Research on Flight Path Planning Strategy for UAV in Wind Farm Based on Wind Turbine Modeling
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.
万方数据
维普
