Fan inspection control method and device, electronic equipment and storage medium

Abstract

The application discloses a kind of fan inspection control method, device, electronic equipment and storage medium, fan inspection control method includes: after fan stops, unmanned aerial vehicle is controlled to fly to fan hub front, and first picture is obtained;First picture is based on obtaining blade angle information, and blade angle information is based on determining blade cruise order;The cruise point information of each blade is determined based on blade length and shooting parameter;Based on blade cruise order and inspection point information, determine inspection route, and control unmanned aerial vehicle to carry out fixed-point cruise according to inspection route.The fan inspection control method of the application does not limit the blade stay position, determines different blade cruise order according to different stay positions, automatically determines cruise navigation according to blade cruise order, improves the efficiency of fan inspection, and reduces cost.

Description

Technical Field

[0001] This application relates to the technical field of wind turbines, and in particular to a control method, device, electronic equipment and storage medium for wind turbine inspection. Background Technology

[0002] With the rapid development of renewable energy and the increasing maturity of wind power technology, the scale of wind turbine units is constantly expanding, making the operation and maintenance management of wind farms increasingly important. However, wind turbines inevitably experience various faults during operation, one of which significantly impacts power generation: blade damage. Today, with the rapid development of drones, using them for wind turbine inspections has become mainstream. Because wind turbine blade damage has certain characteristics in infrared imaging, drones can be used for automatic cruise detection, analyzing captured images to quickly and accurately diagnose wind turbine blade damage.

[0003] In related technologies, the mainstream wind turbine shutdown inspection has strict requirements for the stopping position of the fan blades, such as Y-shape, which stops the wind turbine in a fixed position and performs inspections through pre-set inspection points. However, this method requires fine-tuning of the fan blades and has a high degree of difficulty in shutdown. Summary of the Invention

[0004] Therefore, the purpose of this application is to propose a control method, device, electronic equipment and storage medium for wind turbine inspection, which does not limit the blade dwell position, determines different blade cruise sequences according to different dwell positions, and automatically determines the cruise navigation according to the blade cruise sequence, thereby improving the efficiency of wind turbine inspection and reducing costs.

[0005] This application provides a control method for wind turbine inspection, the method comprising: after the wind turbine stops, controlling a drone to fly to the front of the wind turbine hub and acquiring a first image; acquiring blade angle information based on the first image and determining the blade cruising sequence based on the blade angle information; determining the cruising point information of each blade based on the blade length and shooting parameters; determining the inspection route based on the blade cruising sequence and the inspection point information, and controlling the drone to perform fixed-point cruising according to the inspection route.

[0006] For example, the blade angle information includes the angle between each blade and a preset direction axis in a two-dimensional vertical plane. The step of determining the blade cruising order based on the blade angle information includes: if the angle is greater than a preset angle, then performing a triangulation on the angle; sorting the triangulated angles to determine the blade cruising order as the blade order corresponding to the angle from smallest to largest; wherein, the two-dimensional vertical plane is perpendicular to the ground horizontal plane.

[0007] For example, the shooting parameters include the shooting interval distance and the drone's orientation angle, the cruise point information includes the spatial three-dimensional coordinate information of the cruise point, and the step of determining the cruise point information of each blade based on the blade length and shooting parameters includes: determining the number of cruise points on each blade based on the blade length and the shooting interval distance, wherein the number of points is counted from the wind turbine hub to the tail of the blade; and determining the spatial three-dimensional coordinate information of the cruise point based on the shooting interval distance, the order of the number of points, the included angle, and the orientation angle.

[0008] For example, determining the number of cruise points on each blade based on the blade length and the photo interval distance includes: determining the number of points as the rounded-up result of the ratio of the blade length to the photo interval distance.

[0009] For example, the spatial three-dimensional coordinate information includes a height value, a horizontal coordinate value, and a horizontal coordinate value. Determining the spatial three-dimensional coordinate information of the cruise point based on the photo interval distance, the point counting order, the included angle, and the orientation angle includes: determining the height value of the cruise point as the product of the photo interval distance, the point counting order, and the sine of the included angle; determining the horizontal coordinate value as the product of the photo interval distance, the point counting order, the cosine of the included angle, and the sine of the orientation angle; and determining the horizontal coordinate value as the product of the photo interval distance, the point counting order, the cosine of the included angle, and the cosine of the orientation angle.

[0010] For example, determining the inspection route based on the blade cruise sequence and the inspection point information includes: determining, according to the blade cruise sequence, that the blades include a first blade in the first order, a second blade in the second order, and a third blade in the third order; determining the inspection route as starting from the front of the wind turbine hub, traversing the cruise points of the first blade in point order, then traversing the cruise points of the second blade in the reverse order of point order, and finally traversing the cruise points of the third blade in point order, and then performing fixed-point patrol on the reverse side of the wind turbine, wherein the inspection route on the reverse side of the wind turbine is opposite to the inspection route on the front side.

[0011] For example, the method further includes: obtaining the reference latitude and longitude coordinates of the UAV; performing latitude and longitude conversion on the spatial three-dimensional coordinates of the cruise point to obtain the relative latitude and longitude coordinates of the cruise point; and obtaining the latitude and longitude coordinates of the cruise point based on the relative latitude and longitude coordinates and the reference latitude and longitude coordinates.

[0012] For example, the spatial three-dimensional coordinate conversion of the cruise point includes: determining the ratio of the horizontal plane abscissa value to the Earth's radius as the latitude increment; determining the product of the ratio of the horizontal plane ordinate value to the Earth's radius and the cosine of the UAV's reference latitude as the longitude increment; and determining the altitude value as the altitude increment.

[0013] For example, obtaining the latitude and longitude coordinates of the cruise point based on the relative latitude and longitude coordinates and the reference latitude and longitude coordinates includes: the sum of the relative latitude and longitude coordinates and the reference latitude and longitude coordinates is the latitude and longitude coordinates of the cruise point.

[0014] Another embodiment of this application provides a control device for wind turbine inspection. The device includes: an acquisition module, used to control a drone to fly to the front of the wind turbine hub and acquire a first image after the wind turbine stops; a first determination module, used to acquire blade angle information based on the first image and determine the blade cruise sequence based on the blade angle information; a second determination module, used to determine the cruise point information of each blade based on the blade length and shooting parameters; and a cruise module, used to determine the inspection route based on the blade cruise sequence and the inspection point information, and control the drone to perform fixed-point cruise according to the inspection route.

[0015] Another embodiment of this application provides an electronic device, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described wind turbine inspection control method.

[0016] Another embodiment of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the control method for wind turbine inspection described above.

[0017] In the above embodiments, after the wind turbine stops, the drone is controlled to fly directly in front of the wind turbine hub and acquire a first image; blade angle information is acquired based on the first image, and the blade cruise sequence is determined based on the blade angle information; cruise point information for each blade is determined based on the blade length and shooting parameters; an inspection route is determined based on the blade cruise sequence and inspection point information, and the drone is controlled to perform fixed-point cruises according to the inspection route. The wind turbine inspection control method of the present invention does not limit the blade dwell position, determines different blade cruise sequences based on different dwell positions, and automatically determines the cruise navigation based on the blade cruise sequence, thereby improving the efficiency of wind turbine inspection and reducing costs. Attached Figure Description

[0018] Figure 1 A flowchart of a control method for wind turbine inspection provided in an embodiment of this application; Figure 2A schematic diagram of the first image provided for an embodiment of this application; Figure 3 A flowchart for determining the blade cruising sequence based on blade angle information is provided for an embodiment of this application; Figure 4 A flowchart for determining the cruise point information of each blade, provided for the implementation of this application; Figure 5 A flowchart for determining the latitude, longitude, and altitude coordinates of a cruise point is provided for the implementation of this application; Figure 6 A schematic diagram illustrating the determination of the inspection route based on the blade cruise sequence and inspection point information, provided for the implementation of this application; Figure 7 A schematic diagram of the wind turbine inspection route provided for the embodiments of this application; Figure 8 A complete flowchart of wind turbine inspection provided for the embodiments of this application; Figure 9 A schematic diagram of a control device for wind turbine inspection provided in an embodiment of this application; Figure 10 A block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0019] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0020] Figure 1 This is a schematic diagram of a wind turbine inspection control method according to an embodiment of this application.

[0021] As an example, such as Figure 1 As shown, the control methods for wind turbine inspection include: S101, after the wind turbine stops, controls the drone to fly directly in front of the wind turbine hub and acquire the first image.

[0022] S102, obtain blade angle information based on the first image, and determine the blade cruising sequence based on the blade angle information.

[0023] S103 determines the cruise point information for each blade based on the blade length and shooting parameters.

[0024] S104 determines the inspection route based on the blade cruise sequence and inspection point information, and controls the UAV to perform fixed-point cruises according to the inspection route.

[0025] For example, this application does not limit the stopping position of the wind turbine. For a rotating wind turbine, a locking operation is performed. This step does not require the wind turbine to stop at a fixed position; it can stop randomly at any position. The angle of the three blades when the wind turbine stops is not required. After the wind turbine stops, a drone is launched and controlled to fly directly in front of the wind turbine hub to acquire a first image, i.e., an overall layout image of the wind turbine's front. The first image includes the hub and the positions of the three blades, for example, as shown below. Figure 2 The first image shown is a schematic diagram.

[0026] For example, the angle information of each blade is obtained based on the first image. This angle information represents the positional relationship of the blade relative to a preset axis. The blade cruise sequence is determined based on the blade angle information, and the blade cruise sequence represents the order in which the blades are inspected. That is, which blade starts first and which blade finishes. Since this application does not limit the blade stopping position, the blade cruise sequence needs to be clearly defined for wind turbines with arbitrary stopping positions.

[0027] For example, the cruise point information for each blade is then determined based on the blade length and shooting parameters, such as inspection speed, shooting interval distance, overhead safety distance, shooting focal length, and forward safety distance. Combining the cruise points for each blade with the cruise sequence between blades, an inspection route is obtained, and the drone is controlled to perform fixed-point cruises according to the inspection route.

[0028] The wind turbine inspection control method of this application does not limit the blade dwell position, has wider applicability, improves the efficiency of wind turbine inspection, and reduces costs.

[0029] As an example, such as Figure 3 As shown, the blade angle information includes the angle between each blade and a preset direction axis in a two-dimensional vertical plane. The blade cruise sequence is determined based on the blade angle information, including: S301, if the included angle is greater than the preset angle, then the included angle is triangulated.

[0030] S302, sort the included angles after triangulation to determine the blade cruising order, which corresponds to the blade order with the included angles from smallest to largest. The two-dimensional vertical plane is perpendicular to the ground horizontal plane.

[0031] For example, the blade angle is the angle between each blade and a preset direction axis in a two-dimensional vertical plane. This two-dimensional vertical plane is perpendicular to the ground plane and can be a pixel plane. The preset direction axis can be a ray in the two-dimensional vertical plane with the hub as the origin. For example, using the wind turbine column as the preset direction axis, the blade angle is the angle between the blade and the preset direction axis. The angle between blades is 120°, and the three blade angles are, for example, 20°, 140°, and 260°. If the blade angle is greater than the preset angle, a trigonometric transformation is performed on the angle. The preset angle can be 180°. Trigonometric transformation can be understood as transforming angles greater than 180° to the range of 0-180°. The trigonometric transformation can follow the quadrant principle, and different trigonometric functions have different transformation rules, ultimately transforming all angles to the range of 0-180°. For example, the aforementioned 260° is transformed into 80°. The sizes of the trigonometrically transformed angles are compared, and the blade cruising order is determined as the blade order corresponding to the smallest to largest angle.

[0032] For example, based on the first image, the angles a (20°), b (140°), and c (260°) of the three fan blades A, B, and C in the two-dimensional vertical plane are obtained. The included angles greater than 180° are converted to the range of 0-180°. After the triangulation, the angle of fan blade C, 260°, becomes c'=80°. The cruising order of the blades is the order of the blades corresponding to the included angles from smallest to largest. The cruising order of the blades is first fan blade A, then fan blade C, and finally fan blade B.

[0033] This application determines the blade cruising sequence based on the angle between each blade and a preset directional axis in a two-dimensional vertical plane, which can be applied to wind turbines that are stationary at any position.

[0034] As an example, such as Figure 4 As shown, the shooting parameters include the shooting interval distance and the drone's orientation angle. The cruise point information includes the spatial three-dimensional coordinates of the cruise point. The cruise point information for each blade is determined based on the blade length and shooting parameters, including: S401 determines the number of cruise points on each blade based on the blade length and the photo interval distance, where the points are counted from the wind turbine hub to the blade tail.

[0035] S402 determines the spatial three-dimensional coordinate information of the cruise point based on the photo interval distance, point order, included angle, and orientation angle.

[0036] For example, the shooting parameters include the shooting interval distance and the drone's facing angle. The shooting interval distance can be configured by the inspection personnel. For instance, a smaller shooting interval distance can be provided if dense inspection is required, and a larger shooting interval distance can be provided if dense inspection is not required. The drone's facing angle is the angle at which the drone faces the wind turbine when acquiring the first image directly in front of the wind turbine hub, and can be obtained by processing the first image according to a preset algorithm.

[0037] For example, determining the number of cruise points on each blade based on the blade length and the shooting interval distance includes: determining the number of points as the rounded-up result of the ratio of blade length to shooting interval distance. The number of points captured on a single blade is obtained according to the preset shooting interval distance and blade length: blade length / shooting interval + 1. Since each blade has the same length, the number of points on each blade is also the same. The number of cruise points is denoted as i. The point count starts from the wind turbine hub and continues to the blade tail. For example, the first cruise point is at the wind turbine hub, the second cruise point is one shooting interval away from the wind turbine hub, and so on, with the last cruise point being near the blade tail. Then, the spatial three-dimensional coordinate information of each cruise point is calculated based on the shooting interval distance, the point count order, the included angle, and the orientation angle.

[0038] As an example, the spatial three-dimensional coordinate information includes altitude, horizontal horizontal coordinate, and horizontal vertical coordinate. The spatial three-dimensional coordinate information of the cruise point is determined based on the photo interval distance, point order, included angle, and orientation angle, including: The product of the photo interval distance, the order of the points, and the sine of the included angle is determined as the altitude value of the cruise point; The product of the photo interval distance, the order of the points, the cosine of the included angle, and the sine of the facing angle is determined as the horizontal coordinate value. The product of the photo interval distance, the order of the points, the cosine of the included angle, and the cosine of the facing angle is determined as the vertical coordinate value of the horizontal plane.

[0039] For example, the height value of the i-th point of a certain blade is denoted as zi, and the included angle is . The altitude value of the cruise point zi = (i (Photo interval distance) sin( Since the required horizontal coordinates cannot be obtained directly, a transformation is needed. This requires obtaining the projection of the blade onto the ground's horizontal plane, and then determining the orientation angle. To obtain the corresponding horizontal plane coordinates, first obtain the horizontal projection value of the i-th point, where the horizontal projection value Li = (i... (Photo interval distance) cos( Let the orientation angle be π / 180. Obtain the corresponding horizontal coordinate value xi = (i (Photo interval) cos( π / 180) sin( ), the horizontal plane vertical coordinate value yi = (i (Photo interval distance) cos( π / 180) cos( The above are the three-dimensional spatial coordinates of the cruise point.

[0040] As an example, such as Figure 5 As shown, the control methods for wind turbine inspection also include: S501, obtain the reference latitude, longitude, and altitude coordinates of the UAV.

[0041] S502 performs latitude and longitude transformation on the three-dimensional spatial coordinates of the cruise point to obtain the relative latitude, longitude, and altitude coordinates of the cruise point.

[0042] S503, the latitude and longitude coordinates of the cruise point are obtained based on the relative latitude and longitude coordinates and the reference latitude and longitude coordinates.

[0043] For example, the reference latitude and longitude coordinates of the drone are obtained. These reference coordinates are acquired when the drone is hovering at the wheel hub position. The spatial three-dimensional coordinates of the cruise point are then converted to latitude and longitude to obtain the relative latitude and longitude coordinates of the cruise point. It can be understood that the aforementioned spatial three-dimensional coordinate information of the cruise point is the coordinate information in a three-dimensional space constructed with the drone hovering as the origin. After latitude and longitude conversion, the resulting information is the relative latitude and longitude coordinates relative to the drone's hovering point. Combining the drone's actual reference latitude and longitude coordinates with the relative latitude and longitude coordinates of the cruise point, the actual latitude and longitude coordinates of the cruise point are obtained.

[0044] As an example, the spatial three-dimensional coordinates of the cruise point are transformed into latitude and longitude, including: The ratio of the horizontal coordinate value to the Earth's radius is determined as the latitude increment; The product of the ratio of the horizontal plane ordinate value to the Earth's radius and the cosine of the UAV's reference latitude is determined as the longitude increment; The height value is determined to be the height increment.

[0045] For example, let the reference latitude, longitude, and altitude coordinates of the UAV be (X, Y, Z), let the latitude increment be Xi, the longitude increment be Yi, the altitude increment be Zi, and the Earth's radius be R. Then, determine the latitude increment Xi = xi / R and the longitude increment Yi = yi / R. cos(X) π / 180), height increment Zi=zi.

[0046] As an example, the latitude and longitude coordinates of the cruise point are obtained based on the relative latitude and longitude coordinates and the reference latitude and longitude coordinates, including: the sum of the relative latitude and longitude coordinates and the reference latitude and longitude coordinates is the latitude and longitude coordinates of the cruise point.

[0047] For example, the latitude, longitude, and altitude coordinates of the UAV (X, Y, Z) plus the latitude increment, longitude increment, and altitude increment give the latitude, longitude, and altitude coordinates of the cruise point. The latitude, longitude, and altitude coordinates of the i-th cruise point are (X + Xi, Y + Yi, Z + Zi). Similarly, the positions of the remaining points on the blade surface are obtained, and then fixed-point inspections are performed based on these points.

[0048] As an example, such as Figure 6 As shown, the inspection route is determined based on the blade cruise sequence and inspection point information, including: S601, according to the blade cruise sequence, the blades are determined to include the first blade in the first order, the second blade in the second order, and the third blade in the third order.

[0049] S602, the inspection route is determined as follows: starting from the front of the wind turbine hub, the patrol points of the first blade are traversed in the order of the number of points, then the patrol points of the second blade are traversed in the reverse order of the number of points, and finally the patrol points of the third blade are traversed in the order of the number of points. Then, the reverse side of the wind turbine is patrolled at fixed points. The inspection route on the reverse side of the wind turbine is the opposite of the inspection route on the front side.

[0050] For example, if the blade cruise sequence is blade A first, then blade C, and finally blade B, with blade A designated as the first blade, blade C as the second blade, and blade B as the third blade, the inspection route starts from the front of the wind turbine hub and traverses the cruise points of the first blade in numerical order. Then, the drone flies in a straight line to the last cruise point of the second blade, traverses the cruise points of the second blade in the reverse order, returns to the wind turbine hub, traverses the cruise points of the third blade in numerical order, and then flies to the back of the wind turbine for fixed-point patrol. The inspection route on the back of the wind turbine is the opposite of the inspection route on the front. For example... Figure 7 The diagram shows the wind turbine inspection route.

[0051] According to the inspection route determination scheme of this application, the shortest route can be planned from the hub position to the position of the three blades and then to the back of the wind turbine, which improves the inspection efficiency.

[0052] Figure 8 This is a complete flowchart of a wind turbine inspection according to an embodiment of this application.

[0053] like Figure 8As shown, a locking operation is performed on a rotating wind turbine. The turbine is not required to stop at a fixed position; it can stop randomly at any position. The angle of the three blades when the turbine stops is not critical. After it comes to a complete stop, the drone is launched and flew to the hub directly in front of the turbine. The overall layout of the front of the turbine is then captured in the photo, including the hub and the positions of the three blades. After the drone hovers over the hub, the distance measured by the laser rangefinder is checked to determine the actual distance L between the drone and the turbine hub. This confirms the subsequent required forward safety distance (the distance between the drone and the hub). Then, you can open the corresponding automatic cruise control program developed on the drone remote control, enter the cruise parameter control interface, select the load device to connect to the edge computing device used for calculation and control, and set parameters such as "wind turbine length", "inspection speed", "photograph interval distance", "safe distance above", "photograph focal length", and "safe distance in front" according to the actual parameters of the wind turbine, the actual density of photos to be taken, the speed of the drone flight and the safe altitude to be pulled up when flying from the front to the back. After setting these parameters, click save, then click send, and the wind turbine can start to execute the automatic inspection program.

[0054] After the drone begins its automatic inspection program, it first takes a picture of the hub, downloads it, and uploads it to the edge computing device. The edge device performs image recognition based on the first image, breaking it down to obtain information such as the angles of the three blades in a two-dimensional vertical plane, the drone's current latitude, longitude, and altitude in three-dimensional coordinates, and its orientation angle towards the wind turbine. To obtain the shortest route from the hub position to after photographing the three blades and then flying to the back of the wind turbine, the edge device identifies the wind turbine blade positions based on the raw image captured by the drone, determines the inspection sequence between the blades, and then determines the cruise point position information for each blade based on a series of set parameters. It automatically plans the inspection route and uploads it to the drone to control it to fly along the planned route and collect images. After completing the mission, the drone returns to its home base.

[0055] Once all data collection is complete, the drone will ascend and automatically return to its designated point at its takeoff location (fixed latitude and longitude), completing the entire operation. Simultaneously, it will upload the images captured throughout the process to the server, providing images for the diagnostic system to perform diagnostic identification.

[0056] This application also proposes a control device for wind turbine inspection.

[0057] As an example, such as Figure 9As shown, the control device for wind turbine inspection includes: an acquisition module 901, used to control a drone to fly to the front of the wind turbine hub and acquire a first image after the wind turbine stops; a first determination module 902, used to acquire blade angle information based on the first image and determine the blade cruise sequence based on the blade angle information; a second determination module 903, used to determine the cruise point information of each blade based on the blade length and shooting parameters; and a cruise module 904, used to determine the inspection route based on the blade cruise sequence and inspection point information, and control the drone to perform fixed-point cruise according to the inspection route.

[0058] This application also proposes a computer-readable storage medium.

[0059] In this embodiment, a computer program is stored on a computer-readable storage medium, and when the computer program is executed by a processor, it implements the steps of the control method for wind turbine inspection described above.

[0060] Figure 10 A block diagram of an electronic device provided in an embodiment of this application.

[0061] This application provides an electronic device, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described control method for wind turbine inspection.

[0062] like Figure 10 As shown, for ease of understanding, embodiments of this application illustrate a specific electronic device.

[0063] Electronic devices are intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0064] like Figure 10 As shown, the device includes a computing unit 1001, which can perform various appropriate actions and processes based on a computer program stored in a read-only memory (ROM) 1002 or a computer program loaded into a random access memory (RAM) 1003 from a storage unit 1008. The RAM 1003 may also store various programs and data required for the operation of the electronic device. The computing unit 1001, ROM 1002, and RAM 1003 are interconnected via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0065] Multiple components in the electronic device are connected to the I / O interface 1005. These components include: an input unit 1006, such as a keyboard or mouse; an output unit 1007, such as various types of displays or speakers; a storage unit 1008, such as a hard disk or optical disk; and a communication unit 1009, such as a network interface card (NIC), a modem, or a wireless transceiver. The communication unit 1009 allows the electronic device to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0066] The computing unit 1001 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 1001 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1001 performs the various methods described above, such as the wind turbine inspection control method. For example, in some embodiments, the wind turbine inspection control method can be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as storage unit 1008. In some embodiments, part or all of the computer program can be loaded and / or installed on an electronic device via ROM 1002 and / or communication unit 1009. When the computer program is loaded into RAM 1003 and executed by the computing unit 1001, the wind turbine inspection control method described above can be performed. Alternatively, in other embodiments, the computing unit 1001 may be configured by any other suitable means (e.g., by means of firmware) to perform a control method for wind turbine inspection.

[0067] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this application, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0068] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0069] In the description of this application, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this application, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0070] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0071] Furthermore, the terms "first," "second," etc., used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying relative importance, or implicitly specifying the number of technical features indicated in this embodiment. Therefore, features defined with terms such as "first" and "second" in the embodiments of this application can explicitly or implicitly indicate that the embodiment includes at least one of those features. In the description of this application, the word "multiple" means at least two or more, such as two, three, four, etc., unless otherwise explicitly and specifically defined in the embodiments.

[0072] In this application, unless otherwise explicitly specified or limited in the embodiments, the terms "installation," "connection," "joining," and "fixing" appearing in the embodiments should be interpreted broadly. For example, a connection can be a fixed connection, a detachable connection, or an integral part; it can also be a mechanical connection, an electrical connection, etc. Of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication between two components, or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific implementation.

[0073] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0074] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A control method for fan inspection, characterized by, The method includes: After the wind turbine stops, control the drone to fly directly in front of the wind turbine hub and acquire the first image; Based on the first image, obtain the blade angle information, and determine the blade cruising sequence based on the blade angle information; The cruise point information for each blade is determined based on the blade length and shooting parameters; The inspection route is determined based on the blade cruise sequence and the inspection point information, and the UAV is controlled to perform fixed-point cruises according to the inspection route.

2. The control method of claim 1, wherein, The blade angle information includes the angle between each blade and a preset direction axis in a two-dimensional vertical plane. Determining the blade cruising sequence based on the blade angle information includes: If the included angle is greater than a preset angle, then the included angle is triangulated. The included angles after triangulation are sorted to determine the blade cruising order as the blade order corresponding to the included angles from smallest to largest; The two-dimensional vertical plane is perpendicular to the horizontal plane of the ground.

3. The control method for wind turbine inspection according to claim 2, characterized in that, The shooting parameters include the shooting interval distance and the drone's orientation angle; the cruise point information includes the spatial three-dimensional coordinate information of the cruise point; and the process of determining the cruise point information for each blade based on the blade length and shooting parameters includes: The number of cruise points on each blade is determined based on the blade length and the photo interval distance, wherein the number of points is counted from the wind turbine hub to the blade tail. The spatial three-dimensional coordinate information of the cruise point is determined based on the photo interval distance, the order of the number of points, the included angle, and the orientation angle.

4. The control method for wind turbine inspection according to claim 3, characterized in that, The process of determining the number of cruise points on each blade based on the blade length and the photographing interval distance includes: The number of points is determined to be the rounded-up result of the ratio of the leaf length to the photographing interval.

5. The control method for wind turbine inspection according to claim 3, characterized in that, The spatial three-dimensional coordinate information includes height, horizontal coordinate, and vertical coordinate. Determining the spatial three-dimensional coordinate information of the cruise point based on the photographing interval, point order, included angle, and orientation angle includes: The product of the photo interval distance, the order of the points, and the sine of the included angle is determined as the altitude value of the cruise point; The product of the shooting interval distance, the order of the points, the cosine of the included angle, and the sine of the orientation angle is determined as the horizontal coordinate value. The product of the photo interval distance, the order of the points, the cosine of the included angle, and the cosine of the orientation angle is determined as the vertical coordinate value of the horizontal plane.

6. The control method for wind turbine inspection according to claim 1, characterized in that, The process of determining the inspection route based on the blade cruise sequence and the inspection point information includes: According to the described blade cruise sequence, the blades are determined to include a first blade in the first order, a second blade in the second order, and a third blade in the third order; The inspection route is determined as follows: starting from the front of the wind turbine hub, the patrol points of the first blade are traversed in order of point number; then the patrol points of the second blade are traversed in the reverse order of point number; finally, the patrol points of the third blade are traversed in order of point number. Then, the reverse side of the wind turbine is patrolled at fixed points. The inspection route on the reverse side of the wind turbine is opposite to the inspection route on the front side.

7. The control method for wind turbine inspection according to claim 5, characterized in that, The method further includes: Obtain the reference latitude, longitude, and altitude coordinates of the UAV; The spatial three-dimensional coordinates of the cruise point are converted to latitude and longitude to obtain the relative latitude, longitude and altitude coordinates of the cruise point; The latitude and longitude coordinates of the cruise point are obtained based on the relative latitude and longitude coordinates and the reference latitude and longitude coordinates.

8. The control method for wind turbine inspection according to claim 7, characterized in that, The process of converting the spatial three-dimensional coordinates of the cruise point to latitude and longitude includes: The ratio of the horizontal coordinate value to the Earth's radius is determined as the latitude increment; The product of the ratio of the horizontal plane ordinate value to the Earth's radius and the cosine of the UAV's reference latitude is determined as the longitude increment; The height value is determined to be the height increment.

9. The control method for wind turbine inspection according to claim 7, characterized in that, The process of obtaining the latitude and longitude coordinates of the cruise point based on the relative latitude and longitude coordinates and the reference latitude and longitude coordinates includes: The sum of the relative latitude and longitude coordinates and the reference latitude and longitude coordinates is the latitude and longitude coordinate of the cruise point.

10. A control device for wind turbine inspection, characterized in that, The device includes: The acquisition module is used to control the drone to fly directly in front of the wind turbine hub after the wind turbine stops and acquire the first image; The first determining module is used to obtain blade angle information based on the first image and determine the blade cruising sequence based on the blade angle information. The second determining module is used to determine the cruise point information of each blade based on the blade length and shooting parameters; The cruise module is used to determine the inspection route based on the blade cruise sequence and the inspection point information, and to control the UAV to perform fixed-point cruise according to the inspection route.

11. An electronic device, characterized in that, The device includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the wind turbine inspection control method according to any one of claims 1-9.

12. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed by a processor, implements the steps of the wind turbine inspection control method according to any one of claims 1-9.

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