A wind turbine generator unit inspection robot negative pressure cavity adsorption force distribution method

Abstract

The present application relates to the technical field of wind turbine inspection robot, in particular to a kind of inspection robot negative pressure cavity adsorption force distribution method suitable for wind turbine detection, when inspection robot is operated, the inclination angle of the detection site of wind turbine, i.e. α Satisfy 10°≤ α ≤80°, the yaw angle of inspection robot β Constantly equal to 0;Based on dynamic mechanical equilibrium principle, the real-time dynamic distribution of adsorption force is carried out to the three negative pressure cavities at the bottom of inspection robot, to ensure that the robot can keep stable adsorption when walking inside the blade web of 10°-80°, and improve the safety and working efficiency of inspection robot during fan blade detection operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wind turbine inspection robots, in particular to a method for distributing the suction force of a negative pressure cavity of an inspection robot suitable for wind turbine detection. BACKGROUND

[0002] The blade is a key component of a wind turbine, as the core unit of energy capture, the production cost of the blade usually accounts for 15%-20% of the whole machine cost, and the surface integrity and aerodynamic characteristics of the blade play a decisive role in power generation efficiency. At present, the surface integrity of the blade can be detected by an inspection robot. According to the difference of the adsorption mechanism, the current inspection robot is mainly divided into three technical routes. The negative pressure adsorption type uses a vacuum device to generate negative pressure to achieve adhesion, which is particularly suitable for composite material surface; the magnetic adsorption type relies on electromagnetic or permanent magnet, but is limited to the surface of magnetic conductive material; the bionic adhesion type imitates the biological adhesion mechanism, but the carrying capacity is relatively limited. Aiming at the special requirements of the wind turbine blade, the negative pressure adsorption technology shows unique advantages: first, the non-contact working mode will not damage the composite material; second, it can adapt to complex curved surface and different inclination working environment; most importantly, through real-time adjustment of the negative pressure value, the intelligent distribution of the suction force can be realized.

[0003] In view of the significant advantages of the negative pressure adsorption technology in material adaptability, operation and maintenance cost, environmental adaptability, safety and technical maturity, it has become the optimal choice for the wind turbine blade detection inspection robot. The negative pressure adsorption force is directly related to the load capacity, stability and safety of the inspection robot when walking. At present, in order to improve the load capacity of the inspection robot, multiple negative pressure cavities can be arranged on the inspection robot, but the multiple negative pressure cavities have the problems of unreasonable distribution of suction force, increase of energy consumption and the like, such as the situation that a single cavity is overloaded or completely fails. At the same time, the existing scheme generally ignores the problem of torque imbalance caused by the eccentric arrangement of the impeller of the negative pressure adsorption mechanism. In addition, there is a lack of continuous control strategy for the change of the angle of the adsorption wall. These technical shortcomings seriously limit the application prospect of this type of equipment in the wind power operation and maintenance market. Related researches have confirmed that the use of accurate adsorption force dynamic regulation mechanism can effectively improve the carrying performance, running stability and operation safety of the robot. SUMMARY

[0004] In order to solve the above problems in the prior art, the present application provides a method for distributing the suction force of a negative pressure cavity of a wind turbine inspection robot, which is based on the principle of dynamic force balance to dynamically distribute the suction force of three negative pressure cavities at the bottom of the inspection robot in real time, so as to ensure that the robot can maintain stable adsorption when walking inside the blade web at an angle of 10°-80°, and improve the safety and working efficiency of the inspection robot during the detection operation of the wind turbine blade.

[0005] To solve the above technical problems, the technical scheme of the present application is:

[0006] A wind turbine inspection robot negative pressure cavity adsorption force distribution method, the inspection robot includes a vehicle platform and a negative pressure adsorption mechanism, the negative pressure adsorption mechanism includes a first negative pressure cavity, a second negative pressure cavity and a third negative pressure cavity installed in sequence along the length direction on the bottom of the vehicle platform, wherein the center point of the second negative pressure cavity coincides with the geometric center of the bottom of the vehicle platform, the distance between the center points of the first negative pressure cavity and the third negative pressure cavity and the center point of the second negative pressure cavity along the length direction is respectively and , the displacement between the center points of the first negative pressure cavity and the third negative pressure cavity and the center point of the second negative pressure cavity along the width direction is respectively and ;

[0007] The wind turbine inspection robot negative pressure cavity adsorption force distribution method includes:

[0008] When the inspection robot is working, the inclination angle of the wind turbine inspection robot adsorption wall surface α satisfies 10°≤ α ≤80°, the yaw angle of the inspection robot β is always equal to 0, and at least one of the first negative pressure cavity and the third negative pressure cavity is located above the second negative pressure cavity in the width direction of the inspection robot.

[0009] Suppose the centroid height of the inspection robot is H, the gravity of the inspection robot is G , and the adsorption forces of the first negative pressure cavity, the second negative pressure cavity and the third negative pressure cavity are respectively F 1、 F 2 and F 3, then:

[0010] ; ; ;

[0011] In the formula, is an additional compensation adsorption force, which is a pre-set fixed value.

[0012] is (0.1-0.3)G.

[0013] The minimum safety adsorption force is set as , and when the adsorption force is distributed, it is ensured that , , .

[0014] The inclination angle of the adsorption wall surface αThe three-dimensional model data of the fan can be preloaded, and the IMU inertial measurement unit carried on the inspection robot is used for real-time measurement.

[0015] Yaw angle β The yaw angle is measured by a gyroscope or a camera or a laser radar carried by the inspection robot.

[0016] The steering wheel is installed at the four corners of the frame platform, and a driving motor for driving the steering wheel to walk is installed on the steering wheel. A high-definition holder camera, a laser ranging and obstacle avoidance sensor, a pressure sensor, a power supply, a communication module and a control terminal are installed on the frame platform. The power supply supplies power to each component on the frame platform. The driving motor, the negative pressure adsorption mechanism, the high-definition holder camera, the laser ranging and obstacle avoidance sensor and the pressure sensor are connected with the control terminal through the communication module.

[0017] The control terminal is a remote controller, a computer or a special operation platform.

[0018] The communication module realizes stable communication with the control terminal by using wireless radio frequency communication technology.

[0019] The power supply adopts double power supply, including a cable power supply system and a backup battery power supply system.

[0020] Compared with the prior art, the beneficial effects of the present application are:

[0021] (1) The present application establishes the conversion relationship between the inertial system and the motion system, and based on the dynamic mechanical equilibrium principle, the real-time dynamic distribution of the adsorption force of the three negative pressure cavities at the bottom of the inspection robot is realized, so that the robot can maintain stable adsorption when walking in the blade web of 10°-80°, and the safety and working efficiency of the inspection robot in the detection operation of the fan blade are improved. At the same time, by setting the minimum safe adsorption force and the constraint yaw angle β to ensure the anti-pressure loss protection, it can be applied to the inspection of wind turbine blades.

[0022] (2) In the present application, the inspection robot collects the surrounding environment through the laser ranging and obstacle avoidance sensor, realizes efficient autonomous inspection, and collects the surrounding image information through the high-definition holder camera, which is convenient for the staff to monitor. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 The structure schematic diagram of the inspection robot provided by the present application is shown in the figure;

[0024] Figure 2 The bottom structure schematic diagram of the inspection robot provided by the present application is shown in the figure;

[0025] Figure 3 The walking schematic diagram of the inspection robot on the adsorption wall surface in the present application is shown in the figure;

[0026] In the diagram, 1-vehicle frame platform, 2-steering wheel, 3-drive motor, 4-negative pressure adsorption mechanism, 5-high-definition gimbal camera, 6-laser rangefinder and obstacle avoidance sensor, 7-pressure sensor, and 8-power supply. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0028] The structure of the wind turbine generator inspection robot provided by this invention is as follows: Figure 1 and Figure 2 As shown, the device includes a chassis platform 1 and a negative pressure adsorption mechanism 4. The negative pressure adsorption mechanism 4 includes three negative pressure chambers, namely a first negative pressure chamber, a second negative pressure chamber, and a third negative pressure chamber, which are sequentially installed along the length of the chassis platform 1. The center point of the second negative pressure chamber coincides with the geometric center of the bottom of the chassis platform 1. The distances along the length of the first and third negative pressure chambers from the center point of the second negative pressure chamber are respectively... and The displacements along the width direction between the center points of the first and third negative pressure chambers and the center point of the second negative pressure chamber are respectively... and The three negative pressure chambers adhere to the adsorption wall, allowing the entire inspection robot to be stably attached to the adsorption wall (i.e., the part of the wind turbine to be inspected).

[0029] The inspection robot provided by this invention needs to rationally distribute the adsorption force of the three negative pressure chambers during operation to ensure the stability and continuity of the robot's adsorption. Therefore, this application also provides a method for distributing the adsorption force of the negative pressure chambers of a wind turbine generator inspection robot, including:

[0030] When the inspection robot is operating, the tilt angle of the part of the wind turbine generator to be inspected is the suction wall surface of the inspection robot. α Satisfying 10°≤ α ≤80°, the yaw angle of the inspection robot β The value is always equal to 0, and at least one of the first and third negative pressure chambers is located above the second negative pressure chamber in the width direction of the inspection robot; in this embodiment, when the inspection robot is used for blade inspection, the blade to be inspected is adjusted to a working position with an angle of approximately 90° to the ground plane. At this time, the tilt angle of the blade web is 10°-80°. The inspection robot is adsorbed onto the inner surface of the blade web through the three negative pressure chambers, i.e., the tilt angle of the adsorption wall. α Satisfying 10°≤ α ≤80°. When the inspection robot moves forward, it performs directional straight-line crawling inspection along the direction from the leaf root to the leaf tip; this is the yaw angle of the inspection robot. βThe angle between the walking direction of the inspection robot and the X axis of the inertial coordinate system is always 0°. In the embodiment, the negative pressure cavities are arranged to satisfy the following conditions: when the inspection robot is working, at least one of the first negative pressure cavity and the third negative pressure cavity is above the second negative pressure cavity in the width direction of the inspection robot, i.e. and is greater than zero, Figure 1 and Figure 2 the first negative pressure cavity and the third negative pressure cavity are both above the second negative pressure cavity. In actual arrangement, the first negative pressure cavity and the third negative pressure cavity can also be arranged above and below the second negative pressure cavity, respectively, according to the needs.

[0031] A motion coordinate system is established with the geometric center of the inspection robot as the origin xyzo , wherein x the X axis is arranged along the walking direction of the motion plane of the inspection robot, y the Y axis is arranged along the vertical direction of the motion plane of the inspection robot, z the Z axis is perpendicular to the motion plane of the inspection robot, as shown in Figure 3 , and L is the length of the inspection robot;

[0032] Let the inclination angle of the adsorption wall surface be α , and the angle between the walking direction of the inspection robot and the X axis of the inertial coordinate system XYZO, i.e. the yaw angle of the inspection robot, is β The gravity G experienced by the inspection robot is decomposed in the motion coordinate system to obtain:

[0033] ;

[0034] i.e. when α= 0°, the adsorption wall surface is parallel to the XY plane, i.e. the adsorption wall surface is perpendicular to the ground, and is in a vertical state; α= 90°, the adsorption wall surface is parallel to the XZ plane, i.e. the adsorption wall surface is parallel to the ground, and is in a horizontal state;

[0035] Let the adsorption forces of the first negative pressure cavity, the second negative pressure cavity and the third negative pressure cavity be F 1, F 2 and F 3, respectively. In order to prevent falling, according to the normal force balance (Z axis direction), the following can be obtained:

[0036] ;

[0037] In the embodiment, in order to ensure the stability of the system under extreme working conditions, an additional compensation adsorption force is introduced, i.e.

[0038] ;

[0039] To set a fixed value, specifically, (0.1-0.3)G.

[0040] Suppose the centroid height of the inspection robot is H, in order to ensure the stability of the work, according to the torque balance condition around the geometric center y axis, the following anti-overturning equation can be established:

[0041] ;

[0042] In order to prevent side slipping, according to the torque balance condition around the geometric center x axis, the following anti-side slipping equation can be established:

[0043] ;

[0044] When the linear crawling detection is β≡0°, the two equations are transformed into:

[0045] ;

[0046] ;

[0047] When the inspection robot is used for blade detection, 10°≤ α ≤80°, so in this embodiment, the adsorption force of the three negative pressure cavities is distributed in the corresponding working condition of the 10°≤ α ≤80° inclination interval. The adsorption force distribution is as follows:

[0048] ; ; .

[0049] In order to avoid the risk of pressure loss and falling, in this embodiment, the adsorption force distribution of the three negative pressure cavities meets the following constraint conditions at the same time: set the minimum safe adsorption force (self-set, such as 10N), when distributing the adsorption force, ensure , , , so as to ensure that the negative pressure cavity always effectively adsorbs and reduce the risk of falling and avoid the risk of pressure loss.

[0050] The current scheme does not include wind load compensation factors, and focuses on solving the force distribution problem under the basic inclination condition. The inclination angle α of the adsorption wall surface can be obtained by preloading the three-dimensional model data of the fan and the IMU inertial measurement unit carried on the inspection robot. Through the gyroscopes or cameras or laser radars carried by the inspection robot, the yaw angle between the motion direction and the preset path is measured in real time, and the real-time data of the yaw angle β is obtained.

[0051] The inspection robot provided by the application further comprises a steering wheel 2, a driving motor 3, a high-definition holder camera 5, a laser ranging and obstacle avoidance sensor 6, a pressure sensor 7, a power supply 8, a communication module and a control terminal, as shown in Figure 1 and Figure 2 In the embodiment, the steering wheel 2 is provided with four and is respectively installed at four corners of the vehicle platform 1, and the driving motor 3 is installed on the steering wheel 2 and drives the steering wheel 2 to walk. Specifically, the driving motor 3 is a direct-current speed reduction motor. The power supply 8 is installed on the vehicle platform 1 and supplies power for each component on the vehicle platform 1. Specifically, the power supply 8 adopts double power supply, including a cable power supply system and a backup battery power supply system. The main function of the backup battery power supply system is to provide emergency power support when the robot abnormally falls off, so as to ensure that it can still maintain basic operation in an emergency, thereby effectively reducing the operation and maintenance risk and guaranteeing the operation continuity. The high-definition holder camera 5 is installed on the vehicle platform 1 and collects surrounding image information, and the laser ranging and obstacle avoidance sensor 6 is installed around the vehicle platform 1 and collects surrounding environment information. The pressure sensor 7 is installed at the bottom of the vehicle platform 1 and monitors the cavity pressure dynamics of the three negative pressure cavities in real time. The driving motor 3, the negative pressure adsorption mechanism 4, the high-definition holder camera 5, the laser ranging and obstacle avoidance sensor 6 and the pressure sensor 7 are connected with the control terminal through the communication module. The communication module adopts wireless radio frequency communication technology to realize stable communication with the control terminal. Specifically, the control terminal is a remote controller, a computer or a special operation platform. The control terminal receives the collected information of the high-definition holder camera 5 and the laser ranging and obstacle avoidance sensor 6, masters the surrounding environment information of the inspection robot in real time, and controls the driving motor 3 according to the surrounding environment information, so as to control the forward movement, backward movement and steering of the vehicle platform 1, and ensure the safe walking of the inspection robot. The control terminal receives the negative pressure values of each cavity monitored by the pressure sensor 7, dynamically adjusts the vacuum degree of the three negative pressure cavities based on the closed-loop control principle, so as to real-timely regulate the adsorption force distribution of the three negative pressure cavities, and ensure that the inspection robot is stably adsorbed on the adsorption wall surface.

[0052] The working process of the inspection robot provided by the application on the fan is as follows:

[0053] (1) After the inspection robot system is powered on, the system self-checking is performed. The self-checking content includes detecting the power and power supply voltage of the power supply 8, the signals of the high-definition holder camera 5, the laser ranging and obstacle avoidance sensor 6 and the pressure sensor 7, and the connection state of the communication module.

[0054] (2) After the self-checking program is completed, the negative pressure adsorption mechanism 4 is started. First, it is checked whether the negative pressure is normal. After confirming that everything is normal, the adsorption force is reasonably distributed according to different inclination angle ranges F i (3) After the adsorption force is distributed, the driving motor 3 is started to drive the steering wheel 2 to walk. Specifically, the driving motor 3 is controlled to drive the steering wheel 2 to walk in the direction of the fan wall, and the high-definition holder camera 5 and the laser ranging and obstacle avoidance sensor 6 are used to collect the surrounding environment information of the inspection robot in real time. i=1,2,3). When the adsorption force is stable, the operator can release the hand, complete the placement of the inspection robot, and move it to the to-be-inspected area of the wind turbine through the control terminal.

[0055] (3) Man-machine interaction is realized through the communication module to control the movement of the inspection robot. During the movement, the laser ranging and obstacle avoidance sensors are started, and the surrounding environment data is collected in real time to ensure safe operation. For example, if the height or slope of the obstacle in front is detected to exceed the set threshold, the robot will turn left or right according to the preset program to avoid the obstacle.

[0056] (4) Image collection is performed on the working area of the robot, and the collected images are uploaded to the control terminal. Through the clear image provided by the high-definition pan-tilt camera 5, the staff can monitor the working area of the robot.

Claims

1. A method for distributing the suction force of a wind turbine generator unit inspection robot negative pressure cavity, characterized in that: The inspection robot comprises a frame platform (1) and a negative pressure suction mechanism (4), the negative pressure suction mechanism (4) comprising a first negative pressure cavity, a second negative pressure cavity and a third negative pressure cavity which are sequentially arranged on the bottom of the frame platform (1) along the length direction, wherein the center point of the second negative pressure cavity coincides with the geometric center of the bottom of the frame platform (1), the distances between the center points of the first negative pressure cavity and the third negative pressure cavity and the center point of the second negative pressure cavity along the length direction are respectively and , and the displacements between the center points of the first negative pressure cavity and the third negative pressure cavity and the center point of the second negative pressure cavity along the width direction are respectively and . The wind turbine generator unit inspection robot negative pressure cavity adsorption force distribution method comprises: When the inspection robot works, the inclination angle of the part to be inspected of the wind turbine generator, i.e. the adsorption wall surface of the inspection robot α satisfies 10°≤ α ≤80°, the yaw angle of the inspection robot β is always equal to 0, and at least one of the first negative pressure cavity and the third negative pressure cavity is located above the second negative pressure cavity in the width direction of the inspection robot; The inspection robot has a center of mass height H, and the inspection robot is subjected to a gravity force G , the adsorption forces of the first negative pressure cavity, the second negative pressure cavity, and the third negative pressure cavity are F 1, F 2, and F 3, respectively, and the following relationship is established: ； ； ； In the formula, is an additional compensation for the adsorption force, and is a pre-set fixed value.

2. The wind turbine generator unit inspection robot negative pressure cavity adsorption force distribution method according to claim 1, characterized in that: is (0.1-0.3)G.

3. The wind turbine generator unit inspection robot negative pressure cavity adsorption force distribution method according to claim 1, characterized in that: Setting minimum safe adhesion force , when distributing adhesion force, ensure , , .

4. The wind turbine generator unit inspection robot negative pressure cavity adsorption force distribution method according to claim 1, characterized in that: Inclination angle of the adsorbing wall surface α The inclination angle of the adsorbing wall surface can be obtained by preloading the three-dimensional model data of the fan and combining the IMU inertial measurement unit carried on the inspection robot to measure in real time.

5. The wind turbine generator unit inspection robot negative pressure cavity adsorption force distribution method according to claim 1, characterized in that: yaw angle β Obtained by gyroscopes or cameras or lidar measurements carried by the inspection robot.

6. The wind turbine generator unit inspection robot negative pressure cavity adsorption force distribution method according to claim 1, characterized in that: The four corners of the frame platform (1) are provided with steering wheels (2), the steering wheels (2) are provided with driving motors (3) for driving the steering wheels (2) to walk, the frame platform (1) is provided with a high-definition holder camera (5), a laser ranging and obstacle avoidance sensor (6), a pressure sensor (7), a power supply (8), a communication module and a control terminal, the power supply (8) supplies power to each component on the frame platform (1), the driving motor (3), the negative pressure adsorption mechanism (4), the high-definition holder camera (5), the laser ranging and obstacle avoidance sensor (6) and the pressure sensor (7) are connected with the control terminal through the communication module.

7. The wind turbine generator unit inspection robot negative pressure cavity adsorption force distribution method according to claim 6, characterized in that: The control terminal is a remote controller, a computer or a special operation platform.

8. The wind turbine generator unit inspection robot negative pressure cavity adsorption force distribution method according to claim 6, characterized in that: The communication module realizes stable communication with the control terminal by using wireless radio frequency communication technology.

9. The wind turbine generator unit inspection robot negative pressure cavity adsorption force distribution method according to claim 6, characterized in that: The power supply (8) adopts double power supply, including a cable power supply system and a backup battery power supply system.

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