CN108869197B - Method and system for accurately measuring height of fan through unmanned aerial vehicle - Google Patents
Method and system for accurately measuring height of fan through unmanned aerial vehicle Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention provides a method and a system for accurately measuring the height of a fan by an unmanned aerial vehicle, wherein the fan comprises a wind tower and an impeller arranged at the top end of the wind tower, the impeller comprises a hub and three blades uniformly distributed along the circumferential direction of the hub, and the method comprises the following steps: let unmanned aerial vehicle be located fan dead ahead, set for the point P of distance apart from the wind tower0The position is lifted to the front side of the hub by a preset path; collecting a video stream of the hub at the front side of the hub through a camera arranged on the unmanned aerial vehicle, and keeping the axis direction of a camera lens parallel to the ground plane; and controlling the unmanned aerial vehicle to move through a control interface, so that the front side surface of the hub in the video stream moves to the preset area of the control interface. The invention can realize the accurate positioning of the target position M and reduce the error of the unmanned aerial vehicle during automatic flying inspection.
Description
Technical Field
The invention relates to fan detection, in particular to a method and a system for accurately measuring the height of a fan 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. However, when the unmanned aerial vehicle is provided with the camera to work, the positioning is carried out by adopting the GPS, but the GPS positioning has errors and certain errors exist when the flight path of the unmanned aerial vehicle is formed by modeling. Wherein, unmanned aerial vehicle is located the initial point when unmanned aerial vehicle carries out automatic flight for the unmanned aerial vehicle and patrols and examines, if this point location error, will directly lead to the flight of planning in advance to patrol and examine the route and have great error.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method and a system for accurately measuring the height of a fan by an unmanned aerial vehicle so as to realize accurate positioning of a target position M.
According to the method for accurately measuring the height of the fan by the unmanned aerial vehicle, the fan comprises a wind tower and an impeller arranged at the top end of the wind tower, the impeller comprises a hub and three blades which are uniformly distributed along the circumferential direction of the hub, and the method comprises the following steps:
step S1: let unmanned aerial vehicle be located fan dead ahead, set for the point P of distance apart from the wind tower0The position is lifted to the front side of the hub by a preset path;
step S2: collecting a video stream of the hub at the front side of the hub through a camera arranged on the unmanned aerial vehicle, and keeping the axis direction of a camera lens parallel to the ground plane;
step S3: and controlling the unmanned aerial vehicle to move through a control interface, so that the front side surface of the hub in the video stream moves to the preset area of the control interface.
Preferably, control interface is for being used for control unmanned aerial vehicle's APP interface loads APP's smart mobile phone or panel computer wireless connection the airborne computer of carrying on the unmanned aerial vehicle.
Preferably, the preset area is a circular frame located on the control interface;
and when the front side face of the hub in the video stream is matched with the circular frame, triggering a confirmation button in the control interface to confirm the target position M of the unmanned aerial vehicle.
Preferably, the method further comprises the following steps:
step N1: controlling the unmanned aerial vehicle to fly around the fan at the height of the target position M, and acquiring a video stream of the impeller through a camera when the unmanned aerial vehicle flies;
step N2: detecting blades in a video stream of the impeller, 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;
and step N3, when the two blades are detected to be 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 N4: according to point P1Position information calculation and point P of1Point P with wind tower in axial symmetry distribution2First location information of (a);
step N5: according to point P1Position information of (1), point P2Calculates the rotor plane β and thus the yaw angle of the rotor plane, from the earth's center of mass.
Preferably, 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 P2Is verified.
Preferably, said point P at which complete overlap of the two blades is detected1Calculated as follows:
P1＝P[min(τ)](1-1)
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, and the accumulated value tau of the number of the target lines is according to tiThe values of (x, y) are accumulated to generate,according to the formula (1-2), when t isiWhen (x, y) is 1, accumulating once;
when the accumulated value tau of the target row number is minimum, determining that the two blades are completely overlapped;
where x represents a binary image stream tiX-axis coordinate values of (a); y denotes a binary image stream tiThe y-axis coordinate value of (c).
Preferably, the following point P is also included1、P2The location verification step of (2):
step M1: point P1Position information of (1), P2Is converted into a global coordinate system (X)e,Ye,Ze) Point P1、P2The position information is expressed by longitude, latitude and altitude through a GPS module, and the conversion calculation formula is as follows:
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 longitude 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 a point P2And point P1The straight-line distance between the two,
is a point P1The distance from the center of the wind wheel,
is a point P2Distance from the center of the wind wheel;
step M3: calculating the precision ratio, and judging whether the precision ratio meets 98% < ratio < 102%;
preferably, the unmanned aerial vehicle is provided with a position sensor, a camera and an onboard computer;
the position sensor and the camera are connected with the onboard computer;
the position sensor is used for reading unmanned aerial vehicle position information in real time, and the camera is used for shooting fan blade and generating fan blade image, and the machine carries the computer and is used for the processing of unmanned aerial vehicle position information and fan blade image.
Preferably, the step N5 is specifically:
-putting a point P1Position information of (1), point P2The first position information is converted into a terrestrial coordinate system, and then the first position information is converted into the midpoint P of the terrestrial coordinate system1Point P2And calculating the wind wheel plane β according to the earth mass center, and further obtaining the wind wheel plane β in the earth coordinate system (X)e,Ye,Ze) Further calculating a yaw angle formed between the direction vector and the Y-axis in the northeast coordinate system.
The invention provides a system for accurately measuring the height of a fan by an unmanned aerial vehicle, which is used for realizing the method for accurately measuring the height of the fan by the unmanned aerial vehicle, and comprises the following steps:
an automatic flight module for controlling an unmanned aerial vehicle located directly in front of the fan, a point P apart from the wind tower by a set distance0The position is lifted to the front side of the hub by a preset path;
the video stream acquisition module is used for acquiring the video stream of the hub on the front side of the hub through a camera arranged on the unmanned aerial vehicle and keeping the axial direction of a camera lens parallel to the ground plane;
and the flight control module is used for controlling the unmanned aerial vehicle to move through a control interface, so that the front side surface of the hub in the video stream moves to the preset area of the control interface.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, after the unmanned aerial vehicle automatically flies to the front side of the hub, the unmanned aerial vehicle is finely adjusted and controlled to move through the control interface, so that the front side surface of the hub in the video stream moves to a preset area of the control interface, the accurate positioning of the target position M is realized, and the error of the unmanned aerial vehicle during automatic flying inspection is reduced.
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 illustrating the steps of a method for accurately measuring the height of a wind turbine by an unmanned aerial vehicle according to the present invention;
FIG. 2 is a schematic diagram of the present invention illustrating the precise adjustment of the position of the drone by a control interface;
FIG. 3 is a flowchart illustrating steps of measuring and calculating a yaw angle of a wind turbine by an unmanned aerial vehicle according to the present invention;
FIG. 4 is a schematic diagram illustrating a principle of measuring and calculating a yaw angle of a wind turbine by an unmanned aerial vehicle according to the present invention;
fig. 5 is a schematic view of a rotor plane β in the present invention;
FIG. 6 is a schematic view of a yaw angle of the present invention;
fig. 7 is a schematic view of the rotation angle γ calculated by the visual inspection method according to the present invention;
fig. 8 is a schematic block diagram of a system for accurately measuring the height of a fan by an unmanned aerial vehicle according to the present invention.
In the figure:
100 is a circular frame;
200 is the front side surface of the hub;
1 is a first plane δ;
2 is a flight path curve s;
3 is wind wheel plane β;
4 is a straight line l;
5 is a point P1；
6 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 showing steps of a method for accurately measuring the height of a fan by an unmanned aerial vehicle according to the present invention, and as shown in fig. 1, the method for accurately measuring the height of a fan by an unmanned aerial vehicle according to the present invention includes a wind tower and an impeller arranged at the top end of the wind tower, the impeller includes a hub and three blades uniformly distributed along the circumferential direction of the hub, and includes the following steps:
step S1: let unmanned aerial vehicle be located fan dead ahead, set for the point P of distance apart from the wind tower0The position is lifted to the front side of the hub by a preset path;
step S2: collecting a video stream of the hub at the front side of the hub through a camera arranged on the unmanned aerial vehicle, and keeping the axis direction of a camera lens parallel to the ground plane;
step S3: and controlling the unmanned aerial vehicle to move through a control interface, so that the front side surface of the hub in the video stream moves to the preset area of the control interface.
In this embodiment, control interface is for being used for control unmanned aerial vehicle's APP interface loads APP's smart mobile phone or panel computer wireless connection the airborne computer of carrying on the unmanned aerial vehicle. The angle between any two adjacent blades of the three blades is 120 degrees.
In this embodiment, the wind tower is detected by solid state radar and flies up to the front side of the hub in response to the detection of the wind tower. The solid-state radar adopts Beixing CE30-D solid-state laser radar.
In this embodiment, the preset path is a vertical lift-off.
Fig. 2 is a schematic diagram of the present invention, in which the position of the drone is precisely adjusted through a control interface, and the preset area is a circular frame located on the control interface; and when the front side face of the hub in the video stream is matched with the circular frame, triggering a confirmation button in the control interface to confirm the target position M of the unmanned aerial vehicle.
In this embodiment, specifically, the position of the front side surface of the hub in the video stream is adjusted by the direction key, and the size of the front side surface of the hub is adjusted by the zoom-in key and the zoom-out key, so that the front side surface of the hub is tangent to the circular frame, that is, the front side surface of the hub can be matched with the circular frame.
In the embodiment, after the unmanned aerial vehicle automatically flies to the front side of the hub, the unmanned aerial vehicle is finely adjusted and controlled to move through the control interface, so that the front side surface of the hub in the video stream moves to a preset area of the control interface, the target position M is accurately positioned, and the error of the unmanned aerial vehicle during automatic flying inspection is reduced.
Fig. 3 is a flowchart of the steps of measuring and calculating the yaw angle of the wind turbine by the unmanned aerial vehicle, as shown in fig. 3, the method includes the following steps:
step N1: controlling the unmanned aerial vehicle to fly around the fan at the height of the target position M, and acquiring a video stream of the impeller through a camera when the unmanned aerial vehicle flies;
step N2: 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;
and step N3, when the two blades are detected to be 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 N4: according to point P1Position information calculation and point P of1Point P with wind tower in axial symmetry distribution2First location information of (a);
step N5: according to point P1Position information of (1), point P2Calculates the wind wheel plane β, 8 in the earth coordinate system (X) according to the first position information and the earth mass centere,Ye,Ze) Further calculating a yaw angle formed between the direction vector and the Y-axis in the northeast sky coordinate system (ENU).
In this embodiment, the following steps are further included between step N3 and step N4:
-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, a camera and an airborne computer; the position sensor and the camera 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 the camera is used for shooing the fan blade and generates fan blade image, and the machine carries the computer and is used for unmanned aerial vehicle positional information and fan blade image's processing.
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.
FIG. 4 is a schematic diagram illustrating a principle of calculating a yaw angle of a wind turbine by an unmanned aerial vehicle, as shown in FIG. 2, the unmanned aerial vehicle flies around a hub of the wind turbine for a circle to form a first plane δ and a flight path curve s, as shown in FIG. 4, the first plane δ intersects with a wind wheel plane β at a straight line l, and the straight line l and the flight path curve s are mutually oppositeMeet at 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 camera collects video streams of the 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 camera 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 the video stream f shot by the camera in real time during flightiAnd 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 camera 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)](1-1)
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 captured by a camera, τ being according to tiThe values of (x, y) are accumulated according to equation (1-2) when t isiOnce (x, y) is added to 1, where x represents the binary image stream tiX-axis coordinate values of (a); y denotes a binary image stream tiThe y-axis coordinate value of (c).
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 longitude 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%;
FIG. 5 is a schematic view of a plane β of a wind wheel according to the present invention, and FIG. 6 is a schematic view of a yaw angle according to the present invention, as shown in FIGS. 5 and 6, based on point P1、P2And calculating a wind wheel plane β by the earth mass center to obtain a coordinate system (X) of the wind turbine yaw on the earthe,Ye,Ze) Further calculating the direction vector and YeYaw angle of the shaft;
to calculate the exact rotation angle for subsequent image recognition techniques, the information of the vane should be read when the camera is positioned directly in front of the vane, so point PTIs unique. From the point P that has been determined0、P1Further selecting P in the unmanned aerial vehicle shooting path curve sTPoint, binding point P0The position information and the wind tower height can obtain PTPosition, then reading PTAnd image information shot by the point position camera.
Fig. 7 is a schematic diagram of a corner γ calculated by a visual inspection method in the present invention, and as shown in fig. 7, the method for accurately measuring the height of a fan by an unmanned aerial vehicle in the present invention is characterized by further including the following steps of measuring and calculating the corner γ:
step N1: let unmanned aerial vehicle be located fan dead ahead, apart from wind tower bottom and set for point P of distance0The position is vertically lifted to the height of the wind tower to obtain a point PTThe location information of (a);
step N2: reading the camera at point PTRemoving noise from the impeller image;
step N3: edge detection is carried out on the impeller image, target blade information is detected, blade tip point coordinates are calculated through angular point detection, and the geometric center points of the three blades are calculated to be coordinates P of the wind wheel center in the imagewindcentre；
Step N4: connecting the coordinates of the tip point of the blade with PwindcentreAnd determining a target straight line by coordinates, and further calculating the slope of the target straight line to obtain the rotation angle of the blade.
More specifically, in this embodiment, the GPS point P is recorded under the wind tower0And knowing the height of the wind tower and the length of the blades; controlling the unmanned aerial vehicle to fly up, wherein the height is the height of a wind tower, and the unmanned aerial vehicle flies around the center point of a wind wheel by the distance of twice the radius of a blade; flying to the left side of the fan, calculating the overlapping rate of two blades of the fan, judging whether the position is on the plane of the fan, and obtaining the position of the point according to the formula (1-1), namely the point P1(ii) a Determining P1Point, airborne computer obtains estimated P according to position symmetry2The point estimation position is estimated, and the unmanned aerial vehicle continues flying after flying to the estimated position of the right plane of the fan, namely P can be obtained2Point; by P1、P2And calculating the yaw angle of the fan by the earth mass center. Reading point P1(lat:40.17208455248887, lon: 107.27228840493933); reading point P2(lat:40.175627519375055, lon: 107.27312725768884); reading Pwindcentre(lat:40.17421597362377, lon: 107.27278682293934); by the formulas 1-3, P1、P2、PwindcentreThe longitude and latitude position information of the point is converted into rectangular coordinate system information. To obtain
According to the formula 1-4, the ratio is 99.9975 percent and meets 98 percent<ratio<102％。
Fig. 8 is a schematic block diagram of a system for accurately measuring the height of a fan by an unmanned aerial vehicle according to the present invention, and as shown in fig. 8, a system 300 for accurately measuring the height of a fan by an unmanned aerial vehicle according to the present invention includes:
an automatic flight module 301 for controlling an unmanned aerial vehicle located directly in front of a fan, a point P apart from a wind tower by a set distance0The position is lifted to the front side of the hub by a preset path;
the video stream acquisition module 302 is configured to acquire a video stream of the hub through a camera arranged on the unmanned aerial vehicle on the front side of the hub, and keep an axis direction of a camera lens parallel to a ground plane;
and the flight control module 303 is configured to control the unmanned aerial vehicle to move through a control interface, so that the front side surface of the hub in the video stream moves to a preset area of the control interface.
In the embodiment, after the unmanned aerial vehicle automatically flies to the front side of the hub, the unmanned aerial vehicle is finely adjusted and controlled to move through the control interface, so that the front side surface of the hub in the video stream moves to a preset area of the control interface, the target position M is accurately positioned, and the error of the unmanned aerial vehicle during automatic flying inspection is reduced. According to the invention, the yaw angle formed between the direction vector of the plane of the wind wheel and the Y axis of the northeast coordinate system can be measured and calculated through the unmanned aerial vehicle, so that the rotating shaft of the wind wheel can be adjusted according to the wind direction, and the power generation efficiency of the fan is improved conveniently; according to the invention, the yaw angle of the wind wheel plane can be measured out through the unmanned aerial vehicle, so that the modeling analysis of the fan can be facilitated, and convenience is provided for realizing the comprehensive detection of the fan; in the invention, in the primary flight process of the unmanned aerial vehicle, the yaw angle can be measured, the size of the blade rotation angle can be measured, and the measurement effect 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 (9)
1. The utility model provides a method for carry out fan height accurate measurement through unmanned aerial vehicle, the fan includes wind tower and sets up the impeller at the wind tower top, the impeller includes wheel hub and three along wheel hub circumference evenly distributed's blade, its characterized in that includes the following step:
step S1: let unmanned aerial vehicle be located fan dead ahead, set for the point P of distance apart from the wind tower0The position is lifted to the front side of the hub by a preset path;
step S2: collecting a video stream of the hub at the front side of the hub through a camera arranged on the unmanned aerial vehicle, and keeping the axis direction of a camera lens parallel to the ground plane;
step S3: controlling the unmanned aerial vehicle to move through a control interface, so that the front side surface of a hub in the video stream moves to a preset area of the control interface;
also comprises the following steps:
step N1: controlling the unmanned aerial vehicle to fly around the fan at the height of the target position M, and acquiring a video stream of the impeller through a camera when the unmanned aerial vehicle flies;
step N2: detecting blades in a video stream of the impeller, 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;
and step N3, when the two blades are detected to be 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 N4: according to point P1Position information calculation and point P of1Point P with wind tower in axial symmetry distribution2First location information of (a);
step N5: according to point P1Position information of (1), point P2Calculates a rotor plane β and thus a yaw of the rotor plane from the earth's center of massAnd (4) an angle.
2. Method for accurate measurement of the height of a wind turbine by a drone according to claim 1,
the control interface is used for controlling the APP interface of the unmanned aerial vehicle is loaded with the smart phone or the tablet computer of the APP in wireless connection with the airborne computer carried on the unmanned aerial vehicle.
3. The method for accurately measuring the height of a wind turbine by an unmanned aerial vehicle according to claim 1, wherein the preset area is a circular frame located on the control interface;
and when the front side face of the hub in the video stream is matched with the circular frame, triggering a confirmation button in the control interface to confirm the target position M of the unmanned aerial vehicle.
4. The method for accurately measuring the height of a fan by an unmanned aerial vehicle as claimed in claim 1, further comprising the steps between step S3 and step S4 of:
-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 P2Is verified.
5. Method for the accurate measurement of the height of a wind turbine by unmanned aerial vehicle according to claim 1, characterized in that the point P when the complete overlap of two blades is detected1Calculated as follows:
P1＝P[min(τ)](1-1)
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, and the accumulated value tau of the number of the target lines is according to tiThe values of (x, y) are accumulated according to equation (1-2) when t isiWhen (x, y) is 1, accumulating once;
when the accumulated value tau of the target row number is minimum, determining that the two blades are completely overlapped;
where x represents a binary image stream tiX-axis coordinate values of (a); y denotes a binary image stream tiThe y-axis coordinate value of (c).
6. The method of claim 1, further comprising the following point P1、P2The location verification step of (2):
step M1: point P1Position information of (1), P2Is converted into a global coordinate system (X)e,Ye,Ze) Point P1、P2The position information is expressed by longitude, latitude and altitude through a GPS module, and the conversion calculation formula is as follows:
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 longitude 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 a point P2And point P1The straight-line distance between the two,
is a point P1The distance from the center of the wind wheel,
is a point P2Distance from the center of the wind wheel;
step M3: calculating the precision ratio, and judging whether the precision ratio meets 98% < ratio < 102%;
7. the method for accurately measuring the height of a wind turbine by an unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle is equipped with a position sensor, a camera and an onboard computer;
the position sensor and the camera are connected with the onboard computer;
the position sensor is used for reading unmanned aerial vehicle position information in real time, and the camera is used for shooting fan blade and generating fan blade image, and the machine carries the computer and is used for the processing of unmanned aerial vehicle position information and fan blade image.
8. The method for accurately measuring the height of the fan by the unmanned aerial vehicle as claimed in claim 1, wherein the step N5 specifically comprises:
-putting a point P1Position information of (1), point P2The first position information is converted into a terrestrial coordinate system, and then the first position information is converted into the midpoint P of the terrestrial coordinate system1Point P2And calculating the wind wheel plane β according to the earth mass center, and further obtaining the wind wheel plane β in the earth coordinate system (X)e,Ye,Ze) Further calculating the direction vector and the coordinate system of northeastThe yaw angle formed between the Y-axes.
9. A system for accurately measuring the height of a fan by an unmanned aerial vehicle, which is used for implementing the method for accurately measuring the height of a fan by an unmanned aerial vehicle according to any one of claims 1 to 8, and comprises:
an automatic flight module for controlling an unmanned aerial vehicle located directly in front of the fan, a point P apart from the wind tower by a set distance0The position is lifted to the front side of the hub by a preset path;
the video stream acquisition module is used for acquiring the video stream of the hub on the front side of the hub through a camera arranged on the unmanned aerial vehicle and keeping the axial direction of a camera lens parallel to the ground plane;
and the flight control module is used for controlling the unmanned aerial vehicle to move through a control interface, so that the front side surface of the hub in the video stream moves to the preset area of the control interface.
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