Design Of Image Information Acquisition System For Wind Turbine Blade Based On UAV

Wind power generation is the most mature and most competitive renewable power generation method.Wind turbine blades are one of the key components of energy conversion and one of the most vulnerable components in wind turbines.Compared with the traditional manual detection and sensor detection methods,using the method which used UAV aerial wind turbine blade image to defect detection is more secure,efficient and convenient.In the context,this paper designs a image information acquisition system for wind turbine blade based on UAV.The main research contents are as follows:According to the characteristics of wind turbines and the requirements of image acquisition,a full coverage path planning scheme for UAV based on aerial viewpoints is designed.Based on the model of wind turbine blade,an elliptical candidate viewpoint area is constructed,and a visual evaluation function is constructed to generate the best aerial viewpoint by the division of the viewpoint area.Based on the improved particle swarm optimization algorithm and the aerial viewpoint,the optimal image acquisition path of UAV has generated.Compared with traditional algorithm,the superiority of the improved algorithm has proved.Aiming at the parameter uncertainty and external disturbance in the trajectory tracking process of quadrotor UAV,a double closed-loop adaptive control strategy is designed.In order to reduce the complexity of the controller design,the system is divided into an attitude inner loop and a position outer loop according to the underactuating characteristics of the quadrotor UAV system.Based on the disturbance observer,the integral backstepping control algorithm is used to complete the stable tracking control of the UVA’s position information under the influence of external disturbance.Based on the disturbance observer,the adaptive sliding mode control algorithm is used to complete the stable tracking control of the UAV’s attitude information under the influence of parameter uncertainty and external disturbance.Compared with the traditional PID control and sliding mode control,the superiority of the proposed control strategy is verified.The image-related technology from acquisition to display is implemented through embedded devices.Camera of ZC3 XX series is used as the image acquisition terminal,Linux drive-free USB wireless network card is used for wireless network creation,Open SSL technology is used for transmission encryption,and GTK graphics technology is used to build real-time image display interface.This paper completes the software design of the image acquisition and display in the modular manner.Finally,the whole process of image from acquisition,transmission to display is realized with the help of embedded devices.