Unmanned aerial vehicle inspection method for unknown fan structure

Abstract

The invention discloses an unmanned aerial vehicle inspection method for an unknown fan structure. The method comprises the following steps: S1, multi-angle photographing of a whole fan is carried outat a long distance, and the whole fan should be contained in each picture and be close to the center of each picture; S2, inspection point coordinate information for equally dividing the blade is calculated by utilizing obtained key inspection point coordinate information; S3, required cruise point coordinate information is calculated by utilizing the inspection point coordinate information, anda flight path is generated; S4, an unmanned aerial vehicle takes off and arrives at a cruise point, and the pose of the unmanned aerial vehicle is adjusted by utilizing inspection point coordinate information to enable the unmanned aerial vehicle to face a target point; and S5, target identification is performed on an inspection point once before photographing of a cruise point, and the attitude of a holder is adjusted again to make the inspection point be close to the center of each picture as much as possible. The inspection point can be close to the center of each picture as much as possible, and the reliability of autonomous inspection of the unmanned aerial vehicle is higher while the efficiency is improved.

Description

technical field [0001] The invention relates to the inspection of blades of a fan, in particular to an inspection method of an unmanned aerial vehicle whose structure information of the fan is unknown. Background technique [0002] Blades are an important component of wind turbines. Due to the harsh environment of wind turbines, blades are damaged by natural factors such as wind, sand, rain, snow, and lightning when they are operating in harsh environments, resulting in surface shedding, trachoma, lightning strikes, blades, etc. Defects such as edge wear require regular inspection and maintenance of the blades to prevent accidents caused by defects. The traditional blade inspection method is manual inspection using telescopes and rope rappelling, which has the disadvantages of high risk factor, low efficiency, and high cost. With the gradual development of the wind power market, large-scale wind turbines have appeared one after another, and the length of the blades has also...

AI Technical Summary

Problems solved by technology

In the existing method, the operator observes the state of the blade surface through the real-time image displayed on the ground station, and when suspicious points are found, the drone is remotely operated to collect images from various angles for further detailed inspection, which requires continuous manipulation and adjustment of the posture of the drone. Shooting requires a lot of manpower, and if the control is not good, the error will be large, and the manpower cost is also high.

In addition, when the structure of the fan is known, the method of using the structure information of the fan to optimize the algorithm to realize the autonomous inspection of the UAV can greatly reduce the labor cost and improve the efficiency, but it is not efficient for the unknown structure of the fan inspection method

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