Tour inspection device for wind generating set

Abstract

The invention discloses a wind generating set inspection device, and belongs to the technical field of unmanned aerial vehicle wind power inspection. A wind generating set inspection device comprises an unmanned aerial vehicle, a rotating mechanism arranged at the bottom of the unmanned aerial vehicle and a camera installed on the rotating mechanism, the rotating mechanism comprises a horizontal rotating mechanism connected with a fuselage of the unmanned aerial vehicle and a vertical rotating mechanism connected with the horizontal rotating mechanism, and the camera is installed on the vertical rotating mechanism. The horizontal rotating mechanism and the vertical rotating mechanism are pivoted through a transmission mechanism, so that the distance between the vertical rotating mechanism and the wind turbine generator in the flight direction of the unmanned aerial vehicle is kept consistent with that of the unmanned aerial vehicle; the method has the advantages that the shooting distance of the camera is convenient to fix, and the inspection image data acquisition speed is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle wind power inspection, and in particular to a wind turbine generator set inspection device. Background Art

[0002] Wind turbine inspection plays an important role in the wind power maintenance process. Regular assessment of the health status of wind turbines and real-time monitoring of the operating status of wind turbines are an indispensable part of the process. The current commonly used inspection methods mainly rely on telescope observations and high-altitude platforms such as Spider-Man and hanging baskets. Telescope observations often have the problem of low detection accuracy due to the interference of observation angles and observation distances. Although the high-altitude platform rappelling method can fully and timely discover defects, it is difficult to guarantee the efficiency and safety of the staff. The expansion of the installed capacity of wind turbines will undoubtedly increase the work intensity of inspection personnel, and manual inspections of wind turbines can only be performed when the wind turbines are stopped, which is not conducive to improving the utilization rate of wind turbines.

[0003] In recent years, drone technology is gradually changing the inspection methods of wind turbines, and its application has been carried out abroad. The inspection of wind turbines by drones is superior to traditional manual inspection methods in terms of work efficiency and labor costs. At present, the domestic consumer drone market is developing rapidly. Although most of them are mainly used for aerial photography and can be used for close-range inspections of wind turbines, the stability and accuracy of such equipment detection are not high.

[0004] The current application of drones in wind turbine inspection work mainly involves taking photos and videos of wind turbines with the cameras carried by drones, and using image recognition technology to detect and judge the operating status of wind turbine equipment. Since wind turbine towers and blades are large-sized equipment, the first problem faced by drone inspections during operations is how to better photograph wind turbines to obtain images that can meet the requirements of inspection image recognition technology, such as shooting angles and distances. Existing drones mostly use gimbals with cameras for shooting.

[0005] In the invention patent with the announcement number CN113339206B, a UAV wind power inspection method and a UAV are disclosed, which belongs to the field of UAV wind power inspection technology. The UAV is controlled manually or fully autonomously to fly to the front of the wind turbine to be inspected, and the UAV is hovered in front of the center of the rotating shaft of the wind turbine to be inspected. The rotatable camera device installed at the bottom of the UAV is aimed at the direction of the wind turbine to be inspected, and the rotation is started. The rotation movement makes it consistent with the rotation speed of the wind turbine to be inspected. The image data of the wind turbine blades is collected by the rotating camera device while rotating synchronously with the blades of the wind turbine to be inspected. The detected data is transmitted to the land data processing platform through the wireless transmission equipment installed on the UAV, so that the image data of the wind turbine blades can be obtained without stopping the wind turbine, and the data acquisition quality is improved. However, although the current pan-tilt technology is convenient for adjusting the camera shooting angle, it is impossible to cooperate with the UAV to keep the same distance between the camera and the wind turbine while adjusting the camera angle. As shown in the attached figure, Fig.12 As shown in the figure, taking the case where the camera is facing a wind turbine as an example, the distance between the camera and the wind turbine is S1. When the camera adjusts its angle, the camera swings up and down, or left and right, and the distance between the camera and the wind turbine is S2. The image difference caused by this requires the use of computing algorithms to correct the camera focal length and image recognition results, which is not conducive to quickly obtaining data results. Summary of the invention

[0006] The purpose of the present invention is to solve the problem that during the shooting process of the drone used for wind power inspection in the prior art, it is impossible to ensure that the distance from the camera to the wind turbine group remains unchanged when the camera adjusts the shooting angle, which is not conducive to quickly obtaining data results. A wind turbine inspection device is proposed.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions: A wind turbine inspection device comprises a drone, a rotating mechanism arranged at the bottom of the drone, and a camera mounted on the rotating mechanism, wherein the rotating mechanism comprises a horizontal rotating mechanism connected to a fuselage of the drone and a vertical rotating mechanism connected to the horizontal rotating mechanism, and the camera is mounted on the vertical rotating mechanism; The horizontal rotating mechanism and the vertical rotating mechanism are pivotally connected via a transmission mechanism, so that the distance between the vertical rotating mechanism and the wind turbine generator set in the flight direction of the UAV is consistent with that of the UAV.

[0008] Furthermore, the vertical rotation mechanism includes a rotatably arranged sliding rod, a sliding seat is arranged on the sliding rod, and the camera is rotationally connected to the sliding seat via a second rotating shaft.

[0009] Furthermore, the vertical rotation mechanism also includes a second fixed seat and a gear ring arranged coaxially with the camera, the second fixed seat is fixedly connected to the drone, the gear ring is rotationally connected to the second fixed seat, and the sliding rod is installed on the inner side of the gear ring.

[0010] Furthermore, the horizontal rotation mechanism includes a linear reciprocating mechanism that is arranged to rotate in a horizontal direction, and the camera is connected to the linear reciprocating mechanism via a transmission mechanism.

[0011] Furthermore, the linear reciprocating mechanism includes a lead screw, a lead screw nut corresponding to the lead screw, a guide rod, a guide seat corresponding to the guide rod, a first sleeve, and a lead screw motor connected to the lead screw. The lead screw and the guide rod are rotatably installed on the horizontal rotating mechanism along the horizontal direction. The first sleeve is located between the lead screw nut and the guide seat. The first sleeve is rotatably connected to the lead screw nut and the guide seat, and the transmission mechanism is slidably connected to the first sleeve.

[0012] Further, the horizontal rotation mechanism includes a first fixed seat, a first rotating seat, and a first connecting seat, the first rotating seat is rotatably mounted on the bottom of the drone through the first fixed seat, the lead screw and the guide rod are horizontally mounted inside the first rotating seat, and a first connecting seat is provided at the bottom of the first rotating seat; The transmission mechanism comprises a vertical connecting shaft, the upper part of the vertical connecting shaft is slidably connected to the first shaft sleeve, and the lower part of the vertical connecting shaft is rotatably connected to the first connecting seat.

[0013] Furthermore, a universal ball seat is provided at the bottom of the first connecting seat, a universal ball head is provided inside the universal ball seat, and the vertical connecting shaft is rotatably installed at the bottom of the first connecting seat through the cooperation of the universal ball seat and the universal ball head.

[0014] Furthermore, the transmission mechanism also includes a coupling seat and a transverse coupling coaxially arranged with the camera, the transverse coupling is slidably installed in the coupling seat, and the coupling seat is fixedly connected to the vertical coupling.

[0015] Furthermore, a first driving source and a first connecting rod are provided inside the first rotating seat, the first driving source is fixedly connected to the first fixed seat, the first connecting rod is fixedly connected to the first rotating seat, and the first rotating seat is connected to the working end of the first driving source through the first connecting rod.

[0016] Furthermore, a gear and a second driving source are provided on one side of the second fixing seat, the second driving source is fixedly connected to the second fixing seat, and the gear is meshed with the gear ring.

[0017] Compared with the prior art, the present invention provides a wind turbine inspection device, which has the following beneficial effects: The present invention discloses a wind turbine inspection device. When in use, a camera is driven by an unmanned aerial vehicle to shoot a wind turbine to be inspected. The shooting angle of the camera is adjusted by a rotating mechanism. The camera is driven to swing left and right, or up and down, by a horizontal rotating mechanism to adjust the up, down, left and right shooting angles of the camera. During adjustment, the vertical rotating mechanism cooperates with the angle change of the camera, and at the same time, the distance between the camera and the wind turbine in the flight direction is prevented from changing during the angle adjustment process, and the shooting distance of the camera is fixed, thereby improving the acquisition speed of image data used for wind turbine inspection.

[0018] Other advantages, objectives and features of the present invention will be described in part in the following description; and in part, will be apparent to those skilled in the art based on an examination of the following; or, may be taught from the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional bottom view schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the overall structure of the present invention; Figure 3 It is a schematic side view of the overall structure of the present invention; Figure 4 It is a three-dimensional schematic diagram of the rotating mechanism of the present invention; Figure 5 For the present invention Figure 4 A schematic diagram of the structure enlargement of part A; Figure 6 It is a side view schematic diagram of the rotating mechanism of the present invention; Figure 7 It is a schematic diagram of the internal structure of the first rotating seat of the present invention from the right front perspective; Figure 8 It is a schematic diagram of the internal structure of the first rotating seat of the present invention from the right rear perspective; Fig. 9 For the present invention Figure 8 A schematic diagram of the structure of part B in the middle is enlarged; Fig.10 For the present invention Figure 8 The enlarged schematic diagram of the structure of part C in the middle; Fig.11 This is a schematic diagram of the effect of the horizontal rotating mechanism of the present invention rotating 90 degrees; Fig.12 It is a schematic diagram of the change of shooting distance when the camera is swung in the prior art of the present invention.

[0020] In the figure: 1. UAV; 2. Rotation mechanism; 3. Camera; 4. Horizontal rotation mechanism; 401. First fixed seat; 402. First driving source; 403. First rotating seat; 404. First connecting seat; 405. First connecting rod; 406. Lead screw; 407. Lead screw nut; 408. Guide rod; 409. Guide seat; 410. First bushing; 411. Lead screw motor; 5. Vertical rotation mechanism; 501. Second fixed seat; 502. Gear ring; 503. Sliding rod; 504. Sliding seat; 505. Gear; 506. Second driving source; 507. Second rotating shaft; 508. Camera outer ring; 6. Transmission mechanism; 601. Vertical connecting shaft; 602. Connecting shaft seat; 603. Horizontal connecting shaft; 604. Universal ball seat; 605. Universal ball head. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0022] Reference Figure 1-12 The present invention discloses a wind turbine inspection device, comprising an unmanned aerial vehicle 1, a rotating mechanism 2 installed at the bottom of the unmanned aerial vehicle 1, and a camera 3 installed on the rotating mechanism 2. The rotating mechanism 2 comprises a horizontal rotating mechanism 4 connected to the body of the unmanned aerial vehicle 1 and a vertical rotating mechanism 5 connected to the horizontal rotating mechanism 4. The camera 3 is installed on the vertical rotating mechanism 5.

[0023] The horizontal rotation mechanism 4 is used to drive the camera 3 to rotate, and the vertical rotation mechanism 5 is used to adjust the center position of the camera 3 when rotating, so that the camera 3 is always located in the same vertical plane when rotating.

[0024] The horizontal rotating mechanism 4 and the vertical rotating mechanism 5 are pivotally connected via a transmission mechanism 6 , so that the distance between the vertical rotating mechanism 5 and the wind turbine generator set in the flight direction of the UAV 1 is consistent with that of the UAV 1 .

[0025] The flying direction here is also the shooting direction. For the sake of ease of understanding, the flying direction in this application is consistent with the shooting direction.

[0026] When the existing gimbal drives the camera to adjust the shooting angle, the camera mainly performs a swinging motion under the drive of the gimbal, that is, whether it swings left and right or up and down, the camera rotates in a circle, which changes the distance between the camera and the wind turbine, affecting the image capture quality. The current common solution is to correct it by adjusting the camera focal length and post-image algorithms. However, the algorithm, computing power, and network transmission of the image recognition technology itself have a great influence on the recognition speed, results, and accuracy. Therefore, if the image capture quality is improved by means other than computing power and algorithms, the pressure on limited algorithm and computing power resources can be effectively reduced.

[0027] The vertical rotation mechanism 5 includes a rotatably arranged slide bar 503 , on which a slide seat 504 is arranged. There are two slide bars 503 and two slide seats 504 . The two slide bars 503 are parallel to each other, and the camera is located between the two slide seats 504 .

[0028] A camera outer ring 508 is rotatably mounted on the outer side of the camera 3 . The camera outer ring 508 is rotatably connected to the slide 504 via a second rotating shaft 507 . The shooting direction of the camera 3 is perpendicular to the axial direction of the second rotating shaft 507 .

[0029] by Figure 4 , 5 For example, the camera 3 rotates around the axis of the second rotating shaft 507 under the driving action of the horizontal rotating mechanism 4, and the axis of the second rotating shaft 507 is perpendicular to the axis of the sliding rod 503 and the sliding seat 504. The second rotating shaft 507 is rotationally connected to the camera 3, so that the angle between the axis of the camera 3 and the axis of the sliding rod 503 is a variable angle.

[0030] The vertical rotation mechanism 5 also includes a second fixed seat 501 and a gear ring 502 which are coaxially arranged with the camera 3 . The second fixed seat 501 is fixed to the bottom of the drone 1 . The gear ring 502 is rotationally connected to the second fixed seat 501 . The slide bar 503 is installed on the inner side of the gear ring 502 .

[0031] The second fixed seat 501 is a circular ring structure, and the axial direction of the second fixed seat 501 is the front-to-back direction. When the gear ring 502 and the slide bar 503 rotate in the second fixed seat 501, the spacing between the gear ring 502 and the slide bar 503 and the wind turbine in the front-to-back direction remains unchanged, so that the distance between the camera 3 and the wind turbine also remains unchanged.

[0032] The horizontal rotation mechanism 4 includes a linear reciprocating mechanism installed to rotate in the horizontal direction. The camera 3 is connected to the linear reciprocating mechanism through a transmission mechanism 6. There are many types of linear reciprocating mechanisms. Here, a ball screw mechanism is taken as an example.

[0033] The camera 3 is driven to rotate by the linear reciprocating mechanism, and the camera 3 is rotated by the vertical rotating mechanism 5 .

[0034] The linear reciprocating mechanism includes a lead screw 406, a lead screw nut 407 corresponding to the lead screw 406, a guide rod 408, a guide seat 409 corresponding to the guide rod 408, a first sleeve 410, and a lead screw motor 411 connected to the lead screw 406. The lead screw 406 and the guide rod 408 are installed on the horizontal rotating mechanism 4 for rotation in the horizontal direction. The lead screw 406 itself is a rotating structure that can rotate by itself. The rotation in the horizontal direction here refers to the rotation synchronized with the first rotating seat 403, which is used to adjust the direction of the vertical connecting shaft 601.

[0035] Specific as Fig. 9 The first sleeve 410 is located between the lead screw nut 407 and the guide seat 409 . The first sleeve 410 is rotationally connected to the lead screw nut 407 and the guide seat 409 . The transmission mechanism 6 is slidingly connected to the first sleeve 410 .

[0036] When the lead screw 406 drives the lead screw nut 407 to move, the lead screw nut 407 cooperates with the guide seat 409 to drive the first sleeve 410 to move in the horizontal direction along the axial direction of the lead screw 406, thereby driving the vertical connecting shaft 601 to swing, and the vertical connecting shaft 601 drives the camera 3 to swing to adjust the shooting angle of the camera 3.

[0037] The horizontal rotation mechanism 4 includes a first fixed seat 401, a first rotating seat 403, and a first connecting seat 404. The first fixed seat 401 is installed at the bottom of the fuselage of the UAV 1. The first rotating seat 403 is rotatably installed at the bottom of the UAV 1 through the first fixed seat 401. The screw 406 and the guide rod 408 are installed inside the first rotating seat 403 along the horizontal direction. The first connecting seat 404 is arranged at the bottom of the first rotating seat 403. The first connecting seat 404 is a funnel structure with a larger upper part and a smaller lower part. When the first rotating seat 403 rotates, the screw 406, the guide rod 408, and the first connecting seat 404 are driven to rotate synchronously.

[0038] The transmission mechanism 6 includes a vertical connecting shaft 601 , the upper portion of the vertical connecting shaft 601 is slidably connected to the first shaft sleeve 410 , and the lower portion of the vertical connecting shaft 601 is rotatably connected to the first connecting seat 404 .

[0039] Specifically, the upper portion of the vertical connecting shaft 601 passes through the first shaft sleeve 410 and is slidably connected to the first shaft sleeve 410 .

[0040] A universal ball seat 604 is provided at the bottom of the first connecting seat 404 , and a universal ball head 605 is provided inside the universal ball seat 604 . The vertical connecting shaft 601 is rotatably installed at the bottom of the first connecting seat 404 through the cooperation of the universal ball seat 604 and the universal ball head 605 .

[0041] The upper and lower ends of the universal ball seat 604 are open, and there is a spherical groove in the middle. The universal ball head 605 is movably installed in the universal ball seat 604. The universal ball head 605 is a ball. The vertical connecting shaft 601 passes through the universal ball head 605 and is fixedly connected to the universal ball head 605, so that the vertical connecting shaft 601 can swing in the front and back directions and the left and right directions with the center of the universal ball seat 604 and the universal ball head 605 as the center of the circle, thereby driving the camera 3 to swing up and down, or left and right at the corresponding angle.

[0042] The transmission mechanism 6 also includes a coupling seat 602 and a transverse coupling 603 coaxially arranged with the camera 3. The transverse coupling 603 is slidably installed in the coupling seat 602. The coupling seat 602 is fixedly connected to the vertical coupling 601, and the transverse coupling 603 is fixedly connected to the camera 3.

[0043] In this application, the axis of the camera 3 is the front-to-back direction in the initial state. Figure 4 , 5 As shown, when the vertical connecting shaft 601 drives the camera 3 to swing up and down, or left and right, the camera 3, under the limiting action of the vertical rotating mechanism 5, only performs translational motion within the vertical plane where the vertical rotating mechanism 5 is located, and the vertical rotating mechanism 5 and the UAV are at the same distance from the wind turbine. Therefore, it can be ensured that the distance between the camera 3 and the wind turbine is consistent with the distance between the UAV and the wind turbine.

[0044] The first driving source 402 and the first connecting rod 405 are installed inside the first rotating seat 403. The first driving source 402 is fixedly connected to the first fixed seat 401, the first connecting rod 405 is fixedly connected to the first rotating seat 403, and the first rotating seat 403 is connected to the working end of the first driving source 402 through the first connecting rod 405.

[0045] The first driving source 402 and the second driving source 506 both use motors. The first driving source 402 drives the first rotating seat 403 to rotate through the first connecting rod 405. The first rotating seat 403 is rotatably installed at the bottom of the first fixed seat 401. The first driving source 402 drives the first rotating seat 403 to rotate, further driving the linear reciprocating mechanism to rotate.

[0046] A gear 505 and a second driving source 506 are installed on one side of the second fixed base 501. The second driving source 506 is fixedly connected to the second fixed base 501. The gear 505 is rotatably installed on one side of the second fixed base 501. The gear 505 is meshed with the gear ring 502. The second driving source 506 drives the gear 505 and the gear ring 502 to rotate, further driving the camera 3 to rotate.

[0047] Working principle: When in use, the drone 1 drives the camera 3 to shoot and inspect the wind turbine. In the initial state, the drone 1 and the camera 3 are facing the wind turbine. When the shooting angle of the camera 3 needs to be adjusted, the first driving source 402 and the second driving source 506 are controlled to run simultaneously as needed, and the first rotating seat 403 and the gear ring 502 are driven to rotate to the corresponding angles respectively, and then the screw motor 411 is controlled to run, and the screw nut 407 and the first sleeve 410 are driven to move in the horizontal direction through the screw 406, thereby driving the vertical connecting shaft 601 to swing with the center of the universal ball seat 604 as the center of the circle. When the vertical connecting shaft 601 swings, the horizontal connecting shaft 603 and the camera 3 are driven to swing through the connecting shaft seat 602, and the camera 3 slides on the slide bar 503 that has been adjusted to the corresponding angle, thereby ensuring that the distance between the camera 3 and the wind turbine remains unchanged.

[0048] Specifically, when the camera 3 needs to be adjusted to shoot upward or downward, Figure 7 In the embodiment, the lead screw 406 is driven to rotate by the lead screw motor 411, so that the first sleeve 410 moves on the lead screw 406 in the front-rear direction, and the first sleeve 410 drives the vertical connecting shaft 601 to rotate with the center of the universal ball seat 604 as the center of the circle. When the first sleeve 410 moves backward, it drives the camera 3 to swing upward, and when the first sleeve 410 moves forward, it drives the camera 3 to swing downward.

[0049] When you need to adjust the camera 3 to shoot left or right, Fig.10 In the figure, the first driving source 402 first drives the first rotating seat 403 to rotate 90 degrees, so that the direction of the screw 406 and the guide rod 408 changes from the front-to-back direction to the left-to-right direction, and then drives 406 to rotate through the screw motor 411, further drives the camera 3 to rotate, and drives the gear ring 502 to rotate through the second driving source 506, further drives the slide bar 503 to adjust the direction corresponding to the rotation direction of the camera 3. Specifically, when the first shaft sleeve 410 moves to the left, the camera 3 moves to the right, and when the first shaft sleeve 410 moves to the right, the camera 3 moves to the left.

[0050] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

[0051] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0052] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A wind turbine inspection device, comprising a drone (1), a rotating mechanism (2) arranged at the bottom of the drone (1), and a camera (3) mounted on the rotating mechanism (2), characterized in that: The rotating mechanism (2) comprises a horizontal rotating mechanism (4) connected to the fuselage of the drone (1) and a vertical rotating mechanism (5) connected to the horizontal rotating mechanism (4), and the camera (3) is mounted on the vertical rotating mechanism (5); The horizontal rotation mechanism (4) and the vertical rotation mechanism (5) are pivotally connected via a transmission mechanism (6), so that the distance between the vertical rotation mechanism (5) and the wind turbine generator set in the flight direction of the UAV (1) is consistent with that of the UAV (1).

2. A wind turbine inspection device according to claim 1, characterized in that: The vertical rotation mechanism (5) comprises a rotatably arranged sliding rod (503), a sliding seat (504) being arranged on the sliding rod (503), and the camera (3) and the sliding seat (504) are rotatably connected via a second rotating shaft (507).

3. A wind turbine inspection device according to claim 2, characterized in that: The vertical rotation mechanism (5) further comprises a second fixing seat (501) and a gear ring (502) which are arranged coaxially with the camera (3); the second fixing seat (501) is fixedly connected to the drone (1); the gear ring (502) is rotationally connected to the second fixing seat (501); and the sliding rod (503) is mounted on the inner side of the gear ring (502).

4. A wind turbine inspection device according to claim 3, characterized in that: The horizontal rotation mechanism (4) comprises a linear reciprocating mechanism that is arranged to rotate in a horizontal direction, and the camera (3) is connected to the linear reciprocating mechanism via a transmission mechanism (6).

5. A wind turbine inspection device according to claim 4, characterized in that: The linear reciprocating mechanism comprises a lead screw (406), a lead screw nut (407) corresponding to the lead screw (406), a guide rod (408), a guide seat (409) corresponding to the guide rod (408), a first shaft sleeve (410), and a lead screw motor (411) connected to the lead screw (406); the lead screw (406) and the guide rod (408) are rotatably mounted on the horizontal rotating mechanism (4) along a horizontal direction; the first shaft sleeve (410) is located between the lead screw nut (407) and the guide seat (409); the first shaft sleeve (410) is rotatably connected to the lead screw nut (407) and the guide seat (409); and the transmission mechanism (6) is slidably connected to the first shaft sleeve (410).

6. A wind turbine inspection device according to claim 5, characterized in that: The horizontal rotation mechanism (4) comprises a first fixed seat (401), a first rotating seat (403), and a first connecting seat (404); the first rotating seat (403) is rotatably mounted on the bottom of the drone (1) via the first fixed seat (401); the lead screw (406) and the guide rod (408) are mounted inside the first rotating seat (403) in a horizontal direction; and the first connecting seat (404) is provided at the bottom of the first rotating seat (403); The transmission mechanism (6) comprises a vertical connecting shaft (601), the upper portion of the vertical connecting shaft (601) being slidably connected to the first shaft sleeve (410), and the lower portion of the vertical connecting shaft (601) being rotatably connected to the first connecting seat (404).

7. A wind turbine inspection device according to claim 6, characterized in that: A universal ball seat (604) is provided at the bottom of the first connecting seat (404), a universal ball head (605) is provided inside the universal ball seat (604), and the vertical connecting shaft (601) is rotatably mounted at the bottom of the first connecting seat (404) through the cooperation of the universal ball seat (604) and the universal ball head (605).

8. A wind turbine inspection device according to claim 7, characterized in that: The transmission mechanism (6) further comprises a coupling seat (602) and a transverse coupling shaft (603) coaxially arranged with the camera (3); the transverse coupling shaft (603) is slidably mounted in the coupling seat (602); and the coupling seat (602) is fixedly connected to the vertical coupling shaft (601).

9. A wind turbine inspection device according to claim 7, characterized in that: A first driving source (402) and a first connecting rod (405) are arranged inside the first rotating seat (403); the first driving source (402) is fixedly connected to the first fixed seat (401); the first connecting rod (405) is fixedly connected to the first rotating seat (403); and the first rotating seat (403) is connected to a working end of the first driving source (402) via the first connecting rod (405).

10. A wind turbine inspection device according to claim 7, characterized in that: A gear (505) and a second driving source (506) are provided on one side of the second fixed seat (501); the second driving source (506) is fixedly connected to the second fixed seat (501); and the gear (505) is meshed with the gear ring (502).

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