CN111794920A - Intelligent deicing robot for fan blades - Google Patents
Intelligent deicing robot for fan blades Download PDFInfo
- Publication number
- CN111794920A CN111794920A CN202010674244.3A CN202010674244A CN111794920A CN 111794920 A CN111794920 A CN 111794920A CN 202010674244 A CN202010674244 A CN 202010674244A CN 111794920 A CN111794920 A CN 111794920A
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- Prior art keywords
- deicing
- vehicle body
- telescopic
- fan blade
- blade
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- 238000004891 communication Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000010248 power generation Methods 0.000 abstract description 3
- 238000012544 monitoring process Methods 0.000 description 9
- 239000000463 material Substances 0.000 description 6
- 238000000576 coating method Methods 0.000 description 5
- 238000010009 beating Methods 0.000 description 4
- 239000011248 coating agent Substances 0.000 description 4
- 238000010438 heat treatment Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000005265 energy consumption Methods 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005485 electric heating Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
- F03D80/40—Ice detection; De-icing means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Wind Motors (AREA)
Abstract
The invention relates to an intelligent deicing robot for fan blades in the field of wind power generation equipment, which comprises: the vehicle body is movably arranged and moves on the surface of the blade body during deicing; the rotary camera is arranged on the vehicle body and is used for shooting the position of the ice block on the surface of the blade body; a deicing actuator mounted on the vehicle body; and the control system controls the deicing execution component to perform deicing operation according to the position of the ice block on the surface of the blade body shot by the rotary camera. The automatic image recognition technology is fully adopted to assist in removing ice blocks on the surface of the blade body.
Description
Technical Field
The invention relates to the field of wind power generation equipment, in particular to an intelligent deicing device for blades of a wind driven generator.
Background
At present, in wind power generation, the ice coating of a fan blade has great influence on the operation equipment and the generating capacity of the wind power generator, and even causes the fan blade to be broken or shut down. In this regard, researchers have proposed a variety of deicing methods, mainly classified into passive deicing and active deicing. The passive deicing adopts a mode of spraying special materials or black coatings on the surfaces of the blades of the fan, so that the contact between ice and snow and the blades is reduced. Active de-icing includes electrical heating, warm air and mechanical de-icing. The heating deicing is to add heat conduction materials into the fan blade, utilize the heating mode of an electric conductor to lead the gap to be generated between the surface of the fan blade and an ice layer, and then naturally fall off under the action of centrifugal force; the hot air is blown into the blade body by the hot air, and the principle is the same as that of electric heating; the mechanical deicing is to crush the ice coating on the blade by using the action of external force and then naturally fall off under the action of centrifugal force, and the method is the most widely used deicing method at the present stage.
The passive deicing needs the shutdown operation, influences the normal operation and the generated energy of the unit, wastes manpower and material resources. When the fan resumes operation, if the blades are iced again, the fan needs to be stopped, and the problem cannot be solved fundamentally; in the active deicing method, a large amount of electric energy is consumed for heating deicing and warm air, so that the normal work of a unit is influenced, and when the blades are continuously heated, the aerodynamic performance of the blades is influenced; spraying special materials can alleviate icing to some extent, but the coating ages over time.
Disclosure of Invention
The invention aims to provide an intelligent deicing robot for a fan blade, which fully adopts an automatic image recognition technology to assist in removing ice blocks on the surface of a blade body.
The purpose of the invention is realized as follows: a fan blade intelligent de-icing robot comprising:
the vehicle body is movably arranged and moves on the surface of the blade body during deicing;
the rotary camera is arranged on the vehicle body and is used for shooting the position of the ice block on the surface of the blade body;
a deicing actuator mounted on the vehicle body;
and the control system controls the deicing execution component to perform deicing operation according to the position of the ice block on the surface of the blade body shot by the rotary camera.
Further, install rotary device on the automobile body, the automobile body sets up to the grillage structure, rotary device's rotation drive axis perpendicular to automobile body, rotary device sets up to automatic revolving stage structure, rotatory camera frame is established at rotary device's top, deicing executive component installs at the rotary device lateral part.
Further, the deicing execution part comprises a telescopic device, a striking device and a pitching adjusting electric push rod, the base part of the telescopic device is hinged to the rotating device, the striking device used for striking ice blocks is installed at the tail end of the telescopic part of the telescopic device, one end of the pitching adjusting electric push rod rotatably supports the base part connected with the telescopic device, and the other end of the pitching adjusting electric push rod is rotatably connected with the rotating device.
Further, the telescopic device is arranged as an electric push rod.
Further, the striking device is provided as an electric striking device.
Furthermore, the control system comprises a controller which is arranged on the vehicle body and is in wireless communication with the remote control system, and the rotary camera, the rotating device, the telescopic device, the striking device and the pitching adjusting electric push rod are in signal connection with the controller.
The invention has the beneficial effects that: the automatic image identification technology is adopted as a monitoring means of blade icing, so that the monitoring efficiency can be improved, the influence of the external environment is avoided, and the energy consumption is low; meanwhile, the beating device is adopted to simulate the manual beating technology, so that the deicing operation of the blade body is realized, the machine does not need to be stopped or heated, the operation efficiency of the machine set is improved, and unnecessary manpower and material resources are reduced.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic diagram of a specific application principle of the invention.
In the figure, 1 blade body, 2 rotating camera, 3 guide rails, 4 car bodies, 5 pull ropes, 6 hooks, 7 telescoping devices, 8 striking devices, 9 rotating devices, 10 monitoring camera and 11 pitching adjusting electric push rods.
Detailed Description
The invention will be further illustrated with reference to the accompanying figures 1-2 and specific examples.
As shown in fig. 1, a fan blade intelligent deicing robot includes:
the vehicle body 4 can be remotely controlled to move the vehicle body 4 and move on the surface of the blade body 1 during deicing;
a rotary camera 2 arranged on the vehicle body 4 and used for shooting the ice block position on the surface of the blade body 1;
a deicing actuator mounted on the vehicle body 4;
and the control system controls the deicing execution component to perform deicing operation according to the position of the ice on the surface of the blade body 1 shot by the rotary camera 2.
In the embodiment, the whole deicing robot is light in weight and small in size, normal operation of the blade body 1 cannot be influenced during deicing, the vehicle body 4 is provided with the wheel set, the vehicle body 4 rolls on the surface of the blade body 1, the surface of the blade body 1 is provided with the guide rail 3 extending along the length direction of the blade body, and the vehicle body 4 and the guide rail 3 can be movably matched to guide the vehicle body 4 to move along the length direction of the blade body 1; the driving mode of the vehicle body 4 can be that an electric power system for driving the wheel set to roll is arranged on the vehicle body, a hook 6 can also be arranged on one side of the vehicle body 4, the hook 6 is hooked by a pull rope 5, and one end of the pull rope 5 is connected with an automatic dragging device so as to drive the vehicle body 4 to move along the length direction of the blade body 1.
In this embodiment, as shown in fig. 2, in order to better realize monitoring of the blade body 1, the surface of the blade body 1 is divided into a plurality of areas, and each area is provided with one monitoring camera 10, so as to perform conventional monitoring on the ice coating condition on the surface of the blade body 1, where the monitoring camera 10 mentioned in this embodiment may be a rotatable camera, and may also be a camera of another kind.
Wherein, still install rotary device 9 on above-mentioned automobile body 4, automobile body 4 sets up to the grillage structure, and rotary device 9's rotation drive axis is perpendicular to automobile body 4, and rotary device 9 sets up to automatic revolving stage structure, and rotatory camera 2 erects at the top of rotary device 9, and deicing executive component installs the lateral part at rotary device 9.
The deicing executing component comprises a telescopic device 7, a striking device 8 and a pitching adjusting electric push rod 11, wherein the base part of the telescopic device 7 is hinged with a rotating device 9, the striking device 8 for striking ice blocks is installed at the tail end of the telescopic part of the telescopic device 7, one end of the pitching adjusting electric push rod 11 rotatably supports the base part connected with the telescopic device 7, and the other end of the pitching adjusting electric push rod 11 is rotatably connected with the rotating device 9.
The telescopic device 7 is an electric push rod; the striking device 8 is an electric striking device so as to output high-frequency impact action to repeatedly impact ice blocks and achieve the effect of deicing.
Above-mentioned control system is including setting up on automobile body 4, with remote control system wireless communication's controller, rotatory camera 2, rotary device 9, telescoping device 7, hit and beat device 8, every single move adjustment electric putter 11 all with controller signal connection, so that the control personnel can carry out accurate judgement according to the image that rotatory camera 2 passed back, and remote control rotary device 9, telescoping device 7, hit and beat device 8, every single move adjustment electric putter 11's action, so that realize automatic deicing operation better.
Because the automatic image identification technology (the rotary camera 2) is adopted as a monitoring means of blade icing, the monitoring efficiency can be improved, and the device is not influenced by the external environment and has small energy consumption; meanwhile, the beating device 8 is adopted to simulate a manual beating technology, so that the deicing operation of the blade body 1 is realized, the machine does not need to be stopped or heated, the operation efficiency of the machine set is improved, and unnecessary manpower and material resources are reduced.
While the preferred embodiments of the present invention have been described, those skilled in the art will appreciate that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. The utility model provides a fan blade intelligence deicing robot which characterized in that includes:
the vehicle body (4) is movably arranged and moves on the surface of the blade body (1) during deicing;
the rotary camera (2) is arranged on the vehicle body (4) and is used for shooting the ice block position on the surface of the blade body (1);
a deicing actuator mounted on the vehicle body (4);
and the control system controls the deicing execution component to perform deicing operation according to the position of the ice cubes on the surface of the blade body (1) shot by the rotary camera (2).
2. Fan blade intelligent deicing robot according to claim 1, characterized in that a rotating device (9) is mounted on the vehicle body (4), the vehicle body (4) is arranged in a plate frame structure, the rotation driving axis of the rotating device (9) is perpendicular to the vehicle body (4), the rotating device (9) is arranged in an automatic rotating platform structure, the rotating camera (2) is erected on the top of the rotating device (9), and the deicing execution component is mounted on the side of the rotating device (9).
3. The intelligent fan blade deicing robot according to claim 2, wherein the deicing execution component comprises a telescopic device (7), a striking device (8) and a pitching adjusting electric push rod (11), a base portion of the telescopic device (7) is hinged to the rotating device (9), the striking device (8) for striking ice blocks is installed at the tail end of the telescopic portion of the telescopic device (7), one end of the pitching adjusting electric push rod (11) rotatably supports the base portion connected with the telescopic device (7), and the other end of the pitching adjusting electric push rod (11) is rotatably connected with the rotating device (9).
4. Intelligent fan blade deicing robot according to claim 3, characterized in that said telescopic means (7) are provided as electric pushrods.
5. Intelligent fan blade deicing robot according to claim 3, characterized in that said striking device (8) is provided as an electric striking device.
6. The intelligent fan blade deicing robot according to claim 3, wherein the control system comprises a controller which is arranged on the vehicle body (4) and is in wireless communication with a remote control system, and the rotary camera (2), the rotating device (9), the telescopic device (7), the striking device (8) and the pitch adjusting electric push rod (11) are in signal connection with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010674244.3A CN111794920A (en) | 2020-07-14 | 2020-07-14 | Intelligent deicing robot for fan blades |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010674244.3A CN111794920A (en) | 2020-07-14 | 2020-07-14 | Intelligent deicing robot for fan blades |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111794920A true CN111794920A (en) | 2020-10-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010674244.3A Pending CN111794920A (en) | 2020-07-14 | 2020-07-14 | Intelligent deicing robot for fan blades |
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| Country | Link |
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| CN (1) | CN111794920A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113235504A (en) * | 2021-05-31 | 2021-08-10 | 国能朔黄铁路发展有限责任公司 | Tunnel ice hanging identification method, device and equipment and tunnel deicing system |
| CN113513455A (en) * | 2021-05-08 | 2021-10-19 | 华能陕西定边电力有限公司 | Blade icing image recognition device of wind driven generator |
| CN117780576A (en) * | 2023-12-11 | 2024-03-29 | 三峡智控科技有限公司 | Fan blade deicing system and method based on magnetic suction deicing robot |
| CN117780576B (en) * | 2023-12-11 | 2024-07-23 | 三峡智控科技有限公司 | Fan blade deicing system and method based on magnetic suction deicing robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205714601U (en) * | 2016-06-15 | 2016-11-23 | 新疆金风科技股份有限公司 | Blade maintenance device |
| US20170254316A1 (en) * | 2014-09-02 | 2017-09-07 | Lm Wp Patent Holding A/S | A de-icing system for a wind turbine blade |
| CN108061015A (en) * | 2017-06-12 | 2018-05-22 | 北京唐浩电力工程技术研究有限公司 | A kind of fan blade deicing unmanned plane |
-
2020
- 2020-07-14 CN CN202010674244.3A patent/CN111794920A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170254316A1 (en) * | 2014-09-02 | 2017-09-07 | Lm Wp Patent Holding A/S | A de-icing system for a wind turbine blade |
| CN205714601U (en) * | 2016-06-15 | 2016-11-23 | 新疆金风科技股份有限公司 | Blade maintenance device |
| CN108061015A (en) * | 2017-06-12 | 2018-05-22 | 北京唐浩电力工程技术研究有限公司 | A kind of fan blade deicing unmanned plane |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113513455A (en) * | 2021-05-08 | 2021-10-19 | 华能陕西定边电力有限公司 | Blade icing image recognition device of wind driven generator |
| CN113513455B (en) * | 2021-05-08 | 2023-12-15 | 华能陕西定边电力有限公司 | Blade ice-covering image recognition device of wind driven generator |
| CN113235504A (en) * | 2021-05-31 | 2021-08-10 | 国能朔黄铁路发展有限责任公司 | Tunnel ice hanging identification method, device and equipment and tunnel deicing system |
| CN117780576A (en) * | 2023-12-11 | 2024-03-29 | 三峡智控科技有限公司 | Fan blade deicing system and method based on magnetic suction deicing robot |
| CN117780576B (en) * | 2023-12-11 | 2024-07-23 | 三峡智控科技有限公司 | Fan blade deicing system and method based on magnetic suction deicing robot |
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Application publication date: 20201020 |
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| RJ01 | Rejection of invention patent application after publication |