CN108894933B - Method and system for tracking, losing and re-capturing fan blade tips during tracking detection of fan blade tips through unmanned aerial vehicle - Google Patents
Method and system for tracking, losing and re-capturing fan blade tips during tracking detection of fan blade tips through unmanned aerial vehicle Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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Abstract
The invention provides a method and a system for tracking, losing and capturing a fan blade tip when tracking and detecting the fan blade tip through an unmanned aerial vehicle, wherein the fan comprises a wind tower, an impeller and a generator, the impeller and the generator are arranged at the top end of the wind tower, the impeller comprises a hub connected with the generator and a plurality of blades which are uniformly distributed along the circumferential direction of the hub, and one blade is taken as a target blade, and the method comprises the following steps: controlling an unmanned aerial vehicle to fly from a blade tip area to a blade root area from one side face of a target blade and detecting the target blade through a solid-state radar arranged on the unmanned aerial vehicle; when the solid-state radar detects a target blade, determining a flight path position when the distance between the unmanned aerial vehicle and the target blade is controlled to be larger than or equal to a first set distance; and controlling the unmanned aerial vehicle to fly to the blade tip region from the flying path position and then fly to the blade root region from the blade tip region, and simultaneously tracking and detecting the target blade through a solid-state radar arranged on the unmanned aerial vehicle. The method avoids the problem of the loss of the apex region, and realizes the comprehensive photographing and the comprehensive detection of the apex region.
Description
Technical Field
The invention relates to fan detection, in particular to a method and a system for tracking, losing and capturing fan blade tips when an unmanned aerial vehicle tracks and detects the fan blade tips.
Background
The wind power generator is an electric power device which converts wind energy into mechanical work, and the mechanical work drives a rotor to rotate so as to finally output alternating current. The wind-driven generator generally comprises a blade, a generator, a direction regulator, a tower, a speed-limiting safety mechanism, an energy storage device and other components.
During long-term operation of a wind turbine, the surface of the blade may exhibit various damages, such as blade protection film damage, blade paint removal, blade icing, blade cracks, blade oil stains, and the like.
At present, when damage is detected on the surface of a blade, a wind driven generator is usually manually climbed for detection, a large amount of manpower can be spent, high-altitude operation is needed when wind power generation is manually climbed for detection, and safety of operating personnel has certain risks.
Consequently, load the camera through unmanned aerial vehicle and carry out the fan and detect, substitute that the manual work that can be fine detects. In order to improve the detection efficiency of the unmanned aerial vehicle, the flight path of the unmanned aerial vehicle needs to be planned, but when the operation of one side surface of the blade is completed, the blade tip end needs to bypass to the other side of the blade, the blade tip area is narrow, the width of the blade is narrow, the angle of view of the solid-state radar is determined, and the blade cannot be detected frequently at the moment, so that the detection of the blade tip area is not comprehensive enough, and even the phenomenon of missed detection is caused.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method and a system for tracking, losing and re-capturing the fan blade tip during tracking detection of the fan blade tip through an unmanned aerial vehicle.
The invention provides a method for tracking, losing and re-capturing a fan blade tip during tracking detection of the fan blade tip by an unmanned aerial vehicle, wherein the fan comprises a wind tower, an impeller and a generator, the impeller and the generator are arranged at the top end of the wind tower, the impeller is arranged at the front end of the generator to drive the generator, the impeller comprises a hub and a plurality of blades, the hub is connected with the generator, the blades are uniformly distributed along the circumferential direction of the hub, and one blade is taken as a target blade, the method comprises the following steps:
step S1: controlling an unmanned aerial vehicle to fly from a blade tip area to a blade root area from one side face of the target blade and detecting the target blade through a solid-state radar arranged on the unmanned aerial vehicle;
step S2: when the solid-state radar detects the target blade, controlling the unmanned aerial vehicle to determine a flight path position when the distance between the unmanned aerial vehicle and the target blade is greater than or equal to a first set distance;
step S3: and controlling the unmanned aerial vehicle to fly to the blade tip region from the flying path position and then fly to the blade root region from the blade tip region, and simultaneously tracking and detecting the target blade through a solid-state radar arranged on the unmanned aerial vehicle.
Preferably, when the solid-state radar detects the target blade in step S3, a plurality of images of the target blade are continuously acquired by a camera provided on the drone;
and identifying the defects of the blade in the image, and marking the defect position and the defect type of each defect and the number of the blade where the defect is positioned.
Preferably, when the defect of the blade is identified in the image, the method comprises the following steps:
step M101: classifying the defects of the blade into a plurality of defect types, collecting a blade image area corresponding to each defect type, and generating a plurality of groups of training images;
step M102: training a defect identification module through a plurality of groups of training images;
step M103: and inputting the collected images into the defect identification module for identification and marking the defect positions and defect types.
Preferably, the following steps are further included before step S1:
-tracking detection of the other side of the target blade from the root area to the tip area by a drone provided with a solid state radar;
-capturing a video stream by a camera provided on the drone, the camera having a lens orientation angle that is the same as the detection orientation angle of the solid state radar, when the solid state radar has detected the drone to fly a first set distance from the tip region;
-viewing the video stream through a control interface, controlling the drone to bypass to the target blade side through the tip end and triggering step S1 when it is confirmed through the video stream that the drone has flown away from the tip area.
Preferably, when in steps S1 to S5, the flight path of the drone is generated as follows
Step N1: establishing a world coordinate system by taking the ground center of a wind tower of the fan as an original point O, wherein in the world coordinate system, a Y axis is in a vertically upward direction, a Z axis is in a south-righting direction, and an X axis is in an east-righting direction;
step N2: carrying out translation transformation and rotation transformation according to the world coordinate system to generate a generator coordinate system corresponding to the generator, carrying out translation transformation and rotation transformation according to the generator coordinate system to generate a hub coordinate system corresponding to the hub, and further carrying out rotation transformation according to the hub coordinate system to generate a blade coordinate system corresponding to each blade;
step N3: and arranging a plurality of path points on the front side and/or the rear side of each blade through a blade coordinate system corresponding to each blade, wherein each path point comprises geographical position and camera attitude information, and forming a flight route according to the path points.
Preferably, the coordinates of the path point on the front side and/or the back side of each blade are determined in the blade coordinate system corresponding to each blade, specifically:
a＝n/(N-1)；
V_wp[n]＝[a*L,V_dist,H_dist]；
wherein V _ wp [ N ] is the path point coordinate of number N, N is the number of path points along the length direction of the blade, N is the number of path points, L is the length of the blade, H _ dist is the horizontal distance of the path points from the blade, V _ dist is the vertical distance of the path points from the blade, H _ dist is a positive value when the path points are located at the front side of the blade, H _ dist is a negative value when the path points are located at the rear side of the blade, V _ dist is a positive value when the path points are located at the upper side of the blade, and V _ dist is a negative value when the path points are located at the lower side of the blade.
Preferably, the camera attitude information includes an orientation angle and a pitch angle;
the orientation angle adopts the orientation angle of the unmanned aerial vehicle;
the pitch angle is generated by calculating the geographical position of the path point and the coordinates of the target point, and specifically comprises the following steps:
dv＝wpos_trgt-wpos_wp
wpos _ trgt is the world coordinate of the target point, wpos _ wp is the world coordinate of the waypoint, dv is the camera observation vector, and is calculated by the following equation:
r＝sqrt(dv.x*dv.x+dv.z*dv.z)；
H0＝atan(x,z)；
H＝90-H0；
P＝atan(r,y)；
wherein x is the x-axis component of the camera observation vector in the world coordinate system, z is the z-axis component of the camera observation vector in the world coordinate system, r is the projection of the camera observation vector on the x-z plane, H is the orientation angle of the camera, and P is the pitch angle of the camera.
Preferably, the translation matrix between the generator and the wind tower is (0, Hgt, 0), and the rotation matrix between the generator and the wind tower is (0, Hdg, 0);
a translation matrix between the hub and the generator is (0, 0, Fwd), a rotation matrix between the hub and the generator is (P, 0, R);
hgt is the height of the wind tower, specifically the distance from the ground to the center of the hub, Hdg is the orientation angle of the fan, Fwd is the position from the center of the hub to the center of the wind tower, P is the pitch angle of the hub, and R is the rotation angle of the hub.
Preferably, the orientation angle of the fan is calculated and generated by adopting the following steps:
step M1: controlling the unmanned aerial vehicle to fly around the fan at the height of the wind tower, and acquiring a video stream of the impeller through an image sensor when the unmanned aerial vehicle flies;
step M2: detecting blades in the video stream, tracking the three blades in real time when the three blades of the fan are detected, and calculating the relative positions and the overlapping degrees of the three blades in real time;
step M3, when detecting that the two blades are completely overlapped, determining that the unmanned aerial vehicle flies to the wind wheel plane β at the moment, and reading a point P acquired by the position sensor at the moment1The location information of (a);
step M4: according to point P1Position information calculation and point P of1Points P of axial symmetry of wind tower2First location information of (a);
step M5: according to point P1Position information of (1), point P2Calculates the wind wheel plane β according to the first position information and the earth mass center, and then determines the orientation angle of the wind turbine according to the normal vector of the wind wheel plane.
The invention provides a tracking, losing and re-capturing system for tracking and detecting a fan blade tip through an unmanned aerial vehicle, which is used for realizing the tracking, losing and re-capturing method for tracking and detecting the fan blade tip through the unmanned aerial vehicle, and comprises the following modules:
the first tracking detection module is used for controlling the unmanned aerial vehicle to fly from a blade tip area to a blade root area from one side face of the target blade and detecting the target blade through a solid-state radar arranged on the unmanned aerial vehicle;
the distance control module is used for controlling the unmanned aerial vehicle to determine a flight path position when the distance between the unmanned aerial vehicle and the target blade is greater than or equal to a first set distance when the solid-state radar detects the target blade;
and the second tracking detection module is used for controlling the unmanned aerial vehicle to fly to the blade tip region from the flying path position and then fly to the blade root region from the blade tip region, and simultaneously tracking and detecting the target blade through a solid-state radar arranged on the unmanned aerial vehicle.
Compared with the prior art, the invention has the following beneficial effects:
when the flying detection is carried out on one side surface of the fan blade from the blade tip area to the blade root area, when the solid-state radar detects the target blade and adjusts the distance between the unmanned aerial vehicle and the target blade to be larger than or equal to the first set distance, the target blade flies back to the blade tip area, and then the target blade flies to the blade root area from the blade tip area, so that the problem of the blade tip area being lost is solved, the comprehensive shooting and the comprehensive detection of the blade tip area are realized.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a flowchart illustrating steps of a tracking, losing and re-capturing method for tracking and detecting a fan blade tip by an unmanned aerial vehicle according to the present invention;
FIG. 2 is a schematic view of a flight path detected at the front side of a wind turbine according to the present invention;
FIG. 3 is a schematic view of a detected flight path at the rear side of a fan according to the present invention;
FIG. 4 is a schematic view of the fan orientation angle determination of the present invention;
fig. 5 is a schematic block diagram of a tracking, losing and recapturing system for tracking and detecting the blade tip of a fan by an unmanned aerial vehicle.
In the figure:
1 is a wind tower;
2 is a hub;
3 is a generator;
4 is a blade A;
5 is a blade B;
6 is a blade C;
101 is a first plane;
102 is a flight path curve s;
103 is a wind wheel plane beta;
104 is a straight line l;
105 is a point P1；
106 is a point P2。
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
FIG. 1 is a flowchart illustrating steps of a tracking, losing and re-capturing method for tracking and detecting a fan blade tip by an unmanned aerial vehicle according to the present invention; as shown in fig. 1, the method for tracking, losing and recapturing a fan tip during tracking and detecting by an unmanned aerial vehicle, provided by the invention, includes a wind tower, an impeller and a generator, wherein the impeller and the generator are arranged at the top end of the wind tower, the impeller is arranged at the front end of the generator to drive the generator, the impeller includes a hub connected with the generator and a plurality of blades uniformly distributed along the circumferential direction of the hub, and one blade is used as a target blade, and includes the following steps:
step S1: controlling an unmanned aerial vehicle to fly from a blade tip area to a blade root area from one side face of the target blade and detecting the target blade through a solid-state radar arranged on the unmanned aerial vehicle;
step S2: when the solid-state radar detects the target blade, controlling the unmanned aerial vehicle to determine a flight path position when the distance between the unmanned aerial vehicle and the target blade is greater than or equal to a first set distance;
step S3: and controlling the unmanned aerial vehicle to fly to the blade tip region from the flying path position and then fly to the blade root region from the blade tip region, and simultaneously tracking and detecting the target blade through a solid-state radar arranged on the unmanned aerial vehicle.
In the present embodiment, the blade extending upward is the target blade, specifically, the positive axis toward the Z axis in the ground coordinate system. The first set distance is 8 to 10 meters.
In this embodiment, when controlling the distance between the unmanned aerial vehicle and the target blade is greater than or equal to a first set distance, configuration parameters of a camera arranged on the unmanned aerial vehicle, such as a shooting angle of the camera, a focal length of the camera, exposure parameters of the camera, and the like, need to be adjusted.
In the present embodiment, the solid-state radar adopts Beixing CE30-D solid-state laser radar.
In this embodiment, the tip region may be set to 1/8 blade lengths near the tip end of the blade and the root region may be set to 1/8 blade lengths near the root end.
In this embodiment, when the unmanned aerial vehicle flies to the apex region from the flight path position, the unmanned aerial vehicle needs to fly away from the apex region by a first set distance to ensure the front acquisition of the apex region.
According to the invention, when the flying detection of one side surface of the fan blade from the blade tip area to the blade root area is carried out in the blade tip area of the blade, when the solid-state radar detects the target blade and adjusts the distance between the unmanned aerial vehicle and the target blade to be more than or equal to the first set distance, the target blade flies back to the blade tip area, and then the target blade flies to the blade root area from the blade tip area, so that the problem of the blade tip area that the blade tip area is lost is avoided, the comprehensive shooting of the blade tip area is realized
When the solid-state radar detects the target blade in step S3, continuously acquiring multiple images of the target blade by a camera arranged on the unmanned aerial vehicle;
and identifying the defects of the blade in the image, and marking the defect position and the defect type of each defect and the number of the blade where the defect is positioned.
In this embodiment, the defect types include any one or more of the following:
-blade cracking;
-detachment of the appendage;
-surface corrosion;
-surface paint removal;
-peeling off of the gel coat;
-gel coat cracking.
In a variant, other damage such as blade lightning strike damage, surface contamination, structural damage or leading edge protection film damage may also be added.
When the defect of the blade is identified in the image, the method comprises the following steps:
step M101: classifying the defects of the blade into a plurality of defect types, collecting a blade image area corresponding to each defect type, and generating a plurality of groups of training images;
step M102: training a defect identification module through a plurality of groups of training images;
step M103: and inputting the collected images into the defect identification module for identification and marking the defect positions and defect types.
In this embodiment, the defects of the blade are classified into a plurality of defect types, a blade image region corresponding to each defect type is collected to generate a plurality of groups of training images, and a defect identification module is trained through the plurality of groups of training images, so that the identification efficiency of the defect types is improved.
In this embodiment, the defect position and the defect type are marked, specifically, the defect position is framed on the blade, and the defect type is identified by a character or a character.
When a plurality of groups of training images are generated in the leaf image area corresponding to each defect type, removing the background of the leaf image area;
the background is an area which is generated when the blade image area is acquired and is adjacent to the blade image area on a plane.
When the collected images are input into the defect identification module for identification, removing the background of the images.
In this embodiment, when the background can be used for capturing a fan image, the background of the blade image area is removed, that is, the non-blade image area on the image is removed, by using the introduced ground, grassland, sky, and other backgrounds. Removing the background of the image, i.e. removing non-fan and blade areas on the image.
When the method for tracking and capturing the fan blade tip by the unmanned aerial vehicle is implemented, the method further comprises the following steps before the step S1:
-tracking detection of the other side of the target blade from the root area to the tip area by a drone provided with a solid state radar;
-capturing a video stream by a camera provided on the drone, the camera having a lens orientation angle that is the same as the detection orientation angle of the solid state radar, when the solid state radar has detected the drone to fly a first set distance from the tip region;
-viewing the video stream through a control interface, controlling the drone to bypass to the target blade side through the tip end and triggering step S1 when it is confirmed through the video stream that the drone has flown away from the tip area.
When in steps S1 to S5, the flight path of the drone is generated by the following steps:
step N1: establishing a world coordinate system by taking the ground center of a wind tower of the fan as an original point O, wherein in the world coordinate system, a Y axis is in a vertically upward direction, a Z axis is in a south-righting direction, and an X axis is in an east-righting direction;
step N2: carrying out translation transformation and rotation transformation according to the world coordinate system to generate a generator coordinate system corresponding to the generator, carrying out translation transformation and rotation transformation according to the generator coordinate system to generate a hub coordinate system corresponding to the hub, and further carrying out rotation transformation according to the hub coordinate system to generate a blade coordinate system corresponding to each blade;
step N3: and arranging a plurality of path points on the front side and/or the rear side of each blade through a blade coordinate system corresponding to each blade, wherein each path point comprises geographical position and camera attitude information, and forming a flight route according to the path points.
In this embodiment, when carrying out fan blade through unmanned aerial vehicle and detecting, the last route calculation module that sets up of unmanned aerial vehicle will calculate unmanned aerial vehicle predetermine the flight route to path point shoots the photo on the flight route. Wherein each waypoint comprises a geographic location in longitude and latitude representation, an altitude that is an altitude relative to the departure point, and a camera pose that comprises a camera orientation and a camera yaw angle.
The inputs to the path computation module include: a GPS position of the wind tower, an orientation of the wind turbine, wind turbine parameters, and custom parameters. The wind turbine parameters include wind tower height, blade length, forward distance of the wind turbine relative to the wind tower, and wind turbine orientation. The custom parameters include the number of waypoints and the location of the waypoints.
In a three-dimensional coordinate system, points and directions are represented by a vector V, where V ═ X, Y, Z ]; in a three-dimensional coordinate system, transformation of points and directions includes translation, rotation, and scaling, and only translation and rotation are involved in the present invention. In the invention, a 4 x 4 matrix is adopted for transformation between two three-dimensional coordinate systems, and when the transformation is carried out, only the multiplication of the two matrices is needed, thereby realizing the cascade combination, for example, M is Mt Mr Ms, Mt is a translation matrix, Mr is a rotation matrix, and Ms is a scaling matrix.
In the present invention, the fan model can be expressed by the following number of components.
■ wind tower
O generator
■ wheel hub
Vane A
Vane B
Blade C
For each part, in the world coordinate system, the transformation relationship is as follows:
table 1 shows the relationship between the various components of the fan of the present invention
| Name of component | Translation transformation | Rotational transformation |
| Wind tower | (0，0，0) | (0，0，0) |
| Generator | (0，Hgt，0) | (0，Hdg，0) |
| Wheel hub | (0，0，Fwd) | (P，0，R) |
| Blade A | (0，0，0) | (0，0，60) |
| Blade B | (0，0，0) | (0，0，180) |
| Blade C | (0，0，0) | (0，0，300) |
Wherein Hgt is the height of the wind tower, specifically the distance from the ground to the center of the hub; hdg is the orientation angle of the fan; if Hdg is 0 degrees, the orientation is north, Hdg is 90 degrees, the orientation is east, Hdg is 180 degrees, the orientation is south, Hdg is 270 degrees, the orientation is west, that is, the orientation angle of the fan is uniformly changed between 0 and 360 degrees. In the present embodiment, the orientation angle of the fan is determined as the orientation of the generator. Fwd is the position from the hub center to the wind tower center; p is the pitch angle of the hub, typically 5 degrees; r is the angle of rotation of the hub, which in this embodiment is-90 degrees, i.e. the blade A is parallel to the wind tower. The rotation transformation is expressed by Euler angle, and comprises nutation angle p, precession angle y and rotation angle r. In this embodiment, the hub center is the center of mass of the hub.
In the present embodiment, blade B is the target blade, blade C is the other blade, and blade a is the other blade.
In the present invention, the determining the coordinates of the path point on the front side and/or the back side of each blade in the blade coordinate system corresponding to each blade specifically includes:
a＝n/(N-1)；
V_wp[n]＝[a*L,V_dist,H_dist]；
wherein V _ wp [ N ] is the path point coordinate of number N, N is the number of path points along the length direction of the blade, N is the number of path points, L is the length of the blade, H _ dist is the horizontal distance of the path points from the blade, V _ dist is the vertical distance of the path points from the blade, H _ dist is a positive value when the path points are located at the front side of the blade, H _ dist is a negative value when the path points are located at the rear side of the blade, V _ dist is a positive value when the path points are located at the upper side of the blade, and V _ dist is a negative value when the path points are located at the lower side of the blade.
The path points on both sides of each blade are attached to the blade as sub-targets of the blade.
Each path point corresponds to a target point V _ trgt [ n ] observed by a camera, the target points are positioned on the blade and are sequentially arranged along the length direction of the blade, and the method specifically comprises the following steps:
V_trgt[n]＝[a*L,0,0]。
in this embodiment, the target point observed by the camera is attached to the blade as a sub-target of the blade. In subsequent calculations, the positions of V _ wp and V _ trgt will be transformed into the world space system, and then the heading and pitch angles of the camera are calculated using the perspective matrix.
When there is a curvature in the length direction of the blade,
a＝n/(N-1)；
dV＝a*K1+a*a*K2；
V_wp[n]＝[a*L,V_dist+dV,H_dist]；
wherein, K1 is a preset first-order coefficient, and K2 is a preset second-order coefficient.
In this embodiment, the present invention adds auxiliary path points between different detection segments. For example, an auxiliary path point is arranged between the top-view detection path point and the bottom-view detection path point of the blade.
In the present embodiment, the camera attitude information includes an orientation angle and a pitch angle;
the orientation angle adopts the orientation angle of the unmanned aerial vehicle;
the pitch angle is generated by calculating the geographical position of the path point and the coordinates of the target point, and specifically comprises the following steps:
dv＝wpos_trgt-wpos_wp
wpos _ trgt is the world coordinate of the target point, wpos _ wp is the world coordinate of the waypoint, dv is the camera observation vector, and is calculated by the following equation:
r＝sqrt(dv.x*dv.x+dv.z*dv.z)；
H0＝atan(x,z)；
H＝90-H0；
P＝atan(r,y)；
wherein x is the x-axis component of the camera observation vector in the world coordinate system, z is the z-axis component of the camera observation vector in the world coordinate system, r is the projection of the camera observation vector on the x-z plane, H is the orientation angle of the camera, and P is the pitch angle of the camera.
The reason why H0 converts to H is that true north is on the-z axis, and when the atan () result is 0, on the + x axis.
The geographic orientation is clockwise, but the three-dimensional calculation employed in the present invention is a right-hand rule, i.e., counterclockwise in the x-z plane.
When the unmanned aerial vehicle flies along the waypoint, the longitude and the latitude of each position are provided through the GPS module, the Haversine formula is adopted for calculation in the invention, and the distance d between the two positions is calculated in the following way:
R＝6371；
a＝sin(dLat/2)*sin(dLat/2)+cos(dLat1))*cos(dLat2))*sin(dLon/2)*sin(dLon/2)；
c＝2*atan2(sqrt(a),sqrt(1-a))；
d＝R*c；
r is the radius of the earth in kilometers; dLat is the latitude difference between two locations and dlon is the longitude difference between two locations.
In this embodiment, the mapping between the world coordinate system and the geodetic coordinate system (GPS coordinates) is also based on this formula, and the bottom center point of the wind tower is taken as the origin of the world coordinate system in the present invention.
In this embodiment, the translation matrix between the generator and the wind tower is (0, Hgt, 0), and the rotation matrix between the generator and the wind tower is (0, Hdg, 0);
a translation matrix between the hub and the generator is (0, 0, Fwd), a rotation matrix between the hub and the generator is (P, 0, R);
the plurality of blades are specifically a blade a, a blade B and a blade C, a rotation matrix between the blade a and the hub is (0, 0, 60), a rotation matrix between the blade B and the hub is (0, 0, 180), and a rotation matrix between the blade C and the hub is (0, 0, 300);
hgt is the height of the wind tower, specifically the distance from the ground to the center of the hub, Hdg is the orientation angle of the fan, Fwd is the position from the center of the hub to the center of the wind tower, P is the pitch angle of the hub, and R is the rotation angle of the hub.
The orientation angle of the fan is calculated and generated by adopting the following steps:
step M1: controlling the unmanned aerial vehicle to fly around the fan at the height of the wind tower, and acquiring a video stream of the impeller through an image sensor when the unmanned aerial vehicle flies;
step M2: detecting blades in the video stream, tracking the three blades in real time when the three blades of the fan are detected, and calculating the relative positions and the overlapping degrees of the three blades in real time;
step M3, when detecting that the two blades are completely overlapped, determining that the unmanned aerial vehicle flies to the wind wheel plane β at the moment, and reading a point P acquired by the position sensor at the moment1The location information of (a);
step M4: according to point P1Position information calculation and point P of1Points P of axial symmetry of wind tower2First location information of (a);
step M5: according to point P1Position information of (1), point P2Calculates the wind wheel plane β according to the first position information and the earth mass center, and then determines the orientation angle of the wind turbine according to the normal vector of the wind wheel plane.
In the present embodiment, the following steps are further included between step S3 and step S4:
-letting the drone continue flying, reading the point P acquired by the position sensor at the moment when it is again detected that the two blades are completely overlapped2By the point P2Second position information point P2The first location information of (a) is verified, thereby improving the efficiency of the algorithm.
The unmanned aerial vehicle is provided with a position sensor, an image sensor and an airborne computer; the position sensor and the image sensor are connected with the onboard computer;
when unmanned aerial vehicle when winding the fan flight, position sensor is used for reading unmanned aerial vehicle positional information in real time, and image sensor is used for shooing the fan blade and generates fan blade image, and the machine carries the processing that computer is used for unmanned aerial vehicle positional information and fan blade image.
Accurately estimating P according to different postures of blades in different visual angles1，P2Determining the plane β of wind wheel by combining three non-collinear position points of earth mass points to obtain the yaw angle aTSimultaneously reading PTAnd detecting the azimuth angle of the blade posture by applying the visual image according to the image.
As shown in FIG. 4, the unmanned aerial vehicle flies around the hub of the wind turbine for a circle to form a first plane and a flight path curve s, the first plane and the wind wheel plane β intersect at a straight line l, and the straight line l and the flight path curve sThe line-track curve s intersects at a point P1、P2。
Due to the point P1、P2On the wind wheel plane β, and thus at a determined point P1、P2The back fit to the earth's centroid enables the determination of the rotor plane β.
When the unmanned aerial vehicle flies around a fan hub, the image sensor collects video streams of blades, and the position sensor collects position information corresponding to the video streams.
Because the existing large-scale wind generating set with a horizontal shaft mostly adopts a three-blade form, according to the shielding principle of a plane view angle, when the unmanned aerial vehicle is just positioned at a point P1Or point P2When the image sensor detects that the image of the fan blade is two blades, the further foundation point P is1、P2Position specificity of point P, point P can be determined by applying a visual tracking method1、P2And (4) calibrating.
The unmanned aerial vehicle reads the video stream fi shot by the image sensor in real time during flying, and the image video stream fi is preprocessed to generate a binary image stream t only containing a blade targeti。
When the unmanned aerial vehicle approaches point P1Or point P2When two of the three blades are approximately overlapped or one blade is partially shielded, and when the overlapping rate of the three blades reaches the maximum or only two blades can be detected, the image sensor detects the binary image stream tiIs approximately a narrow band in an oblique direction, and when the unmanned plane is positioned at a point P1Or P2When the width of the narrow band is minimal, i.e. the binary image stream tiThe intermediate target line number accumulated value τ is minimum.
P1＝P[min(τ)]
Wherein, tau is a binary image stream tiThe accumulated value of the number of the middle target lines, P is the real-time position of the unmanned aerial vehicle, P1As a location of interest, fiRepresenting image sensor dataA stream of video images collected, τ being according to tiThe value of (x, y) is accumulated when t isiWhen (x, y) is 1, the sum is once.
Because the straight line l intersects the flight path curve s at the point P1、P2I.e. point P1、P2Has a symmetrical relation with respect to the hub, when the point P is calculated first1Position, then point P can be calculated2Approximate location, and then go to verification Point P with the aid of unmanned aerial vehicle2Thereby further improving the efficiency of the algorithm.
When P is carried out0、P1The position verification comprises the following steps:
step A1: point P0、P1、P2Is converted into a terrestrial coordinate system (X)e,Ye,Ze) (ii) a In this embodiment, the position sensor is a GPS module, and the point P0、P1、P2The position information is expressed by longitude, latitude and height through a GPS module;
the conversion calculation formula is:
n is the curvature radius of the prime circle at the latitude B, E is the first eccentricity of the earth,
E＝a2-b2)/a2a is the earth long radius, B is the earth short radius, B is the latitude in the position information, L is the wind tower height in the position information, and H is the wind tower height in the position information;
step A2: verification point P2、P1In the position of the earth's coordinates, i.e.
Wherein
Is P2，P1The distance between the straight lines of the points,
is P1The distance from the center of the wind wheel,
is P2Distance from the center of the wind wheel;
step A3: calculating the precision ratio, and judging whether the precision ratio meets 98% < ratio < 102%;
in this modification, the orientation angle of the fan may be determined as follows:
at wind tower attachment point P0, the drone is brought 30 to 50 meters ahead of the drone in a delay, point P3, so that the orientation of the wind turbine can be determined as vectors P3 to P0. Although the method is not as accurate as P1-P2, the position of the point P3 is determined by the operator looking up the blower. The P0-P3 method avoids circular flight at blade detection.
In this embodiment, to determine the orientation of the wind turbine and the rotation angle of the hub, the positions of the waypoints when the drone is flying around the wind turbine at the wind tower height are:
v_wp[n]＝[R*sin(360*n/N),H,R*cos(360*n/N)]
wherein H is the height of the wind tower; and the path points which are all H _ dist away from the center point of the front side surface of the hub are front center path points, and the path points which are all H _ dist away from the center point of the rear side surface of the hub are rear center path points.
FIG. 2 is a schematic view of a flight path detected at the front side of a fan in the present invention, FIG. 3 is a schematic view of a flight path detected at the rear side of a fan in the present invention, and as shown in FIGS. 2 and 3, the following sequence is adopted when merging the path points in the present invention
■ surrounding the area, can be omitted
■ front center waypoint
■ vane A
■ front side overlook detection path point
■ rear side overlook detection path point
■ rear-side looking-up detection path point
■ front side looking-up detection path point
■ front center waypoint
■ vane B
■ left front side detection waypoint
■ left rear side detection waypoints
■ points of rotational path around wind tower
■ right rear side detection waypoints
■ right front side detection waypoint
■ front center waypoint
■ blade C
■ front side overlook detection path point
■ rear side overlook detection path point
■ rear-side looking-up detection path point
■ front side looking-up detection path point
■ front center waypoint
The front center path point is used as a starting point, and the front overlooking detection path point, the blade tip around blade A path point, the rear overlooking detection path point and the blade tip around blade A path point of blade A, the left front side detection path point, the left rear side detection path point, the wind tower rotation path point, the right rear side detection path point and the right front side detection path point of blade B, the front overlooking detection path point, the rear overlooking detection path point and the front overlooking detection path point of blade C are sequentially carried out.
In this embodiment, fig. 5 is a schematic block diagram of a loss following and recapturing system when an unmanned aerial vehicle tracks and detects a fan blade tip, and as shown in fig. 5, the system 100 for determining an automatic routing inspection flight path of a fan by unmanned aerial vehicle is used for implementing the loss following and recapturing method when the unmanned aerial vehicle tracks and detects a fan blade tip, and includes the following modules:
the first tracking detection module 101 is used for controlling the unmanned aerial vehicle to fly from a blade tip area to a blade root area from one side surface of the target blade and detecting the target blade through a solid-state radar arranged on the unmanned aerial vehicle;
the distance control module 102 is configured to, when the solid-state radar detects the target blade, control the drone to determine a flight path position when a distance between the drone and the target blade is greater than or equal to a first set distance;
and the second tracking detection module 103 is used for controlling the unmanned aerial vehicle to fly to the blade tip region from the flying path position and then fly to the blade root region from the blade tip region, and simultaneously tracking and detecting the target blade through a solid-state radar arranged on the unmanned aerial vehicle.
When the flying detection is carried out on one side surface of the fan blade from the blade tip area to the blade root area, when the solid-state radar detects the target blade and adjusts the distance between the unmanned aerial vehicle and the target blade to be larger than or equal to the first set distance, the target blade flies back to the blade tip area, and then the target blade flies to the blade root area from the blade tip area, so that the problem of the blade tip area being lost is solved, the comprehensive shooting and the comprehensive detection of the blade tip area are realized.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (6)
1. The utility model provides a follow when detecting fan apex tracking through unmanned aerial vehicle and lose and catch method again, the fan includes the wind tower and sets up impeller, the generator at the wind tower top, the impeller sets up the generator front end is in order to drive the generator, the impeller is including connecting the wheel hub and a plurality of blades along wheel hub circumference evenly distributed of generator regard a blade as the target blade, its characterized in that includes following steps:
step S1: controlling an unmanned aerial vehicle to fly from a blade tip area to a blade root area from one side face of the target blade and detecting the target blade through a solid-state radar arranged on the unmanned aerial vehicle;
step S2: when the solid-state radar detects the target blade, controlling the unmanned aerial vehicle to determine a flight path position when the distance between the unmanned aerial vehicle and the target blade is greater than or equal to a first set distance;
step S3: controlling the unmanned aerial vehicle to fly to a blade tip area from the flying path position and then fly to a blade root area from the blade tip area, and simultaneously tracking and detecting a target blade through a solid-state radar arranged on the unmanned aerial vehicle;
when in steps S1 to S5, the flight path of the drone is generated as follows:
step N1: establishing a world coordinate system by taking the ground center of a wind tower of the fan as an original point O, wherein in the world coordinate system, a Y axis is in a vertically upward direction, a Z axis is in a south-righting direction, and an X axis is in an east-righting direction;
step N2: carrying out translation transformation and rotation transformation according to the world coordinate system to generate a generator coordinate system corresponding to the generator, carrying out translation transformation and rotation transformation according to the generator coordinate system to generate a hub coordinate system corresponding to the hub, and further carrying out rotation transformation according to the hub coordinate system to generate a blade coordinate system corresponding to each blade;
step N3: a plurality of path points are arranged on the front side and/or the rear side of each blade through a blade coordinate system corresponding to each blade, each path point comprises geographical position and camera attitude information, and a flight route is formed according to the path points;
determining the coordinates of the path point of the front side and/or the back side of each blade in the blade coordinate system corresponding to each blade, specifically:
a＝n/(N-1)；
V_wp[n]＝[a*L,V_dist,H_dist]；
wherein V _ wp [ N ] is a path point coordinate with the number N, N is the number of path points along the length direction of the blade, N is the number of the path points, L is the length of the blade, H _ dist is the horizontal distance from the path points to the blade, V _ dist is the vertical distance from the path points to the blade, H _ dist is a positive value when the path points are positioned on the front side of the blade, H _ dist is a negative value when the path points are positioned on the rear side of the blade, V _ dist is a positive value when the path points are positioned on the upper side of the blade, and V _ dist is a negative value when the path points are positioned on the lower side of the blade;
the translation matrix between the generator and the wind tower is (0, Hgt, 0), and the rotation matrix between the generator and the wind tower is (0, Hdg, 0);
a translation matrix between the hub and the generator is (0, 0, Fwd), a rotation matrix between the hub and the generator is (P, 0, R);
hgt is the height of the wind tower, specifically the distance from the ground to the center of the hub, Hdg is the orientation angle of the fan, Fwd is the position from the center of the hub to the center of the wind tower, P is the pitch angle of the hub, and R is the rotation angle of the hub;
the orientation angle of the fan is calculated and generated by adopting the following steps:
step M1: controlling the unmanned aerial vehicle to fly around the fan at the height of the wind tower, and acquiring a video stream of the impeller through an image sensor when the unmanned aerial vehicle flies;
step M2: detecting blades in the video stream, tracking the three blades in real time when the three blades of the fan are detected, and calculating the relative positions and the overlapping degrees of the three blades in real time;
step M3, when detecting that the two blades are completely overlapped, determining that the unmanned aerial vehicle flies to the wind wheel plane β at the moment, and reading a point P acquired by the position sensor at the moment1The location information of (a);
step M4: according to point P1Position information calculation and point P of1Point P with wind tower in axial symmetry distribution2First location information of (a);
step M5: according to point P1Position information of (1), point P2Calculates the wind wheel plane β according to the first position information and the earth mass center, and then determines the orientation angle of the wind turbine according to the normal vector of the wind wheel plane.
2. The method for tracking and capturing the blade tip of the wind turbine by the unmanned aerial vehicle according to claim 1, wherein when the solid-state radar detects the target blade in step S3, a plurality of images of the target blade are continuously acquired by a camera provided on the unmanned aerial vehicle;
and identifying the defects of the blade in the image, and marking the defect position and the defect type of each defect and the number of the blade where the defect is positioned.
3. The method for tracking and capturing the blade tip of the wind turbine by the unmanned aerial vehicle according to claim 2,
when the defect of the blade is identified in the image, the method comprises the following steps:
step M101: classifying the defects of the blade into a plurality of defect types, collecting a blade image area corresponding to each defect type, and generating a plurality of groups of training images;
step M102: training a defect identification module through a plurality of groups of training images;
step M103: and inputting the collected images into the defect identification module for identification and marking the defect positions and defect types.
4. The method for tracking and re-capturing the blade tip of the wind turbine by the unmanned aerial vehicle according to claim 1, further comprising the following steps before step S1:
-tracking detection of the other side of the target blade from the root area to the tip area by a drone provided with a solid state radar;
-capturing a video stream by a camera provided on the drone, the camera having a lens orientation angle that is the same as the detection orientation angle of the solid state radar, when the solid state radar has detected the drone to fly a first set distance from the tip region;
-viewing the video stream through a control interface, controlling the drone to bypass to the target blade side through the tip end and triggering step S1 when it is confirmed through the video stream that the drone has flown away from the tip area.
5. The method of claim 1, wherein the camera attitude information comprises an orientation angle and a pitch angle;
the orientation angle adopts the orientation angle of the unmanned aerial vehicle;
the pitch angle is generated by calculating the geographical position of the path point and the coordinates of the target point, and specifically comprises the following steps:
dv＝wpos_trgt-wpos_wp
wpos _ trgt is the world coordinate of the target point, wpos _ wp is the world coordinate of the waypoint, dv is the camera observation vector, and is calculated by the following equation:
r＝sqrt(dv.x*dv.x+dv.z*dv.z)；
H0＝atan(x,z)；
H＝90-H0；
P＝atan(r,y)；
wherein x is the x-axis component of the camera observation vector in the world coordinate system, z is the z-axis component of the camera observation vector in the world coordinate system, r is the projection of the camera observation vector on the x-z plane, H is the orientation angle of the camera, and P is the pitch angle of the camera.
6. A system for tracking, losing and re-capturing fan blade tips through an unmanned aerial vehicle is used for realizing the method for tracking and detecting fan blade tips through the unmanned aerial vehicle, and is characterized by comprising the following modules:
the first tracking detection module is used for controlling the unmanned aerial vehicle to fly from a blade tip area to a blade root area from one side face of the target blade and detecting the target blade through a solid-state radar arranged on the unmanned aerial vehicle;
the distance control module is used for controlling the unmanned aerial vehicle to determine a flight path position when the distance between the unmanned aerial vehicle and the target blade is greater than or equal to a first set distance when the solid-state radar detects the target blade;
and the second tracking detection module is used for controlling the unmanned aerial vehicle to fly to the blade tip region from the flying path position and then fly to the blade root region from the blade tip region, and simultaneously tracking and detecting the target blade through a solid-state radar arranged on the unmanned aerial vehicle.
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| CN109720593A (en) * | 2018-12-28 | 2019-05-07 | 上海扩博智能技术有限公司 | Blade tracing detection carry device, unmanned plane and method based on laser facula |
| CN109900713B (en) * | 2019-04-17 | 2022-01-18 | 中国人民解放军国防科技大学 | Camera-guided unmanned aerial vehicle wind power blade defect dynamic detection system and method thereof |
| CN110908401B (en) * | 2019-12-06 | 2021-03-30 | 电子科技大学 | A UAV autonomous inspection method for unknown tower structure |
| CN111289533B (en) * | 2020-02-25 | 2023-06-23 | 国电电力内蒙古新能源开发有限公司 | Inspection method and device for fan blade, unmanned aerial vehicle and storage medium |
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| CN112558632B (en) * | 2020-12-03 | 2023-03-14 | 上海扩博智能技术有限公司 | Unmanned aerial vehicle routing inspection path conversion method, system, equipment and storage medium |
| CN112577606B (en) * | 2020-12-10 | 2022-02-22 | 湖南大学 | Fan blade inspection method for double unmanned aerial vehicles carrying active thermal imaging |
| CN112727707B (en) * | 2021-01-08 | 2024-05-28 | 国家电投集团东北电力有限公司 | Wind driven generator blade monitoring system and method based on wireless attitude sensor |
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