BladeView: Toward Automatic Wind Turbine Inspection with Unmanned Aerial Vehicle

This paper presents a fully automatic method, BladeView, for drone-based wind turbine blade inspection using an Unmanned Aerial Vehicle (UAV). With the need for highly efficient blade inspection coupled with the rapid increase of wind turbines, existing methods provide limited automation on wind turbine parameter estimation, full blade coverage, and safety control. We introduce an Automatic Parameter Calculation (APC) algorithm and an Automatic Flight System (AFS) in BladeView to compute wind turbine parameters and inspection paths, respectively. Leveraging triangulation and linear fitting integration techniques, the APC automatically calculates the wind turbine parameters and estimates the relative angle and position between a drone and the turbine. Furthermore, with dynamic path finding and B-spline optimization, the AFS plans a path covering 3 blades within specified flight corridors, in compliance with the turbine parameters obtained from APC. Thus, the proposed BladeView can properly ensure an inspection's automation, coverage, safety, and smoothness. The efficiency and usability of BladeView are validated through 100,000 flight simulations in the Gazebo simulation environment and 9,239 field runs at various wind farms, including offshore, near-shore, deserts, mountainous areas, farmlands, and suburbs. Note to Practitioners - The proposed BladeView is distinguished in three aspects: (1) It automatically adapts wind turbines with varying geometric properties and physical locations relative to the take-off point. (2) It dramatically improves the quality of collected data with optimal UAV speed and flight corridors. (3) It thoroughly covers all three blades of a Horizontal-Axis Wind Turbine (HAWT), including regions where defects frequently occur. Thus, BladeView is more efficient and robust than existing UAV-based methods for blade inspection, with only around 25 minutes per HAWT. Moreover, it does not require experienced pilots to fly the UAV and manual interventions are rarely needed. Extensive simulation and real-world experiments demonstrate the efficiency and usability of BladeView in various on-and offshore wind farms.