Inspection unmanned aerial vehicle for fan blade inner cavity

Abstract

The utility model provides an inspection unmanned aerial vehicle for an inner cavity of a fan blade, and the inspection unmanned aerial vehicle comprises a fuselage which is internally provided with a containing cavity; the driving assembly is installed in the containing cavity and used for outputting driving force; the paddle assembly is connected with the driving assembly, receives the driving force and converts the driving force into lift force required by the inspection unmanned aerial vehicle; the wind direction adjusting mechanism is installed in the containing cavity, located below the paddle assembly and used for receiving the airflow output by the paddle assembly; the first wind direction adjusting assembly is used for adjusting the first airflow direction of airflow, and the second wind direction adjusting assembly is used for adjusting the second airflow direction of airflow. The inspection unmanned aerial vehicle for the fan blade inner cavity can enter the fan blade inner cavity, can move in all directions under the action of the wind direction adjusting assembly, is very flexible, can replace manpower to achieve inspection operation, reduces the safety risk, and improves the inspection efficiency.

Description

Technical Field

[0001] The present disclosure relates to the field of inspection drones, and in particular to an inspection drone used for the inner cavity of a wind turbine blade. Background Art

[0002] With the continuous development of new energy technologies, photovoltaic, wind power and other new energy facilities have begun to be deployed and used in large quantities. Among them, wind power has high manufacturing costs and long service life, and there will be a large number of inspection needs during use.

[0003] Existing inspections of wind turbine blades are usually carried out manually at heights, which is cumbersome for inspectors to climb, inconvenient to carry tools, and poses safety risks. Summary of the invention

[0004] In view of this, the purpose of the present disclosure is to provide an inspection drone for the inner cavity of a wind turbine blade with high inspection efficiency.

[0005] In order to achieve the above-mentioned object, an embodiment of the present disclosure provides a drone for inspecting the inner cavity of a wind turbine blade, comprising:

[0006] a fuselage, wherein a receiving cavity is provided;

[0007] A driving assembly, installed in the accommodating cavity, for outputting driving force;

[0008] A blade assembly connected to the driving assembly and receiving the driving force, and converting the driving force into the lift required by the inspection drone;

[0009] A wind direction adjustment mechanism is installed in the accommodating cavity and is located below the blade assembly, and is used to receive the airflow output by the blade assembly; the wind direction adjustment mechanism includes a first wind direction adjustment component and a second wind direction adjustment component, the first wind direction adjustment component is used to adjust a first airflow direction of the airflow, and the second wind direction adjustment component is used to adjust a second airflow direction of the airflow.

[0010] In one embodiment, the first wind direction adjustment component includes:

[0011] A first swing rod extending along the first direction, both ends of the first swing rod being rotatably connected to the fuselage;

[0012] A first steering gear, mounted on the fuselage and capable of driving the first swing arm to rotate;

[0013] a first air guide plate, mounted on the first swing arm and rotating with the first swing arm to adjust a first airflow direction of the airflow;

[0014] The second wind direction adjustment component comprises:

[0015] A second swing rod extending along the second direction, both ends of the second swing rod being rotatably connected to the fuselage;

[0016] a second steering gear, mounted on the fuselage and capable of driving the second swing rod to rotate;

[0017] a second air guide plate, mounted on the second swing rod and rotating with the second swing rod to adjust a second airflow direction of the airflow;

[0018] The first direction is perpendicular to the second direction.

[0019] In one embodiment, the middle portion of the first swinging rod is convex upward or concave downward to form an avoidance groove for avoiding the second swinging rod; or,

[0020] The middle portion of the second swing rod is convex upward or concave downward to form an avoidance groove for avoiding the first swing rod.

[0021] In one embodiment, when the middle portion of the first swing rod is convex upward or concave downward to form a avoidance groove for avoiding the second swing rod, the first air guide plates are respectively arranged on both sides of the avoidance groove, and a gap is arranged between the first air guide plates on both sides of the avoidance groove;

[0022] When the middle portion of the second swing rod bulges upward or recesses downward to form an avoidance groove for avoiding the first swing rod, the second air guide plates are respectively arranged on both sides of the avoidance groove, and a gap is arranged between the second air guide plates on both sides of the avoidance groove.

[0023] In one embodiment, the first swing arm and the second swing arm are staggered in space, and the staggered distance is greater than the sum of the widths of the two first air guide plates or the second air guide plates.

[0024] In one embodiment, the fuselage includes a plurality of fixing brackets, and the plurality of fixing brackets are connected to form a hollow area.

[0025] In one embodiment, the inspection drone further includes:

[0026] A camera is installed on the fuselage and is used to collect images of the inner cavity of the fan blade.

[0027] In one embodiment, the inspection drone further includes:

[0028] A fill light is installed on the fuselage along the circumference of the fuselage.

[0029] In one embodiment, the drive assembly includes a first motor and a second motor in a vertical direction;

[0030] The blade assembly includes a first blade connected to the first motor and a second blade connected to the second motor;

[0031] The first blade and the second blade are coaxially arranged in a vertical direction.

[0032] In one embodiment, the inspection drone further includes:

[0033] A battery, mounted on the fuselage, for supplying power to the inspection drone;

[0034] A communication module is installed on the fuselage, and the inspection drone communicates with the remote control, PC or cloud through the communication module;

[0035] A flight control unit, mounted on the fuselage, for controlling the movement and posture of the inspection drone;

[0036] An edge computing module is installed on the fuselage and is used for collecting images.

[0037] In one embodiment, the inspection drone further includes:

[0038] Multiple heat dissipation brackets are connected to the fuselage, and the battery, communication module, flight control unit and edge computing module are respectively connected to corresponding heat dissipation brackets.

[0039] In one embodiment, the battery, communication module, flight control unit and edge computing module are installed on the inner side of the side wall of the fuselage and are respectively connected to different fixed brackets on the fuselage.

[0040] In one embodiment, the inspection drone further includes:

[0041] Two hemispherical multi-line laser radars, one of which is installed on the top of the fuselage, and the other is installed on the bottom of the fuselage, and the two hemispherical multi-line laser radars cooperate to achieve panoramic scanning; or,

[0042] A single-line laser radar can be rotated to achieve panoramic scanning.

[0043] The inspection drone for the inner cavity of a wind turbine blade provided by the present invention can enter the inner cavity of the wind turbine blade and realize movement in all directions under the action of a wind direction adjustment component. It is very flexible and can replace manual inspection work on the inner cavity of the wind turbine blade, thereby reducing safety risks and improving inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the present disclosure or related technologies, the drawings required for use in the implementation methods or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only implementation methods of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 This is a schematic diagram of the structure of a blade cavity inspection drone in one embodiment of the present disclosure;

[0046] Figure 2 This is a schematic diagram of the structure of a blade inner cavity inspection drone in another embodiment of the present disclosure;

[0047] Figure 3 A top view of a wind direction adjustment mechanism in one embodiment of the present disclosure;

[0048] Figure 4 A side view of a first wind direction adjustment assembly in one embodiment of the present disclosure;

[0049] Figure 5 Schematic diagram of electrical connections of a blade cavity inspection drone in one embodiment of the present disclosure.

[0050] Marking instructions: 1. Fuselage; 11. Accommodating cavity; 12. Fixed bracket; 2. Driving assembly; 21. First motor; 22. Second motor; 3. Blade assembly; 31. First blade; 32. Second blade; 4. Wind direction adjustment mechanism; 41. First swing arm; 42. First servo; 43. First wind guide plate; 44. Second swing arm; 45. Second servo; 46. Second wind guide plate; 47. Avoidance groove; 48. Gap; 51. Camera; 52. Fill light; 61. Heat dissipation bracket; 62. Flight control unit; 63. Battery; 64. Edge computing module. DETAILED DESCRIPTION

[0051] The present invention will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional changes made by a person skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0052] Embodiment It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0053] Reference Figure 1-5 As shown, the embodiment of the present disclosure discloses an inspection drone for the inner cavity of a wind turbine blade, which includes: a fuselage 1, in which a receiving cavity 11 is provided; a drive assembly 2, installed in the receiving cavity 11, for outputting a driving force; a blade assembly 3, connected to the drive assembly 2 and receiving the driving force, and converting the driving force into the lift required by the inspection drone.

[0054] The inspection drone also includes a wind direction adjustment mechanism 4, which is installed in the accommodating cavity 11 and is located below the blade assembly, for receiving the airflow output by the blade assembly; the wind direction adjustment mechanism 4 includes a first wind direction adjustment component and a second wind direction adjustment component, the first wind direction adjustment component is used to adjust the first airflow direction of the airflow, and the second wind direction adjustment component is used to adjust the second airflow direction of the airflow.

[0055] It can be understood that the airflow output by the blade assembly is in the first airflow direction after passing through the first wind direction adjusting assembly, and the airflow output by the blade assembly is in the second airflow direction after passing through the second wind direction adjusting assembly. Any angle can be formed between the first airflow direction and the second airflow direction, thereby driving the drone to move in different directions.

[0056] When working, the driving force is output through the driving component, and the blade component converts the driving force into the lift required by the inspection drone, thereby realizing the lifting and lowering of the drone; at the same time, the first wind direction adjustment component and the second wind direction adjustment component cooperate with each other to adjust the first airflow direction and the second airflow direction of the airflow respectively, thereby adjusting the position of the drone in three-dimensional space, and reaching any target position when inspecting the inner cavity of the fan blade.

[0057] The inspection drone for the inner cavity of a wind turbine blade provided by the present invention can enter the inner cavity of the wind turbine blade and realize movement in all directions under the action of a wind direction adjustment component. It is very flexible and can replace manual inspection work on the inner cavity of the wind turbine blade, thereby reducing safety risks and improving inspection efficiency.

[0058] Reference Figure 3-4 As shown, in one embodiment, the first wind direction adjustment component includes: a first swing lever 41, a first steering gear 42 and a first wind guide plate 43.

[0059] The first swing arm 41 extends along a first direction (such as the X direction in the figure), and both ends of the first swing arm 41 are rotatably connected to the fuselage 1; the first servo 42 is installed on the fuselage 1 and can drive the first swing arm 41 to rotate; the first air guide plate 43 is installed on the first swing arm 41 and rotates with the first swing arm 41 to adjust the first airflow direction of the airflow.

[0060] Specifically, when the UAV needs to move to one side of the first swing rod 41, it is necessary to control the first wind guide plate 43 to swing to the other side of the first swing rod 41, so that the UAV can move to one side of the first swing rod 41 under the action of airflow.

[0061] In one embodiment, the second wind direction adjustment assembly includes: a second swing lever 44 , a second steering gear 45 and a second wind guide plate 46 .

[0062] The second swing arm 44 extends along the second direction (such as the Y direction in the figure), and both ends of the second swing arm 44 are rotatably connected to the fuselage 1; the second servo 45 is installed on the fuselage 1 and can drive the second swing arm 44 to rotate; the second air guide plate 46 is installed on the second swing arm 44 and rotates with the second swing arm 44 to adjust the second airflow direction of the airflow.

[0063] Similarly, when the UAV needs to move to one side of the second swing rod 44, it is necessary to control the second wind guide plate 46 to swing to the other side of the second swing rod 44, so that the UAV can move to one side of the second swing rod 44 under the action of airflow.

[0064] The first wind direction adjustment component and the second wind direction adjustment component in this embodiment cooperate with each other to realize the movement of the drone in any direction in space, and has the advantages of simple structure and convenient adjustment.

[0065] Reference Figure 4As shown, in one embodiment, the middle part of the first swing rod 41 is convex upward or concave downward to form an avoidance groove 47 for avoiding the second swing rod 44. The second swing rod 44 runs through the avoidance groove 47, and the second swing rod 44 can rotate 360 ​​degrees in the avoidance groove 47. The corresponding second air guide plate 46 can run through the entire second swing rod 44, which is easier to process and has a larger air guide area. Further, the first air guide plates 43 are respectively provided on both sides of the avoidance groove 47, and a gap 48 is provided between the first air guide plates 43 on both sides of the avoidance groove 47. The gap 48 can ensure that the first air guide plate 43 and the second air guide plate 46 will not interfere with each other when rotating. Optionally, a plurality of second air guide plates 46 can also be provided, which are respectively provided at different positions on the second swing rod 44.

[0066] In another embodiment, the middle portion of the second swing rod 44 is convex upward or concave downward to form an avoidance slot for avoiding the first swing rod 41. The first swing rod 41 passes through the avoidance slot, and the first swing rod can rotate 360 ​​degrees in the avoidance slot. The corresponding first air guide plate 43 can pass through the entire first swing rod 41, which is easier to process and has a larger air guide area. Furthermore, second air guide plates 46 are respectively provided on both sides of the avoidance slot, and a gap is provided between the first air guide plates 43 on both sides of the avoidance slot.

[0067] Optionally, the avoidance groove 47 is in a U-shape, a V-shape, an inverted U-shape or an inverted V-shape.

[0068] In one embodiment, the first swing arm 41 and the second swing arm 44 are staggered in space, and the staggered distance is greater than the sum of the widths of the two first air guide plates 43 or the two second air guide plates 46. This can also prevent the windshields on the two swing arms from interfering with each other during rotation.

[0069] In one embodiment, the fuselage 1 includes a plurality of fixed brackets 12, and the plurality of fixed brackets 12 are connected to form a hollow area to reduce the wind resistance of the drone during operation. At the same time, the fixed brackets 12 can physically protect the various components in the accommodating cavity 11. Furthermore, an anti-collision structure is also provided outside the fixed bracket 12, and specifically, plastic, composite material, rubber, etc. can be selected for anti-collision or appearance requirements.

[0070] In one embodiment, the inspection drone further includes: a camera 51, mounted on the fuselage 1, for collecting images of the inner cavity of the fan blade; optionally, one camera 51 is provided, and the images of different positions in the inner cavity of the fan blade are collected through the displacement and rotation of the drone; optionally, multiple cameras are provided, at least one camera 51 is installed on the top of the fuselage 1, at least one camera 51 is installed on the bottom of the fuselage 1; at least one camera 51 is installed on the side of the fuselage 1. When inspecting the inner cavity of the fan blade, the top camera 51 is used to collect image information from the top, the bottom camera 51 is used to collect image information from the bottom, and the side camera 51 is used to collect image information from the side; further, multiple side cameras 51 can be provided, respectively provided on opposite sides. Furthermore, the camera 51 can be fixed at any position on the surface of the fuselage 1, that is, according to the different parking angles of the fan blade, the camera 51 can be fixed at the same inclination angle as the blade, so as to facilitate the uniform viewing angle when inspecting the inner cavity of the drone.

[0071] In one embodiment, the inspection drone further includes: a fill light 52, which is installed on the fuselage 1 along the circumference of the fuselage 1. The fill light 52 is used to fill light when the camera is collecting images, so that the camera can obtain a clearer image. Optionally, the fill light 52 can be a light strip, which is wound around the fuselage 1.

[0072] In one embodiment, the driving assembly 2 includes a first motor 21 and a second motor 22 in the vertical direction; the blade assembly 3 includes a first blade 31 connected to the first motor 21 and a second blade 32 connected to the second motor 22; the first blade 31 and the second blade 32 are coaxially arranged in the vertical direction. Among them, the first blade 31 and the second blade 32, one blade is facing upward and the other blade is facing downward, and the rotation directions are opposite to offset the spin torque, and by adjusting the output power of the two motors to make the spin torque unequal, the drone can achieve the steering function.

[0073] In one embodiment, the inspection drone further includes: a battery 63 installed on the fuselage 1 for supplying power to the inspection drone.

[0074] Reference Figure 5 , which is a schematic diagram of electrical connections of a blade cavity inspection drone in one embodiment of the present disclosure.

[0075] The inspection drone also includes: a communication module, which is installed on the fuselage 1, and the inspection drone communicates with the remote control, the PC or the cloud through the communication module;

[0076] A flight control unit, mounted on the fuselage 1, is used to control the movement and attitude of the inspection UAV;

[0077] The edge computing module is installed on the fuselage 1 and is used for data analysis and processing of the collected images and task planning.

[0078] Specifically, the edge computing module is connected to the flight control unit, the camera, the communication module, and the fill light, and is used for data analysis and processing and task planning after image acquisition. The first motor 21 and the second motor 22 are both connected to the motor drive board, and the first servo 42 and the second servo 45 are both connected to the flight control unit.

[0079] The communication module is used for communication between the drone and the remote control, PC or cloud. It can be a radio frequency image transmission module, a long-distance mesh module or a cellular network module such as 4G / 5G. It is mainly used for drone image transmission, data transmission and remote control.

[0080] The flight control unit is a circuit board composed of a single-chip microcomputer, an IMU sensor, and a drive circuit. It connects the motor and the servo to control the overall movement and attitude of the drone.

[0081] In one embodiment, the inspection drone further includes a plurality of heat dissipation brackets 61, which are all connected to the fuselage 1, and the battery, communication module, flight control unit and edge computing module are respectively connected to the corresponding heat dissipation brackets 61, so as to achieve heat dissipation of each module and improve the heat dissipation effect. Furthermore, the plurality of heat dissipation brackets 61 are all connected to the fixed bracket 12 to achieve better heat dissipation effect.

[0082] In one embodiment, the battery, communication module, flight control unit and edge computing module are installed on the inner side of the side wall of the fuselage 1 and are respectively connected to different fixing brackets 12 on the fuselage 1. This can achieve better heat dissipation effect and avoid occupying the air duct, thereby ensuring the flight lift of the drone and thus ensuring flight efficiency.

[0083] In one embodiment, the inspection drone further includes two hemispherical multi-line laser radars, one of which is mounted on the top of the fuselage 1, and the other is mounted on the bottom of the fuselage 1, and the two hemispherical multi-line laser radars cooperate to achieve panoramic scanning, that is, 360-degree scanning without blind spots.

[0084] In another embodiment, the inspection drone includes a single-line laser radar, which can rotate to achieve panoramic scanning. Specifically, the single-line laser radar can be driven by a cylinder or a motor to achieve its angle adjustment.

[0085] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples. This narrative style of the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole. Under the concept of the present disclosure, the above embodiments or the technical features in different embodiments may be appropriately combined, the steps may be implemented in any order, and there are many other variations of different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.

[0086] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present disclosure difficult to understand, the known power / ground connections to the integrated circuit (IC) chips and other components may or may not be shown in the provided figures. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present disclosure difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present disclosure will be implemented (that is, these details should be fully within the scope of understanding of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present disclosure, it is obvious to those skilled in the art that the embodiments of the present disclosure can be implemented without these specific details or with changes in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0087] Although the present disclosure has been described in conjunction with specific embodiments of the present disclosure, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0088] The embodiments of the present disclosure are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and principles of the embodiments of the present disclosure shall be included in the scope of protection of the present disclosure.

Claims

1. A drone for inspecting the inner cavity of a fan blade, characterized in that: include: a fuselage, wherein a receiving cavity is provided; A driving assembly, installed in the accommodating cavity, for outputting driving force; A blade assembly connected to the driving assembly and receiving the driving force, and converting the driving force into the lift required by the inspection drone; A wind direction adjustment mechanism is installed in the accommodating cavity and is located below the blade assembly, and is used to receive the airflow output by the blade assembly; the wind direction adjustment mechanism includes a first wind direction adjustment component and a second wind direction adjustment component, the first wind direction adjustment component is used to adjust a first airflow direction of the airflow, and the second wind direction adjustment component is used to adjust a second airflow direction of the airflow; A camera, mounted on the fuselage, for collecting images of the inner cavity of the fan blade; A fill light is installed on the fuselage along the circumference of the fuselage; A battery, mounted on the fuselage, for supplying power to the inspection drone; A communication module is installed on the fuselage, and the inspection drone communicates with the remote control, PC or cloud through the communication module; A flight control unit, mounted on the fuselage, for controlling the movement and posture of the inspection drone; An edge computing module is installed on the fuselage, and the edge computing module is connected to the flight control unit, the camera, the communication module, and the fill light, and is used for performing data analysis and processing and task planning after image acquisition.

2. The inspection drone for the inner cavity of a wind turbine blade according to claim 1 is characterized in that: The first wind direction adjustment component comprises: A first swing rod extending along a first direction, wherein both ends of the first swing rod are rotatably connected to the fuselage; A first steering gear, mounted on the fuselage and capable of driving the first swing arm to rotate; a first air guide plate, mounted on the first swing arm and rotating with the first swing arm to adjust a first airflow direction of the airflow; The second wind direction adjustment component comprises: A second swing rod extending along a second direction, both ends of the second swing rod being rotatably connected to the fuselage; a second steering gear, mounted on the fuselage and capable of driving the second swing rod to rotate; a second air guide plate, mounted on the second swing rod and rotating with the second swing rod to adjust a second airflow direction of the airflow; The first direction is perpendicular to the second direction.

3. The inspection drone for the inner cavity of a wind turbine blade according to claim 2 is characterized in that: The middle portion of the first swinging rod is convex upward or concave downward to form an avoidance groove for avoiding the second swinging rod; or, The middle portion of the second swing rod is convex upward or concave downward to form an avoidance groove for avoiding the first swing rod.

4. The inspection drone for the inner cavity of a wind turbine blade according to claim 3 is characterized in that: When the middle portion of the first swinging rod is convex upward or concave downward to form a avoiding groove for avoiding the second swinging rod, the first air guide plates are respectively arranged on both sides of the avoiding groove, and a gap is arranged between the first air guide plates on both sides of the avoiding groove; When the middle portion of the second swing rod bulges upward or recesses downward to form an avoidance groove for avoiding the first swing rod, the second air guide plates are respectively arranged on both sides of the avoidance groove, and a gap is arranged between the second air guide plates on both sides of the avoidance groove.

5. The inspection drone for the inner cavity of a wind turbine blade according to claim 2 is characterized in that: The first swing arm and the second swing arm are staggered in space, and the staggered distance is greater than the sum of the widths of the two first air guide plates or the second air guide plates.

6. The inspection drone for the inner cavity of a wind turbine blade according to claim 1 is characterized in that: The fuselage includes a plurality of fixing brackets, and the plurality of fixing brackets are connected to form a hollow area.

7. The inspection drone for the inner cavity of a wind turbine blade according to claim 1 is characterized in that: The drive assembly includes a first motor and a second motor in a vertical direction; The blade assembly includes a first blade connected to the first motor and a second blade connected to the second motor; The first blade and the second blade are coaxially arranged in a vertical direction.

8. The inspection drone for the inner cavity of a wind turbine blade according to claim 1, characterized in that: The inspection drone also includes: Multiple heat dissipation brackets are connected to the fuselage, and the battery, communication module, flight control unit and edge computing module are respectively connected to corresponding heat dissipation brackets.

9. The inspection drone for the inner cavity of a wind turbine blade according to claim 1, characterized in that: The battery, communication module, flight control unit and edge computing module are installed on the inner side of the side wall of the fuselage and are respectively connected to different fixing brackets on the fuselage.

10. The inspection drone for the inner cavity of a wind turbine blade according to claim 1, characterized in that: The inspection drone also includes: Two hemispherical multi-line laser radars, one of which is installed on the top of the fuselage, and the other is installed on the bottom of the fuselage, and the two hemispherical multi-line laser radars cooperate to achieve panoramic scanning; or, A single-line laser radar can be rotated to achieve panoramic scanning.

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