A blade nut detection device and detection method for wind power generation maintenance

Abstract

The present invention relates to the field of blade nut detection technology, and specifically, to a blade nut detection device and detection method for wind power generation maintenance. It includes configuring positioning points in the nut area to locate the target detection nut; controlling the flight path of the unmanned aerial vehicle, and capturing the positioning points through video detection equipment and laser detection equipment. The present invention configures positioning points in the nut area in advance to form a reference for positioning the nut area, and captures the positioning points through the image feedback of the laser detection equipment and the video detection equipment, thereby locating the target nut to be measured, and obtaining the blade center point offset angle as the unmanned aerial vehicle tilt detection angle in cooperation with the ground angle measuring instrument, thereby locating the blade and the position state of the nut to be measured, and comparing the currently detected data with the flight path planned in advance, automatically matching and obtaining the corresponding unmanned aerial vehicle flight trajectory, without the need for multiple position adjustments, thereby improving the detection efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of blade nut detection, and in particular to a blade nut detection device and a detection method for wind power generation maintenance. Background Art

[0002] Wind turbines are electrical equipment that converts wind energy into mechanical work, which drives the rotor to rotate and finally outputs alternating current. Wind turbines are generally composed of wind rotors, blades, hub covers, generators, direction regulators, towers, speed limit safety mechanisms, and energy storage devices.

[0003] Since the blades have a certain gravity, and in order to ensure the utilization rate of wind energy, they are long and thin, so in order to ensure the stability of the connection between the blades and the hub cover, multiple nuts are placed at the connection between the two to fix them, and these connection points are subject to huge mechanical stress and vibration. If the nuts are loose or damaged, the connection points may become loose, which in turn affects the stability and safety of the entire wind turbine. At the same time, during the operation of the wind turbine, the nuts and bolts will be subjected to continuous vibration and stress, which may cause fatigue and wear. Therefore, in order to ensure the normal operation of the entire wind turbine, it is necessary to conduct regular inspections. The existing inspection methods mainly include manual inspection and drone inspection, but the following problems still exist:

[0004] First, manual inspection requires that workers be transported to a high connection position and positioned for inspection using handheld inspection equipment. However, since the blade end is large in size and has a cylindrical surface structure, and the nuts to be tested are evenly distributed around the cylinder, the inspector's range of movement is limited, affecting inspection efficiency.

[0005] Second, when testing by drone, since the position of the blade pauses is different each time, the corresponding detection area of ​​the nut to be tested will also be different. Testing by drone alone has low detection accuracy and is too difficult for ground debugging personnel to control.

[0006] In order to address the above problems, there is an urgent need for a blade nut detection device and a detection method for wind power generation maintenance. Summary of the invention

[0007] The object of the present invention is to provide a blade nut detection device and a detection method for wind power generation maintenance to solve the problems raised in the above-mentioned background technology.

[0008] To achieve the above object, one of the objects of the present invention is to provide a method for detecting blade nuts for wind power generation maintenance, comprising the following steps:

[0009] S1. Configuration of positioning points and precise positioning of target nuts:

[0010] A longitudinal positioning point and a transverse positioning point are arranged around the target detection nut, wherein the longitudinal positioning point is located above the side of the target nut, and the transverse positioning point is located below the side of the target nut; the centers of the two circles are coplanar with the center of the target nut to achieve high-precision initial positioning;

[0011] S2. Capture of positioning points by detection equipment:

[0012] Use video detection equipment and laser detection equipment to capture positioning points at the set detection frequency and shooting time interval. By adjusting the angle of the detection equipment and the hovering position of the drone, ensure that the laser accurately captures the center area of ​​the positioning point. If the capture fails, the device will reset to the initial angle and repeat the positioning process until it succeeds;

[0013] S3. Accurate determination of drone hovering position and detection target:

[0014] The image information fed back by the camera detection equipment can accurately locate the hovering position of the drone, the position of the target nut and the area where it is located;

[0015] S4. Obtaining the tilt angle of the drone:

[0016] The blade center point offset angle is measured by a ground angle measuring instrument, and the blade tilt angle is calculated based on the blade center offset. At the same time, the drone's hovering position is adjusted to be consistent with the blade offset angle to adapt to the blade's tilt state;

[0017] S5. Secondary positioning point capture in tilted state:

[0018] When the drone is tilted, the longitudinal and lateral positioning points are captured again by the camera detection equipment and the laser detection equipment to accurately adjust the position of the detection equipment so that it can effectively align with the target nut;

[0019] S6. Adjustment of the drone's horizontal position:

[0020] According to the horizontal distance between the center area of ​​the horizontal positioning point and the center area of ​​the target nut, as well as the distance between the laser detection equipment and the thread crack detection equipment, the horizontal position of the drone is calculated and adjusted to ensure that the detection equipment is facing the target nut;

[0021] S7. Vertical adjustment of the drone’s height:

[0022] Combined with the feedback information from the laser detection equipment, the height of the drone is adjusted to the experimental height of the detection equipment to ensure that the thread crack detection equipment performs detection at the best position;

[0023] S8. Planning and implementation of flight trajectory detection:

[0024] Based on the blade center point offset angle, target nut interval position, detection height of the detection equipment and the tilt angle of the UAV, a preset model of the UAV flight trajectory is constructed. By simulating different blade offset states, the detection path of the UAV is optimized, and the detection of all target nuts is completed according to the actual flight trajectory rules.

[0025] As a further improvement of the present technical solution, the positioning points configured in S1 include a longitudinal positioning point and a transverse positioning point, and the longitudinal positioning point is set at a position above the side of the target nut, and the transverse positioning point is set at a position below the side of the target nut, and the centers of both the longitudinal positioning point and the transverse positioning point are in the same plane as the center of the target nut.

[0026] As a further improvement of the technical solution, the method of capturing the positioning point by the camera detection device and the laser detection device in S2 comprises the following steps:

[0027] S2.1. Set the detection frequency Dt of the laser detection equipment frequency And the shooting interval time Si of the camera detection device time ;

[0028] S2.2, obtain the detection information fed back by the laser detection device that first captures the lateral positioning point, and combine it with the detection frequency Dt frequency And the shooting interval Si time Obtain the detection image fed back by the camera detection device at the corresponding time point;

[0029] S2.3. Maintain the current hovering state of the drone, adjust the detection angles of the camera detection equipment and the laser detection equipment, and set the steering angle threshold Sta threshold ;

[0030] When the steering angle threshold Sta threshold If the camera detection device and the laser detection device fail to capture the longitudinal positioning point within the time, the camera detection device and the laser detection device are reset to the initial angle In angle , and adjust the hovering position of the drone, repeating steps S2.2 and S2.3 until the longitudinal positioning point is captured;

[0031] When the steering angle threshold Sta threshold Within the time, the camera detection device and the laser detection device capture the longitudinal positioning point, and combine the detection image fed back by the camera detection device at the corresponding time point in S2.2 to obtain the distance between the laser point and the center area of ​​the horizontal positioning point, and reset the camera detection device and the laser detection device to the initial angle In angle , adjust the drone's hovering position according to the spacing distance until the laser emitted by the laser detection equipment captures the center area of ​​the horizontal positioning point.

[0032] As a further improvement of the technical solution, the method for obtaining the tilt angle of the drone in S4 includes the following steps:

[0033] S4.1. Locate the blade offset center point and obtain the blade center point offset angle using a ground angle measuring instrument;

[0034] S4.2, obtaining the tilt of the blade to be measured by combining the offset angle of the blade center point;

[0035] S4.3. The hovering UAV deviates toward the direction of the blade to be tested with the center area of ​​the horizontal positioning point as the center, and its deviation angle is consistent with the deviation angle of the center point of the blade.

[0036] As a further improvement of the technical solution, the method of adjusting the position of the drone horizontally according to the tilt state in S6 includes the following steps:

[0037] S6.1. Obtain the distance d0 between the center area of ​​the horizontal positioning point and the center area of ​​the nut to be tested;

[0038] S6.2. Get the initial angle In angle In this state, the distance d1 between the laser detection equipment and the thread crack detection equipment;

[0039] S6.3. Calculate the adjustment distance d=d0-d1 at the current horizontal position of the hovering drone.

[0040] As a further improvement of the technical solution, the method for obtaining the UAV detection flight trajectory in S8 includes the following steps:

[0041] S8.1. Establish a preset flight trajectory model, taking the blade center offset angle, nut spacing position, thread crack detection equipment detection height, and drone tilt angle as target items;

[0042] S8.2. The blade center offset angle is used as the variable target item, and the nut spacing position, the thread crack detection equipment detection height, and the UAV tilt angle are used as the constant target items;

[0043] S8.3, obtaining the blade center offset angle under different numerical states, and simulating the corresponding UAV flight trajectory, and completing the detection of each nut to be tested under the UAV flight trajectory state;

[0044] S8.4. Bind different values ​​of blade center offset angle and drone flight trajectory, and use the thread crack detection equipment detection height and drone tilt angle as target debugging.

[0045] The second object of the present invention is to provide a device for realizing a blade nut detection method for wind power generation maintenance, wherein the drone in S2 includes a drone body, the laser detection equipment includes a laser detector, the laser detector is arranged at the bottom end of the drone body, and a steering device is connected between the laser detector and the drone body, the video detection equipment includes a camera, the camera is arranged at the side of the laser detector, the laser detector and the camera are driven to deflect unidirectionally by the steering device, and the detection angles of the laser detector and the camera are adjusted to capture positioning points at different positions, and the thread crack detection equipment includes an acoustic emission monitor, the acoustic emission monitor is arranged at the side frame position of the drone body, and is used to perform crack detection on the nut to be tested.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] In the blade nut detection device and detection method for wind power generation maintenance, positioning points are configured in advance for the nut area to form a reference for positioning the nut area, and the positioning points are captured by laser detection of a laser detection device in conjunction with image feedback from a camera detection device, thereby locating the target nut to be measured, and the blade center point offset angle is obtained in conjunction with a ground angle measuring instrument, which is used as the tilt detection angle of a drone, thereby locating the position status of the blade and the nut to be measured, and the currently detected data is compared with the flight path planned in advance, and the corresponding drone flight trajectory is automatically matched to obtain, without the need for multiple position adjustments, thereby improving the detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0049] Figure 2 This is a schematic diagram of the first capture point of the drone of the present invention;

[0050] Figure 3 The second schematic diagram of the drone capturing positioning points of the present invention;

[0051] Figure 4 The third schematic diagram of the drone capturing positioning points of the present invention;

[0052] Figure 5 This is a schematic diagram of tilt adjustment of a drone according to the present invention;

[0053] Figure 6 This is the second schematic diagram of tilt adjustment of the drone of the present invention;

[0054] Figure 7 The UAV flight trajectory guidance map of the present invention;

[0055] Figure 8It is a flowchart of the overall method of the present invention;

[0056] Fig. 9 A step diagram of a method for capturing positioning points by using a camera detection device and a laser detection device according to the present invention;

[0057] Fig.10 A step diagram of a method for obtaining the tilt angle of a drone according to the present invention;

[0058] Fig.11 A step diagram of a method for adjusting the position of a drone horizontally according to a tilt state of the present invention;

[0059] Fig.12 This is a step diagram of the method for obtaining the flight trajectory of a drone according to the present invention.

[0060] The meaning of each number in the figure is:

[0061] 20. UAV body; 210. Laser detector; 220. Camera; 230. Acoustic emission monitor. DETAILED DESCRIPTION

[0062] The following will be combined with the accompanying drawings in the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0063] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0064] See also Figure 8 As shown, one of the purposes of the present invention is to provide a method for detecting blade nuts for wind power generation maintenance, comprising the following steps:

[0065] S1. Configuration of positioning points and precise positioning of target nuts:

[0066] A longitudinal positioning point and a transverse positioning point are arranged around the target detection nut, wherein the longitudinal positioning point is located above the side of the target nut, and the transverse positioning point is located below the side of the target nut; the centers of the two circles are coplanar with the center of the target nut to achieve high-precision initial positioning;

[0067] S2. Capture of positioning points by detection equipment:

[0068] Use video detection equipment and laser detection equipment to capture positioning points at the set detection frequency and shooting time interval. By adjusting the angle of the detection equipment and the hovering position of the drone, ensure that the laser accurately captures the center area of ​​the positioning point. If the capture fails, the device will reset to the initial angle and repeat the positioning process until it succeeds;

[0069] S3. Accurate determination of drone hovering position and detection target:

[0070] The image information fed back by the camera detection equipment can accurately locate the hovering position of the drone, the position of the target nut and the area where it is located;

[0071] S4. Obtaining the tilt angle of the drone:

[0072] The blade center point offset angle is measured by a ground angle measuring instrument, and the blade tilt angle is calculated based on the blade center offset. At the same time, the drone's hovering position is adjusted to be consistent with the blade offset angle to adapt to the blade's tilt state;

[0073] S5. Secondary positioning point capture in tilted state:

[0074] When the drone is tilted, the longitudinal and lateral positioning points are captured again by the camera detection equipment and the laser detection equipment to accurately adjust the position of the detection equipment so that it can effectively align with the target nut;

[0075] S6. Adjustment of the drone's horizontal position:

[0076] According to the horizontal distance between the center area of ​​the horizontal positioning point and the center area of ​​the target nut, as well as the distance between the laser detection equipment and the thread crack detection equipment, the horizontal position of the drone is calculated and adjusted to ensure that the detection equipment is facing the target nut;

[0077] S7. Vertical adjustment of the drone’s height:

[0078] Combined with the feedback information from the laser detection equipment, the height of the drone is adjusted to the experimental height of the detection equipment to ensure that the thread crack detection equipment performs detection at the best position;

[0079] S8. Planning and implementation of flight trajectory detection:

[0080] Based on the blade center point offset angle, target nut interval position, detection height of the detection equipment and the tilt angle of the UAV, a preset model of the UAV flight trajectory is constructed. By simulating different blade offset states, the detection path of the UAV is optimized, and the detection of all target nuts is completed according to the actual flight trajectory rules.

[0081] In specific use, during the detection of the blade nut, firstly, a positioning point is configured in the nut area to locate the target detection nut, that is, a positioning point is configured in the connection area between the blade and the hub cover for the later position capture by the UAV. At this time, the UAV is manually controlled to fly to the nut area, and the positioning point is captured by the camera detection equipment and the laser detection equipment as a basis for adjusting the direction and height of the UAV in the later stage. When the UAV completes the capture of the positioning point, the image feedback from the camera detection equipment is used to locate the UAV's flying hovering position, the target detection nut and the nut area position, that is, the laser detection equipment emits a laser and receives the feedback of the light source to measure the current position of the UAV from the positioning point;

[0082] Since the blades stop at different angles, in order to determine the offset angle between them and the center point of the hub cover, Figure 1 As shown in the figure, the corresponding α and β are the offset angles of different blades, which is convenient for adjusting the tilt state of the drone later. At this time, the offset angle of the blade center point is obtained by using a ground angle measuring instrument to obtain the tilt angle of the drone, so that the laser detection equipment can capture the positioning point vertically. At this time, the drone body remains parallel to the blade, and the positioning point is captured again by the tilted camera detection equipment and the laser detection equipment. At this time, the direction of the tilted blade is the vertical direction, and the corresponding direction perpendicular to the tilted blade is the horizontal direction. The position of the drone is adjusted horizontally according to the tilt state, so that the thread crack detection equipment on the drone is directly above the target detection nut. Then, the height of the drone is adjusted vertically according to the tilt state, and the laser detection equipment is used to make it reach the experimental height. Finally, the flight trajectory of the drone detection is obtained by combining the spacing positions of each nut in the nut area, the height of the drone and the tilt angle of the drone, and the interval detection is performed according to the flight rules.

[0083] In addition, the positioning points configured in S1 include a longitudinal positioning point and a transverse positioning point, and the longitudinal positioning point is set at an upper position on the side of the target nut, and the transverse positioning point is set at a lower position on the side of the target nut, and the centers of both the longitudinal positioning point and the transverse positioning point are in the same plane as the center of the target nut.

[0084] When used specifically, during the detection process, a single detection point cannot locate the target nut. This is because the laser emitted by the laser detection device captures the reflected light source after reflection to obtain the detection time, and finally calculates the position of the target point. However, during the reflection process, even if the laser emitted by the laser detection device is not vertically directed to the detection point, as long as the light source reflected by the target point can be received, it is considered to be located at the target point position, which will result in the inability to capture the target nut later. Figure 2 As shown, the present invention adopts longitudinal positioning points and transverse positioning points to locate the target nut. Both positioning points can be made of metal discs, such as aluminum, steel, etc., which have high reflectivity and smooth surfaces and are ideal targets for laser ranging. During the detection process, the flight of the drone is controlled to ensure that the laser detection equipment is vertical to the fuselage. At this time, when the laser detection equipment emits a laser to the transverse positioning point, it is worth noting that the laser detection equipment and the camera detection equipment in the present invention can only rotate on a single axis, that is, they can only rotate left and right, but cannot rotate forward and backward. Therefore, after the single-axis rotating laser detection equipment points from the transverse positioning point to the longitudinal positioning point, it indicates that the drone is now suspended parallel to the target nut. The laser detection device is directly above the mother, but at this time the laser detection device is not pointing vertically to the lateral positioning point. At this time, it is necessary to use the center point of the fuselage as the center of the circle, offset the entire fuselage, and intermittently perform laser ranging and image detection until the laser detection device, which follows the tilt of the fuselage, vertically emits the laser to the lateral positioning point. It is worth noting that when the laser is emitted to the lateral positioning point in the vertical state, the amount of reflected light source is at the highest state at this time. Therefore, it is only necessary to obtain the amount of light source in the vertical state in advance, and through the subsequent numerical comparison, the current tilt state of the UAV can be judged by the light source amount combined with the feedback image of the camera detection equipment, indicating that the UAV in the current state is parallel to the tilted blade to be tested.

[0085] Further, by Fig. 9 As shown, the method of capturing the positioning point by using the camera detection device and the laser detection device in S2 includes the following steps:

[0086] S2.1. Set the detection frequency Dt of the laser detection equipment frequency And the shooting interval time Si of the camera detection device time ;

[0087] S2.2, obtain the detection information fed back by the laser detection device that first captures the lateral positioning point, and combine it with the detection frequency Dt frequency And the shooting interval Si time Obtain the detection image fed back by the camera detection device at the corresponding time point;

[0088] S2.3. Maintain the current hovering state of the drone, adjust the detection angles of the camera detection equipment and the laser detection equipment, and set the steering angle threshold Sta threshold ;

[0089] When the steering angle threshold Sta threshold If the camera detection device and the laser detection device fail to capture the longitudinal positioning point within the time, the camera detection device and the laser detection device are reset to the initial angle In angle , and adjust the hovering position of the drone, repeating steps S2.2 and S2.3 until the longitudinal positioning point is captured;

[0090] When the steering angle threshold Sta threshold Within the time, the camera detection device and the laser detection device capture the longitudinal positioning point, and combine the detection image fed back by the camera detection device at the corresponding time point in S2.2 to obtain the distance between the laser point and the center area of ​​the horizontal positioning point, and reset the camera detection device and the laser detection device to the initial angle In angle , adjust the drone's hovering position according to the spacing distance until the laser emitted by the laser detection equipment captures the center area of ​​the horizontal positioning point.

[0091] In specific use, since the lateral positioning point is a disc structure, the laser detection equipment may fail to capture the center area of ​​the circle due to the deviation of the drone's hovering position during the laser capture process. The centers of the lateral positioning point, longitudinal positioning point and the nut to be tested are in the same plane. That is, when adjusting its detection angle at this time, although the longitudinal positioning point can also be captured, the adjusted thread crack detection equipment will not be able to align with the center position of the nut to be tested, affecting the accuracy of subsequent detection. Therefore, in the process of capturing the positioning point, the detection frequency Dt of the laser detection equipment is first set frequency And the shooting interval time Si of the camera detection device time It is worth noting that it takes a certain amount of time for the laser detection device to emit the laser to the positioning point. At this time, in order to obtain the position of the laser point, it is necessary to ensure that the camera detection device captures the image of the laser point projected onto the positioning point;

[0092] During the detection, the detection information fed back by the laser detection device that first captures the lateral positioning point is obtained, and combined with the detection frequency Dt frequency And the shooting interval Si time Get the detection image fed back by the camera detection device at the corresponding time point, Figure 3 As shown, the image of the corresponding monitoring area is obtained by the camera detection equipment to capture the position of the laser point. At this time, the possible situations include the laser point being projected into the area far away from the center of the circle of the lateral positioning point, the laser point being projected into the area of ​​the center of the circle of the lateral positioning point, and the laser point not being projected onto the lateral positioning point;

[0093] When the laser point is not projected onto the horizontal positioning point, there is no need to adjust the detection angle to capture the longitudinal positioning point. Directly adjust the drone's hovering position until the horizontal positioning point can be captured.

[0094] When the laser point is projected to the area far from the center of the circle, in order to prevent the drone from being able to capture the lateral positioning point but not the longitudinal positioning point due to the deviation of the hovering position, it is necessary to maintain the current hovering state of the drone, adjust the detection angle of the camera detection equipment and the laser detection equipment, and set the steering angle threshold Sta threshold In actual operation, since the distance between the longitudinal positioning point and the lateral positioning point is constant, even if the laser point is projected to the farthest edge point between the two, it can be captured by adjusting the detection angle, and the corresponding detection angle is also the maximum value, that is, the steering angle threshold Sta mentioned above. threshold , so when the detection angle exceeds the steering angle threshold Sta threshold If the longitudinal positioning point cannot be captured, it means that the drone's hovering position is offset and the camera detection equipment and laser detection equipment need to be reset to the initial angle In angle , and adjust the hovering position of the drone, repeating steps S2.2 and S2.3 until the longitudinal positioning point is captured;

[0095] After the capture of the longitudinal positioning point is completed, it means that the drone's hovering position has not deviated, that is, the drone is hovering directly above the nut to be tested, but the central area of ​​the lateral positioning point and the longitudinal positioning point cannot be captured. It is necessary to combine the detection image fed back by the camera detection device at the corresponding time point in S2.2 to obtain the distance between the laser point and the center area of ​​the lateral positioning point, and reset the camera detection device and the laser detection device to the initial angle In. angle , adjust the drone's hovering position according to the spacing distance until the laser emitted by the laser detection equipment captures the center area of ​​the horizontal positioning point.

[0096] Further, by Fig.10 As shown, the method for obtaining the tilt angle of the drone in S4 includes the following steps:

[0097] S4.1. Locate the blade offset center point and obtain the blade center point offset angle using a ground angle measuring instrument;

[0098] S4.2, obtaining the tilt of the blade to be measured by combining the offset angle of the blade center point;

[0099] S4.3. The hovering UAV deviates toward the direction of the blade to be tested with the center area of ​​the horizontal positioning point as the center, and its deviation angle is consistent with the deviation angle of the center point of the blade.

[0100] In specific use, when the drone captures the central area of ​​the lateral positioning point and the longitudinal positioning point through the laser detection equipment, in order to determine the later offset angle of the drone to adapt to the tilt state of the blade, it is necessary to locate the blade offset center point, that is, the center point of the hub cover, and obtain the blade center point offset angle through the ground angle measuring instrument. Combined with the blade center point offset angle, the tilt of the blade to be measured is obtained. Finally, the hovering drone deviates towards the direction of the blade to be measured with the lateral positioning point center area as the center. The offset angle is consistent with the blade center point offset angle. Figures 5 and 6 As shown, the offset angle of the hovering drone is p1. At this time, p1 is consistent with the offset angle value of the blade center point, indicating that in the current state, the hovering position of the drone is parallel to the tilted blade to be tested, and the laser projected by the laser detection equipment is facing the center area of ​​the lateral positioning point.

[0101] Specifically, by Fig.11 As shown, the method for adjusting the position of the drone horizontally according to the tilt state in S6 includes the following steps:

[0102] S6.1. Obtain the distance d0 between the center area of ​​the horizontal positioning point and the center area of ​​the nut to be tested;

[0103] S6.2. Get the initial angle In angle In this state, the distance d1 between the laser detection equipment and the thread crack detection equipment;

[0104] S6.3. Calculate the adjustment distance d=d0-d1 at the current horizontal position of the hovering drone.

[0105] In specific use, in order to ensure the detection accuracy of the thread crack detection device on the nut to be tested during the later detection process, it is necessary to ensure that the thread crack detection device is facing the nut to be tested. The early position adjustment of the hovering drone can only ensure that the laser detection device is facing the center area of ​​the horizontal positioning point. There is a certain distance between the thread crack detection device and the laser detection device. Therefore, a secondary adjustment is required. First, the distance d0 between the center area of ​​the horizontal positioning point and the center area of ​​the nut to be tested needs to be obtained, and the initial angle In is obtained. angle In this state, the distance d1 between the laser detection equipment and the thread crack detection equipment is determined by Figure 4 As shown, at this time, it is only necessary to move the adjustment distance d=d0-d1 along the horizontal position of the hovering drone in the current state to ensure that the thread crack detection equipment moves to the top of the nut to be tested, but the detection height is still uncertain at this time, so it is necessary to adjust the vertical direction later to reach the experimental height.

[0106] In addition, by Fig.12 As shown, the method for obtaining the UAV detection flight trajectory in S8 includes the following steps:

[0107] S8.1. Establish a preset flight trajectory model, taking the blade center offset angle, nut spacing position, thread crack detection equipment detection height, and drone tilt angle as target items;

[0108] S8.2. The blade center offset angle is used as the variable target item, and the nut spacing position, the thread crack detection equipment detection height, and the UAV tilt angle are used as the constant target items;

[0109] S8.3, obtaining the blade center offset angle under different numerical states, and simulating the corresponding UAV flight trajectory, and completing the detection of each nut to be tested under the UAV flight trajectory state;

[0110] S8.4. Bind different values ​​of blade center offset angle and drone flight trajectory, and use the thread crack detection equipment detection height and drone tilt angle as target debugging.

[0111] During specific use, in the process of obtaining the flight trajectory of the drone detection, it is necessary to experiment with the drone detection flight trajectory in advance, that is, to establish a preset model of the flight trajectory, and take the blade center offset angle, nut spacing position, thread crack detection equipment detection height and drone tilt angle as target items. At the same time, the blade center offset angle is taken as a variable target item, and the nut spacing position, thread crack detection equipment detection height and drone tilt angle are taken as constant target items. That is, in the actual detection process, only the blade center offset angle will change. At this time, the thread crack detection equipment detection height and the drone tilt angle need to be adjusted by controlling the hovering position of the drone to adapt to the numerical standards in the experimental process. During the experiment, the blade center offset angle under different numerical states is obtained, and the corresponding drone flight trajectory is simulated. The detection work of each nut to be tested is completed under the drone flight trajectory state. In the actual experimental process, the rotation state of different blades of the drone is controlled to make the drone fuselage tilt and adjust, and the detection position is adjusted along the nut area to be tested to form a flight trajectory. Figure 7 As shown, the angular velocity sensor is used to obtain the angular velocity of the drone in real time during flight, so that it can rotate along the nut area to be tested, and the acceleration sensor is used to adjust the flight speed of the drone. Finally, the altitude sensor is used to adjust the real-time flight altitude of the drone. The flight trajectory of the drone is planned based on these values, and the nuts to be tested at different positions are detected by the thread crack detection equipment. Finally, the blade center offset angle under different numerical states is obtained, and the corresponding drone flight trajectory is simulated. The detection of each nut to be tested is completed under the drone flight trajectory state.

[0112] The second object of the present invention is to provide a device for realizing a blade nut detection method for wind power generation maintenance, wherein the UAV in S2 includes a UAV body 20, the laser detection equipment includes a laser detector 210, the laser detector 210 is arranged at the bottom of the UAV body 20, and a steering device is connected between the laser detector 210 and the UAV body 20, the video detection equipment includes a camera 220, and the camera 220 is arranged at the side of the laser detector 210, the laser detector 210 and the camera 220 are driven to deflect in one direction by the steering device, and the detection angles of the laser detector 210 and the camera 220 are adjusted to capture positioning points at different positions, and the thread crack detection equipment includes an acoustic emission monitor 230, and the acoustic emission monitor 230 is arranged at the side frame position of the UAV body 20 to perform crack detection on the nut to be tested.

[0113] When used specifically, Figure 2 As shown, in the process of detecting the blade nut, firstly, the flight path of the drone body 20 is controlled to make it fly to the nut area to be tested, the positioning point is captured by the laser detector 210, and the real-time detection image is obtained by the camera 220 and fed back to the ground personnel, and the angles of the laser detector 210 and the camera 220 are adjusted by the steering device to capture the positions of different positioning points, so as to locate the nut to be tested, and then the inclination angle of the drone body 20 is adjusted according to the blade center offset angle, so that the laser detector 210 can capture the positioning point vertically, and the drone body 20 in the inclined state is adjusted so that the acoustic emission monitor 230 can be directly above the nut to be tested, and finally the height of the drone body 20 is adjusted to meet the detection height of the acoustic emission monitor 230, and the detection of the nut area to be tested is carried out according to the flight trajectory.

[0114] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A method for detecting blade nuts for wind power generation maintenance, characterized in that: The steps include: S1. Configure positioning points in the nut area to locate the target and detect the nut: A longitudinal positioning point and a transverse positioning point are arranged around the target detection nut, wherein the longitudinal positioning point is located above the side of the target nut, and the transverse positioning point is located below the side of the target nut; S2. Control the flight path of the drone and capture the positioning points through camera detection equipment and laser detection equipment: Use camera detection equipment and laser detection equipment to capture positioning points at the set detection frequency and shooting time interval. If the capture fails, the device will reset to the initial angle and repeat the positioning process until it succeeds; S3. Accurate determination of drone hovering position and detection target: The images fed back by the camera detection equipment are used to locate the drone's hovering position, the target detection nut, and the nut area; S4. Obtaining the tilt angle of the drone: The blade center offset angle is measured by a ground angle measuring instrument, and the blade tilt angle is calculated based on the blade center offset. At the same time, the drone's hovering position is adjusted to be consistent with the blade offset angle. S5. Secondary positioning point capture in tilted state: When the drone is tilted, the longitudinal and lateral positioning points are captured again through the camera detection equipment and the laser detection equipment; S6. Adjust the drone's horizontal position: Calculate and adjust the horizontal position of the drone based on the horizontal distance between the center area of ​​the lateral positioning point and the center area of ​​the target nut, as well as the distance between the laser detection equipment and the thread crack detection equipment; S7. Vertical adjustment of drone height: Combined with the feedback from the laser detection equipment, the height of the drone is adjusted to the experimental height of the detection equipment; S8. Detection flight trajectory planning: Based on the blade center point offset angle, target nut interval position, detection height of the detection equipment and the tilt angle of the UAV, a preset model of the UAV flight trajectory is constructed. By simulating different blade offset states, the detection path of the UAV is optimized, and the detection of all target nuts is completed according to the actual flight trajectory rules.

2. The wind power generation blade nut detection method according to claim 1, characterized in that: The positioning points configured in S1 include a longitudinal positioning point and a transverse positioning point, and the longitudinal positioning point is set at a position above the side of the target nut, and the transverse positioning point is set at a position below the side of the target nut, and the centers of both the longitudinal positioning point and the transverse positioning point are in the same plane as the center of the target nut.

3. The wind power generation blade nut detection method according to claim 1, characterized in that: The method of capturing the positioning point by using the camera detection device and the laser detection device in S2 comprises the following steps: S2.

1. Set the detection frequency Dt of the laser detection equipment frequency And the shooting interval time Si of the camera detection device time ; S2.2, obtain the detection information fed back by the laser detection device that first captures the lateral positioning point, and combine it with the detection frequency Dt frequency And the shooting interval Si time Obtain the detection image fed back by the camera detection device at the corresponding time point; S2.

3. Maintain the current hovering state of the drone, adjust the detection angles of the camera detection equipment and the laser detection equipment, and set the steering angle threshold Sta threshold ; When the steering angle threshold Sta threshold If the camera detection device and the laser detection device fail to capture the longitudinal positioning point within the time, the camera detection device and the laser detection device are reset to the initial angle In angle , and adjust the hovering position of the drone, repeating steps S2.2 and S2.3 until the longitudinal positioning point is captured; When the steering angle threshold Sta threshold Within the time, the camera detection device and the laser detection device capture the longitudinal positioning point, and combine the detection image fed back by the camera detection device at the corresponding time point in S2.2 to obtain the distance between the laser point and the center area of ​​the horizontal positioning point, and reset the camera detection device and the laser detection device to the initial angle In angle , adjust the drone's hovering position according to the spacing distance until the laser emitted by the laser detection equipment captures the center area of ​​the horizontal positioning point.

4. The method for detecting blade nuts for wind power generation maintenance according to claim 1, characterized in that: The method for obtaining the tilt angle of the drone in S4 comprises the following steps: S4.

1. Locate the blade offset center point and obtain the blade center point offset angle using a ground angle measuring instrument; S4.2, obtaining the tilt of the blade to be measured by combining the offset angle of the blade center point; S4.

3. The hovering UAV deviates toward the direction of the blade to be tested with the center area of ​​the horizontal positioning point as the center, and its deviation angle is consistent with the deviation angle of the center point of the blade.

5. The wind power generation blade nut detection method according to claim 1, characterized in that: The method for adjusting the horizontal position of the drone in S6 comprises the following steps: S6.

1. Obtain the distance d0 between the center area of ​​the horizontal positioning point and the center area of ​​the nut to be tested; S6.

2. Get the initial angle In angle In this state, the distance d1 between the laser detection equipment and the thread crack detection equipment; S6.

3. Calculate the adjustment distance d=d0-d1 at the current horizontal position of the hovering drone.

6. The method for detecting blade nuts for wind power generation maintenance according to claim 1, characterized in that: The method for detecting flight trajectory planning in S8 comprises the following steps: S8.

1. Establish a preset flight trajectory model, taking the blade center offset angle, nut spacing position, thread crack detection equipment detection height, and drone tilt angle as target items; S8.

2. The blade center offset angle is used as the variable target item, and the nut spacing position, the thread crack detection equipment detection height, and the UAV tilt angle are used as the constant target items; S8.3, obtaining the blade center offset angle under different numerical states, and simulating the corresponding UAV flight trajectory, and completing the detection of each nut to be tested under the UAV flight trajectory state; S8.

4. Bind different values ​​of blade center offset angle and drone flight trajectory, and use the thread crack detection equipment detection height and drone tilt angle as target debugging.

7. A device for implementing the wind power generation blade nut detection method according to claim 1, characterized in that: The drone in S2 comprises a drone body (20); the laser detection equipment comprises a laser detector (210); the laser detector (210) is arranged at the bottom of the drone body (20); a steering device is connected between the laser detector (210) and the drone body (20); the video detection equipment comprises a camera (220); the camera (220) is arranged at a side position of the laser detector (210); the laser detector (210) and the camera (220) are driven to deflect in one direction by the steering device to adjust the detection angles of the laser detector (210) and the camera (220) to capture positioning points at different positions; and the thread crack detection equipment comprises an acoustic emission monitor (230); the acoustic emission monitor (230) is arranged at a side frame position of the drone body (20) to perform crack detection on a nut to be detected.

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