Wind turbine blade detection unmanned aerial vehicle based on laser radar

Abstract

The wind turbine blade detection unmanned aerial vehicle based on the laser radar comprises an unmanned aerial vehicle body, a base is arranged at the bottom of the unmanned aerial vehicle body, supporting legs are installed at the bottoms of the two sides of the base, and bayonets are formed in the front portion and the rear portion of the outer wall of the base at equal intervals. And a mounting hole is formed in the side, away from the supporting leg, of the bayonet of the base, a limiting rod is movably connected into the mounting hole, and a shifting block is arranged on one side of the outer wall of the limiting rod. The utility model relates to the technical field of wind turbine inspection equipment, and solves the technical problems that in the prior art, in the transportation and storage process of an unmanned aerial vehicle for wind turbine blade detection, a laser radar sensing module lacks effective protection at the bottom of the unmanned aerial vehicle, the laser radar sensing module is prone to being damaged due to accidental collision, and the unmanned aerial vehicle is damaged easily. And the detection precision and the equipment safety of the unmanned aerial vehicle are influenced.

Description

TECHNICAL FIELD

[0001] The utility model relates to wind turbine inspection equipment technical field, concretely is a kind of wind turbine blade detection unmanned aerial vehicle based on laser radar. BACKGROUND

[0002] As an important renewable energy, the power generation efficiency of wind power generation is closely related to the state of wind turbine blades. However, during the operation of the wind turbine blades, they are easily damaged by abrasion, corrosion, cracks and pores due to long-term vibration and stress, as well as rain or wind sand corrosion. These damages not only reduce the wind capturing efficiency of the blades, but also threaten the overall operation safety of the wind turbine. Timely inspection and discovery of these defects can achieve the goal of early warning, which is helpful for the safe operation of the wind turbine. With the development of science and technology, the detection of wind turbine blades is replaced by laser radar detection unmanned aerial vehicle instead of manual detection. The laser radar detection unmanned aerial vehicle usually installs a laser radar probe at the bottom of the unmanned aerial vehicle. In the prior art, the laser radar sensing module lacks effective protection at the bottom of the unmanned aerial vehicle during transportation and storage, which easily causes damage to the laser radar sensing module due to accidental bumps, affecting the detection accuracy and equipment safety of the unmanned aerial vehicle. SUMMARY

[0003] To overcome the shortcomings of the prior art, the utility model provides a wind turbine blade detection unmanned aerial vehicle based on laser radar, which solves the problem of the laser radar sensing module lacking effective protection at the bottom of the unmanned aerial vehicle during transportation and storage of the unmanned aerial vehicle for wind turbine blade detection in the prior art, which easily causes damage to the laser radar sensing module due to accidental bumps, affecting the detection accuracy and equipment safety of the unmanned aerial vehicle.

[0004] To achieve the above-mentioned purpose, the utility model realizes the following technical scheme: a wind turbine blade detection unmanned aerial vehicle based on laser radar, comprising an unmanned aerial vehicle body, a base is arranged at the bottom of the unmanned aerial vehicle body, supporting legs are installed at the bottom of both sides of the base, a bayonet is equally arranged on the outer wall of the base in front and back, an installation hole is arranged on the side of the base away from the supporting legs, a limiting rod is movably connected inside the installation hole, a knob is arranged on one side of the outer wall of the limiting rod, a compression spring is arranged on the side of the installation hole away from the supporting legs, the compression spring abuts against the limiting rod, a plug hole is arranged on the side of the bayonet away from the installation hole, the limiting rod is connected with the plug hole, a connecting seat is arranged below the base, connecting rods are rotatably connected in front and back of the connecting seat, a limiting plate is arranged at the top of the connecting rod, the connecting rod and the limiting plate are connected with the bayonet, the connecting rod is connected with the limiting rod, a rubber pad is arranged at the top of the connecting seat, the rubber pad is connected with the base, and a laser radar sensing module is arranged below the connecting seat.

[0005] Preferably, the bottom of the connecting seat is provided with a mounting seat, the lower side of the connecting seat is provided with a rotating mechanism, the top of the rotating mechanism is provided with a fixing seat, the fixing seat is connected with the mounting seat in a matched mode, and the fixing seat is fixedly connected with the mounting seat through fixing bolts.

[0006] Preferably, the upper and lower sides of the mounting hole are provided with guide grooves, the outer wall of the limiting rod is provided with limiting blocks in an upper and lower mode, and the limiting blocks are matched with the guide grooves in a clearance mode.

[0007] Preferably, the outer wall of the dial block is provided with anti-skid lines.

[0008] Preferably, the outer wall of the connecting rod is provided with a limiting groove, and the limiting groove is connected with the limiting rod in a matched mode.

[0009] The utility model provides a kind of wind turbine blade detection unmanned plane based on laser radar. With the following beneficial effects: the wind turbine blade detection unmanned plane based on laser radar, through the cooperation between unmanned aerial vehicle body, pedestal, bayonet, mounting hole, limiting rod, dial block, compression spring, jack, connecting seat, connecting rod, limiting plate and rubber pad, modular design is used, limiting is carried out by connecting rod is clamped into the bayonet of pedestal, fixed connection between pedestal and connecting seat is utilized, unmanned aerial vehicle body and laser radar sensing module can be combined and installed, the connection stability and reliability of overall structure can be improved, and the body part of laser radar detection unmanned plane and sensing module can be more conveniently installed and disassembled, so as to separate laser radar sensing module from unmanned aerial vehicle body during laser radar detection unmanned plane transportation or storage, and place into box for protection, accidental knock during transportation or storage can be effectively avoided, so as to improve the safety of equipment transportation and the convenience of assembly.

[0010] Through the cooperation between connecting seat, mounting seat, rotating mechanism, fixing seat and fixing bolt, fixing seat on the top of rotating structure is placed into mounting seat, and fixed using fixing bolt, rotating structure and connecting seat can be installed and fixed, modular design is used, laser radar sensing module and rotating structure and connecting seat can be combined and installed, so that the maintenance and upgrade of laser radar detection unmanned plane are more convenient. ACCURACY OF DRAWINGS

[0011] Figure 1 It is the structural schematic diagram of the utility model;

[0012] Figure 2 It is the appearance schematic diagram of pedestal, connecting seat and connecting rod in the utility model;

[0013] Figure 3 It is Figure 1 It is the local enlarged view of area A in the utility model.

[0014] Figure 4 For Figure 1 the local enlarged view of region B;

[0015] Figure 5 For Figure 2 the local enlarged view of region C;

[0016] Figure 6 For Figure 2 the local enlarged view of region D.

[0017] In the figure: 1, unmanned aerial vehicle body; 2, base; 3, support leg; 4, bayonet; 5, mounting hole; 6, limiting rod; 7, dial block; 8, compression spring; 9, jack; 10, connecting seat; 11, connecting rod; 12, limiting plate; 13, rubber pad; 14, laser radar sensing module; 15, mounting seat; 16, rotating mechanism; 17, fixed seat; 18, fixing bolt; 19, guide groove; 20, limiting block; 21, non-slip pattern; 22, limiting groove. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0019] In the prior art, the unmanned aerial vehicle for wind turbine blade detection lacks effective protection for the laser radar sensing module at the bottom of the unmanned aerial vehicle during transportation and storage, and the laser radar sensing module is easily damaged due to accidental bumps, affecting the detection accuracy and equipment safety of the unmanned aerial vehicle.

[0020] Therefore, the present application provides a laser radar-based wind turbine blade detection unmanned aerial vehicle, which adopts modular design through cooperation between the unmanned aerial vehicle body, the base, the bayonet, the mounting hole, the limiting rod, the dial block, the compression spring, the jack, the connecting seat, the connecting rod, the limiting plate and the rubber pad. The connecting rod is clamped into the bayonet of the base for limiting, and the base and the connecting seat are connected and fixed, so as to realize combined installation between the unmanned aerial vehicle body and the laser radar sensing module, improve the connection stability and reliability of the overall structure, and make the unmanned aerial vehicle body part and the sensing module of the laser radar detection unmanned aerial vehicle more convenient to install and disassemble. In this way, the laser radar sensing module and the unmanned aerial vehicle body can be separated during transportation or storage of the laser radar detection unmanned aerial vehicle and placed in a box for protection, so as to avoid accidental bumps during transportation or storage, and further improve the safety of equipment transportation and the convenience of equipment assembly.

[0021] By the person skilled in the art, all electrical components in the case are connected to their adapted power supply through wires, and appropriate controllers and encoders should be selected according to actual conditions to meet the control requirements. The specific connection and control sequence should be referred to the working principle below to complete the electrical connection in the order of the working sequence of each electrical component. The detailed connection means is a well-known technology in the art. The working principle and process are mainly introduced below, and the electrical control is not described.

[0022] By Figures 1-6 It can be known that the wind turbine blade detection unmanned aerial vehicle based on laser radar comprises an unmanned aerial vehicle body 1, a base 2 arranged at the bottom of the unmanned aerial vehicle body 1, support legs 3 arranged at the bottoms of two sides of the base 2, bayonets 4 equally arranged at the outer walls of the base 2, mounting holes 5 arranged at the sides of the base 2 away from the support legs 3, limit rods 6 movably connected in the mounting holes 5, a knob 7 arranged at one side of the outer wall of the limit rod 6, compression springs 8 arranged at the sides of the mounting holes 5 away from the support legs 3, the compression springs 8 giving the limit rod 6 an elastic force close to the support legs 3, the compression springs 8 abutting against the limit rod 6, insertion holes 9 arranged at the sides of the bayonets 4 away from the mounting holes 5, the limit rod 6 and the insertion hole 9 being connected in cooperation, a connecting seat 10 arranged below the base 2, connecting rods 11 rotatably connected at the front and back of the connecting seat 10, limit plates 12 arranged at the top of the connecting rods 11, the connecting rods 11 and the limit plates 12 being connected in cooperation with the bayonets 4, the connecting rods 11 being connected in cooperation with the limit rods 6, rubber pads 13 arranged at the top of the connecting seat 10, the rubber pads 13 being used for abutting tightly between the base 2 and the connecting seat 10, improving the connecting stability of the base 2 and the connecting seat 10, the rubber pads 13 being connected in cooperation with the base 2, and laser radar sensing modules 14 arranged below the connecting seat 10.

[0023] In the implementation process, it is worth pointing out that the unmanned aerial vehicle body 1 is a laser radar detection unmanned aerial vehicle body structure, which is internally provided with a flight control module, a power supply module and a signal transmission module, etc., and is symmetrically provided with a rotor structure on both sides. Through the cooperation between the unmanned aerial vehicle body 1, the base 2 and the supporting leg 3, the supporting leg 3 is arranged on the bottom of the base 2, which can form stable support for the laser radar detection unmanned aerial vehicle and protect the sensing module at the bottom of the unmanned aerial vehicle. Through the cooperation between the connecting seat 10 and the laser radar sensing module 14, the laser radar sensing module 14 is composed of a laser emitter, a laser receiver and related optical and mechanical components, which is used for scanning the wind turbine blade and transmitting the scanning information to the terminal system of the unmanned aerial vehicle control end in real time, so as to obtain the three-dimensional information of the wind turbine blade, analyze the wear, corrosion, crack and pore of the wind turbine blade, and give the elastic force of the compression spring 8 to the limiting rod 6 close to the supporting leg 3. The rubber pad 13 is used for abutting between the base 2 and the connecting seat 10, which improves the connection stability of the base 2 and the connecting seat 10. Through the cooperation between the base 2, the bayonet 4, the mounting hole 5, the limiting rod 6, the push block 7, the compression spring 8, the insertion hole 9, the connecting seat 10, the connecting rod 11, the limiting plate 12 and the rubber pad 13, the connecting seat 10 is put into the bottom of the base 2, the push block 7 is moved away from the supporting leg 3, the limiting rod 6 is moved into the mounting hole 5, the compression spring 8 is compressed, the connecting rod 11 is rotated upward and clamped into the bayonet 4. After the push block 7 is loosened, the limiting rod 6 moves close to the supporting leg 3 under the action of the compression spring 8 and is inserted into the insertion hole 9 on the other side of the bayonet 4, which limits the connecting rod 11 and prevents the connecting rod 11 from being pulled out of the bayonet 4. The base 2 and the connecting seat 10 are stably connected, the connection stability and reliability of the overall structure are improved, the installation and disassembly are convenient, the modular design is adopted, the connecting rod 11 is clamped into the bayonet 4 of the base 2, the connection between the base 2 and the connecting seat 10 is fixed, the combination installation between the unmanned aerial vehicle body 1 and the laser radar sensing module 14 is realized, the connection stability and reliability of the overall structure are improved, and the body part and the sensing module of the laser radar detection unmanned aerial vehicle can be more conveniently installed and disassembled. In order to separate the laser radar sensing module 14 from the unmanned aerial vehicle body 1 during transportation or storage of the laser radar detection unmanned aerial vehicle and put it into the box for protection, accidental bumps during transportation or storage are avoided.Further improve the safety of equipment transportation and the convenience of equipment assembly.

[0024] Further, the bottom of the connecting seat 10 is provided with a mounting seat 15, and the lower part of the connecting seat 10 is provided with a rotating mechanism 16. The rotating mechanism 16 is used for angle rotation of the laser radar sensing module 14, which is controlled by the power supply and control system inside the connecting seat 10, so as to scan and sense the wind turbine blade in all directions without dead angle. The top of the rotating mechanism 16 is provided with a fixing seat 17, which is connected with the mounting seat 15. The fixing seat 17 is fixedly connected with the mounting seat 15 through fixing bolts 18.

[0025] In the specific implementation process, it is particularly worth pointing out that the rotating mechanism 16 is used for angle rotation of the laser radar sensing module 14, which is controlled by the power supply and control system inside the connecting seat 10, so as to scan and sense the wind turbine blade in all directions without dead angle. Through the cooperation between the connecting seat 10, the mounting seat 15, the rotating mechanism 16, the fixing seat 17 and the fixing bolts 18, the fixing seat 17 at the top of the rotating mechanism 16 is put into the mounting seat 15, and the fixing is realized by using the fixing bolts 18. The installation and fixation between the rotating mechanism 16 and the connecting seat 10 are realized. The modular design is adopted, so that the laser radar sensing module 14 and the rotating mechanism 16 can be combined and installed with the connecting seat 10, and the convenience of maintenance and upgrading of the laser radar detection unmanned aerial vehicle is improved.

[0026] Further, the upper and lower parts of the mounting hole 5 are provided with guide grooves 19, and the outer wall of the limiting rod 6 is provided with limiting blocks 20 upwards and downwards. The limiting blocks 20 are gap-connected with the guide grooves 19.

[0027] In the specific implementation process, it is particularly worth pointing out that through the cooperation between the mounting hole 5, the limiting rod 6, the guide groove 19 and the limiting block 20, the movement stroke of the limiting rod 6 is limited through the guidance and limiting of the limiting block 20 by the guide groove 19, so as to ensure the stability and accuracy of the limiting rod 6 during movement.

[0028] Further, the outer wall of the dial block 7 is provided with anti-skid lines 21, which are used to increase the surface friction of the dial block 7, so as to stably move the limiting rod 6.

[0029] In the specific implementation process, it is particularly worth pointing out that the anti-skid lines 21 are used to increase the surface friction of the dial block 7, so as to stably move the limiting rod 6.

[0030] Further, the outer wall of the connecting rod 11 is provided with a limiting groove 22, which is connected with the limiting rod 6.

[0031] In the specific implementation process, it is worth pointing out that, through the cooperation between the limiting rod 6, the connecting rod 11 and the limiting groove 22, by arranging the limiting groove 22 on the outer wall of the connecting rod 11, after the connecting rod 11 is clamped into the socket 4, the limiting rod 6 limits the connecting rod 11 in the limiting groove 22, further improving the connection stability between the base 2 and the connecting seat 10.

[0032] It should be noted that, in this document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, inclusion of an element in a list of elements does not exclude other identical elements not expressly listed or inherent to the process, method, article, or apparatus.

[0033] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "arrangement", "connection", "fixing", "screw connection" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integrated; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited, the above-mentioned terms in the present application can be understood according to the specific meaning of the above-mentioned terms in the present application by the person skilled in the art according to the specific situation.

[0034] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A laser radar based wind turbine blade inspection drone comprising a drone body (1), characterized in that: The bottom of the unmanned aerial vehicle fuselage (1) is provided with a base (2), both sides of the bottom of the base (2) are provided with supporting legs (3), the outer wall of the base (2) is provided with a bayonet (4) at equal intervals in front and back, the base (2) is provided with a mounting hole (5) on the side away from the supporting leg (3), the inside of the mounting hole (5) is movably connected with a limiting rod (6), the outer wall of the limiting rod (6) is provided with a knob (7) on one side, the inside of the mounting hole (5) is provided with a compression spring (8) away from the supporting leg (3), the compression spring (8) abuts against the limiting rod (6), the bayonet (4) is provided with a jack (9) on the side away from the mounting hole (5), the limiting rod (6) is connected with the jack (9), the bottom of the base (2) is provided with a connecting seat (10), the front and back of the connecting seat (10) are rotatably connected with a connecting rod (11), the top of the connecting rod (11) is provided with a limiting plate (12), the connecting rod (11) and the limiting plate (12) are connected with the bayonet (4), the connecting rod (11) is connected with the limiting rod (6), the top of the connecting seat (10) is provided with a rubber pad (13), the rubber pad (13) is connected with the base (2), the bottom of the connecting seat (10) is provided with a laser radar sensing module (14).

2. A LiDAR based wind turbine blade inspection drone according to claim 1, characterized in that: The bottom of the connecting seat (10) is provided with a mounting seat (15), the bottom of the connecting seat (10) is provided with a rotating mechanism (16), the top of the rotating mechanism (16) is provided with a fixing seat (17), the fixing seat (17) is connected with the mounting seat (15), the fixing seat (17) is fixedly connected with the mounting seat (15) through fixing bolts (18).

3. A LiDAR based wind turbine blade inspection drone according to claim 1, characterized in that: The mounting hole (5) is provided with a guide groove (19) upward and downward, the outer wall of the limiting rod (6) is provided with a limiting block (20) upward and downward, the limiting block (20) is connected with the guide groove (19) with a gap.

4. A LiDAR based wind turbine blade inspection drone according to claim 1, characterized in that: The outer wall of the knob (7) is provided with anti-skid lines (21).

5. A LiDAR based wind turbine blade inspection drone according to claim 1, characterized in that: The outer wall of the connecting rod (11) is provided with a limiting groove (22), the limiting groove (22) is connected with the limiting rod (6).

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