Intelligent inspection system for cabin of wind driven generator

Abstract

The utility model relates to the technical field of intelligent inspection of wind driven generators, and particularly discloses an intelligent inspection system for a cabin of a wind driven generator, which comprises an intelligent inspection robot and an edge server arranged in the cabin, and a station server arranged in a station central control room, a walking track bypassing to-be-detected equipment in the cabin, a walking sliding rail with a standby stop station and a robot charging pile are fixed on a cabin cover in the cabin, and the robot charging pile is positioned beside the stop station and is electrically connected with the intelligent inspection robot entering the stop station for standby; the intelligent inspection robot is assembled on the walking sliding rail through a walking structure, and an inverted hanging assembly structure is formed in the cabin. And the edge server controls the robot charging pile to charge the intelligent inspection robot. According to the utility model, the arrangement track of the walking slide rail can be flexibly arranged aiming at a to-be-detected point, detection dead angles can be reduced and even avoided, and the refinement degree of intelligent inspection can be improved.

Description

Technical Field

[0001] This utility model relates to the field of intelligent inspection technology for wind turbine generators, specifically an intelligent inspection system for wind turbine generator nacelles. Background Technology

[0002] The nacelle houses critical equipment such as gearboxes, generators, hydraulic systems, and electrical cabinets, making its internal structure complex. Industry statistics show that nacelle-related failures account for over 35% of unplanned downtime events, with oil leaks, bolt preload failures, and electrical equipment overheating being the most prominent issues. These problems are often difficult to detect and inspect, easily leading to cascading damage. Therefore, effective inspection of the equipment inside the wind turbine nacelle is a crucial technical factor in ensuring the stable and safe operation of the wind turbine.

[0003] For a long time, the inspection of equipment inside wind turbine nacelles has been carried out manually. Due to the special nature of the operating structure of wind turbines, manual inspection has technical problems such as high safety risks of working at heights, low inspection frequency (usually once per quarter), poor objectivity, and insufficient precision.

[0004] In recent years, with the rapid development of image acquisition technology, temperature measurement technology, and remote communication technology, the industry has designed fixed cameras and sensor detection technologies with lower levels of intelligence to replace or supplement manual inspections; as well as intelligent inspection technologies with higher levels of intelligence that use intelligent inspection robots to replace manual inspections. Examples include Chinese patent documents titled "An Intelligent Inspection System for Wind Turbine Generator Nacelles" (publication number CN 117489536 A, publication date February 2, 2024) and "Intelligent Inspection Method and System for Wind Turbine Generators" (publication number CN119163559 A, publication date December 20, 2024).

[0005] The technology of intelligent inspection robots for intelligent inspection of equipment inside the cabin involves arranging image and temperature acquisition units on the intelligent inspection robot, which is then mounted inside the cabin via a sliding rail structure. An edge server (edge ​​calculator) is installed inside the cabin, and a site server is located in the central control room of the facility. The intelligent inspection robot communicates with the edge server, and the edge server communicates with the site server. The intelligent inspection robot, controlled by the edge server, inspects the cabin interior according to a set detection frequency, transmitting the inspected images and temperature data to the edge server. The edge server performs image noise reduction and temperature matrix normalization processing before transmitting the data to the site server. The site server compares and analyzes the data and outputs the analysis results. This forms an intelligent inspection system that replaces traditional manual inspection, greatly solving the technical problems of traditional manual inspection and demonstrating significant technological advantages.

[0006] In the aforementioned intelligent inspection technology based on intelligent inspection robots, the continuous operation of the intelligent inspection robot requires power support. Therefore, a power supply structure for the intelligent inspection robot is arranged inside the cabin. This power supply structure is typically a wired power supply structure. To avoid the power cables from becoming tangled or knotted, the walking rails inside the cabin are usually arranged in a relatively regular straight line, C-shaped, or U-shaped structure, with the power cables embedded in the walking rails using a track structure. However, this power supply structure is prone to damage during the frequent reciprocating motion of the intelligent inspection robot, resulting in poor service stability. Moreover, to ensure easy arrangement of the power supply structure, the walking rails are arranged in a relatively regular pattern. Since the layout of various devices inside the cabin is relatively complex and the points to be inspected are not entirely consistent, the regular and simple walking rails are difficult to effectively cover all the points to be inspected, easily leading to blind spots and missed inspections.

[0007] In conclusion, given the unique characteristics and limitations of intelligent inspection robots for the internal inspection of wind turbine nacelles, it is necessary to make design improvements. Utility Model Content

[0008] The technical objective of this utility model is to provide a wind turbine nacelle intelligent inspection system that addresses the unique characteristics of intelligent inspection robots for the internal intelligent inspection of wind turbine nacelles and the shortcomings of existing technologies. This system facilitates the flexible arrangement of walking rails within the nacelle and effectively covers all inspection points.

[0009] The technical objective of this utility model is achieved through the following technical solution: a wind turbine nacelle intelligent inspection system, including an intelligent inspection robot and an edge server arranged in the nacelle, and a station server arranged in the station's central control room.

[0010] The intelligent inspection robot is connected to the edge server and interacts with it. The intelligent inspection robot has a set of image acquisition units and a set of temperature acquisition units.

[0011] The edge server is connected to the site server via signal and interacts with it.

[0012] On the canopy inside the cabin, there is a fixed walking track that bypasses the equipment to be inspected inside the cabin. The walking track is equipped with the standby docking station of the intelligent inspection robot.

[0013] The cabin canopy inside the cabin is also fixed with a robot charging pile located next to the docking station. The robot charging pile is electrically connected to the intelligent inspection robot that is waiting in the docking station. The robot charging pile is also signal-connected to the edge server for information exchange.

[0014] The intelligent inspection robot is mounted on the walking slide rail with a walking structure, forming an inverted assembly structure inside the cabin.

[0015] The edge server controls the intelligent inspection robot to walk upside down on the walking slide rail. The image acquisition unit of the intelligent inspection robot is used to collect image information of the proposed leakage points and / or loose points in the cabin, and the temperature acquisition unit is used to collect temperature information of the proposed temperature change points in the cabin and transmit it to the edge server.

[0016] The edge server controls the robot charging station to charge the intelligent inspection robot.

[0017] As one of the preferred technical solutions, the travel rail is formed on the hood in a circumferential closed structure;

[0018] Furthermore, the arrangement of the walking rails on the hood enables the intelligent inspection robot to be positioned directly at the designated inspection location of the equipment to be inspected.

[0019] Alternatively, the travel rail is formed in a U-shape on the hood;

[0020] Furthermore, the arrangement of the walking rails on the hood enables the intelligent inspection robot to be positioned directly at the designated inspection location of the equipment to be inspected.

[0021] As one of the preferred technical solutions, the cross-section of the traveling slide rail is an I-shaped structure with concave grooves on both sides;

[0022] The top side of the travel rail is fixed to the hood by multiple hangers arranged at intervals;

[0023] Correspondingly, the walking unit of the intelligent inspection robot is rolled and embedded in the sliding grooves on both sides of the walking slide rail.

[0024] Furthermore, the walking units of the intelligent inspection robot are arranged on a micro-gimbal bracket;

[0025] The bottom of the micro-gimbal bracket is connected to the image acquisition unit and the temperature acquisition unit;

[0026] The micro-gimbal bracket serves to control the walking unit, the image acquisition unit, and the temperature acquisition unit, and is connected to the edge server for signal exchange.

[0027] As one of the preferred technical solutions, the intelligent inspection robot connects to the edge server via wireless communication and interacts with it.

[0028] As one of the preferred technical solutions, the image acquisition unit of the intelligent inspection robot is a visible light camera with an 8-megapixel global shutter CMOS sensor.

[0029] As one of the preferred technical solutions, the temperature acquisition unit of the intelligent inspection robot is an infrared thermal imager with a thermal sensitivity of ≤50mK and a temperature measurement range of -20℃ to 150℃.

[0030] As one of the preferred technical solutions, the robot charging pile is connected to a rectifier, which is electrically connected to the main control cabinet of the wind turbine generator. The rectifier is used to convert 220V AC power into 12V DC power.

[0031] The robot charging station charges the intelligent inspection robot with 12V DC power.

[0032] As one of the preferred technical solutions, the edge server is connected to the site server via fiber optic communication to exchange information.

[0033] The beneficial technical effects of this utility model are as follows: The above-mentioned technical measures are based on the currently mature intelligent inspection robot technology for the intelligent inspection of the wind turbine nacelle. Without interfering with the various equipment to be inspected in the nacelle, the walking rails for the intelligent inspection robot to run are arranged on the nacelle cover, so that the intelligent inspection robot is arranged upside down in the nacelle. Based on this structure, a standby docking station is set up on the walking rail, and robot charging piles that can be electrically connected to the standby intelligent inspection robot are arranged next to the docking station. The robot charging piles charge the intelligent inspection robot that enters the station for standby according to the control instructions of the edge server. This eliminates the need to arrange a complex and easily interfered power supply cable structure on the walking rail. On the one hand, it simplifies the layout of the walking rail. On the other hand, it allows the layout trajectory of the walking rail on the cabin cover to be flexibly set according to the inspection points of the equipment to be inspected. That is, it is not limited by the power supply cable structure of the intelligent inspection robot. It is beneficial for the layout trajectory of the walking rail to avoid the equipment in the cabin and to be flexibly arranged according to the inspection points. In this way, the intelligent inspection robot walking on the walking rail can effectively cover all inspection points, reduce or even avoid inspection blind spots, and improve the precision of intelligent inspection. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the principle of this utility model.

[0035] Figure 2 This is a schematic diagram of the layout of the intelligent inspection robot and edge server of this utility model inside the cabin.

[0036] Figure 3 for Figure 2 A schematic diagram of a local structure.

[0037] The symbols in the diagram mean: 1—Intelligent inspection robot; 11—Image acquisition unit; 12—Temperature acquisition unit; 13—Walking unit; 14—Micro-gimbal bracket; 2—Walking rail; 3—Edge server; 4—Robot charging pile; 5—Site server; 6—Navigation cabin; 7—Hanging rod; 8—Site control room. Detailed Implementation

[0038] This utility model relates to the field of intelligent inspection technology for wind turbine generators, specifically an intelligent inspection system for wind turbine generator nacelles. The main technical solution of this utility model will be described in detail below with reference to several embodiments. Embodiment 1 is illustrated in conjunction with the accompanying drawings—that is… Figure 1 , Figure 2 and Figure 3 The technical solution of this utility model is clearly and thoroughly explained; although other embodiments are not shown in separate drawings, their main structures can still be referred to the drawings of Embodiment 1.

[0039] It should be noted that the accompanying drawings of this utility model are schematic, and unnecessary details have been simplified to clarify the technical purpose of this utility model, so as to avoid obscuring the technical solution contributed by this utility model to the prior art. In addition, the expressions such as "about" and "basically" regarding quantity or fit relationship in the following text mean that reasonable assembly errors and processing errors are allowed in the industry, and do not literally describe absolute quantity or fit relationship.

[0040] Example 1

[0041] See Figure 1 As shown, this utility model is an intelligent inspection system for wind turbine nacelles, which includes an intelligent inspection robot 1, a walking rail 2, a robot charging pile 4 and an edge server 3 arranged in the nacelle 6, and a station server 5 arranged in the station control room 8.

[0042] Specifically, such as Figure 2 and Figure 3 As shown, the main body of the intelligent inspection robot 1 utilizes current mature technology. It includes a micro-gimbal bracket 14 as its carrier, walking units 13 (including wheels and drive wheels) arranged on the top side of the micro-gimbal bracket 14, and a set of image acquisition units 11 and a set of temperature acquisition units 12 arranged on the bottom side of the micro-gimbal bracket 14. The micro-gimbal bracket 14 houses micro-gimbals serving as control and communication units. The intelligent inspection robot 1 connects to the edge server 3 wirelessly (usually via Wi-Fi) through the micro-gimbals for information exchange. After receiving control commands from the edge server 3, the micro-gimbals of the intelligent inspection robot 1 control the walking units 13 to perform walking actions and control the image acquisition units 11 and temperature acquisition units 12 to perform detection actions. The image acquisition unit 11 of the intelligent inspection robot 1 uses an 8-megapixel global shutter CMOS sensor visible light camera. The temperature acquisition unit 12 of the intelligent inspection robot 1 uses an infrared thermal imager with a thermal sensitivity ≤50mK and a temperature measurement range of -20℃ to 150℃.

[0043] The cross-section of the walking slide rail 2 is I-shaped, with concave grooves on both sides. The track width is adapted to the wheel track of the intelligent inspection robot 1 (standard spacing 300mm). Figure 2 and Figure 3As shown, the top side of the traveling slide rail 2 is fixed to the nacelle cover by multiple suspended rods 7 arranged at intervals, with a horizontal error of ≤2mm / m. To achieve full coverage of the inspection points of each testing device, the traveling slide rail 2 is formed in an irregular circumferential closed structure on the nacelle cover. The arrangement trajectory of the traveling slide rail 2 should bypass the testing devices within the nacelle 6, yet ensure that the intelligent inspection robot 1 arrives directly at the designated inspection position of the testing device. In other words, the traveling slide rail 2 is not arranged in a regular circle or ellipse on the nacelle cover, but rather forms an arc-shaped loop adapted to the different positions of the testing devices, with both concave and convex trajectories. Within the circumferential closed arrangement trajectory structure of the traveling slide rail, the intelligent inspection robot 1 forms its own loop for inspection and waits at the station, without needing to return to its starting position via a return trajectory.

[0044] To achieve lightweight design, the aforementioned travel track 2 and suspension rod 7 are both made of lightweight aluminum alloy.

[0045] The intelligent inspection robot 1 with the above-described structure is mounted on the sliding rail 2 via a rolling mounting unit 13, meaning the intelligent inspection robot 1 is assembled on the sliding rail 2 in a movable structure. Thus, within the cabin 6, the intelligent inspection robot 1 forms an inverted mounting structure via the sliding rail 2. To prevent the rolling unit 13 from slipping while moving on the sliding rail 2, friction-enhancing patterns are provided on the groove walls on both sides of the sliding rail 2.

[0046] To make the walking accuracy of the intelligent inspection robot 1 on the walking slide rail 2 easy to control, an RFID tag array can be configured inside the walking slide rail 2, with an adjacent RFID tag spacing of 1m, for the absolute position calibration of the intelligent inspection robot 1.

[0047] The aforementioned walking rail 2 is equipped with a standby docking station for the intelligent inspection robot 1 to wait and stop, avoiding the equipment to be inspected. In its initial state, the intelligent inspection robot 1 waits at the docking station on the walking rail 2. After receiving the instruction to move and inspect, it moves along the walking rail 2 according to the set walking direction and speed until it completes the current inspection and then enters the station to wait.

[0048] The robot charging station 4 is arranged beside the walking rail 2 and directly opposite the docking station of the walking rail 2. The robot charging station 4 has a metal conductive plate or contact that extends to the docking position of the intelligent inspection robot. This metal conductive structure does not obstruct the walking trajectory of the intelligent inspection robot 4. When the intelligent inspection robot 1 enters and stops at the docking station of the walking rail 2, the robot charging station 4 forms a metal conductive contact with the charging structure of the intelligent inspection robot 1 through the metal conductive structure, establishing a conductive path.

[0049] The aforementioned robot charging station 4 is connected to a rectifier, which is electrically connected to the main control cabinet of the wind turbine generator via a power supply line. The rectifier converts the 220V AC power from the main control cabinet into 12V DC power. The robot charging station 4 charges the intelligent inspection robot 1 with 12V DC power. The charging action of the robot charging station 4 to the intelligent inspection robot 1 is controlled by the edge server 3. Therefore, the robot charging station 4 and the edge server 3 are connected by signals and exchange information. The edge server 3 controls the robot charging station 4 to charge the intelligent inspection robot 1 according to the set instructions. For example, the edge server 3 detects the remaining power of the intelligent inspection robot 1. When the remaining power is lower than the set value, the edge server 3 controls the robot charging station 4 to start charging the intelligent inspection robot 1; when the detected power of the intelligent inspection robot 1 is equal to or higher than the set value, the edge server 3 controls the robot charging station 4 to turn off and interrupt the charging of the intelligent inspection robot 1.

[0050] In order to monitor the battery status of the intelligent inspection robot 1, a battery health monitoring chip can be built into the robot charging station 4 to obtain charging efficiency and battery life data and feed it back to the edge server 3.

[0051] The aforementioned edge server 3 is connected to the field server 5 via fiber optic communication and exchanges information. The edge server 3 transmits the received detection data to the field server 5, which then processes the data to generate an inspection report.

[0052] The operation process of this utility model is as follows: the edge server 3 controls the intelligent inspection robot 1 to walk upside down on the walking rail 2 according to the set inspection frequency (e.g., once every 24 hours). The walking trajectory follows the designated inspection points (leakage points, loose points, temperature change points) of each device to be inspected. The image acquisition unit 11 of the intelligent inspection robot 1 is used to collect image information of the designated leakage points (such as oil stains in the gearbox) and loose points (such as loose bolt displacement) in the engine compartment 6. The temperature acquisition unit 12 of the intelligent inspection robot 1 uses infrared thermal imaging to collect temperature information of the designated temperature change points (such as temperature distribution images of electrical cabinets, main shafts, couplings, gearboxes, generators, hydraulic pipelines, etc.) in the engine compartment 6. The intelligent inspection robot 1 transmits the collected image information and temperature information to the edge server 3. After the edge server 3 performs preliminary image noise reduction and temperature matrix normalization processing, it transmits the data to the site server 5. The site server 5 compares and analyzes the received data, forms a graded early warning, and thus generates an inspection report and provides feedback to the user.

[0053] It should be noted that the edge server 3, the site server 5, and the intelligent inspection robot 1 mentioned above are not the technical contributions of this utility model, and all adopt existing mature technologies.

[0054] Example 2

[0055] The rest of the content of this embodiment is the same as that of embodiment 1, except that:

[0056] The travel rails are arranged in an irregular U-shaped pattern on the hood, and their return trajectory is required after the inspection and resetting process.

[0057] Example 3

[0058] The rest of the content of this embodiment is the same as that of embodiment 1, except that:

[0059] The travel rails are bonded and fixed to the hood.

[0060] The above embodiments are only used to illustrate the present invention and are not intended to limit it.

[0061] Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications can still be made to the above embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the present invention.

Claims

1. A wind turbine nacelle intelligent inspection system, comprising an intelligent inspection robot (1) and an edge server (3) arranged in the nacelle (6), and a station server (5) arranged in the station control room (8). The intelligent inspection robot (1) is connected to the edge server (3) for signal communication and information exchange. The intelligent inspection robot (1) has a set of image acquisition units (11) and a set of temperature acquisition units (12). The edge server (3) is connected to the site server (5) by signal and performs information interaction; Its features are: On the cabin cover inside the cabin (6), there is a fixed walking slide rail (2) that walks around the equipment to be tested inside the cabin (6), and the intelligent inspection robot (1) is provided with a standby docking station on the walking slide rail (2); The cabin cover inside the cabin (6) is also fixed with a robot charging pile (4) located next to the docking station. The robot charging pile (4) is electrically connected to the intelligent inspection robot (1) that is waiting in the docking station. The robot charging pile (4) is also connected to the edge server (3) for signal communication. The intelligent inspection robot (1) is mounted on the walking slide rail (2) in a walking structure, forming an inverted assembly structure in the cabin (6); The edge server (3) controls the intelligent inspection robot (1) to walk upside down on the walking slide rail (2). The image acquisition unit (11) of the intelligent inspection robot (1) is used to collect image information of the proposed leakage points and / or loose points in the cabin (6), and the temperature acquisition unit (12) is used to collect temperature information of the proposed temperature change points in the cabin (6) and transmit it to the edge server (3). The edge server (3) controls the robot charging pile (4) to charge the intelligent inspection robot (1).

2. The intelligent inspection system for wind turbine nacelles according to claim 1, characterized in that: The travel rail (2) is formed on the hood in a circumferential closed structure; Furthermore, the arrangement trajectory of the walking slide rail (2) on the hood enables the intelligent inspection robot (1) that walks to the location of the equipment to be inspected.

3. The intelligent inspection system for wind turbine nacelles according to claim 1, characterized in that: The travel rail (2) is formed in a U-shape on the hood; Furthermore, the arrangement trajectory of the walking slide rail (2) on the hood enables the intelligent inspection robot (1) that walks to the location of the equipment to be inspected.

4. The intelligent inspection system for wind turbine nacelles according to claim 1, 2, or 3, characterized in that: The cross-section of the traveling slide rail (2) is an I-shaped structure with concave grooves on both sides; The top side of the travel rail (2) is fixed to the cabin cover by multiple hangers (7) arranged at intervals; Correspondingly, the walking unit (13) of the intelligent inspection robot (1) is rolled and embedded in the sliding grooves on both sides of the walking slide rail (2).

5. The intelligent inspection system for wind turbine nacelles according to claim 4, characterized in that: The walking unit (13) of the intelligent inspection robot (1) is arranged on the micro-gimbal bracket (14); The bottom of the micro-gimbal bracket (14) is connected to the image acquisition unit (11) and the temperature acquisition unit (12). The micro-gimbal at the micro-gimbal bracket (14) is used to control the walking unit (13), the image acquisition unit (11) and the temperature acquisition unit (12), and is connected to the edge server (3) for information interaction.

6. The intelligent inspection system for wind turbine nacelles according to claim 1 or 5, characterized in that: The intelligent inspection robot (1) connects to the edge server (3) via wireless communication and interacts with it.

7. The intelligent inspection system for wind turbine nacelles according to claim 1 or 5, characterized in that: The image acquisition unit (11) of the intelligent inspection robot (1) is a visible light camera with an 8-megapixel global shutter CMOS sensor.

8. The intelligent inspection system for wind turbine nacelles according to claim 1 or 5, characterized in that: The temperature acquisition unit (12) of the intelligent inspection robot (1) is an infrared thermal imager with a thermal sensitivity of ≤50mK and a temperature measurement range of -20℃ to 150℃.

9. The intelligent inspection system for wind turbine nacelles according to claim 1, characterized in that: The robot charging station (4) is connected to a rectifier, which is electrically connected to the main control cabinet of the wind turbine generator. The rectifier is used to convert 220V AC power into 12V DC power. The robot charging station (4) charges the intelligent inspection robot (1) with 12V DC power.

10. The intelligent inspection system for wind turbine nacelles according to claim 1, characterized in that: The edge server (3) is connected to the site server (5) via fiber optic communication and exchanges information.

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