CN108733079B - Method and system for determining flight path of fan through automatic inspection by unmanned aerial vehicle - Google Patents
Method and system for determining flight path of fan through automatic inspection by unmanned aerial vehicle Download PDFInfo
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Abstract
The invention provides a method and a system for determining a flight path for automatic inspection of a fan by an unmanned aerial vehicle, wherein the fan at least comprises a wind tower, a generator, a hub and an impeller, and the impeller comprises a plurality of blades and comprises the following steps: establishing a world coordinate system by taking the ground center of a wind tower of the fan as an original point O, wherein the Y axis is in the vertical upward direction, the Z axis is in the south-righting direction, and the X axis is in the east-righting direction; according to the world coordinate system, carrying out translation transformation and rotation transformation 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; and arranging a plurality of path points on the front side and/or the rear side of each blade through the blade coordinate system corresponding to each blade, wherein each path point comprises geographical position and camera attitude information, and forming a flight path according to the path points. The invention can conveniently realize the planning of the path points and improve the calculation efficiency.
Description
Technical Field
The invention relates to fan detection, in particular to a method and a system for determining a flight path of a fan through automatic inspection by an unmanned aerial vehicle.
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.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method and a system for determining a flight path of a fan through automatic inspection by an unmanned aerial vehicle.
According to the method for determining the automatic inspection flight path of the fan by the unmanned aerial vehicle, the fan comprises 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 comprises a hub connected with the generator and three blades which are uniformly distributed along the circumferential direction of the hub, and the method comprises the following steps:
step S1: 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 S2: 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 S3: and arranging a plurality of path points on the front side and/or the rear side of each blade, wherein each path point comprises geographical position and camera attitude information, and a flight path is formed 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, each path point corresponds to a target point V _ trgt [ n ] observed by a camera, the target points are located on the blade and sequentially arranged along the length direction of the blade, specifically:
V_trgt[n]＝[a*L,0,0]。
preferably, 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.
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 longitude and latitude of each location are provided by the GPS module while flying by the unmanned along the waypoint, and the distance d between the two locations is calculated by:
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.
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);
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, 0), a rotation matrix between the blade B and the hub is (0, 0, 120), and a rotation matrix between the blade C and the hub is (0, 0, 240);
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 two blades overlap completely, the unmanned aerial vehicle is determined to fly to the plane beta of the wind wheel at the moment, and the point P acquired by the position sensor at the moment is read1The 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 P2The wind wheel plane beta is calculated according to the first position information and the earth mass center, and then the orientation angle of the fan is determined according to the normal vector of the wind wheel plane.
Preferably, when the unmanned aerial vehicle flies around the wind turbine at the wind tower height, the positions of the path points 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.
The invention provides a flight path determining system for automatically patrolling a fan through unmanned aerial vehicle, which comprises the following modules:
the system comprises a root coordinate system establishing module, a root coordinate system establishing module and a root coordinate system establishing module, wherein the root coordinate system establishing module is used for establishing a world coordinate system by taking the ground center of a wind tower of a fan as an origin O, and in the world coordinate system, a Y axis is in a vertical upward direction, a Z axis is in a south-righting direction, and an X axis is in an east-righting direction;
the sub-coordinate system establishing module is used for performing translation transformation and rotation transformation according to the world coordinate system to generate a generator coordinate system corresponding to the generator, performing translation transformation and rotation transformation according to the generator coordinate system to generate a hub coordinate system corresponding to the hub, and further performing rotation transformation according to the hub coordinate system to generate a blade coordinate system corresponding to each blade;
and the flight path generation module is used for setting a plurality of path points on the front side and/or the rear side of each blade, wherein each path point comprises geographical position and camera attitude information, and a flight path is formed according to the path points.
Compared with the prior art, the invention has the following beneficial effects:
according to the method, a root coordinate system, namely a world coordinate system, is established by taking the ground center of the wind tower as an original point O, a generator coordinate system corresponding to the generator is generated by performing translation transformation and rotation transformation on the root coordinate system, and then a generator coordinate system and a blade coordinate system are generated, so that the planning of path points is conveniently realized, and the calculation efficiency is improved.
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 flow chart of steps of a method for determining a flight path for automatic fan inspection by an unmanned aerial vehicle according to the present invention;
FIG. 2 is a schematic view of the flight path of the present invention;
FIG. 3 is a schematic view of the fan orientation angle determination of the present invention;
fig. 4 is a schematic block diagram of a system for determining a flight path for automatically inspecting a fan by an unmanned aerial vehicle according to the present invention.
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 δ;
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 flow chart of steps of a method for determining a flight path for automatic fan inspection by an unmanned aerial vehicle according to the present invention; as shown in fig. 1, the method for determining a flight path of a fan for automatic routing inspection by an unmanned aerial vehicle provided by the present 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 to the generator and three blades uniformly distributed along the circumferential direction of the hub, and in this embodiment, the method includes the following steps:
step S1: 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 S2: 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 S3: 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 a flight path is formed according to the path points.
In this embodiment, when the method for determining the flight path for automatically routing inspection of the fan by the unmanned aerial vehicle is used, when the fan blade is detected by the unmanned aerial vehicle, the path calculation module arranged on the unmanned aerial vehicle calculates the preset flight path of the unmanned aerial vehicle, and takes a picture of a path point on the flight path. 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 electric 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
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 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, 0), a rotation matrix between the blade B and the hub is (0, 0, 120), and a rotation matrix between the blade C and the hub is (0, 0, 240);
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 two blades overlap completely, the unmanned aerial vehicle is determined to fly to the plane beta of the wind wheel at the moment, and the point P acquired by the position sensor at the moment is read1The 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 P2The wind wheel plane beta is calculated according to the first position information and the earth mass center, and then the orientation angle of the fan is determined 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，P2And determining the plane beta of the wind wheel by combining three non-collinear position points of earth mass points to obtain the yaw angle a. The angle of rotation is measured by positioning PTSimultaneously reading PTAnd detecting the azimuth angle of the blade posture by applying the visual image according to the image.
As shown in fig. 3, the unmanned aerial vehicle flies around the hub of the wind turbine for a circle to form a first plane δ and a flight path curve s, and the first plane δ and the wind wheel plane β intersect at a straight line l; the straight line l intersects the flight path curve s at a point P1、P2。
Due to the point P1、P2On the rotor plane beta, and thus at a determined point P1、P2The wind wheel plane beta can be determined by matching the earth mass center.
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.
Unmanned aerial vehicle reads in real time when flying that image sensor shoots video stream fiAnd for the image video stream fiPreprocessing is carried out to generate a binary image flow t only containing blade targetsi。
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 a stream of video images acquired by an image sensor, 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 M1: 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 M2: 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 M3: 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 less accurate than P1-P2, the position of the point P3 is determined by the operator looking up at the wind turbine. 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.
When the method for determining the automatic inspection flight path of the fan by unmanned inspection is used, the unmanned aerial vehicle needs to fly to the rear side surface of the fan when the front side surface of the fan is detected. To avoid the drone from hitting the blade, a flight path point is added to fly out the length of the blade radius and across to the back of the fan.
In the invention, the generator box extends out of the back of the fan. Therefore, when no one is used for back detection, the safety distance is increased and the distance is kept.
When merging of path points in the present invention is performed, the following order is adopted
■ surrounding area (optional)
■ front center waypoint
■ front detection area
o blade A
■ one side detecting path point
■ the other side detects the waypoint
o blade B
■ overlook the detection path point
■ looking down on the detected waypoints
o blade C
■ overlook the detection path point
■ looking down on the detected waypoints
■ crossing region waypoints
■ rear center waypoint
■ rear detection area
o blade A
■ one side detecting path point
■ the other side detects the waypoint
o blade B
■ overlook the detection path point
■ looking down on the detected waypoints
o blade C
■ overlook the detection path point
■ looking down on the detected waypoints
■ spanning the return region
Fig. 2 is a schematic view of a flight path in the present invention, in which a front center path point is a starting point, a path point detected on one side and a path point detected on the other side of a blade a are sequentially performed in a front detection region, a path point detected on an overhead view and a path point detected on an overhead view of a blade B, a path point detected on an overhead view and a path point detected on an overhead view of a blade C are sequentially returned to the front center path point, and then the path point passes through an outermost edge of the blade to be wound to a rear center path point by crossing a region path point, a path point detected on one side and a path point detected on the other side of the blade a are sequentially performed in a rear detection region, a path point detected on an overhead view and a path point detected on an overhead view of the blade B are sequentially returned to the rear center path point.
In this embodiment, fig. 4 is a schematic diagram of a module of the system for determining a flight path for automatically routing inspection of a fan by an unmanned aerial vehicle according to the present invention, and as shown in fig. 4, the system for determining a flight path for automatically routing inspection of a fan by an unmanned aerial vehicle according to the present invention includes the following modules:
the system comprises a root coordinate system establishing module, a root coordinate system establishing module and a root coordinate system establishing module, wherein the root coordinate system establishing module is used for establishing a world coordinate system by taking the ground center of a wind tower of a fan as an origin O, and in the world coordinate system, a Y axis is in a vertical upward direction, a Z axis is in a south-righting direction, and an X axis is in an east-righting direction;
the sub-coordinate system establishing module is used for performing translation transformation and rotation transformation according to the world coordinate system to generate a generator coordinate system corresponding to the generator, performing translation transformation and rotation transformation according to the generator coordinate system to generate a hub coordinate system corresponding to the hub, and further performing rotation transformation according to the hub coordinate system to generate a blade coordinate system corresponding to each blade;
the flight path generation module is used for setting 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, each path point comprises geographical position and camera attitude information, and a flight path is formed according to the path points.
According to the method, a root coordinate system, namely a world coordinate system, is established by taking the ground center of the wind tower as an origin O, a generator coordinate system corresponding to the generator is generated by performing translation transformation and rotation transformation on the root coordinate system, and then a generator coordinate system and a blade coordinate system are generated, so that the planning of path points is realized, and the calculation efficiency is improved.
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 (7)
1. The utility model provides a through unmanned aerial vehicle to fan automatic inspection flight path confirm method, the fan includes the wind tower and sets up impeller, the generator at the wind tower top, the impeller setting is in the generator front end is in order to drive the generator, the impeller is including connecting the wheel hub of generator and three along wheel hub circumference evenly distributed's blade, its characterized in that includes following step:
step S1: 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 S2: 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 S3: 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 path 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);
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, 0), a rotation matrix between the blade B and the hub is (0, 0, 120), and a rotation matrix between the blade C and the hub is (0, 0, 240);
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 two blades overlap completely, the unmanned aerial vehicle is determined to fly to the plane beta of the wind wheel at the moment, and the point P acquired by the position sensor at the moment is read1The 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 P2The wind wheel plane beta is calculated according to the first position information and the earth mass center, and then the orientation angle of the fan is determined according to the normal vector of the wind wheel plane.
2. The method for determining the flight path for the automatic inspection of the fan by the unmanned aerial vehicle according to claim 1, wherein each path point corresponds to a target point V _ trgt [ n ] observed by a camera, the target points are located on the blade and are sequentially arranged along the length direction of the blade, and specifically:
V_trgt[n]＝[a*L,0,0]。
3. the method for determining the automatic inspection flight path of a wind turbine by an unmanned aerial vehicle according to claim 2, wherein when there is a bend 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.
4. The method for determining the automatic inspection flight path for a wind turbine by an unmanned aerial vehicle of claim 1, wherein the camera attitude information includes heading and pitch angles;
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.
5. The method for determining the flight path for automated inspection of wind turbines by unmanned aerial vehicles according to claim 1, wherein the longitude and latitude of each location is provided by a GPS module when flying by unmanned aerial vehicles along the waypoints, and the distance d between two locations is calculated by:
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.
6. The method for determining the automatic inspection flight path for a wind turbine by an unmanned aerial vehicle according to claim 1, wherein when the unmanned aerial vehicle flies around the wind turbine at the wind tower height, the positions of the path points 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.
7. A flight path determination system for automatic inspection of a fan by unmanned aerial vehicle is used for realizing the method for determining the flight path for automatic inspection of the fan by unmanned aerial vehicle as claimed in any one of claims 1 to 6, and is characterized by comprising the following modules:
the system comprises a root coordinate system establishing module, a root coordinate system establishing module and a root coordinate system establishing module, wherein the root coordinate system establishing module is used for establishing a world coordinate system by taking the ground center of a wind tower of a fan as an origin O, and in the world coordinate system, a Y axis is in a vertical upward direction, a Z axis is in a south-righting direction, and an X axis is in an east-righting direction;
the sub-coordinate system establishing module is used for performing translation transformation and rotation transformation according to the world coordinate system to generate a generator coordinate system corresponding to the generator, performing translation transformation and rotation transformation according to the generator coordinate system to generate a hub coordinate system corresponding to the hub, and further performing rotation transformation according to the hub coordinate system to generate a blade coordinate system corresponding to each blade;
the flight path generation module is used for setting 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, each path point comprises geographical position and camera attitude information, and a flight path is formed according to the path points.
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