A kind of marine wind electric field unmanned plane method for inspectingTechnical field
The present invention relates to unmanned plane inspection field more particularly to a kind of marine wind electric field unmanned plane method for inspecting.
Background technique
Since offshore wind farm field distribution is wide, sea climate bad environments, the operation inspection work of wind power plant is very difficult,Higher cost, it is difficult to according to the operation and management mode management of land traditional wind power plant.Offshore boosting station in wind power plant, holdsThe important task for carrying on a shoulder pole entire power plant's electric energy transmission and distribution, is a ring important in wind power plant operational management.Meanwhile the wind of wind power plantMachine is at high cost and running environment is severe, how to find and exclude in time fan trouble, it is ensured that the safe and reliable operation of blower, veryIt is important.The home court of the current offshore wind power development in China, is mainly arranged in coastal, and coastal faces broad beach and shallow water seaBed.O&M operation is obvious by tidal effect, the bad working environments such as existing typhoon, and there is also more changjiang-Huaihe cyclone strong wind, group mist, thunderRainy day gas, and have substantially shoal, each tidal effect in intertidal zone is obvious, sensible difficulty, and transit equipment selection is difficult, and sea maintenance is madeIndustry effective time is short, and security risk is big and lacks major repair equipment.
Marine wind electric field operation and maintenance need to comprehensively consider offshore distance, meteorological sea situation, unit failure rate, maintenance activities, hairThe configuration because usually carrying out O&M ship such as electric energy power, O&M economy.In general fairly large wind power plant uses fleet's shapeFormula, including various forms of ships, such as tender, professional O&M ship, professional O&M lash ship, rescue monitoring ship and other special toolsJourney ship.Offshore boosting station and blower are only configured with corresponding camera in inside, to the inside of offshore boosting station and blower intoRow observation in real time.But the AIS reception device of configuration, is only able to display the real-time dynamic of ship, can not clearly enter offshore wind farmThe concrete behavior of threatening watercraft, the fan blade sensor of configuration can not identify the micro-cracks of blade in.So thatSea area in marine wind electric field and fan blade are observed in the prior art, need to send corresponding O&M ship to show up inspection, so thatOffshore wind farm O&M cost is very high.
Summary of the invention
The present invention provides a kind of marine wind electric field unmanned plane method for inspecting, by marine wind electric field unmanned plane inspection, withThe concrete behavior of threatening watercraft in marine wind electric field can not clearly be entered by solving the prior art, and can not be split to the subtle of bladeThe technical issues of seam is identified to efficiently carry out inspection to offshore wind farm field marine and blower in time, and then is realizedThe intelligence for improving marine wind electric field, effectively lowers operation maintenance cost, determines the safe and reliable operation of marine wind electric field.
In order to solve the above-mentioned technical problem, the embodiment of the invention provides a kind of marine wind electric field unmanned plane method for inspecting,Include:
At sea automatic airport is disposed on booster stations roof, controls the full-automatic landing of unmanned plane, replacement electricity by network remotePond and Mission Operations；
Control carries the unmanned plane of varifocal camera and laser radar from the automatic field takeoff, to blower and seaBooster stations surrounding waters carries out complete autonomous path planning and image taking；
The fan blade of the unmanned plane shooting and the image in sea area are obtained, event is carried out to image by deep learning algorithmHinder analysis processing, identifies blower crack and marine vessel.
Preferably, the unmanned plane carries out complete autonomous path planning, comprising:
Whether the weather and wind behaviour for successively judging offshore boosting station meet stable operating conditions, if satisfied, then simultaneouslyJudge whether the unmanned machine battery has electricity, if controlling change battery, and charge the battery without electricity；
Start automatic detecting program, plans inspection route；
Above unmanned plane during flying to specified blower or above specified ship, when unmanned plane is gone up to the air automatically to specified altitude assignmentAfterwards, it will rise automatically and calculate axial fan hub centre-height；
Described each blade of unmanned plane automatic detecting, each blade inspection mulitpath；
After airline operation finishes, unmanned plane returns to the automatic airport of offshore boosting station, that is, takeoff point overhead, controls automatic machineField hatch door is opened, and unmanned plane lands automatically, terminates patrol task.
Preferably, when the unmanned plane rises to hub centre automatically, confirmation hub centre and unmanned seat in the planeWhether have deviation, if so, being then finely adjusted to unmanned plane, after hub centre is adjusted, continue patrol task if setting.
Preferably, each 4 paths of blade inspection, single blade is according to leading edge, rear, windward side, back4, wind face region is shot.
Preferably, the image obtained to unmanned plane is handled, comprising:
The resolution ratio for obtaining unmanned plane shooting is the target image of 1mm*3mm；
To the single blade in the target image according to 4 leading edge, rear, windward side, leeward regions, pass through dataProcessing is spliced into 4 entirety and schemes greatly；
Each path is individually spliced into one big figure, and at the same time arbitrarily damaging on locating blades by big figure and flight logHurt position.
Preferably, before the unmanned plane carries out image taking to blower and offshore boosting station surrounding waters,It further include that location navigation is carried out to fan blade or ship.
It is preferably, described that location navigation is carried out to fan blade or ship, comprising:
Holder increases unmanned plane load steady；
The laser radar carried on unmanned plane measures blower or ship；
Camera locks photographing objective；
Unmanned plane and fan blade distance 10m fly along blade two sides respectively；Or unmanned plane headroom 10m above ship,It flies respectively along hull.
It is preferably, described that fault analysis and handling is carried out to image by deep learning algorithm, comprising:
Image recognition is carried out to fan blade defect type；
It casts anchor, hit to ship the picture catching and identification of blower or offshore boosting station basis；
Further include:
It controls unmanned plane and carries out real-time video transmission and video recording, provide fan blade failure not after carrying out identification failure and endangerDangerous ship tracking report.
Preferably, the fan blade defect type, comprising: blade gel coat falls off, damages, transversal crack and oilIt is dirty.
Preferably, the automatic airport is carried out having a size of 1.55m*1.55m*1.55m, airport using fixing boltInstallation, the depletion region of scene setting 3.4m × 1.7m；Scene setting 220V alternating current；10Mbps or more cable network, bandwidthIt is required that uplink and downlink is reciprocity；Automatic weather station is being set at automatic airport distance > 2 meter.
Compared with the prior art, the embodiment of the present invention has the following beneficial effects:
1, automatic lifting stick, flight, the supplement energy may be implemented in complete scene automation, unmanned plane；Both more rotors had been solvedUnmanned plane is insufficient cruise duration, can not arrive at field operation, and remove the trouble that personnel go to field operation from；
2, UAV Intelligent plans flight track automatically, differentiates fan condition, course angle and fan blade rotation including blowerPosition solves the problems, such as that unmanned plane is corresponding with blower, the initial relative coordinate relationship of fan blade；Meanwhile can be to offshore boosting station nearSea area ship carries out inspection, identifies to the threatening watercraft for being strayed into offshore wind farm field areas.
3, unmanned plane can plan blade inspection countermeasures automatically according to blade position, so that unmanned plane inspection shooting knotFruit reaches standard and stability requirement；
4, it can be measured in real time by the method for deep learning, find defect target and mark, to new defect targetScreenshot saves, and provides manual examination and verification function, can automatically generate blower and sea area inspection report.
Detailed description of the invention
Fig. 1: for the marine wind electric field unmanned plane inspection solution framework schematic diagram in the embodiment of the present invention；
Fig. 2: for the marine wind electric field unmanned plane inspection scheme system topology schematic diagram in the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, completeSite preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based onEmbodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every otherEmbodiment shall fall within the protection scope of the present invention.
Referring to Fig.1 and 2, the preferred embodiment of the present invention provides a kind of marine wind electric field unmanned plane method for inspecting, packetInclude: at sea automatic airport is disposed on booster stations roof, is controlled the full-automatic landing of unmanned plane, replacement battery by network remote and is appointedBusiness operation；Control carries the unmanned plane of varifocal camera and laser radar from the automatic field takeoff, to blower and seaBooster stations surrounding waters carries out complete autonomous path planning and image taking；Obtain fan blade and the sea area of the unmanned plane shootingImage, fault analysis and handling is carried out to image by deep learning algorithm, identifies blower crack and marine vessel.
In the present embodiment, the unmanned plane carries out complete autonomous path planning, comprising: successively judges the day of offshore boosting stationWhether gas and wind behaviour meet stable operating conditions, if satisfied, then judging whether the unmanned machine battery has electricity simultaneously, if nothingElectricity then controls change battery, and charges the battery；Start automatic detecting program, plans inspection route；Unmanned plane during flying is extremelyAbove specified blower or above specified ship, after unmanned plane is gone up to the air automatically to specified altitude assignment, it will rise automatically and calculate windWheel hub centre-height；Described each blade of unmanned plane automatic detecting, each blade inspection mulitpath；Airline operation finishesLater, unmanned plane returns to the automatic airport of offshore boosting station, that is, takeoff point overhead, controls automatic airport hatch door and opens, unmanned plane is automaticLanding terminates patrol task.
In the present embodiment, when the unmanned plane rises to hub centre automatically, confirmation hub centre and unmanned seat in the planeWhether have deviation, if so, being then finely adjusted to unmanned plane, after hub centre is adjusted, continue patrol task if setting.
In the present embodiment, each 4 paths of blade inspection, single blade is according to leading edge, rear, windward side, back4, wind face region is shot.
In the present embodiment, the image obtained to unmanned plane is handled, comprising: obtains the resolution of unmanned plane shootingRate is the target image of 1mm*3mm；To the single blade in the target image according to leading edge, rear, windward side, leeward 4A region is spliced into 4 entirety by data processing and schemes greatly；Each path is individually spliced into one big figure, and at the same time byBig figure and flight log, any damage position on locating blades.
In the present embodiment, before the unmanned plane carries out image taking to blower and offshore boosting station surrounding waters,It further include that location navigation is carried out to fan blade or ship.
In the present embodiment, described that location navigation is carried out to fan blade or ship, comprising: holder increases unmanned plane loadSurely；The laser radar carried on unmanned plane measures blower or ship；Camera locks photographing objective；Unmanned plane and blower paddleBlde pitch is flown along blade two sides respectively from 10m；Or unmanned plane headroom 10m above ship, it flies respectively along hull.
In the present embodiment, described that fault analysis and handling is carried out to image by deep learning algorithm, comprising: to blower leafPiece defect type carries out image recognition；It casts anchor, hit to ship the picture catching and identification of blower or offshore boosting station basis；AlsoInclude: that control unmanned plane carries out real-time video transmission and video recording, carries out providing fan blade failure after identification failure not and dangerousShip tracking report.
In the present embodiment, the fan blade defect type, comprising: blade gel coat falls off, damages, transversal crack and oilIt is dirty.
In the present embodiment, the automatic airport is carried out having a size of 1.55m*1.55m*1.55m, airport using fixing boltInstallation, the depletion region of scene setting 3.4m × 1.7m；Scene setting 220V alternating current；10Mbps or more cable network, bandwidthIt is required that uplink and downlink is reciprocity；Automatic weather station is being set at automatic airport distance > 2 meter.
Combined with specific embodiments below, the present invention is described in detail.
(1) acquisition of data
1st, unmanned machine check/expansion: the backstage personnel of land centralized control center, under send instructions to automatic airport nobodyMachine.After unmanned plane is connected to instruction, specified windmill seat in the plane can be flown to, check unmanned plane equipment state and chooses suitable takeoff pointUnmanned plane is unfolded；
2nd, take off: the operator of land centralized control center clicks earth station's operation interface and takes off button, unmanned plane incite somebody to action fromIt is dynamic to take off.
3rd, operation: unmanned plane will fly and clap around windmill according to calculating path under the auxiliary that vision calculates after take offLeaf appearance picture is taken the photograph, whole process personnel need to only observe the unmanned machine head shooting angle of auxiliary without operating aircraft.
4th, landing: after operation, unmanned plane will automatically return to reachable automatic airport, and Autonomous landing.
(2) processing of image
1st, the distinguishable object to 1mm*3mm of captured photo.Acquisition clear data degree can reach and can distinguishThe data details of 1mm*3mm.Distinguish that blade injury provides foundation for user.
2nd, by taking blade as an example.Single blade is shot according to 4 leading edge, rear, windward side, leeward regions, nothingObvious blind area.It is that 4 entirety are schemed greatly that captured photo is sliceable subsequently through data processing.Acquisition system is designed according to every leafFour paths of piece are shot, and guarantee the integrality of shooting blade with this.Each path can individually be spliced into one big figure.And at the same time by big figure and flight log, it can be with damage position any on locating blades.
The automatic airport of marine wind electric field is laid and programme: (1) requirement on automatic airport: airport is having a size of 1.55m*1.55m*1.55m, airport are installed using fixing bolt.Scene need to provide depletion region (the automatic airport of 3.4m × 1.7mHatch door needs occupied space after opening)；Scene provides 220V alternating current (can be by photovoltaic power supply)；10Mbps or more cable network, bandWidth requires uplink and downlink reciprocity (recommendation)；Automatic weather station is being set at automatic airport distance > 2 meter；(2) unmanned plane during flying is madeThe industry time is 30 minutes, and Dan Fengji monitoring time is 20 minutes, and unmanned plane inspection has breakpoint and continues bat ability, is covered to improve inspectionUnmanned machine operation, can be divided into 4 steps by lid range, single stage 5 minutes, unmanned plane maximum can covering radius be 5km, it is contemplated that reduceDuty cycle, optimal covering radius are 2km.
The inspection of offshore wind turbine electric field unmanned plane flies automatically and shoots process:
(1) fan parking or threatening watercraft accidentally swarm into marine wind electric field: 40m length fan blade point during a. fan operationEnd, velocity of rotation reach 80m/s, existing unmanned plane performance can not track shot, meanwhile, if blower be under high-speed rotation state hardly possibleWith focusing, cause imaging effect poor, influences the accuracy rate of visual classification processing；B. shutdown status or when blower low speed rotation, nothingIt is man-machine to carry out track up.C. threatening watercraft accidentally swarms into marine wind electric field, and when being cast anchor or being fished, unmanned plane can be carried outTrack up.
(2) flight path is planned；A. land centralized control center backstage personnel enter unmanned plane inspection operating software；B. according to softPart prompt successively confirms whether the weather of offshore boosting station and wind behaviour meet stable operating conditions；Meanwhile confirmation is automaticWhether the battery of the unmanned plane on airport has electricity, if nothing, automatic airport can change battery automatically.Automatic airport can simultaneously carry out batteryCharging；C. after confirming safety, start automatic detecting program, back-end processing software plan inspection route；D. unmanned plane during flying extremely refers toDetermine above blower or above specified ship.Unmanned plane goes up to the air to after specified altitude assignment automatically, will rise automatically and calculate impeller of blowerHub centre-height；E. when unmanned plane rises to hub centre automatically, cruising inspection system operator will need in patrol unmanned machineConfirmed on face control software.If the hub centre seen in software, and prompting frame have deviation, operator needs to pass through softwareUnmanned plane is finely adjusted, after hub centre is adjusted in prompting frame, continues patrol task；F. unmanned plane will be according to leading edge leafRoot is to blade tip, rear blade tip to blade root, the conversion of windward side leeward, rear blade root to blade tip, the mode of leading edge blade tip to blade rootEach blade of automatic detecting；Each blade totally 4 paths, every typhoon vehicle totally 12 paths；G. in path starting point each time,Need whether can see blade in operator's confirmation screen of land centralized control center, if can be to continue to detect；If can notTo continue patrol task after needing operator to finely tune unmanned plane by software push buttons；H.12 after an airline operation finishes, nobodyMachine is by the automatic airport of auto-returned offshore boosting station, that is, takeoff point overhead.Automatic airport hatch door is opened, and unmanned plane lands automatically, is tiedBeam patrol task.Finally, automatic airport hatch door is closed, and replace the battery of unmanned plane.
(3) fan blade or ship location navigation: a. holder increases unmanned plane load steady；B. laser radar is to blower or shipOnly measure；C. camera locks photographing objective；D. unmanned plane and fan blade distance 10m fly along blade two sides respectively；OrUnmanned plane headroom 10m above ship, flies along hull respectively.
(4) fault identification and processing: a. supports fan blade defect type to carry out image in the case where system self studyIdentification, such as gel coat falls off, damages, transversal crack, greasy dirt；Acquisition clear data degree can reach the number that can distinguish 1mm*3mmAccording to details.To distinguish that blade injury provides foundation；By taking blade as an example, single blade is according to leading edge, rear, windward side, leeward 4A region is shot, without obvious blind area.It is that 4 entirety are schemed greatly that captured photo is sliceable subsequently through data processing；AcquisitionSystem design is shot according to every four paths of blade, guarantees the integrality of shooting blade with this；Each path can be withIt is individually spliced into one big figure, and at the same time by big figure and flight log, it can be with damage position any on locating blades；B. it props upHold picture catching and identification that ship casts anchor, hits blower or offshore boosting station basis；C. real-time video transmission and video recording are supported,And fan blade failure can be provided and do not reported with threatening watercraft tracking.
Marine wind electric field unmanned plane inspection includes that scene automation, inspection flight automation and image analysis automate" three automations ".Arrange automatic airport, it can be achieved that unmanned plane by booster stations roof at sea and part fan basic platformAll standing to entire offshore wind farm field marine.The full-range automation of blower inspection can be realized in automatic airport and unmanned plane.It by this set unmanned plane cruising inspection system of arranging in pairs or groups, can not only realize that entire offshore wind farm field marine is gone on patrol automatically, but also realize seaThe fault identification of upper fan blade.
Particular embodiments described above has carried out further the purpose of the present invention, technical scheme and beneficial effectsIt is described in detail, it should be understood that the above is only a specific embodiment of the present invention, the protection being not intended to limit the present inventionRange.It particularly points out, to those skilled in the art, all within the spirits and principles of the present invention, that is done any repairsChange, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.