一种基于风机叶尖坐标的多向视点巡检方法

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中图分类号：TK83；TM315 文献标识码：A 文章编号：1672-0792（2026）02-0040-08

DOI： 10.3969/j.ISSN.1672-0792.2026.02.005

A Multi-directional Viewpoint Inspection Method Based on Wind Turbine Blade-tip Coordinates

PAN Zhiyi1， JIAO Songming1，²， DAI Jie1， WANG Qianming1，2

1. School of Controland Computer Engineering，North China Electric Power University，Baoding 071003， China

2.Baodig KeyLaboratory of Itellgent Robot Perceptionand Control inElectric Power System （North China Electric Powe1

University）， Baoding 071003 China

Abstract： To address the limited applicability of multi-directional viewpoint planning in autonomous wind turbine inspection， primarily due to its heavy reliance on polygonal mesh models，this paper proposes a novel inspection method that utilizes blade-tipcoordinates for multi-directional viewpoint planning.First，inspection waypoints are computed by incorporating the pitch angle constraint of the unmanned aerial vehicle （UAV） for diferent combinations of blade tip coordinates. Then， to ensure image quality， the interpolation points are set along the blades to plan the view direction and focal length at each viewpoint， thereby achieving adjustable proportions of the blades in the captured images.To ensure colision avoidance between the unmanned aerial vehicle （UAV）and the wind turbine，transition Waypoints are established outside the turbine operation area to construct a safe global inspection path. Comparative experiments are then conducted on a single wind turbine within the Gazebo simulation environment. Results demonstrate that compared with the fixed-focus inspection method along the blade， the waypoint number of the proposed method is reduced by 86.11% .Under different rotor attitudes， it shortens the inspection time and path length by at least 31.7% and 14.69% respectively. Experiments confirm that the proposed method can eficiently achieve autonomous wind turbine inspection.

Key words： wind turbine inspection; viewpoint planing; unmanned aerial vehicle; wind turbine blade; autonomous inspection

0引言

随着装机容量的不断增长，风电机组运维需求持续上升，这推动了风电巡检技术从传统方式向智能化、自动化方向发展[1]。（剩余8869字）