assembly (105) is connected to the controller via a wireless signal. The landing gear (106) is installed on the main body of the airframe structure (101). The landing gear (106) is perpendicular to the plane where the rotor duct protective cover (104) is located. The battery (108) is installed on the landing gear (106). A release and recovery mechanism (3) is installed on the main body of the airframe structure (101).

3. The wind turbine blade aerial maintenance system according to claim 2, characterized in that: Two landing gears (106) are installed on the main body (101) of the machine frame structure. The release and recovery mechanism (3) is located at the center between the two landing gears (106). When the release and recovery mechanism (3) is connected to the detection robot (2), the two landing gears (106) are symmetrically distributed on both sides of the detection robot (2).

4. The wind turbine blade aerial maintenance system according to claim 2, characterized in that: A vision sensor (111) is installed on the main body (101) of the aircraft frame structure. The vision sensor (111) is connected to an image recognition system. The image recognition system locks the wind turbine blades and adjusts the heading and spatial attitude so that the middle position of the UAV is aligned with the wind turbine blades.

5. The wind turbine blade aerial maintenance system according to claim 1, characterized in that: The inspection robot (2) includes an inspection robot body (207), wheels (201), a negative pressure adsorption component (202), a lidar (203), a vision sensor (204), an infrared sensor (205), and a working end (206). The wheels (201) and the negative pressure adsorption component (202) are mounted on the inspection robot body (207). The negative pressure adsorption component (202) is used to adsorb the inspection robot body (207) onto the wind turbine blade. The wheels (201) are used to move the inspection robot body (207) on the surface of the wind turbine blade. The working end (206) is used to monitor or repair the wind turbine blade. The wheels (201), negative pressure adsorption component (202), lidar (203), vision sensor (204), infrared sensor (205), and working end (206) are respectively connected to the control system of the inspection robot (2).

6. The wind turbine blade aerial maintenance system according to claim 5, characterized in that: The end effector (206) is a robotic arm, which includes a large arm, a small arm and a working end. The large arm is connected to the detection robot body (207) through a first joint, the small arm is connected to the large arm through a second joint, and the working end is connected to the small arm through a third joint.

7. The wind turbine blade aerial maintenance system according to claim 1, characterized in that: The drone (1), the detection robot (2), and the release and recovery mechanism (3) are made of carbon fiber or aerospace aluminum or a combination of both.

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