Anti-icing coating spraying method and spraying system for fan blade

Abstract

The invention discloses an anti-icing coating spraying method and system for a fan blade, and the method comprises the steps: adjusting a to-be-sprayed surface of the fan blade to be arranged upwards, carrying out the position surveying and mapping of the to-be-sprayed surface, determining a theoretical flight path of a spraying unmanned aerial vehicle according to a surveying and mapping result, and determining environment wind power parameters, the offset of anti-icing coating fog drops sprayed by the spraying unmanned aerial vehicle is determined according to the environment wind power parameters, the actual flight path of the spraying unmanned aerial vehicle is determined according to the theoretical flight path and the offset, and the spraying unmanned aerial vehicle is controlled to conduct spraying operation on the to-be-sprayed face according to the actual flight path; the method is used for replacing an original manual operation mode, the risk of coating the anti-icing coating on the fan blade is effectively reduced, the actual flight path is corrected with the environment air volume parameter as a variable, and it is guaranteed that the picture area of the spraying unmanned aerial vehicle can effectively cover the to-be-sprayed face of the fan blade.

Description

Technical Field

[0001] The invention belongs to the technical field of anti-icing of wind turbines, and in particular relates to a method and a system for spraying anti-icing coating for wind turbine blades. Background Art

[0002] As a new type of renewable energy, wind power generation has the advantages of being clean and pollution-free. However, wind farms, as places for converting wind energy into electricity, are mostly located in mountainous areas with high altitudes, high humidity and low temperatures. They are easily affected by the cold winter climate, which causes ice on the wind turbine blades, affecting the normal operation of the wind turbine unit and endangering the stable operation of the power grid. In order to solve the hazards of ice on wind turbine blades, it is necessary to apply anti-icing paint on the surface of the wind turbine blades. The existing anti-icing paint application method is to use a hanging basket and apply it manually at high altitude. Since wind turbines are mostly arranged in mountainous terrain, the geographical environment is relatively harsh, and the on-site climatic conditions are changeable, there is a great safety risk in manual application. Summary of the invention

[0003] In view of the above-mentioned defects or shortcomings, the present invention provides a method and system for spraying anti-icing coating for wind turbine blades, aiming to solve the technical problem of safety risks in manually applying anti-icing coating.

[0004] To achieve the above object, the present invention provides a method for spraying an anti-icing coating for a fan blade, wherein the method for spraying an anti-icing coating for a fan blade comprises:

[0005] Adjust the fan blades to be sprayed so that the surface is facing upwards;

[0006] Carry out position mapping of the surface to be sprayed, and determine the theoretical flight path of the spraying drone based on the mapping results;

[0007] Determine environmental wind parameters, and determine the offset of anti-icing coating droplets sprayed by the spraying drone according to the environmental wind parameters;

[0008] Determine the actual flight path of the spraying drone based on the theoretical flight path and the offset;

[0009] The spraying drone is controlled according to the actual flight path to spray the surface.

[0010] In an embodiment of the present invention, position mapping is performed on the surface to be sprayed, and the theoretical flight path of the spraying drone is determined according to the mapping result, including:

[0011] An auxiliary UAV is used to measure the length and width of the surface to be sprayed, and the theoretical flight path of the spraying UAV is determined based on the measurement results, where the theoretical flight path includes the number of return flights and the return flight distance.

[0012] In an embodiment of the present invention, after using an auxiliary drone to measure the length and width of the surface to be sprayed, and determining the theoretical flight path of the spraying drone according to the measurement results, the method further includes:

[0013] The endpoint of the theoretical flight path, which is set at the center of the tip of the fan blade, is set as the theoretical flight starting point;

[0014] The actual flight starting point of the spraying UAV is determined based on the theoretical flight starting point and the offset.

[0015] In the embodiment of the present invention, controlling the spraying drone to spray the surface to be sprayed according to the actual flight path also includes:

[0016] Starting the spraying drone and controlling the spraying drone to adjust the spraying angle to an initial value, wherein the initial value is between -90° and 0° based on the horizontal plane;

[0017] Control the spraying drone to move along the actual flight path and monitor the wind speed change status of the environmental wind parameters in real time;

[0018] When the wind speed increases, control the spraying drone to reduce the spraying angle;

[0019] When the wind speed decreases, control the spraying drone to increase the spraying angle.

[0020] In the embodiment of the present invention, the initial value is set to -30°.

[0021] In an embodiment of the present invention, before controlling the spraying drone to spray the surface to be sprayed according to the actual flight path, the process includes:

[0022] The spraying drone is controlled according to the actual flight path to clean the surface to be sprayed.

[0023] In an embodiment of the present invention, after controlling the spraying drone to clean the surface to be sprayed according to the actual flight path, the method further includes:

[0024] Control the auxiliary UAV to move synchronously with the spraying UAV, and obtain the real-time image of the spraying area under the spraying UAV through the auxiliary UAV;

[0025] Determine whether there are attachments in the spraying area based on real-time images;

[0026] If there are attachments in the spraying area, the spraying drone is controlled to stop moving and continue spraying cleaning agent toward the spraying area.

[0027] In the embodiment of the present invention, after controlling the spraying drone to spray the surface to be sprayed according to the actual flight path, the method further includes:

[0028] Flip the fan blades 180° horizontally and control the spraying drone to spray again.

[0029] In order to achieve the above objectives, the present invention also provides an anti-icing coating spraying system for wind turbine blades, comprising:

[0030] A pitch system configured to adjust the surface of the wind turbine blade to be sprayed to an upward setting;

[0031] An auxiliary drone configured to perform position mapping of the surface to be sprayed;

[0032] The UAV controller is configured to determine a theoretical flight path of the spraying UAV according to the surveying and mapping results, determine an offset of anti-icing coating droplets sprayed by the spraying UAV according to environmental wind parameters; and determine an actual flight path of the spraying UAV according to the theoretical flight path and the offset;

[0033] The spraying drone is configured to control the spraying drone to perform spraying operations on the surface to be sprayed according to the actual flight path.

[0034] In an embodiment of the present invention, the auxiliary drone is also equipped with an image acquisition device, and the auxiliary drone is further configured to move synchronously with the spraying drone.

[0035] Through the above technical solution, the anti-icing coating spraying method for wind turbine blades provided by the embodiment of the present invention has the following beneficial effects:

[0036] When using the above-mentioned anti-icing coating spraying method for wind turbine blades, the surface to be sprayed of the wind turbine blade is first adjusted to an upward setting, and then the position of the surface to be sprayed is mapped, and the theoretical flight path of the spraying drone is determined according to the mapping result. When the wind speed of the wind farm is low, the spraying drone can be controlled according to the theoretical flight path to spray the surface to be sprayed; but considering that the climate environment of the wind farm is changeable and is often accompanied by strong winds, the present invention further determines the environmental wind parameters, and determines the offset of the anti-icing coating droplets sprayed by the spraying drone according to the environmental wind parameters, and then determines the actual flight path of the spraying drone according to the theoretical flight path and the offset, and finally controls the spraying drone to spray the surface to be sprayed according to the actual flight path; this method replaces the original manual operation mode, effectively reduces the risk of applying anti-icing coating to the wind turbine blades, and uses the environmental wind volume parameters as variables to correct the actual flight path, ensuring that the spraying drone's Pengtu area can effectively cover the surface to be sprayed of the wind turbine blade.

[0037] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings are used to provide an understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation of the present invention. In the accompanying drawings:

[0039] Figure 1 is a flow chart of a method for spraying an anti-icing coating for a wind turbine blade according to an embodiment of the present invention;

[0040] Figure 2 yes Figure 1 Detailed flowchart of step S500 in FIG. DETAILED DESCRIPTION

[0041] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0042] The anti-icing coating spraying method and spraying system for wind turbine blades of the present invention will be described below with reference to the accompanying drawings.

[0043] like Figure 1 As shown, the present invention provides a method for spraying an anti-icing coating for a fan blade, wherein the method for spraying an anti-icing coating for a fan blade comprises:

[0044] Step S100, adjusting the surface of the fan blade to be sprayed to face upward.

[0045] Specifically, a wind turbine generally has multiple wind turbine blades. Before the spraying operation, one of the wind turbine blades is first determined as the target blade, and then the target blade is locked to a horizontal state using the transmission system of the wind turbine. The target blade is then driven to rotate to the surface to be sprayed upward using the variable pitch system of the power distribution generator. It should be noted that the wind turbine blade includes a windward surface (ps surface) and a leeward surface (SS surface). Both the windward surface and the leeward surface need to be sprayed with anti-icing coating. The surface to be sprayed is first set to one of them. After the spraying of this surface is completed, the other surface is determined as the surface to be sprayed.

[0046] Step S200, position mapping is performed on the surface to be sprayed, and the theoretical flight path of the spraying drone is determined according to the mapping results.

[0047] It is understandable that different types of wind turbines have different heights and blade lengths and widths. Even wind turbines of the same type need to rotate with the wind direction to ensure the efficiency of wind power generation. Therefore, before executing the subsequent steps, the wind turbine needs to be fixed and the position of the surface to be sprayed needs to be mapped. The theoretical flight path determined based on the mapping results is the flight path of the spraying drone when the wind speed of the wind farm approaches or reaches zero. At this time, the anti-icing paint sprayed by the spraying drone falls naturally.

[0048] Specifically, the position mapping is carried out by an auxiliary drone equipped with a corresponding distance detector. The spatial coordinate system is first constructed based on the position of the wind turbine. Then, the tip position, root position and distance between the tip and root of the wind turbine blade are determined by the distance detector on the auxiliary drone. Then, the position data collected by the auxiliary drone are sorted and the theoretical flight path is determined, where the theoretical flight path includes the theoretical flight starting point and theoretical flight end point of the spraying drone. The distance detector can be an infrared distance sensor, which determines the position and distance by directly marking the tip and root of the blade; or it can be an image collector, which determines the actual position and distance by the number of pixels and pixel positions occupied by the surface to be sprayed in the collected image.

[0049] Step S300, determining environmental wind parameters, and determining the offset of anti-icing coating droplets sprayed by the spraying drone according to the environmental wind parameters.

[0050] Specifically, the environmental wind parameters are obtained through auxiliary drones, which are equipped with meteorological components to obtain micro-meteorological conditions at high altitudes of wind turbines. Compared with the solution of setting up monitoring points directly on the ground, auxiliary drones can be closer to the working area of ​​the spraying drone, making the environmental wind parameters obtained more accurate. In addition, the meteorological component can also be used to obtain temperature parameters. Combining temperature parameters with environmental wind parameters can be used to determine whether the current weather is suitable for drone operation, so as to prevent the drone from malfunctioning due to bad weather.

[0051] Step S400, determining the actual flight path of the spraying UAV according to the theoretical flight path and the offset.

[0052] Specifically, the environmental wind parameters include wind speed and wind direction. It is understandable that the anti-icing paint droplets sprayed by the spraying drone, in addition to falling under the action of gravity, will also be affected by the wind from the horizontal direction, and will be offset to a certain extent in the horizontal direction. If it moves directly according to the theoretical flight path, the anti-icing paint will not be able to effectively cover the surface to be sprayed. Therefore, the present invention uses the environmental wind parameters as variables, and designs the actual flight path according to the specific values ​​of the environmental wind parameters, so as to ensure that the anti-icing paint can effectively cover the surface to be sprayed. Furthermore, the offset can be obtained through multiple repeated tests, and the environmental wind parameters are simulated through multiple actual tests or in the laboratory to obtain a comparison table of environmental wind parameters and offsets. In the actual operation process, the offset can be obtained according to the measured environmental wind parameters, and the theoretical flight path is corrected in combination with the offset to obtain the actual flight path.

[0053] Step S500, controlling the spraying drone to spray the surface to be sprayed according to the actual flight path.

[0054] Specifically, the spraying drone includes a drone body, a paint transfer platform and its support frame, a spraying device, and an agitator; the lower end of the drone body is connected to the transfer platform support frame, and the transfer platform support frame is used to fix a special container for paint; a spraying device is arranged at the bottom front end of the drone body, which is connected to the special container for paint through a conduit, and the agitator is used to stir the anti-icing paint in the special container for paint to prevent the anti-icing paint from freezing and avoid damage to the conduit and the spraying device.

[0055] When using the above-mentioned anti-icing coating spraying method for wind turbine blades, the surface to be sprayed of the wind turbine blade is first adjusted to an upward setting, and then the position of the surface to be sprayed is mapped, and the theoretical flight path of the spraying drone is determined according to the mapping result. When the wind speed of the wind farm is low, the spraying drone can be controlled according to the theoretical flight path to spray the surface to be sprayed; but considering that the climate environment of the wind farm is changeable and is often accompanied by strong winds, the present invention further determines the environmental wind parameters, and determines the offset of the anti-icing coating droplets sprayed by the spraying drone according to the environmental wind parameters, and then determines the actual flight path of the spraying drone according to the theoretical flight path and the offset, and finally controls the spraying drone to spray the surface to be sprayed according to the actual flight path; this method replaces the original manual operation mode, effectively reduces the risk of applying anti-icing coating to the wind turbine blades, and uses the environmental wind volume parameters as variables to correct the actual flight path, ensuring that the spraying drone's Pengtu area can effectively cover the surface to be sprayed of the wind turbine blade.

[0056] In the embodiment of the present invention, step S200, performing position mapping on the surface to be sprayed, and determining the theoretical flight path of the spraying drone according to the mapping result includes:

[0057] An auxiliary UAV is used to measure the length and width of the surface to be sprayed, and the theoretical flight path of the spraying UAV is determined based on the measurement results, where the theoretical flight path includes the number of return flights and the return flight distance.

[0058] Length measurement is used to determine the distance of the return flight, and width measurement is used to determine the number of return flights. The width of the wind turbine blades currently used is between 1.5 meters and 2.5 meters, while the width of the blades of large wind turbines may exceed 5 meters. Obviously, the area sprayed by the spraying drone in a single flight along a straight line cannot cover the surface to be sprayed of the wind turbine blade. Therefore, the length and width are measured by auxiliary drones. According to the width of the wind turbine blades and the spraying coverage width of the spraying drone, the surface to be sprayed can be divided into multiple sub-areas along the width direction, and each sub-area corresponds to a return flight. In addition, the width of the wind turbine blades is constantly changing from the root to the tip of the blade. Therefore, the length of each sub-area needs to be separately measured to ensure that the spraying area of ​​the spraying drone can cover and approach the surface to be sprayed, so as to reduce the waste of anti-icing coating.

[0059] In an embodiment of the present invention, the auxiliary drone is used to measure the length and width of the surface to be sprayed, and the theoretical flight path of the spraying drone is determined according to the measurement results, which includes:

[0060] An endpoint in the theoretical flight path that is centered at the tip of the fan blade is set as a theoretical flight starting point;

[0061] The actual flight starting point of the spraying UAV is determined based on the theoretical flight starting point and the offset.

[0062] After starting the spraying drone, control the spraying drone to gradually approach the tip of the wind turbine blade from the far end. Since there are no obstacles on the outside of the blade tip, the spraying drone can be controlled to move quickly to the designated position, and then reduce the moving speed and move along the actual flight path to avoid collisions between the spraying drone and the wind turbine due to operational errors, which improves the operation efficiency and ensures the safety of the operation.

[0063] like Figure 2 As shown, in the embodiment of the present invention, step S500 controls the spraying drone to spray the surface to be sprayed according to the actual flight path, and further includes:

[0064] Step S510, starting the spraying drone and controlling the spraying drone to adjust the spraying angle to an initial value, wherein the initial value is between -90° and 0° based on the horizontal plane;

[0065] Step S520, controlling the spraying UAV to move along the actual flight path, and monitoring the wind speed change state of the environmental wind parameters in real time;

[0066] Step S531, when the wind speed increases, control the spraying drone to reduce the spraying angle;

[0067] Step S532, when the wind speed decreases, control the spraying drone to increase the spraying angle.

[0068] It is understandable that in an actual working environment, the wind speed changes in real time. When the wind speed increases, the offset also increases, and vice versa. By changing the spraying angle of the spraying drone, the initial direction of the anti-icing paint droplets can be changed, thereby adjusting the offset, without adjusting the actual flight path of the spraying drone. Specifically, the relationship between the change in the environmental wind parameters and the spraying angle of the spraying drone can be obtained through multiple tests to obtain a corresponding comparison relationship table. Preferably, the initial value is set to -30°.

[0069] In the embodiment of the present invention, step S500, before controlling the spraying drone to spray the surface to be sprayed according to the actual flight path, includes:

[0070] The spraying drone is controlled according to the actual flight path to clean the surface to be sprayed.

[0071] By cleaning the fan blades before spraying the anti-icing coating, the attachments and dust on the surface of the fan blades can be removed, thereby improving the reliability of the anti-icing coating adhering to the surface of the fan blades.

[0072] In an embodiment of the present invention, after controlling the spraying drone to clean the surface to be sprayed according to the actual flight path, the method further includes:

[0073] Control the auxiliary UAV to move synchronously with the spraying UAV, and obtain the real-time image of the spraying area under the spraying UAV through the auxiliary UAV;

[0074] Determine whether there are attachments in the spraying area based on real-time images;

[0075] If there are attachments in the spraying area, the spraying drone is controlled to stop moving and continue spraying cleaning agent toward the spraying area.

[0076] Specifically, the attachment can be determined by the auxiliary UAV transmitting the image to the corresponding display device, and the operator making the judgment and then issuing the corresponding control instructions; it can also be achieved by combining image recognition algorithms and computing equipment to achieve automatic recognition and control.

[0077] In an embodiment of the present invention, after controlling the spraying drone to spray the surface to be sprayed according to the actual flight path, the method further includes: horizontally flipping the fan blades 180° and controlling the spraying drone to spray again.

[0078] Specifically, the fan blade includes a windward surface and a leeward surface, both of which need to be sprayed with anti-icing coating. The surface to be sprayed is first set as one of them. After the spraying of this surface is completed, the other surface is determined as the surface to be sprayed and is horizontally flipped 180° to face upward.

[0079] In the embodiment of the present invention, the nozzle of the spraying drone is located below the propeller, and the falling trajectory of the anti-icing coating droplets sprayed from the nozzle is also affected by the wind generated by the propeller. Therefore, step S300, determining the environmental wind parameters, and determining the offset of the anti-icing coating droplets sprayed by the spraying drone according to the environmental wind parameters includes:

[0080] Determine air density based on altitude;

[0081] Obtain the input power of the spraying drone, and determine the output air volume of the spraying drone based on the input power and air density;

[0082] Determine the falling time of anti-icing paint droplets based on the output air volume and the relative height between the spraying drone and the fan blades;

[0083] The offset is determined based on the drop time and ambient wind parameters.

[0084] Specifically, the higher the altitude, the lower the air density. Correspondingly, when the input power remains unchanged, the input wind volume of the drone at the altitude is also smaller. By obtaining the relationship between multiple sets of air density, input power and output wind volume, a relationship table of the three can be established. Then, by combining the relationship table of output wind volume, environmental wind parameters and offset, the corresponding relationship between environmental wind parameters and offset at different altitudes can be quickly obtained, so as to avoid repeated preliminary tests due to different wind farm locations and save manpower costs.

[0085] In order to achieve the above objectives, the present invention also provides an anti-icing coating spraying system for wind turbine blades, comprising:

[0086] A pitch system configured to adjust the surface of the wind turbine blade to be sprayed to an upward setting;

[0087] An auxiliary drone configured to perform position mapping of the surface to be sprayed;

[0088] The UAV controller is configured to determine a theoretical flight path of the spraying UAV according to the surveying and mapping results, determine an offset of anti-icing coating droplets sprayed by the spraying UAV according to environmental wind parameters; and determine an actual flight path of the spraying UAV according to the theoretical flight path and the offset;

[0089] The spraying drone is configured to control the spraying drone to perform spraying operations on the surface to be sprayed according to the actual flight path.

[0090] In an embodiment of the present invention, the auxiliary drone is also equipped with an image acquisition device, and the auxiliary drone is further configured to move synchronously with the spraying drone to obtain image data below the spraying drone in real time.

[0091] Specifically, the operation process of the anti-icing coating spraying system for wind turbine blades in a specific embodiment is as follows:

[0092] (1) Inject the cleaning agent into the water tank through the container, and connect the water tank and the spraying device to the paint transfer platform of the spraying drone;

[0093] (2) Lock the target blade to a horizontal state and adjust the target blade angle through the pitch control system until the ps side faces upward;

[0094] (3) Start the auxiliary drone to measure the distance of the target blade, divide the area to be sprayed, and monitor the actual meteorological conditions at high altitude in real time to ensure that the environmental conditions meet the safety and stability requirements of the spraying drone; start the auxiliary drone and make it fly over the wind turbine, and determine the brushing area of ​​the blade anti-icing coating through the distance measurement component, that is, the ps surface and ss surface extending 20 meters from the tip to the root of the blade. The meteorological component obtains the micro-meteorological data of the wind turbine at high altitude to ensure that the temperature and wind speed during the brushing period meet the spraying requirements.

[0095] (4) Start the spraying drone, use the gimbal component and ranging component of the auxiliary drone to clean the area to be sprayed, and use the high-pressure water pump carried by the spraying drone to clean the surface attachments and dust of the target blades; after determining the spraying area and weather conditions, the spraying drone carries the cleaning fluid to an altitude of 3 meters from the target area, and the cleaning process is monitored in real time through the auxiliary drone gimbal component. Start the drone spraying device, so that the cleaning fluid passes through the atomization process of the special nozzle and is sprayed to the target area.

[0096] (5) adjusting the target blade angle to the ss side facing upward by the pitch control system, as in step (4);

[0097] (6) Remove the water tank of the spray drone and replace it with a special container for anti-icing paint. At the same time, inject the anti-icing paint with the correct ratio and connect it to the spray drone's nozzle. After cleaning, the spray drone returns to the ground to unload the cleaning fluid, carry the loading platform with anti-icing paint, and then return to the spraying area. At this time, the wind turbine operator changes the target spray blade angle by controlling the wind turbine variable pitch system to make the PS surface horizontal. The spraying angle of the spray drone is set to a 30° pitch angle to make the spraying efficiency more efficient.

[0098] (7) Start the spraying drone and spray the cleaned area according to the gimbal assembly of the auxiliary drone. Adjust the spraying angle and distance through the monitoring of the auxiliary drone to ensure that the anti-icing coating is evenly attached to the blade surface;

[0099] (8) The fan blades are adjusted to face the PS side upward through the variable pitch system, and the spraying drone is controlled to perform the above step (7); after the anti-icing coating on the PS side is sprayed, the fan operator changes the target spraying blade angle by controlling the fan variable pitch system to make the SS side horizontal.

[0100] In summary, the anti-icing coating spraying system for wind turbine blades provided by the present invention has the following beneficial effects:

[0101] (1) The auxiliary drone can identify meteorological data and divide the spraying area according to the blade type, which greatly improves the efficiency and safety of paint spraying.

[0102] (2) Different spraying devices are selected for different blade types, and a variety of spraying methods such as targeted spraying or extensive spraying can be used during spraying, thereby improving the spraying efficiency and the practicality of the spraying device.

[0103] (3) Use auxiliary drones to provide auxiliary reference during spraying to improve the accuracy and stability of drone spraying.

[0104] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0105] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0106] 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.

[0107] 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 method for spraying anti-icing coating for fan blades, characterized in that: The anti-icing coating spraying method for fan blades comprises: Adjust the fan blades to be sprayed so that the surface is facing upwards; Performing position mapping on the surface to be sprayed, and determining the theoretical flight path of the spraying drone based on the mapping results; Determining environmental wind parameters, and determining the offset of anti-icing coating droplets sprayed by the spraying drone according to the environmental wind parameters; Determine the actual flight path of the spraying drone according to the theoretical flight path and the offset; The spraying drone is controlled according to the actual flight path to perform spraying operation on the surface to be sprayed.

2. The anti-icing coating spraying method for wind turbine blades according to claim 1, characterized in that: The position mapping of the surface to be sprayed and determining the theoretical flight path of the spraying drone according to the mapping results include: An auxiliary UAV is used to measure the length and width of the surface to be sprayed, and a theoretical flight path of the spraying UAV is determined according to the measurement results, wherein the theoretical flight path includes the number of return flights and the return flight distance.

3. The anti-icing coating spraying method for wind turbine blades according to claim 2 is characterized in that: The method of using the auxiliary drone to measure the length and width of the surface to be sprayed, and determining the theoretical flight path of the spraying drone according to the measurement results includes: Setting an endpoint disposed in the center of the tip of the fan blade in the theoretical flight path as a theoretical flight starting point; The actual flight starting point of the spraying UAV is determined according to the theoretical flight starting point and the offset.

4. The anti-icing coating spraying method for wind turbine blades according to claim 1, characterized in that: The controlling the spraying drone to spray the surface to be sprayed according to the actual flight path comprises: Starting the spraying drone and controlling the spraying drone to adjust the spraying angle to an initial value, wherein the initial value is between -90° and 0° based on the horizontal plane; Controlling the spraying UAV to move along the actual flight path, and monitoring the wind speed change state of the environmental wind parameters in real time; When the wind speed increases, control the spraying drone to reduce the spraying angle; When the wind speed decreases, control the spraying drone to increase the spraying angle.

5. The anti-icing coating spraying method for wind turbine blades according to claim 4, characterized in that: The initial value is set to -30°.

6. The anti-icing coating spraying method for wind turbine blades according to claim 1, characterized in that: Before controlling the spraying drone to spray the surface to be sprayed according to the actual flight path, the process includes: The spraying drone is controlled according to the actual flight path to perform a cleaning operation on the surface to be sprayed.

7. The anti-icing coating spraying method for wind turbine blades according to claim 6, characterized in that: After the spraying drone is controlled according to the actual flight path to clean the surface to be sprayed, the following step further comprises: Control the auxiliary UAV to move synchronously with the spraying UAV, and obtain the real-time image of the spraying area under the spraying UAV through the auxiliary UAV; Determine whether there is attachment in the spraying area according to the real-time image; In the case where there are attachments in the spraying area, the spraying drone is controlled to stop moving and continue spraying the cleaning agent toward the spraying area.

8. The anti-icing coating spraying method for wind turbine blades according to any one of claims 1 to 7, characterized in that: After controlling the spraying drone to spray the surface to be sprayed according to the actual flight path, the process further includes: Flip the fan blades 180° horizontally and control the spraying drone to spray again.

9. An anti-icing coating spraying system for fan blades, characterized in that: The anti-icing coating spraying system for wind turbine blades comprises: A pitch system configured to adjust the surface of the wind turbine blade to be sprayed to an upward setting; An auxiliary drone configured to perform position mapping of the surface to be sprayed; The drone controller is configured to determine a theoretical flight path of the spraying drone according to the surveying and mapping results, determine an offset of anti-icing paint droplets sprayed by the spraying drone according to the environmental wind parameters; and determine an actual flight path of the spraying drone according to the theoretical flight path and the offset; The spraying drone is configured to control the spraying drone to perform spraying operations on the surface to be sprayed according to the actual flight path.

10. The anti-icing coating spraying system for wind turbine blades according to claim 9, characterized in that: The auxiliary drone is also equipped with an image acquisition device, and the auxiliary drone is further configured to move synchronously with the spraying drone.

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