基于风机建模的风力电站无人机航迹点规划策略研究

Research on Flight Path Planning Strategy for UAV in Wind Farm Based on Wind Turbine Modeling

针对风力电站无人机自动巡检之前需要操作人员将3个风机叶片的位置调整呈“Y”字型,操作麻烦且费时低效的问题,文章提出了一种基于风机建模的风力电站无人机航迹点规划策略。首先通过拍摄制动状态下风机的主视图和俯视图,经图像处理估算出风机的航向角和风机叶片的旋转角,再结合已知风机的尺寸参数和相关经度、纬度、海拔高度坐标,以轮毂中心为原点建立相关4个坐标系并定义转换矩阵,并考虑航迹点到风机叶片的安全避障距离,经过坐标系转换计算出无人机针对该风机巡检的12个航迹点的经度、纬度、海拔高度坐标、云台旋转角度等航迹信息。无人机实地飞行结果表明,该航迹点规划策略能获取准确的自主飞行规划路径,对风机制动后的3个叶片角度无要求,可以大幅提高无人机对风机巡检的效率。

To solve the problem of cumbersome and inefficient operation in adjusting the position of the three wind turbine blades before UAV automatic inspection in wind farm.This paper proposes a flight path planning strategy for UAV in wind farm based on wind turbine modeling.First,the heading angle and blade rotation angle of the wind turbine are estimated through image processing by capturing the main and top views of the wind turbine under braking conditions.Then,considering the known size parameters of the wind turbine and the relevant coordinates of longitude,latitude and altitude,four coordinate systems with the hub center as the origin is established and a transformation matrix is defined.Next,trajectory information of 12 track points inspected by the UAV for the wind turbine including the longitude,latitude,altitude coordinates,camera pan tilt angle are calculated through coordinate system transformation considering the safe obstacle avoidance distance from the track point to the wind turbine blade.Finally,the on-site flight results of the UAV show that the path planning strategy can obtain accurate autonomous flight planning paths,with no requirements for the three blade angles after the wind turbine is braked,which can greatly improve the efficiency of the UAV's wind turbine inspection.