Method and system for wind turbine yaw angle measurement and calculation by UAV

Abstract

The invention provides a method and system for conducting draught fan yaw angle calculating through an unmanned aerial vehicle. The method comprises the following steps that the unmanned aerial vehicle is controlled to fly around a draught fan at the wind tower height, and an image sensor collects video streams of an impeller; blades in the video streams are detected, real-time tracking on the three blades is carried out, and the relative position and the overlapping degree of the three blades are calculated in real time; when it is detected that two of the blades complete overlapping, it is determined that the unmanned aerial vehicle flies to an wind wheel plane beta at the time, and point P1 position information obtained by a position sensor at the time is read; according to the point P1position information, first position information of a point P2 arranged with respect to the point P1 in an axial symmetry manner is calculated; and according to the point P1 position information, thefirst position information of the point P2 and the center of mass, the wind wheel plane beta is calculated, and the yaw angle of the wind wheel plane is further calculated. By means of the method andsystem, the yaw angle of the wind wheel plane can be calculated through the unmanned aerial vehicle, modeling analysis on the draught fan can be facilitated, and convenience is brought to comprehensive detection on the draught fan.

Description

technical field [0001] The invention relates to wind turbine detection, in particular to a method and system for measuring and calculating the yaw angle of wind turbines by means of an unmanned aerial vehicle. Background technique [0002] As a key component of a wind power system, blades are numerous and complex in shape, making detection difficult. The traditional detection method is to use a special tool to detect the blade, which is inefficient and affects the detection accuracy and efficiency of the blade. In recent years, with the popularity of three-coordinate measurement, it has become a trend to establish three-coordinate measurement to track and detect blades. Yaw angle and azimuth angle are two important parameters in three-coordinate measurement. [0003] When the wind changes direction continuously, the blade wheel of the wind turbine cannot track the wind direction in time, so that the rotation axis of the wind rotor is not parallel to the wind direction, and ...

AI Technical Summary

Problems solved by technology

[0002] As a key component of a wind power system, blades are numerous and complex in shape, making detection difficult

The traditional detection method is to use special tooling to detect the blade, which is inefficient and affects the detection accuracy and efficiency of the blade.

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