CN115143056A - Method and device for measuring shutdown attitude parameters of wind driven generator - Google Patents
Method and device for measuring shutdown attitude parameters of wind driven generator Download PDFInfo
- Publication number
- CN115143056A CN115143056A CN202210874406.7A CN202210874406A CN115143056A CN 115143056 A CN115143056 A CN 115143056A CN 202210874406 A CN202210874406 A CN 202210874406A CN 115143056 A CN115143056 A CN 115143056A
- Authority
- CN
- China
- Prior art keywords
- driven generator
- wind driven
- determining
- target
- position information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
-
- 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
Landscapes
- 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)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the invention relates to a method and a device for measuring shutdown attitude parameters of a wind driven generator, wherein the method comprises the following steps: acquiring the transverse-longitudinal ratio of a rectangular boundary identification frame of each blade of a target wind driven generator to be measured for shutdown attitude parameters; determining a yaw angle parameter formed between a wind wheel plane direction vector of the target wind driven generator and a Y axis in a northeast sky coordinate system based on the transverse-longitudinal ratio; determining a blade pitch angle parameter of the target wind turbine based on the yaw angle parameter. By the method, the shutdown attitude parameters of the wind driven generator are obtained based on the vision of the unmanned aerial vehicle, the shutdown attitude parameters of the wind driven generator can be obtained with low cost, high efficiency and accuracy, and the automatic inspection and operation and maintenance efficiency of the unmanned aerial vehicle is improved.
Description
Technical Field
The embodiment of the invention relates to the field of image target identification, segmentation and object pose measurement, in particular to a method and a device for measuring shutdown attitude parameters of a wind driven generator.
Background
The wind driven generator is an important infrastructure in the new energy industry, and has the function of converting wind energy into mechanical work, and the mechanical work drives the rotor to rotate so as to finally output alternating current. The blades with the length of tens of meters are mounted on the wind driven generator, the motor inside the wind driven generator is driven to rotate through the rotation of the blades, and finally wind energy is converted into electric energy, so that the normal operation of the blades is very important for the stable electric energy output of the wind driven generator. In recent years, the fan industry has been developed greatly, and the fan operation and maintenance business is rapidly increased along with the development of the fan industry.
Traditional fan fortune dimension business utilizes telescope or artifical climbing fan in order to overhaul usually, compares in these two kinds of traditional modes, and emerging unmanned aerial vehicle is automatic patrols and examines because of its convenience, and is swift, and nimble characteristics have obtained trade favor, when utilizing unmanned aerial vehicle to patrol and examine fan blade, not only can practice thrift a large amount of time of patrolling and examining, obtain more clear blade image, can also improve the accuracy of patrolling and examining. And a key step of the unmanned aerial vehicle automatic inspection lies in obtaining attitude parameters when the fan is stopped, and the key parameters mainly comprise the height of a tower column of the fan, a yaw angle, a blade inclination angle, a distance between the unmanned aerial vehicle and the fan and the like.
Pan Jiajie in the text "autonomous inspection system for unmanned aerial vehicle for fan blades" selects several key points in a fan, such as the end points of three blades and the center of a fan hub, uses the key points as isolated space points, and obtains the key positions of the space points by a visual measurement method, so as to estimate the shutdown attitude of the fan.
Zhou Hua and others propose to scan a fan from top to bottom by using a laser radar device to obtain spatial point cloud distribution of the fan in a fan shutdown state parameter acquisition method, system, device and medium, and further measure and calculate a fan shutdown attitude parameter of the fan.
Guo Haowen et al, DETECTING AND position OF WIND TURBINE BLADE FOR UAV-BASED AUTOMATIC INSPECTION apparatus, locate the coordinates OF the key points OF the WIND TURBINE on the captured image by Mask-RCNN and Fast corner detection algorithms. And then, establishing a space coordinate system on the fan by taking the hub center as an origin, and solving the space position coordinates of the key points and the pose transformation relation between the unmanned aerial vehicle camera coordinate system and the blade space coordinate system by a PnP method.
Therefore, in the prior art, the equipment cost required by the method for acquiring accurate point cloud data by adopting laser radar equipment is high, the detection cost is increased, and the use requirement under common conditions is not met; according to the method for detecting and positioning the key points of the fan through the angular points so as to further calculate the space position coordinates of the key points, errors in the key point positioning step are prone to cause large-degree deviation of final pose calculation results. Therefore, how to obtain the shutdown attitude parameters of the wind driven generator with low cost, high efficiency and accuracy becomes an urgent problem to be solved.
Disclosure of Invention
In view of this, to solve the above technical problems or some technical problems, embodiments of the present invention provide a method and an apparatus for measuring shutdown attitude parameters of a wind turbine generator.
In a first aspect, an embodiment of the present invention provides a method for measuring shutdown attitude parameters of a wind turbine, including:
acquiring the transverse-longitudinal ratio of a rectangular boundary identification frame of each blade of a target wind driven generator to be measured for shutdown attitude parameters;
determining a yaw angle parameter formed between a wind wheel plane direction vector of the target wind driven generator and a Y axis in a northeast sky coordinate system based on the transverse-longitudinal ratio;
determining a blade pitch angle parameter of the target wind turbine based on the yaw angle parameter.
In one possible embodiment, the method further comprises:
taking the minimum value in the transverse-longitudinal ratio as a rectangular frame metric value;
determining two pieces of relative target position information with the minimum rectangular frame metric value when the unmanned aerial vehicle flies for one circle around the circumference of the tower column of the target wind driven generator;
determining a direction vector of the plane of the wind wheel based on the two pieces of relative target position information and the first position information of the tower column;
a yaw angle parameter formed between the direction vector and a Y-axis in a northeast coordinate system is determined based on the direction vector.
In one possible embodiment, the method further comprises:
determining wind wheel plane position information of the target wind driven generator based on the yaw angle parameter;
acquiring rectangular bounding box identification information and relative position information of all blades of the target wind driven generator based on the wind wheel plane position information;
and determining blade inclination angle parameters based on the wind wheel plane position information, the rectangular bounding box identification information of all the blades and the relative position information.
In one possible embodiment, the method further comprises:
and determining the tower height of the target wind driven generator based on the yaw angle parameter and the real-time position information of the unmanned aerial vehicle.
In one possible embodiment, the method further comprises:
controlling the unmanned aerial vehicle to fly to a preset target position and recording second position information of the unmanned aerial vehicle in a WGS-84 coordinate system;
determining a Z coordinate value of the unmanned aerial vehicle in a northeast coordinate system with a tower column base as an origin based on the second position information;
and taking the Z coordinate value as the tower height of the target wind driven generator.
In one possible embodiment, the method further comprises:
obtaining hub size information of the target wind driven generator;
acquiring third position information of the hub rectangular boundary recognition frame in the acquired image of the target wind driven generator;
determining a distance of the drone from the target wind generator based on the hub size information and the third location information.
In one possible embodiment, the method further comprises:
dynamically adjusting the hovering position of the unmanned aerial vehicle based on the distance between the unmanned aerial vehicle and the target wind driven generator, and calculating the blade inclination angle parameter of the target wind driven generator.
In a second aspect, an embodiment of the present invention provides a shutdown attitude parameter measurement apparatus for a wind turbine, including:
the acquisition module is used for acquiring the transverse-longitudinal ratio of a rectangular boundary identification frame of each blade of the target wind driven generator to be measured for the shutdown attitude parameters;
the determining module is used for determining a yaw angle parameter formed between a wind wheel plane direction vector of the target wind driven generator and a Y axis in a northeast sky coordinate system based on the transverse-longitudinal ratio;
the determining module is further configured to determine a blade pitch angle parameter of the target wind turbine based on the yaw angle parameter.
In a third aspect, an embodiment of the present invention provides an electronic device, including: a processor and a memory, the processor is configured to execute the wind turbine generator stop posture parameter measurement program stored in the memory to implement the wind turbine generator stop posture parameter measurement method described in the above first aspect.
In a fourth aspect, an embodiment of the present invention provides a storage medium, including: the storage medium stores one or more programs executable by one or more processors to implement the method for measuring a shutdown attitude parameter of a wind turbine according to the first aspect.
According to the shutdown attitude parameter measurement scheme of the wind driven generator provided by the embodiment of the invention, the transverse-longitudinal ratio of a rectangular boundary identification frame of each blade of a target wind driven generator to be measured for the shutdown attitude parameter is obtained; determining a yaw angle parameter formed between a wind wheel plane direction vector of the target wind driven generator and a Y axis in a northeast sky coordinate system based on the transverse-longitudinal ratio; determining a blade pitch angle parameter of the target wind turbine based on the yaw angle parameter. Compared with the prior art, the method for acquiring accurate point cloud data by adopting the laser radar equipment has the advantages that the required equipment cost is high, the detection cost is high, the method for positioning the key points of the fan by the angular point detection method so as to further calculate the space position coordinates of the key points is adopted, and the error in the key point positioning step is easy to cause the deviation of the final pose calculation result.
Drawings
Fig. 1 is a schematic flow chart of a method for measuring shutdown attitude parameters of a wind turbine according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of an S12 according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of S13 according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a tower height measuring method of a wind turbine provided in an embodiment of the present invention;
fig. 5 is a schematic flow chart of a method for measuring a distance between an unmanned aerial vehicle and a wind turbine according to an embodiment of the present invention;
fig. 6 is a schematic diagram of an unmanned aerial vehicle provided in an embodiment of the present invention flying to a plane pi of a wind wheel;
FIG. 7 is a schematic diagram of a tower height measurement and calculation provided by an embodiment of the present invention;
FIG. 8 is a schematic diagram of a relationship between a point in space in a camera coordinate system and an image coordinate system according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a method for measuring blade pitch angle parameters according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a shutdown attitude parameter measuring device of a wind turbine according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For the convenience of understanding of the embodiments of the present invention, the following description will be further explained with reference to specific embodiments, which are not to be construed as limiting the embodiments of the present invention.
Fig. 1 is a schematic flow chart of a method for measuring a shutdown attitude parameter of a wind turbine generator according to an embodiment of the present invention, as shown in fig. 1, specifically including:
s11, acquiring the transverse-longitudinal ratio of the rectangular boundary identification frame of each blade of the target wind driven generator to be measured for the shutdown attitude parameters.
The method and the device for acquiring the shutdown attitude parameters of the wind driven generator utilize the vision of the unmanned aerial vehicle to acquire the shutdown attitude parameters of the wind driven generator, wherein the shutdown attitude parameters include but are not limited to parameters such as a yaw angle, a blade inclination angle, the height of a tower column of the wind driven generator, the distance between the unmanned aerial vehicle and the wind driven generator and the like.
Firstly, starting and controlling an unmanned aerial vehicle to fly to a preset position to hover, wherein the preset position can be a position which is 1.5-2 blades away from a tower column, then controlling the unmanned aerial vehicle to slowly fly from bottom to top, acquiring a video stream through an image sensor in the flying process of the unmanned aerial vehicle, simultaneously processing the video stream by using a target recognition and segmentation algorithm, controlling the unmanned aerial vehicle to fly around the circumference of the tower column at the current height when a hub or a generator is stably recognized, continuously detecting the blades in the video stream, and calculating the relative positions of the three blades and the transverse-longitudinal ratio (the width/height of a rectangular boundary recognition frame) of the rectangular boundary recognition frame of each blade in real time when the three blades of the wind driven generator are detected and recognized.
And S12, determining a yaw angle parameter formed between the wind wheel plane direction vector of the target wind driven generator and the Y axis in the northeast sky coordinate system based on the transverse-longitudinal ratio.
Based on the obtained transverse-longitudinal ratios of the rectangular boundary identification frames of the blades, when the unmanned aerial vehicle flies around, the minimum value of the transverse-longitudinal ratios of the three rectangular boundary identification frames is used as the rectangular frame metric value at the moment. Determining two positions P with minimum rectangular frame metric value in the process of circling a flight 1 And P 2 As shown in fig. 6, it is shown that the unmanned aerial vehicle flies to the plane pi of the wind wheel at this time, and the data of the position sensor is read to obtain the key position point P at this time 1 And point P 2 The two positions are not necessarily completely symmetrical, but the total variation trend around the circle is the smallest at the position in the plane of the wind wheel, the transverse-longitudinal ratio is gradually increased beyond the two positions, and the influence of some deviation on the position on the final result is negligible due to the large shape of the wind turbine. According to P 1 Position information of (1), P 2 And calculating the direction vector of the plane pi of the wind wheel according to the position information of the wind turbine tower column and the position information of the wind turbine tower column, thereby further calculating the yaw angle formed between the direction vector and the Y axis in the northeast sky coordinate system (ENU).
And S13, determining a blade inclination angle parameter of the target wind driven generator based on the yaw angle parameter.
When the unmanned aerial vehicle is controlled to fly to the position right in front of the wind wheel surface of the wind driven generator and the positions of the three wind driven generator blades can be identified at the same time, the blade inclination angle parameters are measured and calculated according to the detected blade positions. Because the three blades arranged on the hub of the wind driven generator are uniformly distributed and form an angle of 120 degrees with each other, the blade closest to the tower column of the wind driven generator in the counterclockwise direction only needs to be measured and calculated, the blade can be marked as a No. 1 blade, the included angle theta between the blade and the tower column is calculated, and the angular positions of the other two blades only need to be increased by 120 degrees and 240 degrees above the reference included angle theta. As shown in fig. 9, due to the aforementioned dynamic adjustment, at this time, the unmanned aerial vehicle has flown to the position right in front of the hub, which is parallel to the plane of the wind wheel of the wind turbine, so that the included angle between the diagonal line of the rectangular bounding box of the # 1 blade and the vertical tower column is the blade tilt angle parameter θ.
According to the method for measuring the shutdown attitude parameters of the wind driven generator, provided by the embodiment of the invention, the transverse-longitudinal ratio of a rectangular boundary identification frame of each blade of a target wind driven generator to be measured for the shutdown attitude parameters is obtained; determining a yaw angle parameter formed between a wind wheel plane direction vector of the target wind driven generator and a Y axis in a northeast sky coordinate system based on the transverse-longitudinal ratio; the method comprises the steps that a blade inclination angle parameter of a target wind driven generator is determined based on the yaw angle parameter, compared with the prior art, equipment needed by a method for obtaining accurate point cloud data through laser radar equipment is high in cost and detection cost, key points of the wind driven generator are located through an angle point detection method, and therefore spatial position coordinates of the key points are further calculated, the problem that errors in the key point locating step are prone to cause large deviation of final pose calculation results is solved, the method can obtain the halt pose parameter of the wind driven generator based on unmanned aerial vehicle vision, can obtain the halt pose parameter of the wind driven generator efficiently and accurately at low cost, and improves unmanned aerial vehicle automatic routing inspection and operation and maintenance efficiency.
Fig. 2 is a schematic flowchart of an S12 according to an embodiment of the present invention, and as shown in fig. 2, the method specifically includes:
and S21, taking the minimum value in the aspect ratio as a rectangular frame measurement value.
S22, when the unmanned aerial vehicle flies for one circle around the circumference of the tower column of the target wind driven generator, determining two pieces of relative target position information with the minimum rectangular frame measurement value.
And S23, determining a direction vector of the plane of the wind wheel based on the two pieces of relative target position information and the first position information of the tower column.
And S24, determining a yaw angle parameter formed between the direction vector and the Y axis in the northeast coordinate system based on the direction vector.
Hereinafter, S21 to S24 will be collectively described:
the method comprises the steps of starting an unmanned aerial vehicle to operate, controlling the unmanned aerial vehicle to fly to a position which is about 1.5-2 blades away from a tower foundation to hover according to position information of a WGS-84 coordinate system of a tower of the wind driven generator to be detected, then controlling the unmanned aerial vehicle to slowly fly from bottom to top, collecting video streams through an image sensor in the flying process of the unmanned aerial vehicle, operating a Mask-RCNN target recognition and segmentation algorithm to process the video streams, and controlling the unmanned aerial vehicle to fly around the circumference of the tower at the current height for a circle when the Mask of the hub or the generator and a rectangular boundary recognition frame can stably appear after the algorithm is trained through preset sample data, so as to continuously detect the blades in the video streams, and calculating the relative positions of the three blades and the transverse-longitudinal ratio (the width/height of the rectangular boundary recognition frame) of the rectangular boundary recognition frame of each blade in real time when the three blades of the wind driven generator are detected.
Further, when the unmanned aerial vehicle flies in a surrounding manner, the minimum value of the transverse-longitudinal ratios of the three rectangular frames is used as the metric value of the rectangular frame at the moment, and in the process that the unmanned aerial vehicle flies in a surrounding manner for one circle, two positions P with the minimum rectangular frame metric value are found 1 And P 2 The two positions are not necessarily completely symmetrical, but the total variation trend around the circle is the minimum position located on the plane of the wind wheel, the transverse-longitudinal ratio crossing the two positions is gradually increased, and as the appearance of the wind driven generator is large, the influence of some deviation on the positions on the final result is negligible, as shown in fig. 6, the unmanned aerial vehicle flies to the plane pi of the wind wheel, wherein P is the value of P 1 And P 2 The wind power generator is positioned on a wind wheel plane, flies around the circumference of a tower column of a wind power generator by a surrounding flying finger, and the radius can be 2 blades; two positions P on the wind wheel surface are known at present 1 And P 2 And the position of the tower column can be estimated, and the approximate position of the air outlet wheel surface can be readGet embedded GPS sensor in unmanned aerial vehicle, can acquire key position point P this moment in real time 1 And the position information of (2) and the point P 2 According to P 1 Position information of (1), P 2 The position information of the wind turbine tower column and the position information of the wind turbine tower column can calculate a direction vector of a wind wheel plane pi, and further calculate a yaw angle parameter formed between the direction vector and a Y axis in an northeast sky coordinate system (ENU).
Fig. 3 is a schematic flowchart of a process S13 according to an embodiment of the present invention, as shown in fig. 3, specifically including:
and S31, determining the plane position information of the wind wheel of the target wind driven generator based on the yaw angle parameter.
And S32, acquiring rectangular bounding box identification information and relative position information of all blades of the target wind driven generator based on the plane position information of the wind wheel.
And S33, determining blade inclination angle parameters based on the wind wheel plane position information, the rectangular bounding box identification information of all the blades and the relative position information.
Hereinafter, S31 to S33 will be collectively described:
when the unmanned aerial vehicle is controlled to fly to be positioned right in front of the wind wheel surface of the wind driven generator and the positions of the three blades of the wind driven generator can be identified at the same time, the blade inclination angle parameters are measured and calculated according to the detected positions of the blades. Because the three blades arranged on the hub of the wind driven generator are uniformly distributed and form an angle of 120 degrees with each other, the blade closest to the tower column of the wind driven generator in the counterclockwise direction only needs to be measured and calculated, the blade can be marked as a No. 1 blade, the included angle theta between the blade and the tower column is calculated, and the angular positions of the other two blades only need to be increased by 120 degrees and 240 degrees above the reference included angle theta. As shown in fig. 9, due to the aforementioned dynamic adjustment, at this time, the unmanned aerial vehicle has flown to the position right in front of the hub, which is parallel to the wind wheel plane of the wind turbine, so that the included angle between the diagonal line of the rectangular bounding box of the # 1 blade and the vertical tower column is the blade tilt angle parameter θ.
Fig. 4 is a schematic flow chart of a method for measuring a tower height of a wind turbine provided in an embodiment of the present invention, as shown in fig. 4, specifically including:
s41, controlling the unmanned aerial vehicle to fly to a preset target position and recording second position information of the unmanned aerial vehicle in a WGS-84 coordinate system.
And S42, determining a Z coordinate value of the unmanned aerial vehicle under a northeast coordinate system with the tower column base as an origin based on the second position information.
And S43, taking the Z coordinate value as the tower column height of the target wind driven generator.
Hereinafter, the following description will be made collectively for S41 to S43:
with reference to fig. 7, after the yaw angle parameter is obtained, the position of the wind wheel plane of the wind driven generator is estimated, and the unmanned aerial vehicle is controlled to fly around to the front of the wind wheel plane, namely, the unmanned aerial vehicle is represented as the front when only the hub part is identified by the image identification algorithm, and is represented as the rear when only the starting motor part is identified. The method comprises the steps of dynamically adjusting the up-down left-right flight path of an unmanned aerial vehicle in real time according to the position of a hub rectangular boundary identification frame on an image, when the hub rectangular boundary identification frame is adjusted to the position of the image central position, the unmanned aerial vehicle hovers, the front and back positions of a wind wheel surface of a wind driven generator need to be further distinguished by other characteristics, when the hub rectangular boundary identification frame is in the front of the hub rectangular boundary identification frame, a hub and blades are arranged, a generator is shielded, the image central position refers to the geometric center point of the image, namely the 1/2 width, and the 1/2 height position, the position information (longitude, latitude and elevation) of a WGS-84 coordinate system of the unmanned aerial vehicle at the moment is recorded, namely the position point P, the height of the unmanned aerial vehicle from the ground level is measured, namely the Z coordinate value of the unmanned aerial vehicle under the northeast-north coordinate system with a tower column base as the origin. Since the unmanned aerial vehicle is equal to the hub center at the moment, the value is the height of the tower column of the wind driven generator, and the specific calculation method is as follows:
marking as the origin of coordinates P on the tower column of the wind driven generator 0 It is expressed in the WGS-84 coordinate system as:
LLA 0 ＝(lon 0 ,lat 0 ,alt 0 ) And expressed in ECEF coordinate system as:
P 0 ＝(x 0 ,y 0 ,z 0 ) A 1 is to P 0 Conversion from WGS-84 to ECEThe coordinate system F can be expressed by the formula (1),
wherein e is the eccentricity of the ellipsoid, N is the curvature radius of the reference ellipsoid, and the calculation of the data is shown in the formula (2),
wherein a is the equatorial radius of the earth and b is the polar radius of the earth.
Similarly, according to the formula (1) and the formula (2), the longitude and latitude height data of the position point P in the WGS-84 coordinate system is converted into the ECEF coordinate system, and is marked as P = (x, y, z), and then the numerical value of the point P in the ENU coordinate system is calculated according to the formula (3):
where S is a transformation matrix of the form,
and finally, the numerical value of the U component under the ENU coordinate system is the tower height of the wind driven generator.
Fig. 5 is a schematic flow chart of a method for measuring a distance between an unmanned aerial vehicle and a wind turbine provided in an embodiment of the present invention, as shown in fig. 5, specifically including:
and S51, obtaining the hub size information of the target wind driven generator.
S52, third position information of the hub rectangular boundary recognition frame in the collected image of the target wind driven generator is obtained.
S53, determining the distance between the unmanned aerial vehicle and the target wind driven generator based on the hub size information and the third position information.
Hereinafter, the following description will be made collectively for S51 to S53:
when the unmanned aerial vehicle flies and adjusts in the right front of the wind wheel plane of the wind driven generator, the position of a hub rectangular boundary recognition frame in an acquired image of a target wind driven generator and the hub size information of the hub rectangular boundary recognition frame are detected in real time, the hub size information of the wind driven generator can be acquired by a wind driven generator manufacturer and mainly comprises hub model data, a visual sensor carried on the unmanned aerial vehicle acquires camera internal parameters of the visual sensor through a plane calibration method, wherein the focal length is set to be f, and according to the conversion relation between the small hole imaging principle of visual measurement and a visual coordinate system, as shown in fig. 8, the position of a certain point in space under the camera coordinate system is recorded as (X is X) (the position of the certain point in space under the camera coordinate system is recorded as c ，Y c ，Z c ) And is denoted as (x) in the image coordinate system c ，y c ) The correspondence between them is as shown in formula (4):
let the actual width and height of the hub be Δ X c And Delta Y c The measured width and height on the imaging plane are respectively Δ x c And Δ y c Then the distance D between the drone and the wind generator can be calculated according to equation (5):
according to the distance and the depth measured and calculated in real time, the flight position of the unmanned aerial vehicle can be dynamically adjusted, the distance between the unmanned aerial vehicle and the plane of the wind wheel of the wind driven generator is controlled, and when the distance reaches a proper distance, the unmanned aerial vehicle hovers to prepare for subsequent measurement and calculation of blade inclination angle parameters.
In the invention, on hardware equipment, a pure vision-based technical route scheme is adopted, and only a high-resolution visible light camera is used for collecting image information, thereby replacing laser radar equipment in the prior art; in the aspect of algorithm processing, a target segmentation method based on deep learning and a depth estimation method based on visual measurement are comprehensively used, various parameters of the shutdown attitude of the wind driven generator can be simply, efficiently and conveniently acquired, and the automation degree of unmanned aerial vehicle routing inspection is effectively improved.
The method for measuring the shutdown attitude parameters of the wind driven generator provided by the embodiment of the invention comprises the steps of obtaining the transverse-longitudinal ratio of a rectangular boundary identification frame of each blade of a target wind driven generator to be measured for the shutdown attitude parameters; determining a yaw angle parameter formed between a wind wheel plane direction vector of the target wind driven generator and a Y axis in a northeast sky coordinate system based on the transverse-longitudinal ratio; the blade inclination angle parameter of the target wind driven generator is determined based on the yaw angle parameter, and the method is used for obtaining the shutdown attitude parameter of the wind driven generator based on the vision of the unmanned aerial vehicle, so that the shutdown attitude parameter of the wind driven generator can be obtained efficiently and accurately at low cost, and the automatic inspection efficiency of the unmanned aerial vehicle is improved.
Fig. 10 is a schematic structural diagram illustrating a device for measuring a shutdown posture parameter of a wind turbine according to an embodiment of the present invention. As shown in fig. 10, the apparatus includes:
the obtaining module 1001 is configured to obtain a transverse-longitudinal ratio of a rectangular boundary identification frame of each blade of the target wind turbine generator to be measured with the shutdown attitude parameter, for detailed description, refer to relevant descriptions corresponding to the foregoing method embodiments, and no further description is provided here.
A determining module 1002, configured to determine a yaw angle parameter formed between a wind wheel plane direction vector of the target wind turbine and a Y axis in a northeast sky coordinate system based on the transverse-longitudinal ratio. For a detailed description, reference is made to the corresponding related description of the above method embodiments, which is not repeated herein.
The determining module 1002 is further configured to determine a blade pitch angle parameter of the target wind turbine based on the yaw angle parameter. For a detailed description, reference is made to the corresponding related description of the above method embodiments, which is not repeated herein.
The device for measuring the shutdown attitude parameters of the wind driven generator according to the embodiment of the present invention is used for executing the method for measuring the shutdown attitude parameters of the wind driven generator according to the embodiment, and the implementation manner and the principle thereof are the same.
Fig. 11 shows an electronic device according to an embodiment of the present invention, as shown in fig. 11, the electronic device may include a processor 901 and a memory 902, where the processor 901 and the memory 902 may be connected by a bus or by another method, and fig. 11 takes the example of being connected by a bus as an example.
The memory 902, which is a non-transitory computer readable storage medium, can be used for storing non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the methods provided in the embodiments of the present invention. The processor 901 executes various functional applications and data processing of the processor, i.e. implements the methods in the above-described method embodiments, by running non-transitory software programs, instructions and modules stored in the memory 902.
The memory 902 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor 901, and the like. Further, the memory 902 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 902 may optionally include memory located remotely from the processor 901, which may be connected to the processor 901 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
One or more modules are stored in the memory 902, which when executed by the processor 901 performs the methods in the above-described method embodiments.
The specific details of the electronic device may be understood by referring to the corresponding related descriptions and effects in the above method embodiments, and are not described herein again.
Those skilled in the art will appreciate that all or part of the processes in the methods of the embodiments described above can be implemented by hardware instructed by a computer program, and the program can be stored in a computer readable storage medium, and when executed, the program can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk Drive (Hard Disk Drive, abbreviated as HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (10)
1. A method for measuring shutdown attitude parameters of a wind driven generator is characterized by comprising the following steps:
acquiring the transverse-longitudinal ratio of a rectangular boundary identification frame of each blade of a target wind driven generator to be measured for shutdown attitude parameters;
determining a yaw angle parameter formed between a wind wheel plane direction vector of the target wind driven generator and a Y axis in a northeast sky coordinate system based on the transverse-longitudinal ratio;
determining a blade pitch angle parameter of the target wind turbine based on the yaw angle parameter.
2. A method according to claim 1, wherein said determining a yaw angle parameter formed between a wind rotor plane direction vector of the target wind turbine and a Y-axis in a northeast sky coordinate system based on the aspect ratio comprises:
taking the minimum value in the transverse-longitudinal ratio as a rectangular frame metric value;
when the unmanned aerial vehicle flies for one circle around the circumference of the tower column of the target wind driven generator, determining two pieces of relative target position information with the minimum rectangular frame metric value;
determining a direction vector of the plane of the wind wheel based on the two pieces of relative target position information and the first position information of the tower column;
a yaw angle parameter formed between the direction vector and a Y-axis in a northeast coordinate system is determined based on the direction vector.
3. The method of claim 2, wherein determining a blade pitch parameter of the target wind turbine based on the yaw angle parameter comprises:
determining wind wheel plane position information of the target wind driven generator based on the yaw angle parameter;
acquiring rectangular bounding box identification information and relative position information of all blades of the target wind driven generator based on the wind wheel plane position information;
and determining blade inclination angle parameters based on the wind wheel plane position information, the rectangular bounding box identification information of all the blades and the relative position information.
4. The method of claim 2, further comprising:
and determining the tower height of the target wind driven generator based on the yaw angle parameter and the real-time position information of the unmanned aerial vehicle.
5. The method of claim 4, wherein determining the tower height of the target wind turbine based on the yaw angle parameter and real-time position information of the drone comprises:
controlling the unmanned aerial vehicle to fly to a preset target position and recording second position information of the unmanned aerial vehicle in a WGS-84 coordinate system;
determining a Z coordinate value of the unmanned aerial vehicle in a northeast coordinate system with a tower column base as an origin based on the second position information;
and taking the Z coordinate value as the tower height of the target wind driven generator.
6. The method of claim 5, further comprising:
obtaining hub size information of the target wind driven generator;
acquiring third position information of the hub rectangular boundary recognition frame in the acquired image of the target wind driven generator;
determining a distance of the drone from the target wind generator based on the hub size information and the third location information.
7. The method of claim 6, further comprising:
dynamically adjusting the hovering position of the unmanned aerial vehicle based on the distance between the unmanned aerial vehicle and the target wind driven generator, and calculating the blade inclination angle parameter of the target wind driven generator.
8. A shutdown attitude parameter measurement device of a wind driven generator is characterized by comprising:
the acquisition module is used for acquiring the transverse-longitudinal ratio of a rectangular boundary identification frame of each blade of the target wind driven generator to be measured for the shutdown attitude parameters;
the determining module is used for determining a yaw angle parameter formed between a wind wheel plane direction vector of the target wind driven generator and a Y axis in a northeast sky coordinate system based on the transverse-longitudinal ratio;
the determining module is further configured to determine a blade pitch angle parameter of the target wind turbine based on the yaw angle parameter.
9. An electronic device, comprising: a processor and a memory, the processor being configured to execute a wind turbine generator stop posture parameter measurement program stored in the memory to implement the wind turbine generator stop posture parameter measurement method according to any one of claims 1 to 7.
10. A storage medium storing one or more programs executable by one or more processors to implement the method for measuring a shutdown attitude parameter of a wind turbine according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210874406.7A CN115143056B (en) | 2022-07-21 | 2022-07-21 | Method and device for measuring shutdown attitude parameters of wind driven generator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210874406.7A CN115143056B (en) | 2022-07-21 | 2022-07-21 | Method and device for measuring shutdown attitude parameters of wind driven generator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115143056A true CN115143056A (en) | 2022-10-04 |
| CN115143056B CN115143056B (en) | 2023-06-16 |
Family
ID=83414740
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210874406.7A Active CN115143056B (en) | 2022-07-21 | 2022-07-21 | Method and device for measuring shutdown attitude parameters of wind driven generator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115143056B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117307414A (en) * | 2023-09-26 | 2023-12-29 | 金开智维(宁夏)科技有限公司 | Unmanned aerial vehicle aerial photography-based fan blade detection method and device and electronic equipment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090039651A1 (en) * | 2007-07-20 | 2009-02-12 | Siemens Aktiengesellschaft | Method for wind turbine yaw control |
| US20180003161A1 (en) * | 2016-06-30 | 2018-01-04 | Unmanned Innovation, Inc. | Unmanned aerial vehicle wind turbine inspection systems and methods |
| CN108843492A (en) * | 2018-06-19 | 2018-11-20 | 上海扩博智能技术有限公司 | Fan yaw angle measuring method and system are carried out by unmanned plane |
| CN108869197A (en) * | 2018-06-27 | 2018-11-23 | 上海扩博智能技术有限公司 | Blower high precision measurement method and system are carried out by unmanned plane |
| CN108915959A (en) * | 2018-06-27 | 2018-11-30 | 上海扩博智能技术有限公司 | By unmanned plane to blower tip region detour detection method and system |
| CN112096566A (en) * | 2020-08-27 | 2020-12-18 | 上海扩博智能技术有限公司 | Method, system, equipment and medium for acquiring shutdown state parameters of fan |
-
2022
- 2022-07-21 CN CN202210874406.7A patent/CN115143056B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090039651A1 (en) * | 2007-07-20 | 2009-02-12 | Siemens Aktiengesellschaft | Method for wind turbine yaw control |
| US20180003161A1 (en) * | 2016-06-30 | 2018-01-04 | Unmanned Innovation, Inc. | Unmanned aerial vehicle wind turbine inspection systems and methods |
| CN108843492A (en) * | 2018-06-19 | 2018-11-20 | 上海扩博智能技术有限公司 | Fan yaw angle measuring method and system are carried out by unmanned plane |
| CN108869197A (en) * | 2018-06-27 | 2018-11-23 | 上海扩博智能技术有限公司 | Blower high precision measurement method and system are carried out by unmanned plane |
| CN108915959A (en) * | 2018-06-27 | 2018-11-30 | 上海扩博智能技术有限公司 | By unmanned plane to blower tip region detour detection method and system |
| CN112096566A (en) * | 2020-08-27 | 2020-12-18 | 上海扩博智能技术有限公司 | Method, system, equipment and medium for acquiring shutdown state parameters of fan |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117307414A (en) * | 2023-09-26 | 2023-12-29 | 金开智维(宁夏)科技有限公司 | Unmanned aerial vehicle aerial photography-based fan blade detection method and device and electronic equipment |
| CN117307414B (en) * | 2023-09-26 | 2024-05-03 | 金开智维(宁夏)科技有限公司 | Unmanned aerial vehicle aerial photography-based fan blade detection method and device and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115143056B (en) | 2023-06-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112525162B (en) | System and method for measuring image distance of power transmission line by unmanned aerial vehicle | |
| US20220003213A1 (en) | Unmanned Aerial Vehicle Wind Turbine Inspection Systems And Methods | |
| CN106525025B (en) | A kind of Intelligent Mobile Robot route planning air navigation aid | |
| US9759200B2 (en) | Wind tower and wind farm inspections via unmanned aircraft systems | |
| US10703479B2 (en) | Unmanned aerial vehicle, control systems for unmanned aerial vehicle and control method thereof | |
| JP2019035736A (en) | System and method for laser speckle for aircraft | |
| CN113759960B (en) | Unmanned aerial vehicle-based fan blade and tower barrel inspection identification system and method | |
| WO2019119184A1 (en) | Terrain prediction method, device and system, and drone | |
| CN108915959B (en) | Method and system for detecting bypassing of fan blade tip area through unmanned aerial vehicle | |
| JP2014119828A (en) | Autonomous aviation flight robot | |
| CN114296483B (en) | Intelligent inspection method and electronic equipment for wind driven generator in non-stop state | |
| CN113066120B (en) | Intelligent pole and tower inclination detection method based on machine vision | |
| CN109031312A (en) | Flying platform positioning device and localization method suitable for chimney inside processing | |
| US20230105991A1 (en) | Method of imaging a wind turbine rotor blade | |
| CN116501091B (en) | Fan inspection control method and device based on unmanned aerial vehicle automatic adjustment route | |
| US20230196612A1 (en) | Method and system for object detection | |
| CN115143056B (en) | Method and device for measuring shutdown attitude parameters of wind driven generator | |
| CN111290417A (en) | Method and device for generating fan inspection route, computer equipment and storage medium | |
| CN108843492B (en) | Method and system for measuring and calculating fan yaw angle through unmanned aerial vehicle | |
| Guo et al. | Detecting and positioning of wind turbine blade tips for uav-based automatic inspection | |
| EP3757512A1 (en) | Aircraft imaging system using projected patterns on featureless surfaces | |
| WO2019103621A1 (en) | Wind turbine blade orientation detection | |
| CN115442532A (en) | Method, system, equipment and storage medium for inspecting fan without stopping | |
| US20210199798A1 (en) | Continuous wave radar terrain prediction method, device, system, and unmanned aerial vehicle | |
| CN115773209A (en) | Fan blade clearance detection device and detection method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |