摘要
应用无人机对风力发电机叶片进行精准巡视时,因定位误差以及外界干扰,会导致采集到的桨叶信息不全,针对这一问题提出一种风机叶片精准巡视的无人机控制策略。首先,根据无人机正对风机采集到的全景图,计算叶尖的位置坐标,从而得到巡视航线并设置巡视航点,实现对桨叶的全覆盖图像采集;接着,设计一种基于视觉的设定值修正器,先依次对摄像机采集到的原始图像进行灰度化、滤波降噪、边缘检测、直线提取;最后,对提取到的直线过滤并分类,进而计算图像中桨叶的中心线及其在图像坐标系中的截距,以此生成控制量对无人机的位姿进行调整使桨叶位于图像中心,同时对其进行稳定性分析。经仿真试验表明,提出的策略可达到对风机叶片精准巡视的目的,为风力发电机的精细巡检提供可参考的方案,同时也可推广到对其他电力设备的精细巡检应用。
When UAV is used to accurately inspect wind turbine blades,the collected blades information will be incomplete due to positioning errors and external interference.In order to solve this problem,a UAV control strategy for accurate inspection of wind turbine blades is proposed in this paper.First,according to the panorama collected by the UAV facing the wind turbine,the position coordinates of the blade tips are calculated,thus the inspection route is obtained and the inspection point is set up,so as to realize the full coverage image acquisition of the blades.Secondly,a vision-based UAV position setter is designed,which first carries out graying,filtering and denoising,edge detection and straight line extraction of the original images.Finally,the extracted lines are filtered and classified,and the centerline of the blades in the image and its intercept in the image coordinate system are calculated to generate a control quantity to adjust the position and attitude of the UAV so that the blade is in the center of the image.At the same time,its stability analysis is carried out.The simulation results show that the strategy proposed in this paper can achieve the purpose of accurate inspection of wind turbine blades and provide a reference scheme for the fine inspection of wind turbines.At the same time,it can also be extended to the application of fine inspection of other types of power equipment.
作者
焦嵩鸣
白健鹏
首云锋
JIAO Songming;BAI Jianpeng;SHOU Yunfeng(Department of Automation,North China Electric Power University,Baoding 071003,Hebei Province,China)
出处
《中国电机工程学报》
EI
CSCD
北大核心
2023年第10期3822-3831,共10页
Proceedings of the CSEE
关键词
风力发电机
无人机
视觉
坐标转换
直线提取
wind turbine
UAV
vision
coordinate transformation
straight line extraction
