CN111220123B - Foundation ring inclination angle monitoring system and method - Google Patents

Foundation ring inclination angle monitoring system and method Download PDF

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CN111220123B
CN111220123B CN202010150234.XA CN202010150234A CN111220123B CN 111220123 B CN111220123 B CN 111220123B CN 202010150234 A CN202010150234 A CN 202010150234A CN 111220123 B CN111220123 B CN 111220123B
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CN111220123A (en
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何婧琳
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Hunan Concrete Technology Co ltd
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Hunan Concrete Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/02—Details

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Abstract

The invention relates to a system and a method for monitoring an inclination angle of a foundation ring. The method comprises the following steps: s1, taking any point A in the basic ring as an origin to establish a three-dimensional coordinate system XYZ parallel to the ground horizontal plane; s2, selecting three points b, c and D to be measured at the same height on the inner surface of the side wall of the basic ring, wherein the intersection points of the X positive axis, the Y positive axis and the X negative axis with the basic ring are B, C and D respectively. Respectively measuring the distances from A to B, A to C and from A to D to obtain X, Y axis coordinate values of the three points b, C and D; s3, acquiring Z-axis coordinates of b, c and d; s4, obtaining a space equation of a basic ring plane formed by the three points b, c and d at the time t according to the three-dimensional coordinate values of the three points b, c and d, and obtaining an included angle between the basic ring plane and the XY plane at the time t
Figure DDA0002402177110000011
The invention also includes a foundation ring inclination angle monitoring system. The method and the system can realize simple and convenient monitoring of the inclination angle of the foundation ring relative to the horizontal plane.

Description

Foundation ring inclination angle monitoring system and method
Technical Field
The invention relates to the technical field of wind power generation, in particular to a system and a method for monitoring an inclination angle of a foundation ring.
Background
A wind power plant is generally composed of an upper nacelle, blades, a middle steel structural tower 1 and a lower reinforced concrete foundation 4 (fig. 1). The connection of the steel structure tower and the reinforced concrete foundation has various forms, wherein the foundation ring type connection is the main connection form of the wind turbine foundation in China (figure 2). The steel foundation ring 2 is fixed and leveled in advance before concrete pouring, and is connected with the upper tower barrel 1 through bolts 3 after the concrete pouring and curing, and specifically, with reference to fig. 3, the foundation ring upper flange 21 is connected with the tower barrel upper flange 11 through the bolts 3. During the operation of the wind turbine, the tower swings and twists, the foundation ring needs to bear the reciprocating bending moment and torque transmitted by the tower, and the bending moment and torque are transmitted to the concrete through the side wall 22 (bonded with the concrete) of the foundation ring and the lower flange 23 (bonded with the concrete and meshed with the concrete) of the foundation ring. Under the long-term action of the reciprocating load, the concrete near the side wall 22 and the lower flange 23 of the foundation ring is easy to generate fatigue failure, so that the concrete in the area is crushed and emptied (figure 4), and the inclination of the tower exceeds the standard.
The inclination of the fan foundation ring relative to the ground level can cause the inclination of a fan tower, and the overlarge inclination can cause the safety accident of the fan. Therefore, the inclination angle of the foundation ring needs to be monitored periodically to know the safety condition of the wind turbine foundation.
When the fan is at rest, the included angle between the plane of the foundation ring and the horizontal plane of the ground is called as a static dip angle alphas。
After the fan operates, the foundation ring shakes, the included angle between the plane of the foundation ring and the ground horizontal plane changes along with time, and the changed included angle is called as a dynamic inclination angle alphadDynamic inclination at time t of alphad(t)。
In the current monitoring method, a static inclination angle needs to be measured by a level or a total station; the dynamic inclination angle measurement needs to arrange vertical displacement sensors at a plurality of measuring points around the foundation ring, monitor the vertical displacement change of each measuring point of the foundation ring relative to the concrete foundation, further calculate the inclination angle of the foundation ring plane relative to the concrete foundation at each moment, measure the inclination angle of the concrete foundation and the ground horizontal plane through a dynamic inclinometer, and then synthesize and solve the dynamic inclination angle. Due to the fact that cables, equipment and the like are arranged inside the fan, the circle center area of the basic ring usually has no instrument operation space, and the method for determining the position of the measuring point through establishing the polar coordinate system inside the basic ring is time-consuming and labor-consuming. In summary, the existing monitoring method needs numerous instruments, is tedious in measurement process and high in requirement on professional ability of operators, and the geographical environment of a wind farm is far and severe, so that the monitoring cost is high.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: how to provide a simple and convenient method or system for monitoring the inclination angle of the foundation ring relative to the horizontal plane, and the calculation of the inclination angle is more accurate.
In order to solve the technical problem, the invention provides a system and a method for monitoring the inclination angle of a foundation ring.
The invention provides a method for monitoring the inclination angle of a foundation ring, which comprises the following steps:
s1, taking any point A in the basic ring as an origin to establish a three-dimensional coordinate system XYZ with an XY plane parallel to a horizontal plane;
s2, selecting three points to be measured at the same height on the inner surface of the side wall of the basic ring: b. c and d, wherein the point b to be measured is in an XZ plane with the X value as a positive number, c is in a YZ plane with the Y value as a positive number, and d is in an XZ plane with the X value as a negative number; the intersection points of the X positive axis, the Y positive axis and the X negative axis with the basic ring are B, C and D respectively, the distances from A to B, A to C and from A to D are measured, and X, Y axis coordinate values of three points of a point b, a point C and a point D to be measured are obtained;
s3, measuring the distances between points B and B to be measured, between points C and C to be measured and between points D and D to be measured at any time t, and respectively taking the distances as Z-axis coordinate values of B, C and D, thereby obtaining three-dimensional coordinate values of points B, C and D;
s4, obtaining a space equation of a basic ring plane formed by the three points b, c and d at the time t according to the three-dimensional coordinate values of the three points b, c and d at the time t, and obtaining an included angle between the basic ring plane and an XY plane in a three-dimensional coordinate system at the time t according to the space equation
Figure GDA0003153763800000034
Preferably, in step S3, the distances between the points B and B to be measured, the points C and C to be measured, and the points D and D to be measured at any time t are obtained by shooting an image of the scale target at any time t, which has the points B, C, and D to be measured, and is arranged around the points to be measured.
More preferably, in step S3, the obtaining by image analysis of capturing an image of a scale target having points b, c, and d to be measured at any time t and disposed around the points to be measured further includes: and performing image analysis and comparison on the scale images of the scale targets and the vertical distances from the points b, c and d in the images to the origin A, and determining the displacement of the points b, c and d in the vertical direction relative to the origin A, so as to obtain the coordinate values of the points b, c and d in the Z-axis direction.
Preferably, in step S4, the angle between the base ring plane and the XY plane at any time t
Figure GDA0003153763800000031
Calculated according to the following formula:
Figure GDA0003153763800000032
preferably, in step S2, a point on the contact surface between the flange on the foundation ring and the tower lower flange is selected as the point to be measured.
Preferably, after the step S4, acquiring an included angle between the XY plane and the horizontal plane at any time t by using an electronic gyroscope
Figure GDA0003153763800000033
The invention also provides a system for monitoring the inclination angle of the foundation ring, which comprises three optical components, an image processing mechanism and a data processing mechanism;
the three optical assemblies are fixed on a circular plate and positioned on the same horizontal plane, and comprise a first optical assembly, a second optical assembly and a third optical assembly, wherein the first optical assembly and the second optical assembly are opposite and positioned on the same axis, and the third optical assembly is vertical to the axis;
the optical assembly comprises a level, a laser transmitter, a range finder and a camera, the excitation transmitter is mounted on the upper surface of the level, the range finder is mounted on the upper surface of the laser transmitter, the laser transmitter and the range finder are used for acquiring X and Y coordinates in three-dimensional coordinates of points to be measured on the side wall of the basic ring, and the level is fixed on the circular plate;
the camera is arranged between an eyepiece and an objective of the level, the camera is aligned with the eyepiece of the level, the eyepiece of the level acquires an image of a point to be measured, the image comprises the point to be measured and a scale target arranged on the periphery of the point to be measured, and the camera is used for synchronously shooting the image;
the camera is in communication connection with the image processing mechanism, and the image processing mechanism is used for receiving and processing the image to acquire a Z coordinate of the point to be measured;
the data processing mechanism is in communication connection with the image processing mechanism and is used for processing the three-dimensional coordinates of the three points to be measured to obtain the included angle between the plane formed by the three points to be measured and the plane formed by the three optical assemblies.
Preferably, the mounting frame is further included, and the circular plate is connected with the mounting frame.
Further, the mounting bracket comprises a tripod.
Preferably, the leveling instrument further comprises an electronic gyroscope, the electronic gyroscope is mounted on the leveling instrument and is in communication connection with the data processing mechanism, and the electronic gyroscope is used for acquiring an included angle between a plane formed by the three optical components at any time t and a horizontal plane. The original positions of the three optical components are leveled and then are on the same plane with the horizontal plane, so that the rotation angles of the three optical components are obtained through the electronic gyroscope, and the included angles between the plane formed by the three optical components and the horizontal plane can be obtained.
Compared with the prior art, the invention has the advantages that: establishing a three-dimensional coordinate system with an XY plane parallel to a horizontal plane by using any point A in the foundation ring as an origin, and selecting three points to be measured at the same height on the inner surface of the side wall of the foundation ring: b. c and d, the point b to be measured is in an XZ plane with the positive X value, c is in a YZ plane with the positive Y value, and d is in an XZ plane with the negative X value, so that the Y coordinates of the points b and d to be measured are 0, and the X coordinate of the point c to be measured is 0; the intersection points of the X positive axis, the Y positive axis and the X negative axis with the basic ring are B, C and D respectively, the distances from A to B, A to C and from A to D are measured, namely X, Y axis coordinate values of three points b, C and D to be measured are obtained, the circle center in the basic ring is not required to be specially selected as an original point, in addition, an image of a scale target with points b, C and D and the periphery of b, C and D is shot through an image acquisition device, the coordinate of the three points at any time in the Z axis direction is obtained, if the basic ring is inclined, the inclination angle of the basic ring is usually less than 0.005rad, the change of the coordinate values of the points b, C and D X, Y is ignored, the solving precision is not influenced, therefore, for the three points to be measured, only the Z axis coordinate can be changed, the Z axis coordinate value of the points to be measured can be monitored by the image acquisition device constantly, and the space equation of the plane of the basic ring at any time t is obtained, if the concrete foundation passes through the space equation, the included angle between the plane of the foundation ring and the XY plane can be monitored constantly
Figure GDA0003153763800000051
If the inclination of the concrete foundation is not considered, the foundation ring is inclined and the XY-plane is parallel to the horizontal plane, so that onlyThe inclination angle alpha of the foundation ring relative to the horizontal plane at any moment can be obtained by shooting imagesd(t) in which simple and convenient monitoring of the inclination of the foundation ring relative to the horizontal plane is achieved.
If the inclined concrete foundation is considered, the included angle between the XY plane of the electronic gyroscope and the horizontal plane at any time t
Figure GDA0003153763800000052
Angle of inclination of the foundation ring relative to the horizontal
Figure GDA0003153763800000053
The basic ring inclination angle monitoring system provided by the invention comprises three optical components, an image processing mechanism and a data processing mechanism, wherein a first optical component and a second optical component in the optical components are opposite and positioned on the same axis, a third optical component is vertical to the axis, actually, three optical components form a three-dimensional coordinate which takes three optical elements as an original point, the axis of the first optical component and the axis of the second optical component are X-axis, the line of the third optical component which is vertical to the X-axis is Y-axis, in addition, the line which passes through the optical components and is vertical to the X-axis and the Y-axis is Z-axis, a laser emitter and a range finder can obtain the X-axis and the Y-axis of a point to be measured on the side wall in the three-dimensional coordinate, the combination of a level gauge and a camera can obtain the image of the point to be measured at any time t, the image processing mechanism is in communication connection with the camera, and the Z-axis of the point to be measured can be obtained according to scale targets around the point to be measured, so as to obtain three-dimensional coordinates of the three points to be measured, the data processing mechanism is in communication connection with the image processing mechanism, and the three-dimensional coordinates of the three points to be measured are processed to obtain a clamp of a plane formed by the three points to be measured and a plane formed by the three optical components
Figure GDA0003153763800000061
Angle, angle if not taking into account concrete foundation inclination
Figure GDA0003153763800000062
I.e. the angle of inclination alpha of the foundation ring with respect to the horizontaldAnd (t) determining the origin of the three-dimensional coordinate and the X coordinate and the Y coordinate of the point to be measured according to the position relationship of the three optical assemblies, so that the optical assemblies can be placed in the tower barrel at will without finding a fixed mounting position, and the inclination angle of the foundation ring can be monitored conveniently.
If the concrete foundation is considered to incline, the concrete foundation further comprises an electronic gyroscope which is arranged on the level gauge and is in communication connection with the data processing mechanism, and the electronic gyroscope is used for acquiring an included angle between a plane formed by the three optical components at any time t and a horizontal plane
Figure GDA0003153763800000063
Angle of inclination of the foundation ring relative to the horizontal
Figure GDA0003153763800000064
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:
fig. 1 is a schematic structural view of a fan.
Fig. 2 is a schematic diagram of a basic ring structure.
FIG. 3 is a schematic structural diagram of the contact between the foundation ring and the tower.
Figure 4 is a schematic view of a foundation ring structure with damage to surrounding concrete.
FIG. 5 is a schematic diagram of an embodiment of an optical assembly of the system for monitoring tilt angle of the ground ring.
FIG. 6 is a schematic diagram of an embodiment of an optical assembly of the system for monitoring tilt angle of the ground ring.
FIG. 7 is a schematic diagram of a foundation ring inclination angle monitoring system placed in a foundation ring according to an embodiment.
FIG. 8 is a schematic view of an XY plane constructed by the system for monitoring the tilt angle of the foundation ring in the example.
Fig. 9 is a schematic structural diagram of a stationary fan in the embodiment.
FIG. 10 is a schematic view of a fan in operation in the embodiment.
FIG. 11 is a schematic diagram of images of three points to be measured in the example.
FIG. 12 is a schematic diagram of the position relationship between the points b and d to be measured and the coordinate system in the embodiment.
FIG. 13 is a schematic diagram of a position relationship between a point c to be measured and a coordinate system in the embodiment.
FIG. 14 is a schematic structural diagram of a system for monitoring the tilt angle of a foundation ring according to an embodiment.
Description of reference numerals: 0. a foundation ring inclination angle monitoring system; 1. a tower drum; 11. a tower drum lower flange; 12. a scale target; 2. a foundation ring; 21. a flange on the foundation ring; 211. an upper surface of the base ring upper flange; 22. a foundation ring sidewall; 23. a base ring lower flange; 3. a bolt; 4. a concrete foundation; 51. a first optical component; 511. an eyepiece; 512. an objective lens; 513. horizontal filaments; 514. a vertical filament; 515. an eyepiece lens frame; 52. a second optical component; 53. a third optical component; 54. a circular plate; 6. and (7) mounting frames.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
In conjunction with fig. 5-7 and 14, the present embodiment provides a system for monitoring the tilt angle of the foundation ring, which includes three optical assemblies, an image processing mechanism and a data processing mechanism;
the three optical assemblies are fixed on a circular plate 54 and positioned on the same horizontal plane, and comprise a first optical assembly 51, a second optical assembly 52 and a third optical assembly 53, wherein the first optical assembly 51 is opposite to the second optical assembly 52 and positioned on the same axis, and the third optical assembly 53 is perpendicular to the axis;
the optical assembly comprises a level, a laser transmitter, a distance meter and a camera, the excitation transmitter is mounted on the upper surface of the level, the distance meter is mounted on the upper surface of the laser transmitter, the laser transmitter and the distance meter are used for acquiring X and Y coordinates in a three-dimensional coordinate of a point to be measured on the side wall of the basic ring, and the level is fixed on the circular plate 54;
the camera is arranged between an eyepiece 511 and an objective 512 of the level, the camera is aligned with the eyepiece 511 of the level, the eyepiece 511 of the level acquires an image of a point to be measured, wherein the image comprises the point to be measured and a scale target 12 arranged on the periphery of the point to be measured, and the camera is used for synchronously shooting the image;
the camera is in communication connection with the image processing mechanism, and the image processing mechanism is used for receiving and processing the image to acquire a Z coordinate of the point to be measured;
the data processing mechanism is in communication connection with the image processing mechanism and is used for processing the three-dimensional coordinates of the three points to be measured to obtain the included angle between the plane formed by the three points to be measured and the plane formed by the three optical assemblies.
The system of this embodiment further comprises a mounting frame 6 on which the circular plate is mounted; in addition, the mounting bracket in this embodiment is a tripod.
The system of this embodiment still includes electronic gyroscope, electronic gyroscope install in on the spirit level, electronic gyroscope with data processing mechanism communication is connected, electronic gyroscope is used for acquireing the plane that three optical component of anytime t constitute and the contained angle of horizontal plane. The data processing mechanism further receives included angle data measured by the electronic gyroscope, and only the data processing mechanism processes the included angle data to obtain the inclination angle of the foundation ring.
The distance meter in this embodiment employs a laser distance meter.
In this embodiment, both the camera and the electronic gyroscope include a storage disk, and the acquired pictures or data may be stored in the storage disk and then transmitted to the data processing mechanism.
The embodiment further provides a method for monitoring the inclination angle of the foundation ring by using the system, and with reference to fig. 7, the method includes the following steps:
s1, taking any point A in the basic ring as an origin to establish a three-dimensional coordinate system XYZ with the XY plane parallel to the horizontal plane.
S2, the first optical element 51 and the second optical element 52 are opposite to each other and located on the same axis, the third optical element 53 is perpendicular to the axis, the vertical angle position is the origin a of the three-dimensional coordinate system, and with reference to fig. 12 and 13, three points to be measured at the same height on the inner surface of the sidewall of the base ring are selected: b. c and d, wherein the point b to be measured is in an XZ plane with the X value as a positive number, c is in a YZ plane with the Y value as a positive number, and d is in an XZ plane with the X value as a negative number; the intersection points of the X positive axis, the Y positive axis and the X negative axis with the basic ring are B, C and D respectively, the distances from A to B, A to C and from A to D are measured, and X, Y axis coordinate values of three points of the points b, C and D to be measured are obtained. In the embodiment, the three points to be measured are selected from points on a contact surface between the upper flange of the foundation ring and the lower flange of the tower drum (i.e., the upper surface 211 of the upper flange of the foundation ring); in other embodiments, three points to be measured at the same height on the inner surface of the side wall of other base rings can be selected.
It should be noted that, the same height of the three points b, c, and d to be measured at the same height on the inner surface of the sidewall of the foundation ring only considers the height of the foundation ring itself, and for example, the three points to be measured taken on the upper surface of the flange on the foundation ring are the three points to be measured at the same height on the inner surface of the sidewall of the foundation ring.
S3, measuring the distances between points B and B to be measured, between points C and C to be measured and between points D and D to be measured at any time t, and respectively taking the distances as Z-axis coordinate values of B, C and D; specifically, the camera shoots an image with points b, c and d and a scale target arranged at the periphery of the points b, c and d, the data processing mechanism carries out image analysis and comparison on the scale image of the scale target and the vertical distance from the points b, c and d in the image to an origin A, determines the displacement of the points b, c and d in the vertical direction relative to the origin A, acquires the coordinates of the points b, c and d at any time t in the Z-axis direction, and accordingly obtains the three-dimensional coordinates of the points b, c and dObtaining three-dimensional coordinates of three points to be measured as (| AB |,0, z)b(t)),(0,|AC|,zc(t)),(-|AD|,0,zd(t))。
In other embodiments, the displacement of the three points b, c and d to be measured in the Z-axis direction can be obtained through laser ranging or displacement sensors.
S4, obtaining a space equation of a basic ring plane formed by the three points b, c and d at the time t according to the three-dimensional coordinates of the three points b, c and d at the time t, and obtaining an included angle alpha (t) between the basic ring plane and a horizontal plane at the time t according to the space equation. The calculation formula of the included angle alpha (t) between the plane of the basic ring and the horizontal plane at any time t is
Figure GDA0003153763800000101
The principle of the method is as follows:
referring to fig. 7 and 8, when the fan is at rest, the point a is determined at any plane position inside the foundation ring, and the height of the point a is close to that of the upper surface of the foundation ring. And establishing a three-dimensional coordinate system parallel to the horizontal plane by using the point A as an origin through a foundation ring inclination angle monitoring system.
As shown in fig. 9, in a static state of the fan, the XY plane and the ground level are on the same plane by the leveling level, and the position of the leveled three-dimensional coordinate XYZ on the concrete foundation is fixed (the three-dimensional coordinate XYZ and the concrete foundation move together). At the moment, the included angle between the plane of the basic ring and the XY plane is a static dip angle alphas. The method for leveling the level is a general method for leveling the level bubble to be on the same plane with the horizontal plane, and is not described in detail here.
Referring to fig. 10, at a time t during the operation of the wind turbine, the concrete foundation changes from the rest position, the XY plane in the three-dimensional coordinate system also changes, and the included angle between the XY plane at the time t and the original position (horizontal plane) is
Figure GDA0003153763800000102
the included angle between the base ring plane at the time t and the XY plane at the time t is
Figure GDA0003153763800000103
Then there is
Figure GDA0003153763800000104
As shown in fig. 11, the image includes an eyepiece lens frame 515, a vertical wire 514, a horizontal wire 513, a tower lower flange 11, a foundation ring upper flange 21, an upper surface 211 of the foundation ring upper flange, and a scale target 12; the intersection points of the X coordinate axis and the basic ring in the three-dimensional coordinate system are B, D respectively, the intersection point of the Y coordinate axis and the basic ring is C, so that the distances measured by the laser distance meter are the distances from the points b, C and d to be measured to the optical components where the laser distance meter is located, the distances from the original point A to the three optical components in the basic ring inclination angle monitoring system are fixed constants, the distances from the points b, C and d to be measured to the original point A are | AB |, | AC |, and | AD |, and the coordinates of the three points to be measured on the X axis and the Y axis can be obtained. Wherein | AB |, | AC |, and | AD | represent the lengths of AB, AC, and AD, respectively. With reference to fig. 11, the coordinates of the points a, b, and c to be measured in the Z-axis direction can be known by comparing the scale targets.
And obtaining an analytic expression of the plane of the basic ring according to the coordinate values of the points b, c and d in the three-dimensional coordinate system XYZ, and further obtaining an analytic expression of an included angle between the plane of the basic ring and the XY plane.
b. The coordinates of the points c and d in the three-dimensional coordinate system XYZ are respectively (x)b(t),yb(t),zb(t))，(xc(t),yc(t),zc(t))，(xd(t),yd(t),zd(t)). In practical monitoring, the inclination angle of the base ring is usually less than 0.005rad, and the solution accuracy is not influenced by neglecting the change of the coordinate values of the b, c and d points X, Y, so that the inclination angle can be considered as a constant and has xb(t)＝|AB|，yb(t)＝0，xc(t)＝0，yc(t)＝|AC|，xd(t)＝-|AD|，yb(t) is 0. Therefore, the coordinates of the points b, c, and d in the three-dimensional coordinate system XYZ are: (| AB |,0, z)b(t)),(0,|AC|,zc(t)),(-|AD|,0,zd(t))。
The three coordinates are not collinear and can form a plane. Two non-zero vectors in an arbitrary plane are:
Figure GDA0003153763800000111
calculating the normal vector of the plane
Figure GDA0003153763800000112
Figure GDA0003153763800000113
And the normal vector of the ground plane is
Figure GDA0003153763800000114
Then the included angle is:
Figure GDA0003153763800000121
namely:
Figure GDA0003153763800000122
Figure GDA0003153763800000123
when the fan is at rest, theta (t) is alphasWhen the fan is running
Figure GDA0003153763800000124
In addition, the inclination of the optical component at any moment is measured by the electronic gyroscope to be the change of the inclination angle of the XY plane relative to the horizontal plane, namely, the change of the inclination angle of the XY plane relative to the horizontal plane is obtained
Figure GDA0003153763800000125
Thereby obtaining alphad(t)。
The other instrument can complete the measurement of the static inclination angle, the first dynamic inclination angle and the second dynamic inclination angle. The number of instruments is small, and the carrying is convenient;
the field operation process is simple (stopping the fan, erecting the instrument, leveling, rotating to a proper position, locking the semicircular plate, pasting the scale paste, starting image acquisition and operating the fan), and the requirement on the professional ability of field operators is low;
the collected information is stored in the hard disk of the instrument, the data analysis and judgment work can be transmitted to the background to be completed, technicians do not need to go to the site, and the monitoring cost is greatly reduced;
the erection position of the instrument can be adjusted at will according to the space condition in the foundation ring.
Other beneficial effects of the invention are as follows:
1. the static inclination angle and the two dynamic inclination angles can be measured by one instrument, the number of the instruments is small, and the instrument is convenient to carry.
2. The field operation process is simple, and the basic process is as follows: stopping the fan, erecting an instrument, leveling, rotating to a proper position, locking the semicircular plate, pasting the scale sticker, starting image acquisition and operating the fan, and has low requirement on the professional ability of field operators.
3. The collected information is stored in an instrument storage disc, data analysis and judgment can be completed by transmitting the data to a background data processing mechanism, technicians do not need to go to the site, and monitoring cost is greatly reduced; the erection position of the instrument can be adjusted at will according to the space condition in the foundation ring.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

Claims (7)

1. A method of foundation ring inclination angle monitoring, comprising the steps of:
s1, taking any point A in the basic ring as an origin to establish a three-dimensional coordinate system XYZ with an XY plane parallel to a horizontal plane;
s2, selecting three points to be measured at the same height on the inner surface of the side wall of the basic ring: b. c and d, wherein the point b to be measured is in an XZ plane with the X value as a positive number, c is in a YZ plane with the Y value as a positive number, and d is in an XZ plane with the X value as a negative number; the intersection points of the X positive axis, the Y positive axis and the X negative axis with the basic ring are B, C and D respectively, the distances from A to B, A to C and from A to D are measured, and X, Y axis coordinate values of three points of a point b, a point C and a point D to be measured are obtained;
s3, measuring the distances between points B and B to be measured, between points C and C to be measured and between points D and D to be measured at any time t, and respectively taking the distances as Z-axis coordinate values of B, C and D, thereby obtaining three-dimensional coordinate values of points B, C and D; the distance between the points B and B to be measured, the distance between the points C and C to be measured and the distance between the points D and D to be measured at any time t are obtained by shooting images of the points B, C and D to be measured and scale targets arranged on the periphery of the points to be measured at any time t for analysis; the step of obtaining the calibration target by shooting the image of the calibration target with the points b, c and d to be measured and arranged at the periphery of the points to be measured at any time t and analyzing the image further comprises the following steps: performing image analysis and comparison on the scale images of the scale targets and the vertical distances from points b, c and d in the images to an origin A, and determining the displacement of the points b, c and d in the vertical direction relative to the origin A, so as to obtain coordinate values of the points b, c and d in the Z-axis direction;
s4, obtaining a space equation of a basic ring plane formed by the three points b, c and d at the time t according to the three-dimensional coordinate values of the three points b, c and d at the time t, and obtaining an included angle between the basic ring plane and an XY plane in a three-dimensional coordinate system at the time t according to the space equation
Figure FDA0003153763790000011
The included angle between the plane of the basic ring and the XY plane at any time t
Figure FDA0003153763790000012
Calculated according to the following formula:
Figure FDA0003153763790000021
wherein, | AB |, | AC |, and | AD | represent the lengths of AB, AC, AD respectively; z is a radical ofb(t)、zc(t)、zd(t) represents the coordinates of points b, c, and d at arbitrary time t in the Z-axis direction, respectively.
2. The method as claimed in claim 1, characterized in that in step S2, a point on the contact surface of the flange on the foundation ring and the flange on the tower bottom is selected as the point to be measured.
3. The method of claim 1, wherein step S4 is followed by obtaining the included angle between the XY plane and the horizontal plane at any time t by an electronic gyroscope
Figure FDA0003153763790000022
4. A foundation ring inclination angle monitoring system using the method of any one of claims 1 to 3, comprising three optical assemblies, image processing means and data processing means;
the three optical assemblies are fixed on a circular plate and positioned on the same horizontal plane, and comprise a first optical assembly, a second optical assembly and a third optical assembly, wherein the first optical assembly and the second optical assembly are opposite and positioned on the same axis, and the third optical assembly is vertical to the axis;
the optical assembly comprises a level, a laser transmitter, a range finder and a camera, the laser transmitter is mounted on the upper surface of the level, the range finder is mounted on the upper surface of the laser transmitter, the laser transmitter and the range finder are used for acquiring X and Y coordinates in three-dimensional coordinates of points to be measured on the side wall of the basic ring, and the level is fixed on the circular plate;
the camera is arranged between an eyepiece and an objective of the level, the camera is aligned with the eyepiece of the level, the eyepiece of the level acquires an image of a point to be measured, the image comprises the point to be measured and a scale target arranged on the periphery of the point to be measured, and the camera is used for synchronously shooting the image;
the camera is in communication connection with the image processing mechanism, and the image processing mechanism is used for receiving and processing the image to acquire a Z coordinate of the point to be measured;
the data processing mechanism is in communication connection with the image processing mechanism and is used for processing the three-dimensional coordinates of the three points to be measured to obtain the included angle between the plane formed by the three points to be measured and the plane formed by the three optical assemblies.
5. The foundation ring inclination angle monitoring system of claim 4, further comprising a mounting bracket, said circular plate being connected to said mounting bracket.
6. The foundation ring inclination angle monitoring system of claim 5, wherein said mounting bracket comprises a tripod.
7. The foundation ring inclination angle monitoring system of claim 6, further comprising an electronic gyroscope, wherein the electronic gyroscope is mounted on the level, the electronic gyroscope is in communication connection with the data processing mechanism, and the electronic gyroscope is used for acquiring an included angle between a plane formed by the three optical assemblies and a horizontal plane at any time t.
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