CN118088390B - Fan inspection method and device, storage medium and electronic equipment - Google Patents
Fan inspection method and device, storage medium and electronic equipmentInfo
- Publication number
- CN118088390B CN118088390B CN202410084309.7A CN202410084309A CN118088390B CN 118088390 B CN118088390 B CN 118088390B CN 202410084309 A CN202410084309 A CN 202410084309A CN 118088390 B CN118088390 B CN 118088390B
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- Prior art keywords
- waypoint
- wind turbine
- fan
- yaw angle
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
Abstract
The application discloses a fan inspection method, a device, a storage medium and electronic equipment, wherein the method comprises the steps of controlling first equipment to move to the position above a target fan to obtain a reference fan yaw angle of the target fan, controlling the first equipment to move to the position right in front of a fan hub of the target fan based on the reference fan yaw angle and a real-time fan yaw angle change value sent by second equipment, taking the right in front of the fan hub as a first waypoint, one side of a fan blade rotation plane of the target fan as a second waypoint, one side of the fan blade rotation plane of the target fan as a third waypoint and the other side of the fan blade rotation plane opposite to the second waypoint as a fourth waypoint, generating an inspection route of the first equipment based on the waypoint position of each waypoint, and updating the inspection route in real time based on the real-time fan yaw angle change value. The method and the device provided by the application can determine the routing inspection route of the first equipment in the state that the fan is not stopped, and improve the routing inspection efficiency of the fan.
Description
Technical Field
The application relates to the technical field of fans, in particular to a fan inspection method, a device, a storage medium and electronic equipment.
Background
The fan blade is one of key components of the wind turbine generator and is also a device for capturing wind energy, so that the safety and reliability of the fan blade are particularly important, and the fan blade is a key point for guaranteeing the normal operation of the fan. The fan blade is inspected by using equipment (such as an unmanned aerial vehicle) with a flight shooting function, so that fault inspection and fault information confirmation can be performed, and the damage to the surface of the blade is inspected.
Therefore, how to determine the routing inspection route of the equipment in a state that the fan is not stopped is a technical problem to be solved in the industry.
Disclosure of Invention
The application provides a fan inspection method, a device, a storage medium and electronic equipment, which are used for solving the technical problem of how to determine an inspection route of equipment in a state that a fan is not stopped in the prior art.
In a first aspect, the present application provides a fan inspection method, including:
controlling first equipment to move to the position above a target fan to acquire a reference fan yaw angle of the target fan;
Controlling the first equipment to move to the right front of a fan hub of the target fan based on the reference fan yaw angle and a real-time fan yaw angle change value sent by the second equipment;
Generating a routing inspection route of the first device based on the first waypoint, the second waypoint, the third waypoint and the fourth waypoint by taking the right front of the fan hub as the first waypoint, one side of a fan blade rotation plane of the target fan as the second waypoint, the right rear of the fan hub as the third waypoint and the other side of the fan blade rotation plane opposite to the second waypoint as the fourth waypoint;
and updating the routing inspection route in real time based on the real-time fan yaw angle change value.
In some embodiments, before updating the routing inspection route in real time based on the real-time fan yaw angle variation value, the method further comprises:
and under the condition that the difference value between the yaw angle change value of the real-time fan corresponding to the first time and the yaw angle change value of the real-time fan corresponding to the second time is smaller than a preset threshold value, controlling the first equipment to carry out inspection on the target fan based on the inspection route.
In some embodiments, the updating the routing based on the real-time fan yaw variation value in real-time includes:
Splitting a route between any two adjacent waypoints into a plurality of navigation segments;
And updating the routing inspection route in the next navigation segment based on the average value of the real-time fan yaw angle change values of the target fan of the first equipment in the current navigation segment.
In some embodiments, the updating the routing inspection route in real time based on the real-time fan yaw angle variation value further comprises:
Acquiring a yaw angle change value of the real-time fan based on a first frequency under the condition that the distance difference between the position of the first equipment and the second waypoint or the fourth waypoint is smaller than a preset distance;
Wherein the first frequency is greater than a reference frequency.
In some embodiments, the controlling the first device to move over the target wind turbine to obtain a reference wind turbine yaw angle of the target wind turbine includes:
determining a fifth waypoint based on the fan blade rotation plane and a fan hub height of the target fan;
controlling the first equipment to move to a seventh waypoint along the fifth waypoint and a sixth waypoint, and collecting a top view of the target fan on the seventh waypoint, wherein a connecting line between the sixth waypoint and the fifth waypoint is vertical to a horizontal plane, the height of the sixth waypoint is larger than a preset height, the preset height is the sum of the height of the fifth waypoint and the length of the fan blade, the seventh waypoint is right above the target fan, and the connecting line between the seventh waypoint and the sixth waypoint is parallel to the horizontal plane;
the reference fan yaw angle is determined based on the top view.
In some embodiments, the controlling the first device to move directly in front of a fan hub of the target fan includes:
taking the position right above the target fan as an eighth waypoint;
Generating a flight route based on the eighth waypoint, a ninth waypoint and a tenth waypoint, wherein a connecting line between the ninth waypoint and the eighth waypoint is parallel to a horizontal plane, and the distance between the ninth waypoint and the eighth waypoint is greater than the length of the fan blade;
and controlling the first equipment to move from the eighth waypoint to the tenth waypoint along the ninth waypoint so that the first equipment moves to the position right in front of the fan hub of the target fan.
In some embodiments, the controlling the first device to move from the eighth waypoint to the tenth waypoint along the ninth waypoint comprises:
And in the process that the first equipment sequentially passes through the eighth waypoint, the ninth waypoint and the tenth waypoint, determining the latest waypoint position of the eighth waypoint, the ninth waypoint or the tenth waypoint in real time based on the reference fan yaw angle and the real-time fan yaw angle change value, and adjusting the flight route of the first equipment and the camera angle of the first equipment.
In some embodiments, the second device comprises a ground device, and the real-time fan yaw variation value is derived based on:
the second equipment continuously acquires fan pictures of the target fan;
And determining the yaw angle change value of the real-time fan based on the picture change values between the continuous fan pictures.
In some embodiments, the second device is the same type of device as the first device, and the real-time fan yaw variation value is obtained based on the steps of:
Controlling the second equipment to move to a target position;
Emitting laser light onto the fan blade rotation plane based on the second device;
and determining the real-time fan yaw angle change value based on the trigger point positions of the laser and the fan blade rotation plane and the target position.
In some embodiments, the route between the first waypoint and the second waypoint is a windward route of the target blower;
the route between the second waypoint and the third waypoint is a leeward route of the target fan;
the second waypoint is a front edge route or a rear edge route of the target fan;
The fourth waypoint is a front edge route or a rear edge route of the target fan;
The updating of the routing inspection route based on the real-time fan yaw angle change value in real time comprises the following steps:
Determining the latest waypoint position of the first waypoint, the second waypoint, the third waypoint or the fourth waypoint in real time based on the real-time fan yaw angle variation value;
And controlling the first equipment to sequentially carry out inspection around the target fan along the first waypoint, the second waypoint, the third waypoint and the fourth waypoint based on the latest waypoint position and the latest inspection route of each waypoint.
In some embodiments, after the controlling the first device to sequentially perform the inspection around the target fan based on the latest waypoint position and the latest inspection route of each waypoint, the method further includes:
Setting a patrol condition based on the battery capacity of the first equipment, the patrol turns of the patrol route or the fan picture acquired by the first equipment;
And finishing the inspection under the condition that the current inspection result meets the inspection condition.
In a second aspect, the present application provides a fan inspection apparatus, including:
the acquisition module is used for controlling the first equipment to move to the position above the target fan and acquiring the reference fan yaw angle of the target fan;
The control module is used for controlling the first equipment to move to the right front of the fan hub of the target fan based on the reference fan yaw angle and the real-time fan yaw angle change value sent by the second equipment;
The route module is used for taking the right front of the fan hub as a first waypoint, one side of a fan blade rotation plane of the target fan as a second waypoint, the right rear of the fan hub as a third waypoint and the other side of the fan blade rotation plane opposite to the second waypoint as a fourth waypoint, and generating a routing inspection route of the first equipment based on the waypoints of the first waypoint, the second waypoint, the third waypoint and the fourth waypoint;
And the updating module is used for updating the routing inspection route in real time based on the real-time fan yaw angle change value.
In a third aspect, the present application provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method described above.
In a fourth aspect, the application provides an electronic device comprising a memory in which a computer program is stored and a processor arranged to implement the above-mentioned method when the program is executed by the computer program.
In a fifth aspect, the invention also provides a computer program product comprising a computer program which, when executed by a processor, implements a method as described above.
According to the fan inspection method, the device, the storage medium and the electronic equipment, the first equipment is controlled to move to the position right in front of the fan hub through the reference fan yaw angle, the first waypoint, the second waypoint, the third waypoint and the fourth waypoint are determined through the position of the fan hub and the rotation plane of the fan blade, the inspection route of the first equipment is generated through the four waypoints, the inspection route of the first equipment is updated in real time through the real-time fan yaw angle change value, the inspection route of the first equipment can be determined in a state that the fan is not stopped, the fan can be inspected safely without manual participation, and the inspection efficiency of the fan is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the application or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a fan inspection method according to an embodiment of the present application;
FIG. 2 is a schematic illustration of a fan yaw angle provided by an embodiment of the present application;
FIG. 3 is a second schematic view of a yaw angle of a blower according to an embodiment of the present application;
FIG. 4 is a front view of a blower provided by an embodiment of the present application;
FIG. 5 is a left side view of a blower provided by an embodiment of the present application;
FIG. 6 is a schematic diagram of a routing inspection route according to an embodiment of the present application;
FIG. 7 is a schematic diagram of fan inspection according to an embodiment of the present application;
FIG. 8 is a second schematic diagram of fan inspection according to an embodiment of the present application;
FIG. 9 is a schematic diagram of determining a yaw angle of a wind turbine provided by an embodiment of the present application;
Fig. 10 is a schematic structural diagram of a fan inspection device according to an embodiment of the present application;
fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like herein are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules that are expressly listed or inherent to such process, method, article, or apparatus.
The fan inspection method provided by the embodiment of the application is suitable for a terminal, and the terminal can be various electronic equipment including, but not limited to, a server, a smart phone, a tablet personal computer, a laptop portable computer, a desktop computer and the like.
Fig. 1 is a schematic flow chart of a fan inspection method according to an embodiment of the present application, as shown in fig. 1, the method includes steps 110, 120, 130 and 140. The method flow steps are only one possible implementation of the application.
And 110, controlling the first equipment to move above the target fan to acquire the reference fan yaw angle of the target fan.
Specifically, the main execution body of the fan inspection method provided by the embodiment of the application is a fan inspection device, and the device can be independently arranged hardware equipment in a terminal or can be a software program running in the terminal.
The first device is a device having a flight function and a shooting function. The first device may include an unmanned aerial vehicle, a camera, a cradle head, an onboard processor, and the like.
The unmanned aerial vehicle is used for carrying the camera to fly to a designated position, the camera is used for collecting fan blade pictures and fan videos, the cradle head is used for loading the camera, and the airborne processor is used for guiding the unmanned aerial vehicle to fly automatically and safely.
The fan comprises a fan tower, a fan cabin, a fan hub and fan blades connected with the fan hub. The target fan is a fan which is ready for inspection.
Fig. 2 is a schematic diagram of a fan yaw angle provided by an embodiment of the present application, and fig. 3 is a schematic diagram of a fan yaw angle provided by an embodiment of the present application, where, as shown in fig. 2 and 3, a north-positive direction may be defined as a line, and the fan yaw angle refers to an angle between a nacelle and a north-positive line segment. The fan yaw angle is 180 ° in fig. 3.
Because the fan state of the target fan in the embodiment of the application can be in a non-stop state, the yaw angle of the fan can be changed in real time, so that when a patrol task is started, the first equipment needs to be controlled to move to the position above the target fan, and the reference fan yaw angle of the target fan is obtained by collecting the top view of the target fan above.
The non-stop state refers to a state in which the fan blade is not in a locked state, i.e., the fan blade moves with wind.
The target fan can be directly above the fan hub, and after the first equipment moves to the position directly above the fan hub, the equipment angle can be adjusted so as to acquire the top view of the target fan to obtain the reference fan yaw angle of the target fan.
The device angle includes at least one of a device complete machine angle of the first device and a camera angle on the first device. The angle of the device can be adjusted by adjusting the angle of the unmanned aerial vehicle, or adjusting the angle of the camera, or adjusting the angle of the unmanned aerial vehicle and the angle of the camera. The specific adjustment mode needs to be determined according to actual conditions.
The camera angle can be adjusted by rotating the pan/tilt head. The cloud deck pitch angle can be adjusted in an attempt to acquire a top view of the target fan.
And 120, controlling the first equipment to move to the right front of a fan hub of the target fan based on the reference fan yaw angle and the real-time fan yaw angle change value sent by the second equipment.
Specifically, after the first device is above the target fan and the reference fan yaw angle is obtained, the device angle can be adjusted firstly according to the reference fan yaw angle, then the device angle can be adjusted continuously according to the real-time fan yaw angle change value in the moving process from above the target fan to the front of the fan hub of the target fan, the device angle can also be adjusted directly from above the target fan to the front of the fan hub of the target fan, the device angle can be adjusted continuously according to the reference fan yaw angle in the moving process, then the device angle can be adjusted continuously according to the real-time fan yaw angle change value, and the device angle can also be adjusted directly from above the target fan to the front of the fan hub of the target fan, and the device angle can be adjusted according to the real-time fan yaw angle change value after the device angle reaches the front.
Because the first equipment is difficult to obtain the real-time fan yaw angle change value of the target fan through the first equipment in the process of moving the first equipment from the upper side of the target fan to the right front side of the fan hub, the real-time fan yaw angle change value can be obtained through the second equipment, and the real-time fan yaw angle change value is sent to the first equipment, so that the first equipment adjusts the equipment angle, the first equipment is controlled to move to the right front side of the fan hub, and finally the camera of the first equipment faces the right front side of the fan hub.
And 130, taking the right front of the fan hub as a first waypoint, one side of a fan blade rotation plane of the target fan as a second waypoint, the right rear of the fan hub as a third waypoint, and the other side of the fan blade rotation plane opposite to the second waypoint as a fourth waypoint, and generating a routing inspection route of the first equipment based on the waypoints of the first waypoint, the second waypoint, the third waypoint and the fourth waypoint.
Specifically, fig. 4 is a front view of a fan provided by an embodiment of the present application, fig. 5 is a left view of the fan provided by the embodiment of the present application, and as shown in fig. 4 and fig. 5, an appearance surface of a fan blade in the embodiment of the present application includes a windward surface, a trailing edge surface, a leeward surface and a leading edge surface. Through foretell inspection route, first equipment can patrol and examine each outward appearance face of fan blade.
Fig. 6 is a schematic diagram of a routing inspection route according to an embodiment of the present application. After the first device moves to the position right in front of the fan hub, the point is taken as a starting point, namely the right in front of the fan hub is taken as a first waypoint, one side of the fan blade rotation plane of the target fan is taken as a second waypoint, and the position point of the trailing edge route in fig. 6 is taken as the second waypoint. The route between the first waypoint and the second waypoint is the windward route of the target fan, namely, the first equipment moves from the first waypoint to the second waypoint and can patrol and examine the windward surface of the fan blade.
The second waypoint is the leading or trailing edge course of the target fan, so the location point of the leading edge course in fig. 6 may also be the second waypoint, i.e., the trailing or leading edge face of the fan blade may be inspected when the first device is at the second waypoint.
Taking the right rear of the fan hub as a third waypoint, wherein the route between the second waypoint and the third waypoint is the leeward route of the target fan; the other side of the fan blade rotation plane opposite to the second waypoint is taken as a fourth waypoint, and the position point of the leading edge route in fig. 6 is taken as the fourth waypoint.
The fourth waypoint may be a leading or trailing edge course of the target blower. The fourth waypoint is a trailing edge route when the second waypoint is a leading edge route and the fourth waypoint is a leading edge route when the second waypoint is a trailing edge route. Which course the fourth waypoint and the second waypoint specifically correspond to depends on the appearance that the first device can look on at when the course.
The distance between the first waypoint and the third waypoint and the fan hub, and the distance between the second waypoint and the fourth waypoint and the fan blade rotation plane can be limited according to specific conditions, the distance needs to ensure that the first equipment does not collide with the fan hub, the first equipment does not generate intersection with the fan blade rotation plane, and the movement range of the first equipment is a safety range.
The first waypoint, the second waypoint, the third waypoint and the fourth waypoint can generate a circle of operation route of the first equipment, so that each appearance surface of the fan is inspected.
The inspection route can be divided into a windward side, a leeward side inspection route, a front edge route and a rear edge route according to the appearance surface of the fan blade.
The inspection route of each appearance surface of the fan blade can be generated through the information such as the angle of the fan blade, the length of the blade, the height of the fan tower barrel and the like.
The windward course can be that the unmanned aerial vehicle is positioned at the starting position and is positioned right in front of the fan hub and moves horizontally to the right, and the leeward course can be that the unmanned aerial vehicle is positioned at the starting position and is positioned right behind the fan hub and moves horizontally to the right.
The leading-edge route can be that the first equipment is positioned on one side of the rotating plane of the fan blade, the starting position of the first equipment is positioned right above the fan hub and moves horizontally to the right, and the trailing-edge route can be that the first equipment is positioned on the other side of the rotating plane of the fan blade, the starting position of the first equipment is positioned right above the fan hub and moves horizontally to the left.
When the front edge part and the rear edge part are inspected, the front edge surface and the rear edge surface can be respectively shot downwards at two sides of the rotation plane of the fan blade because of the phenomenon of backlight in upward shooting.
And 140, updating the routing inspection route in real time based on the real-time fan yaw angle change value.
Specifically, because the fan blades and the fan cabin are continuously rotating, after the inspection route is generated, the positions of the first waypoint, the second waypoint, the third waypoint and the fourth waypoint are changed in real time, so that the inspection route is required to be continuously updated according to the change value of the yaw angle of the fan in real time in the flight process of the first equipment, and the movement of the first equipment is controlled, so that the safe inspection can be performed under the condition that the fan is not stopped.
According to the fan inspection method provided by the embodiment of the application, the first equipment is controlled to move to the position right in front of the fan hub through the reference fan yaw angle, the first waypoint, the second waypoint, the third waypoint and the fourth waypoint are determined through the position of the fan hub and the rotation plane of the fan blade, the inspection route of the first equipment is generated through the four waypoints, the inspection route is updated in real time through the real-time fan yaw angle change value, the inspection route of the first equipment can be determined in a state that the fan is not stopped, the fan can be safely inspected without manual participation, and the inspection efficiency of the fan is improved.
It should be noted that each embodiment of the present application may be freely combined, exchanged in order, or separately executed, and does not need to rely on or rely on a fixed execution sequence.
In some embodiments, prior to step 140, further comprising:
And under the condition that the difference value between the yaw angle change value of the real-time fan corresponding to the first time and the yaw angle change value of the real-time fan corresponding to the second time is smaller than a preset threshold value, controlling the first equipment to carry out inspection on the target fan based on the inspection route.
Step 140 includes:
Splitting a route between any two adjacent waypoints into a plurality of navigation segments;
Updating the routing inspection route in the next leg based on the average value of the real-time fan yaw angle change values of the target fan of the first equipment in the current leg.
Step 140 further comprises:
Acquiring a real-time fan yaw angle change value based on a first frequency under the condition that the distance difference between the position of the first equipment and the second waypoint or the fourth waypoint is smaller than a preset distance;
wherein the first frequency is greater than the reference frequency.
Specifically, when the motion state of the fan is extremely unstable, the potential flight safety hazard and the flight loss of the first device may be increased, and the shooting effect of the first device on the fan may be affected. Therefore, the first equipment can be controlled to carry out inspection when the fan motion is stable.
The method comprises the steps that a preset threshold value can be set, if the difference value between the yaw angle change value of the real-time fan corresponding to the first time and the yaw angle change value of the real-time fan corresponding to the second time of the fan is larger than or equal to the preset threshold value, the current fan is unstable in movement, and the fan can wait for stable and then patrol through the first equipment.
If the difference value between the yaw angle change value of the real-time fan corresponding to the first time and the yaw angle change value of the real-time fan corresponding to the second time is smaller than a preset threshold value, the current fan is indicated to be stable in motion, and the first equipment can be started to carry out inspection.
The time interval between the first time and the second time may be determined according to the current environment, for example, the time interval may be set to 20 seconds. And if the yaw angle of the fan is changed slightly within 20 seconds, starting inspection.
When the inspection is started, the route between two adjacent waypoints can be split into a plurality of route segments, for example, the route between the first waypoint and the second waypoint can be split into 3 route segments, which correspond to the blade root route segment, the blade middle route segment and the blade tip route segment respectively.
The adjustment angle of the next leg to the routing inspection route can be determined according to the average value of the real-time fan yaw angle change values of the target fan of the first device in the current leg.
For example, the angle of the first device as it moves in the blade-in-flight is adjusted based on the average of the real-time fan yaw angle variation values of the target fans within the blade-root flight.
Because even if the first equipment is not completely right opposite to the fan blade, an accurate fan blade picture can be obtained through a picture correction mode, when the fan motion is stable, even if the mean value of the real-time fan yaw angle change value and the real fan yaw angle have a certain error, the accurate fan blade picture can be obtained.
The acquisition frequency of the yaw angle change value of the real-time fan in each air leg can be set according to actual scenes, for example, the acquisition frequency can be 5 seconds. The acquisition frequency of the yaw angle change value of the real-time fan in each air section can be different. The reference frequency is the acquisition frequency of the yaw angle change value of the real-time fan in each air leg.
If the position of the first device is close to the second waypoint, the first device is indicated to reach the leading edge route or the trailing edge route immediately, and the first device can acquire the leading edge surface or the trailing edge surface with a better angle when being positioned on the positive side surface of the rotating plane of the fan blade, so that the acquisition frequency of the yaw angle change value of the real-time fan needs to be increased, thereby ensuring that the first device can move to the positive side surface of the rotating plane of the fan blade and be kept on the positive side surface.
The first frequency may be greater than the reference frequency and the first frequency may be set to 2 seconds.
According to the fan inspection method provided by the embodiment of the application, the first equipment is controlled to inspect the fan when the fan moves stably, and the inspection route is adjusted in real time in the inspection process of the first equipment, so that the accuracy of the inspection route is improved.
In some embodiments, step 110 comprises:
determining a fifth waypoint based on the fan blade rotation plane and the fan hub height of the target fan;
Controlling the first equipment to move to a seventh waypoint along a fifth waypoint and a sixth waypoint, and collecting a top view of the target fan on the seventh waypoint, wherein a connecting line between the sixth waypoint and the fifth waypoint is vertical to a horizontal plane, the height of the sixth waypoint is larger than a preset height, and the preset height is the sum of the height of the fifth waypoint and the length of the fan blade;
a reference fan yaw angle is determined based on the top view.
Specifically, fig. 7 is one of schematic diagrams of fan inspection provided by the embodiment of the present application, and as shown in fig. 7, a route Line1 in which the first device moves to above the target fan may be generated.
Line1 includes three waypoints altogether, the longitude and latitude of the fifth waypoint (waypoint 1 in fig. 7) is at one side of the fan blade rotation plane, the height is the fan hub height, the longitude and latitude of the sixth waypoint (waypoint 2 in fig. 7) is the longitude and latitude of the first waypoint, the height is greater than the sum of the fan hub height and the fan blade length, and the longitude and latitude of the seventh waypoint (waypoint 3 in fig. 7) is the longitude and latitude of the fan tower barrel, the height is greater than the sum of the hub height and the fan blade length.
The first equipment moves from the flying point to the fifth waypoint, moves vertically upwards from the fifth waypoint to the sixth waypoint, and moves from the sixth waypoint to the seventh waypoint, so that the first equipment can move to the position right above the fan.
The cradle head can be directly rotated to drive the camera to rotate or the first equipment rotates to collect pictures. And determining a yaw angle of the reference fan according to the difference between the current angle value of the cradle head and the shooting angle without specifying the orientation of the first equipment.
After the first equipment moves to the position right above the fan, the pitch angle of the cradle head can be adjusted, so that the cradle head is vertically downward, and a top view of the fan is obtained. Image segmentation can be performed through deep learning, and a reference fan yaw angle is obtained by combining the current cradle head yaw angle.
After the first equipment moves to the position right above the fan, the unmanned aerial vehicle head can be adjusted to face north, and the cradle head face is north. A North-East-Down coordinate system (NED) coordinate system was used. After the first equipment reaches the seventh navigation point, the cradle head faces downwards, and then the positions of a fan blade of the target fan, a fan hub of a fan cabin and the like are detected by analyzing video streams and utilizing image segmentation. The current fan yaw position is then determined by analyzing the orientation of the fan nacelle in the image.
According to the fan inspection method, the route of the first equipment moving to the position above the fan is determined through the size information and the position information of each structure of the fan, so that the yaw angle of the reference fan is obtained, the accuracy of obtaining the yaw angle is improved, and the yaw of the first equipment can be prevented while the safety of the first equipment is ensured by setting the fifth navigation point, the sixth navigation point and the seventh navigation point, so that the operation route of the first equipment can be adjusted in time, and the yaw angle obtaining efficiency is improved.
In some embodiments, step 120 comprises:
Taking the position right above the target fan as an eighth waypoint;
Generating a flight route based on the eighth waypoint, the ninth waypoint and the tenth waypoint, wherein a connecting line between the ninth waypoint and the eighth waypoint is parallel to a horizontal plane, and the distance between the ninth waypoint and the eighth waypoint is greater than the length of the fan blade;
The first device is controlled to move from the eighth waypoint to the tenth waypoint along the ninth waypoint such that the first device moves directly in front of the fan hub of the target fan.
Controlling the first device to move from the eighth waypoint to the tenth waypoint along the ninth waypoint, comprising:
And in the process that the first equipment sequentially passes through the eighth waypoint, the ninth waypoint and the tenth waypoint, determining the latest waypoint position of the eighth waypoint, the ninth waypoint or the tenth waypoint in real time based on the reference fan yaw angle and the real-time fan yaw angle change value, and adjusting the flight route of the first equipment and the camera angle of the first equipment.
Specifically, after the first device is directly above the wind turbine, a course of the first device from directly above the wind turbine to directly in front of the wind turbine hub may be generated from the current wind turbine yaw information.
Fig. 8 is a second schematic diagram of fan inspection provided in an embodiment of the present application, and fig. 8 shows that a route Line2 reaching the front of a fan hub is generated according to a reference fan yaw angle.
Line2 comprises three waypoints, wherein an eighth waypoint (waypoint 1 in fig. 8) is the current position of the first device, namely, the position right above the fan, the longitude and latitude of a ninth waypoint (waypoint 2 in fig. 8) is the longitude and latitude of the position right in front of the hub of the fan, the height is the current height of the first device, the longitude and latitude of a tenth waypoint (waypoint 3 in fig. 8) is the longitude and latitude of the position right in front of the hub, and the height is the height of the hub.
When moving to the tenth waypoint, the yaw angle of the first device is the fan yaw angle plus 180 degrees, i.e., the first device is opposite to the fan hub. The range of yaw angles of the first device and the fan may be set to-180 ° to +180°. The yaw angle of the first equipment can be adjusted at any position in the Line2, and the yaw angle can be adjusted to be opposite to the fan hub only when the tenth navigation point is reached.
According to the fan inspection method provided by the embodiment of the application, the first equipment moves to the front of the fan hub and is opposite to the fan hub by setting the route, so that preparation is made for subsequent inspection, and the inspection efficiency is improved.
In some embodiments, the second device comprises a ground device, and the real-time fan yaw change value is based on:
the second equipment continuously acquires fan pictures of the target fan;
and determining a real-time fan yaw angle change value based on the picture change values between the continuous fan pictures.
The second equipment and the first equipment are the same equipment, and the yaw angle change value of the real-time fan is obtained based on the following steps:
Controlling the second equipment to move to a target position;
emitting laser light onto the fan blade rotation plane based on the second device;
And determining a real-time fan yaw angle change value based on the trigger point position and the target position of the laser and the fan blade rotation plane.
In particular, the surface equipment may include personal computers (Personal Computer, PCs), cameras, and cradles. The PC is used for communicating with the first equipment and processing the acquired pictures or videos, for example, one fan blade position or a plurality of fan blade positions in the videos form a multi-path video set, the camera is used for acquiring the fan blade pictures and acquiring the fan videos, and the cradle head is used for loading the camera.
The type of the second device, i.e. whether the ground device or the same type of unmanned aerial vehicle device as the first device is used, may be determined according to the environment in which the blower is located.
For example, for a fan set up offshore, it is difficult to set up ground equipment, and a second device that can fly in the air is used.
If the second equipment is ground equipment, acquiring a yaw angle change value of the real-time fan in the following manner:
according to the longitude and latitude of the ground equipment, the longitude and latitude of the first equipment, the longitude and latitude of the target fan, camera pos data in the ground equipment, such as a yaw angle, a pitch angle, a roll angle and the like of the camera, the pixel length which the real fan length should occupy in a camera picture can be calculated, the change of the pixel length is recorded according to the real-time video analysis of three blades in the target fan, so that yaw angle information of the fan relative to the ground equipment is calculated, and the yaw angle of the fan can be calculated through the yaw angle information of the ground equipment.
The second equipment continuously collects fan pictures of the target fan, and the yaw angle change value of the fan at the moment can be calculated according to the picture change values among the continuous fan pictures. The picture change value comprises position change data of the fan in the continuous pictures.
The ground equipment can respectively track the blades of each fan, record the pixel position of the fan blade at one moment, reachs the position again at the next moment by three blades, change the serial numbers of the blades, rotate 1/3 circle at the moment, record the time change at two moments as t, calculate the time of one circle of rotation of the fan blade as 3t, and further determine the rotating speed of the fan blade.
If the second equipment is the same as the first equipment in type, acquiring a yaw angle change value of the real-time fan by the following mode:
two unmanned aerial vehicles acquire fan blade rotational speed and yaw angle and ground equipment are similar, and the only difference is that the deviation that needs correction unmanned aerial vehicle produced in keeping stable in-process, including the deviation that longitude and latitude altitude brought and unmanned aerial vehicle camera pos data brought.
Fig. 9 is a schematic diagram of determining a yaw angle of a fan according to an embodiment of the present application, where, as shown in fig. 9, point a is a target position of a second device, two laser radars carried by the second device strike a rotation plane of a fan blade, and a vertical angle of a laser trigger point connection line is calculated, where the angle is the yaw angle of the fan.
The target position is a position where two lidars can strike the fan blade rotation plane.
According to the fan inspection method provided by the embodiment of the application, the yaw angle change value of the real-time fan is obtained through the second equipment, and the inspection is performed through the cooperation of the first equipment and the second equipment, so that the inspection efficiency is improved.
In some embodiments, step 140 comprises:
Determining the latest waypoint positions of the first waypoint, the second waypoint, the third waypoint or the fourth waypoint in real time based on the real-time fan yaw angle change value;
And controlling the first equipment to sequentially carry out inspection around the target fan along the first waypoint, the second waypoint, the third waypoint and the fourth waypoint based on the latest waypoint position and the latest inspection route of each waypoint.
After controlling the first device to sequentially carry out inspection around the target fan along the first waypoint, the second waypoint, the third waypoint and the fourth waypoint based on the latest waypoint position and the latest inspection route of each waypoint, the method further comprises:
Setting a patrol condition based on the battery capacity of the first equipment, the patrol number of the patrol route or the fan picture acquired by the first equipment;
and finishing the inspection under the condition that the current inspection result meets the inspection condition.
Specifically, the duration of the first device may be determined according to the battery capacity of the first device, and the inspection is ended if the current inspection time has reached the duration.
In the embodiment of the application, the first waypoint, the second waypoint, the third waypoint and the fourth waypoint are finally returned to the first waypoint to form a circle of inspection, the number of inspection circles can be set, and the inspection is finished when the current inspection is equal to the set number of inspection circles.
The fan pictures acquired by the first equipment can be analyzed in real time, and if the currently acquired pictures already cover all appearance surfaces of the fan blades, the inspection can be finished.
According to the fan inspection method provided by the embodiment of the application, the inspection is finished when the current inspection result meets the preset inspection condition, so that the inspection efficiency is improved.
The fan inspection device provided by the embodiment of the application is described below, and the fan inspection device described below and the fan inspection method described above can be correspondingly referred to each other.
Fig. 10 is a schematic structural diagram of a fan inspection device according to an embodiment of the present application, and as shown in fig. 10, the device includes an obtaining module 1010, a control module 1020, an air line module 1030, and an updating module 1040.
The acquisition module is used for controlling the first equipment to move to the position above the target fan to acquire the reference fan yaw angle of the target fan;
the control module is used for controlling the first equipment to move to the right front of the fan hub of the target fan based on the reference fan yaw angle and the real-time fan yaw angle change value sent by the second equipment;
The route module is used for taking the right front of the fan hub as a first waypoint, one side of a fan blade rotating plane of the target fan as a second waypoint, the right rear of the fan hub as a third waypoint and the other side of the fan blade rotating plane opposite to the second waypoint as a fourth waypoint, and generating a routing inspection route of the first equipment based on the waypoints of the first waypoint, the second waypoint, the third waypoint and the fourth waypoint;
And the updating module is used for updating the routing inspection route in real time based on the real-time fan yaw angle change value.
Specifically, according to an embodiment of the present application, any of the acquisition module, the control module, the route module, and the update module may be combined and implemented in one module, or any of the modules may be split into a plurality of modules.
Or at least some of the functionality of one or more of the modules may be combined with, and implemented in, at least some of the functionality of other modules.
According to embodiments of the application, at least one of the acquisition module, the control module, the airline module, and the update module may be implemented at least in part as hardware circuitry, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system-on-chip, a system-on-substrate, a system-on-package, an Application Specific Integrated Circuit (ASIC), or in hardware or firmware, such as any other reasonable way of integrating or packaging the circuitry, or in any one of or a suitable combination of any of three implementations of software, hardware, and firmware.
Or at least one of the acquisition module, the control module, the airline module, and the update module may be at least partially implemented as computer program modules that, when executed, perform the corresponding functions.
According to the fan inspection device provided by the embodiment of the application, the first equipment is controlled to move to the position right in front of the fan hub through the reference fan yaw angle, the first waypoint, the second waypoint, the third waypoint and the fourth waypoint are determined through the position of the fan hub and the rotation plane of the fan blade, the inspection route of the first equipment is generated through the four waypoints, the inspection route is updated in real time through the real-time fan yaw angle change value, the inspection route of the first equipment can be determined in a state that the fan is not stopped, the fan can be safely inspected without manual participation, and the inspection efficiency of the fan is improved.
In some embodiments, the fan inspection device further includes a status module, where the status module is specifically configured to:
And under the condition that the difference value between the yaw angle change value of the real-time fan corresponding to the first time and the yaw angle change value of the real-time fan corresponding to the second time is smaller than a preset threshold value, controlling the first equipment to carry out inspection on the target fan based on the inspection route.
In some embodiments, the update module is specifically configured to:
Splitting a route between any two adjacent waypoints into a plurality of navigation segments;
updating the routing inspection route in the next leg based on the average value of the real-time fan yaw angle change values of the target fan of the first equipment in the current leg.
In some embodiments, the update module is further specifically configured to:
Acquiring a real-time fan yaw angle change value based on a first frequency under the condition that the distance difference between the position of the first equipment and the second waypoint or the fourth waypoint is smaller than a preset distance;
wherein the first frequency is greater than the reference frequency.
In some embodiments, the obtaining module is specifically configured to:
determining a fifth waypoint based on the fan blade rotation plane and the fan hub height of the target fan;
Controlling the first equipment to move to a seventh waypoint along a fifth waypoint and a sixth waypoint, and collecting a top view of the target fan on the seventh waypoint, wherein a connecting line between the sixth waypoint and the fifth waypoint is vertical to a horizontal plane, the height of the sixth waypoint is larger than a preset height, and the preset height is the sum of the height of the fifth waypoint and the length of the fan blade;
a reference fan yaw angle is determined based on the top view.
In some embodiments, the control module is specifically configured to:
Taking the position right above the target fan as an eighth waypoint;
Generating a flight route based on the eighth waypoint, the ninth waypoint and the tenth waypoint, wherein a connecting line between the ninth waypoint and the eighth waypoint is parallel to a horizontal plane, and the distance between the ninth waypoint and the eighth waypoint is greater than the length of the fan blade;
The first device is controlled to move from the eighth waypoint to the tenth waypoint along the ninth waypoint such that the first device moves directly in front of the fan hub of the target fan.
In some embodiments, the control module includes an angle control sub-module, the angle control sub-module being specifically configured to:
And in the process that the first equipment sequentially passes through the eighth waypoint, the ninth waypoint and the tenth waypoint, determining the latest waypoint position of the eighth waypoint, the ninth waypoint or the tenth waypoint in real time based on the reference fan yaw angle and the real-time fan yaw angle change value, and adjusting the flight route of the first equipment and the camera angle of the first equipment.
In some embodiments, the second device includes a ground device, and the fan inspection device further includes a first real-time module, where the first real-time module is specifically configured to:
the second equipment continuously acquires fan pictures of the target fan;
and determining a real-time fan yaw angle change value based on the picture change values between the continuous fan pictures.
In some embodiments, the second device and the first device are the same device, and the fan inspection device further includes a second real-time module, where the second real-time module is specifically configured to:
Controlling the second equipment to move to a target position;
emitting laser light onto the fan blade rotation plane based on the second device;
And determining a real-time fan yaw angle change value based on the trigger point position and the target position of the laser and the fan blade rotation plane.
In some embodiments, the route between the first waypoint and the second waypoint is a windward route of the target blower;
The route between the second waypoint and the third waypoint is the lee surface route of the target fan;
The second waypoint is a leading edge route or a trailing edge route of the target fan;
the fourth waypoint is a leading edge route or a trailing edge route of the target fan.
The updating module is also specifically used for:
Determining the latest waypoint positions of the first waypoint, the second waypoint, the third waypoint or the fourth waypoint in real time based on the real-time fan yaw angle change value;
And controlling the first equipment to sequentially carry out inspection around the target fan along the first waypoint, the second waypoint, the third waypoint and the fourth waypoint based on the latest waypoint position and the latest inspection route of each waypoint.
In some embodiments, the fan inspection device further includes a termination module, where the termination module is specifically configured to:
After controlling a first device to sequentially carry out inspection around a target fan based on the latest waypoint position and the latest inspection route of each waypoint, setting inspection conditions based on the battery capacity of the first device, the inspection number of turns of the inspection route or fan pictures acquired by the first device;
and finishing the inspection under the condition that the current inspection result meets the inspection condition.
It should be noted that, the fan inspection device provided by the embodiment of the present application can implement all the method steps implemented by the fan inspection method embodiment, and can achieve the same technical effects, and detailed descriptions of the same parts and beneficial effects as those of the method embodiment in the embodiment are omitted.
Fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present application, as shown in fig. 11, the electronic device may include a Processor 1110, a communication interface Communications Interface, a Memory 1130 and a communication bus Communications Bus 1140, where the Processor 1110, the communication interface 1120 and the Memory 1130 complete communication with each other through the communication bus 1140. Processor 1110 may invoke logic commands in memory 1130 to perform the method described above, including:
Controlling the first equipment to move above the target fan to obtain a reference fan yaw angle of the target fan;
Controlling the first equipment to move to the right front of a fan hub of the target fan based on the reference fan yaw angle and the real-time fan yaw angle change value sent by the second equipment;
Generating a routing inspection route of the first equipment based on the first waypoint, the second waypoint, the third waypoint and the fourth waypoint by taking the right front of the fan hub as the first waypoint, one side of a fan blade rotation plane of the target fan as the second waypoint, the right rear of the fan hub as the third waypoint and the other side of the fan blade rotation plane opposite to the second waypoint as the fourth waypoint;
Updating the routing inspection route in real time based on the real-time fan yaw angle change value.
In addition, the logic commands in the memory described above may be implemented in the form of software functional modules and stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in the form of a software product stored in a storage medium, comprising several commands for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present application. The storage medium includes a U disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, an optical disk, or other various media capable of storing program codes.
The processor in the electronic device provided by the embodiment of the application can call the logic instruction in the memory to realize the method, and the specific implementation mode is consistent with the implementation mode of the method, and the same beneficial effects can be achieved, and the detailed description is omitted here.
Embodiments of the present application also provide a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the methods provided by the above embodiments.
The specific embodiment is consistent with the foregoing method embodiment, and the same beneficial effects can be achieved, and will not be described herein.
The embodiments of the present application provide a computer program product comprising a computer program which, when executed by a processor, implements a method as described above.
The apparatus embodiments described above are merely illustrative, wherein the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may or may not be physical, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
It should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present application, and not for limiting the same, and although the present application has been described in detail with reference to the above-mentioned embodiments, it should be understood by those skilled in the art that the technical solution described in the above-mentioned embodiments may be modified or some technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solution of the embodiments of the present application.
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| CN111038721A (en) * | 2019-12-30 | 2020-04-21 | 无锡风电设计研究院有限公司 | Wind turbine blade inspection unmanned aerial vehicle and inspection method based on image recognition |
| CN115480589A (en) * | 2022-09-06 | 2022-12-16 | 中科云尚(南京)智能技术有限公司 | Method and system for generating fan inspection route based on unmanned aerial vehicle |
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| US9280435B2 (en) * | 2011-12-23 | 2016-03-08 | Zonar Systems, Inc. | Method and apparatus for GPS based slope determination, real-time vehicle mass determination, and vehicle efficiency analysis |
| US8215919B2 (en) * | 2008-02-22 | 2012-07-10 | Hamilton Sundstrand Corporation | Curved tooth coupling for a miniature gas turbine engine |
| JP7413003B2 (en) * | 2019-12-20 | 2024-01-15 | 三菱重工業株式会社 | Guidance equipment, air vehicles, air defense systems, and guidance programs |
| CN116820130A (en) * | 2023-06-28 | 2023-09-29 | 南方电网电力科技股份有限公司 | Full-coverage automatic inspection method and related device for fan blades |
| CN116993784B (en) * | 2023-08-23 | 2025-08-08 | 星逻智能科技(苏州)有限公司 | A method and system for tracking blades in wind turbines without stopping |
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| CN111038721A (en) * | 2019-12-30 | 2020-04-21 | 无锡风电设计研究院有限公司 | Wind turbine blade inspection unmanned aerial vehicle and inspection method based on image recognition |
| CN115480589A (en) * | 2022-09-06 | 2022-12-16 | 中科云尚(南京)智能技术有限公司 | Method and system for generating fan inspection route based on unmanned aerial vehicle |
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