Autonomous inspection unmanned aerial vehicle device

Abstract

The utility model relates to the technical field of wind power generation, and aims to provide an autonomous inspection unmanned aerial vehicle device. The autonomous inspection unmanned aerial vehicle device can realize omnibearing shooting, and is convenient for workers to comprehensively and accurately judge the state of the fan blade. The autonomous inspection unmanned aerial vehicle device comprises a vehicle body, a blade assembly and a detection assembly, the blade assembly comprises a plurality of driving parts and rotating blades, the fixed ends of the driving parts are connected with the machine body, and the rotating blades are arranged at the driving ends of the driving parts; the detection assembly comprises a first camera, a second camera and an angle adjusting mechanism. The first camera is arranged at the top of the machine body, and the angle adjusting mechanism is arranged at the bottom of the machine body and connected with the second camera. The inspection unmanned aerial vehicle solves the problems that the inspection unmanned aerial vehicle in the prior art cannot realize omnibearing shooting, has detection dead angles, and affects the judgment of a worker on the state of a fan blade.

Description

TECHNICAL FIELD

[0001] The utility model relates to wind power generation technical field, concretely relates to a kind of self-inspection unmanned aerial vehicle devices. BACKGROUND

[0002] Wind energy is an important clean energy, wind turbine as important power equipment of new energy industry, it can convert wind energy into mechanical work, mechanical work drives rotor rotation, ultimately output ac power. Wind turbine is installed with dozens of meters long blade, through the rotation of blade to drive the motor rotation inside wind turbine, ultimately convert wind energy into electrical energy, so the normal operation of blade is crucial for the smooth output of wind turbine electrical energy.

[0003] Traditional fan operation and maintenance business is usually artificial climbing fan or using telescope to overhaul, and the traditional overhaul mode is inefficient and has certain danger in aerial work. Therefore, with the development of technology, using unmanned aerial vehicle to carry out self-inspection becomes the mainstream inspection mode. Unmanned aerial vehicle is equipped with visible light camera, visible light camera is used to shoot fan blade, then staff analyzes and judges the appearance of blade surface according to the image, and then carries out corresponding overhaul on fault position.

[0004] However, the visible light camera of the existing inspection unmanned aerial vehicle changes the shooting angle by relying on the rotation of the holder, but when the unmanned aerial vehicle flies under the fan blade, the visible light camera cannot shoot the image of the fan blade at this time due to the limitation of the holder angle, cannot realize omnidirectional shooting, has detection dead angle, and affects the judgment of staff on the state of fan blade. UTILITY MODEL CONTENTS

[0005] Therefore, the technical problem to be solved by the utility model is to overcome the defects that the existing inspection unmanned aerial vehicle cannot realize omnidirectional shooting, has detection dead angle, and affects the judgment of staff on the state of fan blade, so as to provide a kind of self-inspection unmanned aerial vehicle device which can realize omnidirectional shooting and is convenient for staff to make comprehensive and accurate judgment on the state of fan blade.

[0006] In order to solve the above problems, the utility model provides a kind of self-inspection unmanned aerial vehicle device, which comprises:

[0007] Machine body;

[0008] Blade assembly, the blade assembly comprises: a plurality of driving members and rotating blades, the fixed end of the driving member is connected with the machine body, and the driving end is provided with the rotating blade;

[0009] The detection assembly comprises a first camera, a second camera and an angle adjusting mechanism, the first camera is arranged on the top of the body, the angle adjusting mechanism is arranged on the bottom of the body, and the angle adjusting mechanism is connected with the second camera.

[0010] Optionally, the angle adjusting mechanism comprises a steering wheel and a connecting frame, the steering wheel is arranged on the bottom of the body, the connecting frame is connected with the steering wheel, and the second camera is connected with the connecting frame.

[0011] Optionally, the detection assembly further comprises a laser radar and a third camera, the laser radar is arranged on the top of the body, and the third camera is arranged on the bottom of the body.

[0012] Optionally, the detection assembly further comprises a laser range finder arranged on the bottom of the body.

[0013] Optionally, the blade assembly further comprises a plurality of connecting arms, one end of the connecting arm is connected with the body, and the other end is provided with the driving piece.

[0014] Optionally, a collision prevention frame is arranged outside the rotating blade, and the collision prevention frame is connected with the body through a connecting rod.

[0015] Optionally, the autonomous inspection unmanned aerial vehicle device further comprises a photovoltaic power generation assembly, and the photovoltaic power generation assembly comprises a photovoltaic panel arranged on the body.

[0016] Optionally, the photovoltaic panel comprises a first panel body and two second panel bodies, the first panel body is arranged on the top surface of the body, the two second panel bodies are arranged on the two sides of the first panel body respectively, and are hinged with the first panel body.

[0017] Optionally, the autonomous inspection unmanned aerial vehicle device further comprises support frames arranged on the two sides of the bottom of the body.

[0018] Optionally, the bottom surface of the support frame is provided with a buffer piece.

[0019] The utility model has the following advantages:

[0020] 1. The autonomous inspection unmanned aerial vehicle device comprises a machine body, a blade assembly and a detection assembly. The blade assembly comprises a plurality of driving members and rotating blades. The fixed end of the driving member is connected with the machine body, and the driving end is provided with the rotating blades. The rotating blades are driven to rotate by the driving members, thereby driving the unmanned aerial vehicle to fly. The detection assembly comprises a first camera, a second camera and an angle adjusting mechanism. The first camera is arranged at the top of the machine body. When the unmanned aerial vehicle is located below the fan blade, the first camera can be used for shooting. The angle adjusting mechanism is arranged at the bottom of the machine body, and the angle adjusting mechanism is connected with the second camera. The shooting angle of the second camera can be changed through the angle adjusting mechanism. When the unmanned aerial vehicle is located at other positions, the second camera can be used for shooting. Through cooperation of the first camera and the second camera, all-around shooting of the fan blade is realized, and there is no detection dead angle, so that the staff can comprehensively and accurately judge the state of the fan blade.

[0021] 2. The autonomous inspection unmanned aerial vehicle device further comprises a laser radar and a third camera. The laser radar is arranged at the top of the machine body, and the third camera is arranged at the bottom of the machine body. The third camera can directly shoot a top view of the fan, and the yaw angle can be calculated through a related image processing algorithm. The laser radar can construct a three-dimensional point cloud scene of the wind turbine, and the blade inclination angle can be calculated through a related point cloud processing algorithm. Finally, the key points on the path can be calculated by combining the data such as the height of the fan itself and the length of the fan blade, so as to realize subsequent autonomous inspection.

[0022] 3. The autonomous inspection unmanned aerial vehicle device further comprises a laser range finder arranged at the bottom of the machine body. The distance between the unmanned aerial vehicle and the ground can be calculated in real time through the laser range finder, so as to ensure the accuracy of the inspection point position of the unmanned aerial vehicle in the inspection process.

[0023] 4. The autonomous inspection unmanned aerial vehicle device further comprises an anti-collision frame arranged outside the rotating blade. The anti-collision frame is connected with the machine body through a connecting rod. In the inspection process of the unmanned aerial vehicle, if the instantaneous wind force is too large, the unmanned aerial vehicle may deviate from the original heading and collide with the fan blade, resulting in damage of the unmanned aerial vehicle. The anti-collision frame can protect the rotating blade, thereby reducing the damage probability of the unmanned aerial vehicle.

[0024] 5. The autonomous inspection unmanned aerial vehicle device further comprises a photovoltaic power generation assembly. The photovoltaic power generation assembly comprises a photovoltaic panel arranged on the machine body. In the flight process of the unmanned aerial vehicle, the photovoltaic panel can absorb solar energy to generate electricity, which is supplied to the electrical equipment on the unmanned aerial vehicle. In this way, the endurance of the unmanned aerial vehicle can be improved, and the inspection working time of the unmanned aerial vehicle can be prolonged.

[0025] 6. The autonomous inspection unmanned aerial vehicle device provided by the utility model, the photovoltaic board comprises: a first board body and two second board bodies, the first board body is arranged on the top surface of the machine body, the two second board bodies are arranged on the two sides of the first board body respectively and are hinged with the first board body. The foldable photovoltaic board can increase the heating area of the photovoltaic board and improve the power generation efficiency. Moreover, the unmanned aerial vehicle is folded when it is not working and does not occupy too much space.

[0026] 7. The autonomous inspection unmanned aerial vehicle device provided by the utility model, the autonomous inspection unmanned aerial vehicle device further comprises support frames arranged on the two sides of the bottom of the machine body, and the bottom surface of the support frame is provided with a buffer. By arranging the buffer, the impact force between the unmanned aerial vehicle and the ground can be buffered when the unmanned aerial vehicle lands, the unmanned aerial vehicle is protected, and the service life of the unmanned aerial vehicle is prolonged. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the specific embodiments of the utility model or the technical solutions in the prior art, the drawings needed in the specific embodiments or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating creative labor.

[0028] Figure 1 It is a front view of the autonomous inspection unmanned aerial vehicle device of the utility model;

[0029] Figure 2 It is a top view of the autonomous inspection unmanned aerial vehicle device of the utility model;

[0030] Figure 3 It is a side view of the autonomous inspection unmanned aerial vehicle device of the utility model;

[0031] Figure 4 It is a top view of the photovoltaic board in the autonomous inspection unmanned aerial vehicle device of the utility model in an open state.

[0032] BRIEF DESCRIPTION OF DRAWINGS

[0033] 1, machine body;

[0034] 2, blade assembly, 21, driving part, 22, rotating blade, 23, connecting arm, 24, anti-collision frame, 25, connecting rod;

[0035] 31, first camera, 32, second camera, 331, steering gear, 332, connecting frame, 34, laser radar, 35, third camera, 36, laser range finder;

[0036] 41, photovoltaic board, 411, first board body, 412, second board body;

[0037] 5, support frame;

[0038] 6. Buffer parts. DETAILED DESCRIPTION

[0039] The following is a clear and complete description of the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0040] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating positions or relationships, are based on the positions or relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0041] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0042] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0043] like Figures 1 to 4 The figure shows a preferred embodiment of the autonomous inspection drone device of the present invention, which is suitable for inspecting wind turbine blades in wind power stations.

[0044] The autonomous inspection unmanned aerial vehicle device comprises a body 1, a blade assembly 2 and a detection assembly. The body 1 serves as a carrier of the blade assembly 2 and the detection assembly. The blade assembly 2 comprises a plurality of driving members 21 and rotating blades 22. The fixed end of the driving member 21 is connected with the body 1, and the driving end of the driving member 21 is provided with the rotating blade 22. The rotating blade 22 is driven to rotate by the driving member 21, thereby driving the unmanned aerial vehicle to fly from the bottom to the top of the fan to inspect the fan blades. The detection assembly is used for shooting the fan blades on the flight path of the unmanned aerial vehicle, so as to facilitate the subsequent staff to judge the state of the fan blades. The detection assembly comprises a first camera 31, a second camera 32 and an angle adjusting mechanism. The first camera 31 is arranged at the top of the body 1, the angle adjusting mechanism is arranged at the bottom of the body 1, the angle adjusting mechanism is connected with the second camera 32, and the shooting angle of the second camera 32 can be changed through the angle adjusting mechanism. When the unmanned aerial vehicle is located below the fan blades in the flight path of the unmanned aerial vehicle, the first camera 31 can be used for shooting. When the unmanned aerial vehicle is located at other positions, the second camera 32 can be used for shooting. The appropriate shooting angle can be adjusted through the angle adjusting mechanism during shooting. Through the cooperation of the first camera 31 and the second camera 32, the fan blades can be shot in all directions, there is no dead angle for detection, the staff can judge the state of the fan blades comprehensively and accurately, and it is also convenient for the staff to guide the maintenance work at the fault position in the later period.

[0045] Further, the blade assembly 2 further comprises a plurality of connecting arms 23, one end of the connecting arm 23 is connected with the body 1, the other end is provided with the driving member 21, and the driving member 21 is connected with the rotating blade 22. In the embodiment, four driving members 21 are arranged around the body 1, and correspondingly four sets of rotating blades 22 and four connecting arms 23 are arranged. The driving member 21 is preferably a motor, the output shaft of the motor, that is, the driving end of the driving member 21 is connected with the rotating blade 22, and the axial direction of the output shaft is parallel to the height direction of the wind turbine.

[0046] Of course, in other embodiments, the number of driving members 21, rotating blades 22 and connecting arms 23 can be adjusted according to the size of the unmanned aerial vehicle.

[0047] Further, the outer side of the rotating blade 22 is provided with a collision prevention frame 24, the collision prevention frame 24 comprises two connecting rods arranged in a cross shape and a square frame, and the connection positions of the two connecting rods coincide with the center of the square frame. The collision prevention frame 24 is connected with the body 1 through connecting rods 25, and the extension direction and length of each connecting rod 25 are the same as those of the corresponding connecting arm 23. By arranging the collision prevention frame 24, the rotating blade 22 on the inner side can be protected. During the inspection process of the unmanned aerial vehicle, sudden strong wind may cause the unmanned aerial vehicle to deviate from the original path, which may collide with the fan blades. Moreover, from the perspective of safety, the rotating blade 22 is provided with the collision prevention frame 24, which can prevent the rotating blade 22 from being damaged by the fan blades. Figure 2It can be seen that the rotating blade 22 is located outside the fuselage and is more likely to collide with the fan blade. Once a collision occurs, the rotating blade 22 is easily damaged, thereby causing damage to the unmanned aerial vehicle. By arranging the anti-collision frame 24, the rotating blade 22 can be protected. When a collision occurs, the anti-collision frame 24 is first impacted, thereby reducing the probability of damage to the unmanned aerial vehicle and reducing the maintenance cost.

[0048] In other embodiments, the square frame can be replaced by a circular frame or other shaped frame.

[0049] Further, the autonomous inspection unmanned aerial vehicle device further comprises a photovoltaic power generation assembly, that is, the unmanned aerial vehicle can convert solar energy into electric energy for various electric devices by using the photovoltaic power generation assembly. Compared with the battery-powered unmanned aerial vehicle, the unmanned aerial vehicle has stronger endurance and longer inspection duration.

[0050] The photovoltaic power generation assembly comprises a photovoltaic panel 41 arranged on the body 1. The photovoltaic panel 41 comprises a first panel body 411 and two second panel bodies 412. The first panel body 411 is arranged on the top surface of the body 1. The two second panel bodies 412 are arranged on the two sides of the first panel body 411 and are hingedly connected to the first panel body 411. That is, the second panel bodies 412 can be folded. When the second panel bodies 412 are in the folded state, the two second panel bodies 412 cover the first panel body 411. When the second panel bodies 412 are in the unfolded state, the two second panel bodies 412 are in the same plane as the first panel body 411 to absorb solar energy and generate electricity.

[0051] Further, the autonomous inspection unmanned aerial vehicle device further comprises support frames 5 arranged on the two sides of the bottom of the body 1. Figure 1 As shown in the drawings, the two support frames 5 are arranged in a spread-out shape. The support frames 5 provide support for the body 1, and the space at the bottom of the body 1 can be used to install detection devices.

[0052] In addition, a buffer 6 is arranged on the bottom surface of the support frame 5. The buffer 6 is preferably a rubber pad. When the unmanned aerial vehicle lands, the impact force transmitted to the support frame 5 and the body 1 can be buffered by the rubber pad, thereby making the unmanned aerial vehicle more durable.

[0053] The detection assembly comprises a first camera 31, a second camera 32, and an angle adjusting mechanism. The first camera 31 and the second camera 32 are preferably visible light cameras that can automatically zoom. The angle adjusting mechanism comprises a rudder 331 and a connecting frame 332. The rudder 331 is arranged on the bottom of the body 1. The connecting frame 332 is connected to the rudder 331. The second camera 32 is connected to the connecting frame 332. The second camera 32 can rotate 360° by rotating the rudder 331, thereby providing a better shooting angle during inspection.

[0054] Further, the detection assembly further comprises a laser radar 34 and a third camera 35. The laser radar 34 is arranged on the top of the body 1, as shown in the figure. The laser radar 34 is arranged at a distance from the first camera 31 along the length direction of the body 1. The third camera 35 is arranged on the bottom of the body 1. The third camera 35 is arranged at a distance from the second camera 32 along the length direction of the body 1. The third camera 35 is also preferably an automatic zooming visible light camera. Figure 2

[0055] The laser radar 34 and the third camera 35 can be used to plan the inspection path of the unmanned aerial vehicle. Specifically, before inspecting the wind turbine, the unmanned aerial vehicle is caused to fly from the bottom to the top of the wind turbine once. During the flight, the third camera 35 can directly capture the overhead image of the wind turbine. Through image processing and algorithm, the yaw angle of the wind turbine blade can be calculated. The laser radar 34 can establish a three-dimensional point cloud scene of the wind turbine during the flight of the unmanned aerial vehicle. Through relevant point cloud processing algorithms, the blade pitch angle can be calculated. In addition, in combination with some fixed parameters of the wind turbine, such as the tower GPS coordinates, the hub height, the blade length, etc., the inspection path of the unmanned aerial vehicle can be planned, and the key inspection points on the inspection path can be calculated. Moreover, because the state of the wind turbine blade is different at each wind turbine when it is stopped, the yaw angle and the pitch angle of the wind turbine blade are different. Therefore, the inspection path needs to be planned before each inspection of the wind turbine.

[0056] After the inspection path is planned, the unmanned aerial vehicle can perform autonomous inspection according to the path. When the unmanned aerial vehicle flies to the key inspection point, the first camera 31 and the second camera 32 capture the image of the wind turbine blade. The detection assembly further comprises a laser range finder 36 arranged on the bottom of the body 1. The laser range finder 36 can be used to calculate the distance between the unmanned aerial vehicle and the ground in real time, thereby ensuring the accuracy of the inspection point position.

[0057] The inspection process of the autonomous inspection unmanned aerial vehicle device provided in the embodiment is described as follows.

[0058] First, the inspection path of the wind turbine to be detected needs to be planned. The path planning obtains the yaw angle and the pitch angle of the wind turbine blade through the laser radar 34 and the third camera 35, and finally calculates the inspection path in combination with the structural parameters of the wind turbine, such as the tower GPS coordinates, the hub height, the blade length, etc.

[0059] ​Afterwards, the unmanned aerial vehicle flies along the inspection path and inspects autonomously, and hovers at key inspection points to take pictures. When the unmanned aerial vehicle is below the wind turbine blade, the first camera 31 is used to take pictures, and the second camera 32 is used to take pictures at other positions. During the process of taking pictures, the second camera 32 can be adjusted by the steering gear 331. After the inspection along the inspection path is completed, the staff can observe whether there is a fault position on the wind turbine blade by observing the multiple pictures, and can perform maintenance work.

[0060] Obviously, the above embodiments are only examples for clearly illustrating the present application, and are not intended to limit the embodiments. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, all the embodiments cannot be exhausted, and the obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. An autonomous inspection drone device, characterized in that, Include: Machine body (1); Blade assembly (2), the blade assembly (2) comprises: a plurality of driving members (21) and rotating blades (22), the fixed end of the driving member (21) is connected with the machine body (1), and the driving end is provided with the rotating blade (22); Detection assembly, the detection assembly comprises: a first camera (31), a second camera (32) and an angle adjusting mechanism, the first camera (31) is arranged on the top of the machine body (1), the angle adjusting mechanism is arranged on the bottom of the machine body (1), and the angle adjusting mechanism is connected with the second camera (32).

2. The autonomous inspection drone apparatus of claim 1, wherein, The angle adjusting mechanism comprises: a rudder (331) and a connecting frame (332), the rudder (331) is arranged on the bottom of the machine body (1), the connecting frame (332) is connected with the rudder (331), and the second camera (32) is connected with the connecting frame (332).

3. The autonomous inspection drone apparatus of claim 2, wherein, The detection assembly further comprises: a laser radar (34) and a third camera (35), the laser radar (34) is arranged on the top of the machine body (1), and the third camera (35) is arranged on the bottom of the machine body (1).

4. The autonomous inspection drone apparatus of claim 3, wherein, The detection assembly further comprises a laser range finder (36) arranged on the bottom of the machine body (1).

5. The autonomous inspection drone apparatus of claim 1, wherein, The blade assembly (2) further comprises a plurality of connecting arms (23), one end of the connecting arm (23) is connected with the machine body (1), and the other end is provided with the driving member (21).

6. The autonomous inspection drone apparatus of claim 5, wherein, The outer side of the rotating blade (22) is provided with an anti-collision frame (24), and the anti-collision frame (24) is connected with the machine body (1) through a connecting rod (25).

7. The autonomous inspection drone apparatus of claim 1, wherein, Further comprising a photovoltaic power generation assembly, the photovoltaic power generation assembly comprises a photovoltaic panel (41) arranged on the machine body (1).

8. The autonomous inspection drone apparatus of claim 7, wherein, The photovoltaic panel (41) comprises: a first plate body (411) and two second plate bodies (412), the first plate body (411) is arranged on the top surface of the machine body (1), two second plate bodies (412) are arranged on both sides of the first plate body (411) respectively, and are hinged with the first plate body (411).

9. The autonomous inspection drone apparatus of claim 1, wherein, Further comprising support frames (5) arranged on both sides of the bottom of the machine body (1).

10. The autonomous inspection drone apparatus of claim 9, wherein, The bottom surface of the support frame (5) is provided with a buffer member (6).

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