Wind driven generator blade unmanned aerial vehicle inspection device based on image processing

Abstract

The utility model discloses a wind driven generator blade unmanned aerial vehicle inspection device based on image processing, which comprises an unmanned aerial vehicle, a visual acquisition unit arranged at the bottom of the unmanned aerial vehicle and two protection rod groups arranged on two opposite sides of the visual acquisition unit, the interval direction of the two elastic supporting rods is perpendicular to the interval direction of the two protection rod sets, each elastic supporting rod comprises a supporting state perpendicular to the bottom plate of the unmanned aerial vehicle and a storage state parallel to the bottom plate, the protection unit is arranged on the bottom plate, the visual collection unit can be effectively protected, the damage probability of the visual collection unit is reduced, and the safety of the unmanned aerial vehicle is improved. And the safety is improved.

Description

Technical Field

[0001] This utility model relates to the field of drone inspection equipment technology, and in particular to a drone inspection device for wind turbine blades based on image processing. Background Technology

[0002] Wind turbine blades are an important component of wind turbines, and their health directly affects the performance and safety of the generator. Due to the harsh working environment of wind turbine blades, defects such as wear and aging may occur. Therefore, it is necessary to conduct regular inspections of wind turbine blades to detect defects in a timely and effective manner.

[0003] Inspection of wind turbine blades includes two methods: manual inspection and image processing-based drone inspection. Manual inspection is less efficient and is gradually being replaced by drone inspection devices. Drone inspection devices collect image information of wind turbine blades using cameras mounted on drones, and process the image information to identify defects on the wind turbine blades.

[0004] However, current drone inspection devices rely on the operator's skill level when in operation. Operators with insufficient experience are prone to drone collisions, which can cause damage to the equipment or even lead to the drone crashing. Utility Model Content

[0005] The purpose of this invention is to solve the above-mentioned problems by providing an image processing-based unmanned aerial vehicle (UAV) inspection device for wind turbine blades.

[0006] To achieve the above objectives, the technical solution of this utility model is as follows: a wind turbine blade unmanned aerial vehicle (UAV) inspection device based on image processing, comprising a UAV, a visual acquisition unit disposed on the bottom of the UAV, and two protective rod groups disposed on opposite sides of the visual acquisition unit. The protective rod group includes two elastic support rods spaced apart, the spacing direction of the two elastic support rods being perpendicular to the spacing direction of the two protective rod groups. The elastic support rods include a supporting state perpendicular to the UAV's bottom plate and a retracted state parallel to the bottom plate.

[0007] Furthermore, the protective rod assembly also includes a rotating shaft that is rotatably connected to the drone, and an elastic element disposed between the rotating shaft and the drone. Two elastic support rods are disposed parallel to each other at both ends of the rotating shaft and are non-rotatably engaged with the rotating shaft.

[0008] Furthermore, when the two protective rod assemblies switch from the supported state to the retracted state, the end of the elastic support rod away from the drone deflects towards the gimbal camera.

[0009] Furthermore, the protective rod assembly also includes a first swing arm that is non-rotatably engaged with the pivot, and the drone is equipped with a locking component that engages with the first swing arm.

[0010] Furthermore, the locking component is an electric telescopic rod, and the first swing arm is provided with a plug hole for insertion and engagement with the electric telescopic rod.

[0011] Furthermore, the elastic element is a tension spring, and the two ends of the tension spring are respectively connected to the two first swing arms.

[0012] Furthermore, a second swing arm is non-rotatably fitted on the pivot of one protective rod assembly, and a connecting arm is connected to the ends of the two elastic support rods of the other protective rod assembly. The second swing arm is provided with a limiting surface. When both protective rod assemblies are in the retracted state, the limiting surface is located on the side of the connecting arm away from the drone and abuts against the connecting arm for limiting fit.

[0013] Furthermore, including:

[0014] The visual acquisition unit is a gimbal camera, used to detect image information of the wind turbine blades at a first detection point and a second detection point. The first detection point is located directly above the wind turbine, and the second detection point is located directly in front of the wind turbine.

[0015] The path planning module, connected to the vision acquisition unit, is used to acquire the detection image information of the vision acquisition unit at the first and second detection points.

[0016] This utility model discloses a wind turbine blade UAV inspection device based on image processing, which has the following advantages compared with the prior art: By setting a protective unit on the base plate, including a retractable state and a support state that can be switched, the protective rod assembly is in the retractable state when in normal working state. In the retracted state, the elastic support rod is parallel to the base plate and close to the base plate, so it will not obstruct the visual acquisition unit, ensuring that the visual acquisition unit can better acquire visual information about the blades. When the UAV crashes due to an accident such as a collision, the protective unit can switch the state to switch the protective rod assembly to the support state. In the support state, the elastic support rod is perpendicular to the base plate. At this time, when the UAV's base plate is impacted on one side, the end of the elastic support rod contacts the bottom surface first to buffer the impact, thereby effectively protecting the visual acquisition unit, reducing the probability of damage to the visual acquisition unit, and improving safety. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of a wind turbine blade unmanned aerial vehicle (UAV) inspection device based on image processing according to this utility model. Figure 1 .

[0018] Figure 2 for Figure 1 The diagram shown is a partially enlarged structural schematic of point A in the image processing-based unmanned aerial vehicle (UAV) inspection device for wind turbine blades of this utility model.

[0019] Figure 3 This is a bottom view of the structure of a wind turbine blade unmanned aerial vehicle (UAV) inspection device based on image processing according to this utility model.

[0020] Figure 4 This is a schematic diagram of the protective unit in an image processing-based unmanned aerial vehicle (UAV) inspection device for wind turbine blades according to this utility model. Figure 1 .

[0021] Figure 5 This is a top view of the protective unit in a wind turbine blade UAV inspection device based on image processing according to this utility model.

[0022] Figure 6 This is a schematic diagram of the protective unit in an image processing-based unmanned aerial vehicle (UAV) inspection device for wind turbine blades according to this utility model. Figure 2 .

[0023] Figure 7 for Figure 6 The diagram shows a partially enlarged structural schematic of a wind turbine blade B based on image processing according to this utility model.

[0024] In the diagram: 1. Visual acquisition unit; 5. Protective unit; 50. Support; 51. Rotating shaft; 510. Connecting component; 511. Abutment surface; 52. First swing arm; 53. Locking component; 54. Elastic component; 55. Elastic support rod; 550. Telescopic rod; 551. End; 56. Second swing arm; 560. Limiting surface; 58. Connecting arm; 9. UAV; 90. Rotor; 901. Rotor arm; 91. Base plate; 910. Installation channel; 92. Support leg. Detailed Implementation

[0025] The present invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0026] Example 1

[0027] Please refer to Figure 1-4 The technical solution of this utility model is as follows: a wind turbine blade inspection device 9 based on image processing, including a drone 9, a vision acquisition unit 1 set at the bottom of the drone 9, and two protective rod groups set on opposite sides of the vision acquisition unit 1. The protective rod group includes two elastic support rods 55 spaced apart. The spacing direction of the two elastic support rods 55 is perpendicular to the spacing direction of the two protective rod groups. The elastic support rods 55 include a supporting state perpendicular to the bottom plate 91 of the drone 9 and a retracted state parallel to the bottom plate 91.

[0028] Specifically, the UAV 9 inspection device provided in this application includes a UAV 9, which is basically consistent with the structure commonly used in the field, including rotor arms 90 and rotors 90. A base plate 91 is provided on the body of the UAV 9, and a vision acquisition unit 1 is provided on the lower surface of the base plate 91. The lower surfaces of the four rotor arms 90 are provided with legs 92, and the length of the legs 92 is greater than the vertical dimension of the vision acquisition unit 1. When inspecting wind turbine blades with the UAV 9 inspection device provided in this application, the wind turbine generator stops working and the wind turbine blades do not rotate. At this time, the UAV 9 takes off and carries the vision acquisition unit 1 to collect visual information of the wind turbine blades. In this application, the principle of the UAV 9 vision acquisition unit 1 in collecting and identifying defect points is consistent with that in the field and is not an improvement point, so it will not be described in detail here. The improvement of this application lies in the provision of a protective unit 5 on the base plate 91. The protective unit 5 includes two protective rod groups located on opposite sides of the visual acquisition unit 1. The protective rod groups have a retractable state and a support state that can be switched. In the normal working state, the protective rod groups are in the retracted state. In the retracted state, the elastic support rod 55 is parallel to and close to the base plate 91, and will not obstruct the visual acquisition unit 1, ensuring that the visual acquisition unit 1 can better acquire visual information from the blades. When the drone 9 crashes due to an accident such as a collision, the protective unit 5 can switch the state to the support state. In the support state, the elastic support rod 55 is perpendicular to the base plate 91. When the drone 9 impacts the base plate 91 on one side, the end of the elastic support rod 55 contacts the bottom surface first for buffering, thereby effectively protecting the visual acquisition unit 1, reducing the probability of damage to the visual acquisition unit 1, and improving safety.

[0029] Specifically, whether a crash has occurred can be determined by acquiring the detection values ​​from the built-in attitude sensor, high-precision barometer, etc. of the drone 9. When a crash is detected, the protective rod group is controlled to switch states. The detection method of whether a crash has occurred by acquiring the detection values ​​from the built-in attitude sensor, high-precision barometer, etc. of the drone 9 is existing technology and is not an improvement point of this application, so it will not be described in detail. The specific structure of the protective rod group and the method of switching the protective rod group to switch states are described below.

[0030] Furthermore, as a specific implementation method, the specific structure of the guardrail assembly is as follows: (Refer to...) Figures 4-7 The protective rod assembly also includes a rotating shaft 51 that is rotatably connected to the drone 9, and an elastic element 54 disposed between the rotating shaft 51 and the drone 9. Two elastic support rods 55 are arranged parallel to each other at both ends of the rotating shaft 51 and are non-rotatably engaged with the rotating shaft 51. The elastic element 54 can provide the rotating shaft 51 with elastic force to switch from the storage state to the support state.

[0031] Specifically, each rotating shaft 51 has a support 50 rotatably fitted at both ends. The support 50 is integrally formed with the base plate 91 or detachably fixedly connected. Each rotating shaft 51 has a connector 510 sleeved at both ends, with a non-rotational fit between the connector 510 and the rotating shaft 51. The elastic support rod 55 is detachably fixedly connected to the connector 510. Specifically, the end of the rotating shaft 51 can be provided with a stepped shaft with a smaller radius. The outer circumferential surface of the stepped shaft is provided with a spline groove. The connector 510 is provided with a spline sleeve that fits with the stepped shaft, so that the connector 510 and the rotating shaft 51 are non-rotationally fitted around the circumference of the rotating shaft 51. A retaining spring can be provided at the end of the stepped shaft extending out of the connector 510 to axially limit the connector 510. The elastic support rod 55 can be an air spring rod, with one end threaded to the connector 510 via an external thread. The end of the telescopic rod 550 is provided with an end head 551, which can be made of plastic material. Figure 6 , Figure 7 The elastic support rod 55 is in a retracted state parallel to the base plate 91. The connector 510 is provided with an abutment surface 511 perpendicular to the extension line of the axis of the elastic support rod 55. When in the retracted state, the abutment surface 511 is on the side of the rotating shaft 51 away from the drone 9. By providing the abutment surface 511, when the rotating shaft 51 rotates around the axis to switch the elastic support rod 55 to the support state, the abutment surface 511 can abut against the bottom surface of the base plate 91.

[0032] An elastic element 54 is provided between the rotating shaft 51 and the base plate 91 of the UAV 9. Under the elastic force of the elastic element 54, the rotating shaft 51 can rotate and switch from the storage state to the support state. In the support state, the elastic force of the elastic element 54 causes the abutment surface 511 to abut against the base plate 91. The support state of the support rod is maintained by the cooperation of the abutment surface 511 and the elastic force of the elastic element 54. As a specific implementation, the elastic element 54 can be a torsion spring provided between the rotating shaft 51 and the base plate 91.

[0033] Furthermore, as a specific implementation, when the two protective rod assemblies switch from a supported state to a retracted state, the end of the elastic support rod 55 furthest from the drone 9 deflects towards the gimbal camera. Specifically, refer to... Figures 4-6 The pivots 51 of the two protective rod groups are located on both sides of the visual acquisition unit 1. The elastic support rods 55 can be deflected to the side closer to the visual acquisition unit 1 to switch to the storage state. With this setting, the protective unit 5 occupies less space in the storage state and the layout is more reasonable.

[0034] Furthermore, as a specific implementation method, refer to Figures 1-6The protective rod assembly also includes a first swing arm 52 that is non-rotatably engaged with the rotating shaft 51. The drone 9 is equipped with a locking element 53 that engages with the first swing arm 52. Specifically, the base plate 91 has an installation channel 910 that engages with the first swing arm 52. The first swing arm 52 can be keyed to the rotating shaft 51 to form a non-rotatable engagement. The end of the first swing arm 52 can extend through the installation channel 910 into the top of the mounting plate. A locking element 53 is located above the base plate 91. In the retracted state, the locking element 53 locks the first swing arm 52, thus locking the protective unit 5 in the retracted state. If the drone 9 falls during inspection work, the locking element 53 is controlled to release the first swing arm 52. After being released, the first swing arm 52 switches to a supporting state under the elastic force of the elastic element 54, thus protecting the visual acquisition unit 1.

[0035] As a specific implementation, each of the two guard rod assemblies is provided with a first swing arm 52 on its pivot 51, and each pivot 51 is provided with a locking member 53 that is adapted to the first swing arm 52.

[0036] Furthermore, as a specific implementation method, refer to Figure 6 The locking element 53 is an electric telescopic rod 550. The first swing arm 52 has a insertion hole for engaging with the electric telescopic rod 550. Specifically, the locking element 53 uses an electric telescopic rod 550. An insertion hole parallel to the axis of the rotating shaft 51 is provided at the end of the first swing arm 52. The electric telescopic rod 550 can extend and retract in a direction parallel to the axis of the rotating shaft 51. When the elastic support rod 55 of the protective rod assembly is parallel to the base plate 91, the electric telescopic rod 550 is coaxially arranged with the insertion hole. At this time, the electric telescopic rod 550 can extend and insert into the insertion hole to lock the first swing arm 52, thereby locking the rotating shaft 51. When it is necessary to release the protective rod assembly, the electric telescopic rod 550 is controlled to retract, and the electric telescopic rod 550 is pulled out from the insertion hole, thereby releasing the first swing arm 52.

[0037] Furthermore, the elastic element 54 is a tension spring, and its two ends are respectively connected to the two first swing arms 52. As one specific embodiment, refer to... Figures 4-6 Each of the two guard rod assemblies is equipped with a first swing arm 52 on its pivot 51. The elastic element 54 is a tension spring with both ends connected to the two first swing arms 52. The tension spring can apply force to the two guard rod assemblies.

[0038] Furthermore, as a specific implementation, the end of the elastic support rod 55 is provided with an end head 551. The side of the end head 551 is matched with the bottom surface of the base plate 91. When the side of the end head 551 contacts the bottom surface of the base plate 91, the elastic support rod 55 is in a retracted state parallel to the base plate 91. At this time, the electric telescopic rod 550 can be inserted into the insertion hole of the first swing arm 52.

[0039] Example 2

[0040] The technical solution of this utility model is: a wind turbine blade UAV inspection device based on image processing, which differs from Embodiment 1 in that, with reference to... Figure 5 , Figure 6 In this embodiment, a second swing arm 56 is non-rotatably fitted on the pivot 51 of one protective rod assembly, and a connecting arm 58 is connected to the ends of the two elastic support rods 55 of the other protective rod assembly. The second swing arm 56 is provided with a limiting surface 560. When both protective rod assemblies are in the retracted state, the limiting surface 560 is located on the side of the connecting arm 58 away from the drone 9 and abuts against the connecting arm 58 for limiting engagement. Specifically, refer to... Figure 6 For ease of description, the two guard rod groups are referred to as the first guard rod group and the second guard rod group. The length of the pivot 51 of the first guard rod group is greater than the length of the pivot 51 of the second guard rod group. The two elastic support rods 55 of the second guard rod group are located between the two elastic support rods 55 of the first guard rod group. Two second swing arms 56 are spaced apart on the pivot 51 of the first guard rod group. The second swing arms 56 can also be connected to the pivot 51 via splines. A connecting arm 58 is provided between the two ends 551 of the second guard rod group. Figure 6 In the state shown, when both guard rod assemblies are in the retracted state, the limiting surface 560 at the end of the second swing arm 56 abuts against the connecting arm 58, thereby limiting the second guard rod assembly. With this setting, only the locking member 53 needs to be set for the first guard rod assembly. After locking the first guard rod assembly, the second guard rod assembly is limited by the second swing arm 56. This setting can limit both guard rod assemblies with one locking member 53, reducing manufacturing costs.

[0041] Furthermore, as a specific implementation method, it includes:

[0042] The visual acquisition unit 1 is a gimbal camera used to detect image information of the wind turbine blades at a first detection point and a second detection point. The first detection point is located directly above the wind turbine, and the second detection point is located directly in front of the wind turbine.

[0043] The path planning module is connected to the visual acquisition unit 1 and is used to acquire the detection image information of the visual acquisition unit 1 at the first detection point and the second detection point.

[0044] Specifically, the visual acquisition unit 1 of this application adopts a gimbal camera, which has multiple degrees of freedom and can perform multi-angle visual inspection by deflecting in the vertical and horizontal directions. The UAV 9 also includes a path planning module, which can automatically plan the inspection path of the blades based on the image information detected by the visual acquisition unit 1 at the first and second detection points. The specific steps are as follows: the first detection point is directly above the wind turbine to be inspected. The UAV 9 flies directly above the wind turbine and uses the gimbal camera to collect a top view of the wind turbine from top to bottom. The position of the wind turbine is obtained based on the collected image. Then, the position of the UAV 9 is adjusted so that the UAV 9 is directly above the wind turbine. Then, the image information of the wind turbine is collected at the first detection point to determine the first orientation angle of the wind turbine in the geographic coordinate system. The yaw angle is calculated based on the captured image information. After acquiring the first orientation angle of the wind turbine and calculating the yaw angle, UAV 9 flies directly in front of the wind turbine and collects image information in front of the wind turbine blades. Using the center point of the wind turbine blade nacelle hub as a reference point, the position of UAV 9 is adjusted so that it is at the same height as the hub center and directly in front of the wind turbine, at a second detection point. Then, at the second detection point, the stationary posture of the wind turbine blades directly in front of the wind turbine is detected. Based on the captured images, the second orientation angle of the wind turbine blades is obtained through image processing. The path planning module determines the coordinate position of the wind turbine blades based on the second orientation angle and yaw angle, and generates an inspection route based on the coordinate position and the size of the wind turbine blades. The specific inspection route generation algorithm can adopt existing technology. After path planning, UAV 9 flies along the planned path to inspect the wind turbine blades. Through this setting, the position of the wind turbine blades can be more accurately located, and the inspection route can be automatically generated to replace manual operation, reducing the probability of collision.

[0045] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A wind turbine blade unmanned aerial vehicle (UAV) inspection device based on image processing, characterized in that, The device includes a drone (9), a visual acquisition unit (1) located at the bottom of the drone (9), and two protective rod groups located on opposite sides of the visual acquisition unit (1). The protective rod groups include two elastic support rods (55) spaced apart. The spacing direction of the two elastic support rods (55) is perpendicular to the spacing direction of the two protective rod groups. The elastic support rods (55) include a supporting state perpendicular to the bottom plate (91) of the drone (9) and a folded state parallel to the bottom plate (91).

2. The image processing-based unmanned aerial vehicle (UAV) inspection device for wind turbine blades according to claim 1, characterized in that, The protective rod assembly also includes a rotating shaft (51) rotatably connected to the drone (9), and an elastic element (54) disposed between the rotating shaft (51) and the drone (9). Two elastic support rods (55) are disposed parallel to both ends of the rotating shaft (51) and are non-rotatably engaged with the rotating shaft (51).

3. The image processing-based unmanned aerial vehicle (UAV) inspection device for wind turbine blades according to claim 2, characterized in that, When the two protective rod groups switch from the supported state to the stored state, the end of the elastic support rod (55) away from the drone (9) deflects towards the gimbal camera.

4. The image processing-based unmanned aerial vehicle (UAV) inspection device for wind turbine blades according to claim 3, characterized in that, The protective rod assembly also includes a first swing arm (52) that is non-rotatably engaged with the pivot (51), and the drone (9) is provided with a locking element (53) that engages with the first swing arm (52).

5. The image processing-based unmanned aerial vehicle (UAV) inspection device for wind turbine blades according to claim 4, characterized in that, The locking member (53) is an electric telescopic rod (550), and the first swing arm (52) is provided with a plug hole that is engaged with the electric telescopic rod (550).

6. The image processing-based unmanned aerial vehicle (UAV) inspection device for wind turbine blades according to claim 4, characterized in that, The elastic element (54) is a tension spring, and the two ends of the tension spring are respectively connected to the two first swing arms (52).

7. The image processing-based unmanned aerial vehicle (UAV) inspection device for wind turbine blades according to claim 4, characterized in that, A second swing arm (56) is non-rotatably fitted on the pivot (51) of one protective rod assembly. The ends of the two elastic support rods (55) of the other protective rod assembly are connected to a connecting arm (58). The second swing arm (56) is provided with a limiting surface (560). When both protective rod assemblies are in the retracted state, the limiting surface (560) is located on the side of the connecting arm (58) away from the drone (9) and abuts against the connecting arm (58) for limiting fit.

8. The image processing-based unmanned aerial vehicle (UAV) inspection device for wind turbine blades according to claim 1, characterized in that, include: The visual acquisition unit (1) is a gimbal camera used to detect image information of the wind turbine blades at a first detection point and a second detection point. The first detection point is located directly above the wind turbine generator, and the second detection point is located directly in front of the wind turbine generator. The path planning module is connected to the visual acquisition unit (1) and is used to acquire the detection image information of the visual acquisition unit (1) at the first detection point and the second detection point.

Images