Unmanned aerial vehicle holder load for fan inspection

Abstract

The utility model discloses an unmanned aerial vehicle pan-tilt load for fan inspection, which comprises a mounting seat, an imaging module, a laser ranging module, a control module and a three-axis stability augmentation pan-tilt, the three-axis stability augmentation pan-tilt comprises a yaw shaft arm, a transverse rolling shaft arm and two pitch shaft brackets, a yaw motor is fixed at the top of one end of the yaw shaft arm, and a pitch shaft bracket is fixed at the top of the other end of the yaw shaft arm. The installation base is fixed to the output end of the yaw motor, the transverse rolling motor is fixed to the other end of the yaw shaft arm, the transverse rolling shaft arm is fixed to the transverse rolling motor, the pitching motor is fixed to one end of the transverse rolling shaft arm, one pitching shaft support is fixed to the output end of the pitching motor, and the other pitching shaft support is rotationally connected to the other end of the transverse rolling shaft arm. The imaging module, the laser ranging module and the control module are fixed between the two pitch axis supports, the pitching (up-down), rolling (left-right) and yawing (rotation) angles of the pan-tilt load can be accurately controlled, multi-angle shooting or observation can be realized, and the problems of unclear shooting and incomplete shooting are solved.

Description

Technical Field

[0001] This utility model relates to the field of wind power inspection equipment, and in particular to a drone gimbal payload for wind turbine inspection. Background Technology

[0002] With the rapid growth of global wind power installed capacity, the scale of wind farms and the height of wind turbines are constantly increasing, making routine inspections of wind turbine generators increasingly important. Among these components, the blades are key parts of wind turbines for harvesting wind energy and converting it into mechanical energy. During operation, they not only bear the combined forces of bending stress, centrifugal force, thermal stress, medium stress, and aerodynamic forces, but are also subjected to erosion from frost, rain, snow, and natural damage from lightning strikes. This makes them highly susceptible to cracking, deformation, detachment, and breakage of the blade's main spars, surface skin, and bonding materials. Blade damage has become a common safety hazard in wind farms. Accurately monitoring the health status of the blades and quickly assessing the degree of damage are crucial for ensuring the safe and efficient operation of wind turbine generators, extending their service life, and reducing maintenance costs.

[0003] Inspecting wind turbines in advance can detect cracks and damage to the blades, preventing the high repair costs following major accidents. Traditional manual inspection methods are limited by low efficiency, high cost, and significant safety risks. The rapid development of drone technology has provided a new solution for wind turbine inspection. In recent years, drones have made significant progress in flight stability, endurance, and intelligence, while costs have gradually decreased, making their application in wind turbine inspection possible. However, existing photographic drones have relatively fixed lenses, requiring the drone itself to adjust the shooting angle, affecting shooting stability. Furthermore, wind turbine blades are constantly rotating, and the low pixel count of onboard optical equipment limits shooting accuracy, failing to meet the required identification standards. Therefore, our company aims to design a comprehensive shooting device combining a gimbal and a professional camera with an industrial drone to achieve wind turbine inspection. Utility Model Content

[0004] This invention provides a drone gimbal payload for wind turbine inspection to improve the above-mentioned problems.

[0005] This utility model is achieved through the following technical solution:

[0006] A UAV gimbal payload for wind turbine inspection is characterized by comprising a mounting base, an imaging module, a laser ranging module, a control module, and a three-axis stabilized gimbal. The three-axis stabilized gimbal includes a yaw axis arm, a roll axis arm, and two pitch axis supports. The yaw axis arm is L-shaped, with a yaw motor fixed to the top of one end. The mounting base is fixed to the output end of the yaw motor. A roll motor is fixed to the side wall of the other end of the yaw axis arm. The roll axis arm is U-shaped, with the roll axis arm fixed to the output end of the roll motor. A pitch motor is fixed to the inner wall of one end of the roll axis arm. One pitch axis support is fixed to the output end of the pitch motor, and the other pitch axis support is rotatably connected to the inner wall of the other end of the roll axis arm. The imaging module, laser ranging module, and control module are detachably fixed between the two pitch axis supports.

[0007] In a further optimized configuration, the mounting base is detachably connected to the UAV via a rotary locking structure. The mounting base is equipped with a power interface, which is connected to the UAV's power system, allowing the UAV to supply power to the imaging module, laser ranging module, control module, and three-axis stabilization gimbal.

[0008] Further optimized, wiring grooves are provided on the inner walls of the yaw axis arm and the roll axis arm, and wire harnesses are arranged in the wiring grooves. Conductive slip rings are fixed between the yaw motor and the mounting base, between the roll motor and the yaw axis arm, and between the pitch motor and the roll axis arm. The power interface is electrically connected to the imaging module, the laser ranging module, and the control module through the conductive slip rings and the wire harnesses.

[0009] In a further optimized configuration, the imaging module includes a visible light fixed-focus camera and a visible light wide-angle camera. The visible light fixed-focus camera is fixed between two pitch axis supports. The control module is fixed on the visible light fixed-focus camera. The visible light wide-angle camera and the laser ranging module are fixed on the control module. The imaging module, the laser ranging module, and the three-axis stabilization gimbal are electrically connected to the control module.

[0010] Further optimized, a support frame is fixed inside the housing of the laser ranging module, and the wide-angle camera is fixed on the support frame.

[0011] Furthermore, the imaging module, laser ranging module, and control module all adopt a modular design and are connected to each other by bolts.

[0012] Further optimized, the yaw shaft arm and roll shaft arm are provided with several slots.

[0013] The beneficial effects of this utility model are:

[0014] This invention employs a three-axis stabilized gimbal design, which can precisely control the pitch (up and down), roll (left and right), and yaw (rotation) angles of the gimbal load, enabling multi-angle shooting or observation; equipped with a professional fixed-focus camera and a wide-angle camera, along with a laser rangefinder module, it does not require close proximity to the wind turbine blades, ensuring high safety and solving problems such as unclear shooting and incomplete shooting.

[0015] The yaw and roll arms of this new type of gimbal feature a slotted design to reduce weight and optimize overall performance. All components except the gimbal are modularly designed, allowing for easy replacement of each module.

[0016] The mounting base of this new type has a power interface, and the entire gimbal load is powered by the drone, which reduces the weight of the gimbal load and makes it easier to maintain the center of gravity when rotating, ensuring the stability of the imaging module. The entire gimbal adopts a hidden wiring design. The drone supplies power to each module through a wiring harness and conductive slip rings. The conductive slip rings can transmit current and electrical signals through the rotating structure, avoiding wire tangling, which is simple and convenient. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 .

[0018] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 .

[0019] Figure 3 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 3 .

[0020] Figure 4 This is a schematic diagram of the three-dimensional structure of the three-axis stabilization gimbal in this utility model. Figure 1 .

[0021] Figure 5 This is a schematic diagram of the three-dimensional structure of the three-axis stabilization gimbal in this utility model. Figure 2 .

[0022] In the diagram: 1. Mounting base; 11. Power interface; 2. Three-axis stabilization gimbal; 21. Yaw axis arm; 211. Slot; 22. Roll axis arm; 23. Pitch axis bracket; 24. Yaw motor; 25. Roll motor; 26. Pitch motor; 4. Laser rangefinder module; 41. Support frame; 5. Imaging module; 51. Visible light fixed-focus camera; 52. Visible light wide-angle camera; 6. Control module; 81. Wiring slot; 82. Wiring harness; 83. Conductive slip ring. Detailed Implementation

[0023] To clearly illustrate the technical features of this solution, the present invention will be described in detail below through specific embodiments and in conjunction with the accompanying drawings. In the description of this invention, it should be noted that the terms "left," "right," "front," "rear," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description. They 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 the present invention.

[0024] like Figures 1-5 As shown, this utility model provides a drone gimbal payload for wind turbine inspection, including a mounting base 1, an imaging module 5, a laser ranging module 4, a control module 6, and a three-axis stabilized gimbal 2. The three-axis stabilized gimbal 2 includes a yaw axis arm 21, a roll axis arm 22, and two pitch axis supports 23. The yaw axis arm 21 is shaped like a "7". A yaw motor 24 is fixed to the top of one end of the yaw axis arm 21. The mounting base 1 is fixed to the output end of the yaw motor 24. The three-axis stabilized gimbal 2 is fixed to the drone through the mounting base. The yaw motor drives the imaging module to rotate left and right on the horizontal plane to expand the shooting range.

[0025] A roll motor 25 is fixed to the side wall of the other end of the yaw arm 21. The roll arm 22 is U-shaped and fixed to the output end of the roll motor 25. A pitch motor 26 is fixed to the inner wall of one end of the roll arm 22. One pitch axis bracket 23 is fixed to the output end of the pitch motor 26, and the other pitch axis bracket 23 is rotatably connected to the inner wall of the other end of the roll arm 22. The imaging module 5, the laser ranging module 4, and the control module 6 are detachably fixed between the two pitch axis brackets 23. The roll motor 25 controls the imaging module to rotate in the horizontal direction, ensuring the stability of the captured image when shooting rotating blades. The pitch motor 26 adjusts the pitch angle of the imaging module to obtain a wider field of view.

[0026] In a preferred embodiment, the mounting base 1 is detachably connected to the UAV via a rotation locking structure. The mounting base 1 is equipped with a power interface 11, which is connected to the UAV's power system (DGC2.0 standard interface), supplying power from the UAV to the imaging module 5, laser rangefinder module 4, control module 6, and three-axis stabilized gimbal 2. Providing power from the UAV reduces the gimbal load, making it easier to maintain the center of gravity during gimbal rotation and adjustment, thus ensuring the stability of the imaging module.

[0027] In a preferred embodiment, wiring grooves 81 are provided on the inner walls of the yaw axis arm 21 and the roll axis arm 22, and wire harnesses 82 are arranged in the wiring grooves 81. Conductive slip rings 83 are fixed between the yaw motor 24 and the mounting base 1, between the roll motor 25 and the yaw axis arm 21, and between the pitch motor 26 and the roll axis arm 22. The power interface 11 is electrically connected to the imaging module 5, the laser ranging module 4, and the control module 6 through the conductive slip rings 83 and the wire harnesses 82. The conductive slip rings can transmit current and electrical signals through the rotating structure, avoiding wire tangling and making it simple and convenient.

[0028] In a preferred embodiment, the imaging module 5 includes a visible light fixed-focus camera 51 and a visible light wide-angle camera 52. The visible light fixed-focus camera 51 is fixed between two pitch axis supports 23. The control module 6 is fixed to the visible light fixed-focus camera 51. The visible light wide-angle camera 52 and the laser ranging module 4 are fixed to the control module 6. The imaging module 5, the laser ranging module 4, and the three-axis stabilization gimbal 2 are electrically connected to the control module 6. The visible light wide-angle camera provides a wide field of view and quickly locates the target, while the visible light fixed-focus camera provides high-definition image quality and accurately captures details of the wind turbine blades, enabling efficient inspection.

[0029] In a preferred embodiment, a support frame 41 is fixed inside the housing of the laser ranging module 4, and the visible light wide-angle camera is fixed on the support frame 41. The laser ranging module and the visible light wide-angle camera are integrated into one, which facilitates faster target finding and positioning. The laser ranging module has a ranging range of 0~180m, does not need to be close to the wind turbine blades, and has high safety.

[0030] In a preferred embodiment, the imaging module 5, the laser ranging module 4, and the control module 6 are all modularly designed and connected to each other by bolts. Except for the gimbal, all other components are modularly designed, and each module can be replaced individually, making replacement convenient.

[0031] As a preferred embodiment, the yaw axis arm 21 and the roll axis arm 22 are provided with a number of slots 211. The yaw axis arm and the roll axis arm adopt a slotted design to reduce the weight of the gimbal, improve flight efficiency, and make it easier to maintain the center of gravity and optimize overall performance.

[0032] The rotary locking structure described in this solution is existing technology and will not be elaborated upon further. The control module in this solution is set by the operator according to the actual situation during operation. The control module is used to control the electrical components used in this solution, including but not limited to sensors, motors, computer input devices, switches, communication devices, lights, etc. The controller is an Intel processor, AMD processor, PLC controller, ARM processor, or microcontroller, and is used in conjunction with a motherboard, memory modules, and storage media. The control module integrates intelligent algorithms that can adjust the imaging module to capture image information based on the distance data provided by the laser ranging module.

[0033] All aspects not detailed in this utility model are well-known to those skilled in the art. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and not to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications and substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A UAV gimbal payload for wind turbine inspection, characterized in that... The system includes a mounting base, an imaging module, a laser ranging module, a control module, and a three-axis stabilization gimbal. The three-axis stabilization gimbal includes a yaw axis arm, a roll axis arm, and two pitch axis supports. The yaw axis arm is shaped like a "7". A yaw motor is fixed to the top of one end of the yaw axis arm, and the mounting base is fixed to the output end of the yaw motor. A roll motor is fixed to the side wall of the other end of the yaw axis arm. The roll axis arm is shaped like a "U". A roll axis arm is fixed to the output end of the roll motor. A pitch motor is fixed to the inner wall of one end of the roll axis arm. One pitch axis support is fixed to the output end of the pitch motor, and the other pitch axis support is rotatably connected to the inner wall of the other end of the roll axis arm. The imaging module, laser ranging module, and control module are detachably fixed between the two pitch axis supports.

2. The UAV gimbal payload for wind turbine inspection according to claim 1, characterized in that: The mounting base is detachably connected to the UAV via a rotating locking structure. The mounting base is equipped with a power interface, which is connected to the UAV's power system, allowing the UAV to supply power to the imaging module, laser rangefinder module, control module, and three-axis stabilization gimbal.

3. The UAV gimbal payload for wind turbine inspection according to claim 2, characterized in that: Wiring grooves are provided on the inner walls of the yaw axis arm and the roll axis arm, and wire harnesses are arranged in the wiring grooves. Conductive slip rings are fixed between the yaw motor and the mounting base, between the roll motor and the yaw axis arm, and between the pitch motor and the roll axis arm. The power interface is electrically connected to the imaging module, the laser ranging module, and the control module through the conductive slip rings and the wire harnesses.

4. The UAV gimbal payload for wind turbine inspection according to claim 1, characterized in that: The imaging module includes a visible light fixed-focus camera and a visible light wide-angle camera. The visible light fixed-focus camera is fixed between two pitch axis supports. The control module is fixed on the visible light fixed-focus camera. The visible light wide-angle camera and the laser ranging module are fixed on the control module. The imaging module, the laser ranging module, and the three-axis stabilization gimbal are electrically connected to the control module.

5. The UAV gimbal payload for wind turbine inspection according to claim 4, characterized in that: A support frame is fixed inside the housing of the laser ranging module, and the visible light wide-angle camera is fixed on the support frame.

6. The UAV gimbal payload for wind turbine inspection according to claim 5, characterized in that: The imaging module, laser ranging module, and control module all adopt a modular design and are connected to each other by bolts.

7. The UAV gimbal payload for wind turbine inspection according to claim 1, characterized in that: The yaw shaft arm and roll shaft arm are provided with several slots.

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