CN111246162A - Position correction method and device for tower clearance monitoring equipment of wind generating set - Google Patents

Position correction method and device for tower clearance monitoring equipment of wind generating set Download PDF

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Publication number
CN111246162A
CN111246162A CN201911253473.1A CN201911253473A CN111246162A CN 111246162 A CN111246162 A CN 111246162A CN 201911253473 A CN201911253473 A CN 201911253473A CN 111246162 A CN111246162 A CN 111246162A
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CN
China
Prior art keywords
display
tower
determining
information
controlling
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Pending
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CN201911253473.1A
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Chinese (zh)
Inventor
张琦
李新乐
杨博宇
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Beijing Goldwind Science and Creation Windpower Equipment Co Ltd
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Beijing Goldwind Science and Creation Windpower Equipment Co Ltd
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Priority to CN201911253473.1A priority Critical patent/CN111246162A/en
Publication of CN111246162A publication Critical patent/CN111246162A/en
Pending legal-status Critical Current

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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00Television systems
    • H04N7/18Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03DWIND MOTORS
    • F03D17/00Monitoring or testing of wind motors, e.g. diagnostics

Abstract

The application provides a position correction method and device for tower clearance monitoring equipment of a wind generating set. The monitoring equipment is pre-installed at the bottom of a cabin of the wind generating set in an area between the impeller and the tower, and can shoot the tower. The position correction method includes: acquiring an image shot by monitoring equipment, and controlling a display to display the image; determining a tower graph in the image; determining the current position information of the tower graph, and controlling a display to display the current position information; and determining whether the position state of the monitoring equipment is correct or not according to the current position information and preset standard position information, and controlling the display to display result information. Because the monitoring devices on the wind generating sets of the same model all adopt the same standard position information to determine and correct the position states of the monitoring devices, when all the monitoring devices are corrected to the correct positions, tower clearance images shot by the monitoring devices on the wind generating sets of the same model can have higher uniformity.

Description

Position correction method and device for tower clearance monitoring equipment of wind generating set
Technical Field
The application relates to the technical field of tower clearance monitoring of wind generating sets, in particular to a position correction method and device of tower clearance monitoring equipment of a wind generating set.
Background
For wind power installations, the blades need to be replaced if once a blade sweep occurs. This causes a great loss, and therefore, a tower clearance monitoring device (hereinafter referred to as a monitoring device) is usually installed on the wind turbine generator system, and the monitoring device is part of a monitoring system. The monitoring equipment is used for shooting tower clearance images of the wind generating set, so that the position relation between the tower and the blade tip of the blade is monitored in real time, and the safe operation of the wind generating set is guaranteed.
Each monitoring device can shoot clear and uniform tower clearance images, and the method is one of key factors for ensuring the clearance monitoring system to have higher measurement precision. In the existing process of installing the monitoring equipment, whether the position state of the monitoring equipment is correct is usually judged manually, so that the position state of the monitoring equipment is difficult to adjust to the correct position, and further tower clearance images shot by the monitoring equipment on wind generating sets of the same model are inconsistent.
Disclosure of Invention
The application provides a position correction method and a position correction device of tower clearance monitoring equipment of a wind generating set aiming at the defects of the existing mode, and is used for solving the technical problem that the position of the monitoring equipment on the wind generating set is difficult to adjust to the correct position.
In a first aspect, an embodiment of the present application provides a method for correcting a position of a tower clearance monitoring device of a wind turbine generator system, where the monitoring device is pre-installed at a bottom of a nacelle of the wind turbine generator system in an area between an impeller and a tower and can shoot the tower, and the method includes:
acquiring an image shot by monitoring equipment, and controlling a display to display the image;
determining a tower graph in the image;
determining the current position information of the tower graph, and controlling a display to display the current position information;
and determining whether the position state of the monitoring equipment is correct or not according to the current position information and preset standard position information, and controlling the display to display result information.
In a second aspect, an embodiment of the present application provides a position correction device for tower clearance monitoring equipment of a wind turbine generator system, including:
the image acquisition module is used for acquiring images shot by the monitoring equipment and controlling the display to display the images;
the image determining module is used for determining a tower graph in the image;
the position determining module is used for determining the current position information of the tower graph and controlling the display to display the current position information;
and the result determining module is used for determining whether the position state of the monitoring equipment is correct or not according to the current position information and the preset standard position information, and controlling the display to display result information.
In a third aspect, the embodiment of the application provides a position correction device for a tower clearance monitoring device of a wind generating set, wherein the monitoring device is pre-installed at the bottom of a cabin of the wind generating set in an area between an impeller and a tower and can shoot the tower, and the position correction device comprises a processor and a display;
a processor to: acquiring an image shot by monitoring equipment, and controlling a display to display the image;
determining a tower graph in the image; determining the current position information of the tower graph, and controlling a display to display the current position information; determining whether the position state of the monitoring equipment is correct or not according to the current position information and preset standard position information, and controlling the display to display result information;
and the display is used for displaying the image and the current position information.
In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the position correction method for the tower headroom monitoring device of the wind turbine generator system provided in the present application.
The technical scheme provided by the embodiment of the application has the following beneficial technical effects:
in the embodiment of the application, the shooting object tower of the monitoring equipment is used as a reference object in the installation process of the monitoring equipment. The current position information of the tower graph in the image shot by the monitoring equipment is compared with the preset standard position information, so that whether the position of the monitoring equipment is correct or not is judged.
The above-mentioned judgement process can be reduced the influence of subjective factor of people to a great extent by the position correction equipment for supervisory equipment can be corrected to the correct position more accurately. Because the monitoring devices on the wind generating sets of the same model all adopt the same standard position information to determine and correct the position states of the monitoring devices, when all the monitoring devices are corrected to the correct positions, tower clearance images shot by the monitoring devices on the wind generating sets of the same model can have higher uniformity. The unified tower clearance image shot by each monitoring device provides good conditions for effective implementation of subsequent functions of the clearance monitoring system, and the effectiveness of measurement of the clearance monitoring system is guaranteed, so that the normal and safe operation of the wind generating set is effectively guaranteed.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic view of an installation position of tower clearance monitoring equipment of a wind generating set on the wind generating set according to an embodiment of the application;
FIG. 2 is a partial structural schematic view of a nacelle of a wind turbine generator system provided by an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a tower clearance monitoring device of a wind generating set according to an embodiment of the present application;
FIG. 4 is a schematic flow chart of a position correction method of tower clearance monitoring equipment of a wind generating set according to an embodiment of the present application;
5-9 are schematic diagrams illustrating the interface changes of the position correction device when the position correction method of the tower clearance monitoring device of the wind generating set is executed;
FIG. 10 is a schematic flow chart of another method for correcting the position of the tower clearance monitoring device of the wind generating set according to the embodiment of the present application;
FIG. 11 is a block diagram of a position correcting device of a tower clearance monitoring device of a wind generating set according to an embodiment of the present application;
FIG. 12 is a block diagram of a position rectification device of a tower clearance monitoring device of a wind generating set according to an embodiment of the present application.
The reference numerals are explained as follows:
100-a wind generating set;
101-a nacelle; 1011-flange plate; 1012 a first connection aperture;
102-a tower; 103-blade; 110-headroom region;
200-tower clearance monitoring equipment of the wind generating set;
201-an annular disc; 2011-second connection hole;
300-position correcting equipment of tower clearance monitoring equipment of the wind generating set;
301-a processor; 302-a display; 202 a storage system;
3021-monitoring device setup area; 3022-model selection area;
3023-information display area; 3024-image display area;
600-a position correction device of a tower clearance monitoring device of the wind generating set;
601-an image acquisition module; 602-an image determination module; 603-a location determination module;
604-result determination module.
Detailed Description
Reference will now be made in detail to the present application, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar parts or parts having the same or similar functions throughout. In addition, if a detailed description of the known art is not necessary for illustrating the features of the present application, it is omitted. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
It will be understood by those within the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 1 shows a schematic illustration of the position of a tower clearance monitoring device 200 (hereinafter referred to as monitoring device 200) of a wind park on a wind park 100. In the embodiment of the present application, the monitoring device 200 is installed at the bottom of the nacelle 101 in the area between the impeller and the tower 102 for taking a tower clearance image of the wind turbine generator set 100. The monitoring apparatus 200 may be an apparatus having a photographing function such as a video camera or a monitoring camera.
The position correction method for the tower clearance monitoring equipment of the wind generating set provided by the embodiment of the application aims to help a user correct the monitoring equipment 200 pre-installed at the bottom of the cabin 101 of the wind generating set 100 to a correct position, so that tower clearance images shot by the monitoring equipment 200 on the same type of wind generating set 100 are kept uniform.
It should be noted that the tower clearance image is an image captured when the lens of the monitoring apparatus 200 is directed to the clearance area 110 of the wind turbine generator set 100.
The first part of the tower 102 is in the clearance area 110, and the tip of the blade 103 can periodically enter the clearance area 110 during the rotation of the blade 103; further, as the blade 103 passes the tower 102 during rotation, the tip of the blade sweeps around the first portion of the tower 102. As the tip of the blade 103 enters the clearance area 110, the first portion of the tower 102 and the tip of the blade 103 can be simultaneously captured by the monitoring device 200.
"correct position" refers to a correct installation position of the monitoring apparatus 200, where the tower clearance image taken meets the following basic requirements.
The basic requirements for tower headroom image are: during the process that the blade tip of the blade 103 is in the clearance area 110, the tower clearance image at least comprises a graph of a blade tip part and a graph of the tower 102 close to the blade tip part, and the distance between the edge of the blade tip graph and the edge of the tower graph can be visually reflected. It will be appreciated by those skilled in the art that tower clearance images meeting the above requirements can be used to determine whether a sweep of the tower or a risk of a sweep of the tower has occurred for the blade 103.
In order to improve the installation efficiency of the monitoring device 200, before applying the position correction method of the tower clearance monitoring device of the wind generating set provided by the embodiment of the application, the monitoring device 200 may be pre-installed at the bottom of the nacelle 101 of the wind generating set 100, and it is ensured that the monitoring device 200 can photograph the tower 102.
After pre-mounting the monitoring device 200 at the bottom of the nacelle 101, the position status of the monitoring device 200 should still be adjustable with respect to the nacelle 101. When the position state of the monitoring device 200 is determined to be correct, the monitoring device 200 is locked with respect to the nacelle 101.
On the premise that the connection mode of the nacelle 101 and the monitoring device 200 can satisfy the above conditions, the embodiment of the present application does not set any limit on the specific connection structure of the nacelle 101 and the monitoring device 200.
The nacelle 101 and the monitoring device 200 provided by the embodiment of the application are connected in a manner as shown in fig. 2 and 3. In fig. 2, a flange 1011 is provided at the bottom of the nacelle 101 near the front side, and the flange 1011 is provided with a plurality of first connection holes 1012. In fig. 3, the monitoring device 200 is provided with a ring plate 201 around the ring plate 201, and a plurality of second connection holes 2011 are provided on the ring plate 201. Bolts (not shown) are inserted through the corresponding first and second connection holes 1012, 2011 so that the monitoring apparatus 200 is attached to the bottom of the nacelle 101.
In the embodiment of the present application, the bottom of the nacelle 101 between the tower 102 and the generator is selected as the installation location, taking into consideration the complexity of the internal structure of the nacelle 101, the requirement of the clearance monitoring system, and the reliability requirement of the wind power generation and assembly 100. Further considering that manual drilling may cause inaccurate drilling positions, a mechanical interface reservation (i.e., a flange 1011 is provided) may be made at the bottom of the nacelle 101 near the front side, so as to ensure the accuracy of the installation position of the monitoring device 200.
When the monitoring apparatus 200 is pre-installed at the bottom of the nacelle 101, correcting the position state (such as the inclination angle and height) of the monitoring apparatus 200 can be achieved by adjusting the bolt length between each pair of the first connection hole 1012 and the second connection hole 2011. When the positional state of the monitoring apparatus 200 is determined to be correct, the movement of the bolt is restricted so that the monitoring apparatus 200 is locked with respect to the nacelle 101.
The position correction method for the tower clearance monitoring device of the wind generating set provided by the embodiment of the application can be applied to the position correction device 300 (hereinafter referred to as the position correction device 300) of the tower clearance monitoring device of the wind generating set shown in fig. 12.
The position correcting device 300 comprises a processor 301 and a display 302, and the processor 301 is the execution subject of the position correcting method of the tower clearance monitoring device of the wind generating set. The processor 301 may issue corresponding instructions or information for display by the display 302, either directly or indirectly.
It will be appreciated by those skilled in the art that the position correcting device 300 includes a storage system 202, and the storage system 202 is configured to store machine readable instructions, which when executed by the processor 301, cause the processor 301 to perform the calibration method for monitoring the position status of the device 200 provided in the above embodiments of the present application.
It should be noted that the position correction device 300 may be a mobile phone, a tablet computer, a wearable device, an in-vehicle device, an Augmented Reality (AR)/Virtual Reality (VR) device, a notebook computer, an ultra-mobile personal computer (UMPC), a netbook, a Personal Digital Assistant (PDA), or other electronic devices, and the embodiment of the present application does not set any limitation to a specific type of the position correction device 300.
In the following embodiments, a mobile phone will be taken as an example to further explain some steps of the position correction method for the tower clearance monitoring device of the wind turbine generator system provided in the application embodiments.
The embodiment of the application provides a position correction method for tower clearance monitoring equipment of a wind generating set, and a flow chart of the method is shown in fig. 4 and comprises the following steps:
s401: an image captured by the monitoring apparatus 200 is acquired, and the display 302 is controlled to display the image.
FIG. 5 shows an interface displayed on the display 302 of the handset in the unlocked mode of the handset, showing icons A1 through A9 for a plurality of applications. The application program of the icon a6 can implement the position correction method of the tower clearance monitoring device of the wind turbine generator system provided by the embodiment of the present application.
After the mobile phone detects that the user clicks the icon a6, the mobile phone starts an application program to which the icon a6 belongs, and the display 302 displays the login interface shown in fig. 6.
After the mobile phone detects that the user clicks the login control, if the user name and the password input by the user are verified to be correct, the display 302 displays the functional interface shown in fig. 7.
Of course, the login operation may be omitted, and after the mobile phone detects the operation of clicking the icon a6 by the user, the display 302 directly displays the function interface shown in fig. 7.
As shown in fig. 7, the function interface may include a monitoring apparatus setting area 3021, a model selection area 3022, an information display area 3023, an image display area 3024, and the like.
A user inputs the IP and the channel of the monitoring equipment 200 pre-installed at the bottom of the cabin 101 in the monitoring equipment 200 setting area; the mobile phone communicates with the monitoring device 200 at the bottom of the cabin 101 according to the IP and the channel, and obtains an image captured by the monitoring device 200. The display 302 receives display data of an image, and as shown in fig. 8, displays the image captured by the monitoring apparatus 200 in an image display area 3024.
Optionally, the mobile phone is connected to the monitoring device 200 by a wire or wirelessly. For example, the handset and the monitoring apparatus 200 may be electrically connected through a USB cable.
S402: a tower figure is determined in the image.
In an embodiment of the present application, step S402 specifically includes: a target area is identified in the image, and a tower figure is determined in the target area.
As will be appreciated by those skilled in the art, the image includes a tower graphic, a blade graphic, or a graphic of an object in the natural environment. Taking fig. 8 as an example, graph B is a tower graph, and graph C is a blade graph. Among the various patterns of the image, the tower pattern is recognized based on the characteristic shape, color, or the like of the tower 102 itself.
S403: the current position information of the tower graphic is determined and the display 302 is controlled to display the current position information.
In one embodiment of the present application, the current position information of the tower graphic is displayed in the information display area 3023 of the functional interface.
In an embodiment of the present application, step S403 specifically includes: according to the tower figure, the current parameter information of the edge line of the tower figure is determined, and the display 302 is controlled to display the current parameter information.
S404: and determining whether the position state of the monitoring device 200 is correct or not according to the current position information and preset standard position information, and controlling the display 302 to display result information.
The standard position information may be determined according to actual design requirements, and the same standard position information is adopted for the monitoring devices 200 of the same type of wind power discharge unit when correcting the position state.
In one embodiment of the present application, a virtual reference coordinate system may be preset. Current position information indicating a position of the tower figure in the current image in the reference coordinate system; and standard position information indicating a position in the image where the tower figure should be located in the reference coordinate system when the position status of the monitoring apparatus 200 is correct. The position state of the monitoring device 200 is determined to be correct by comparing the positions of the tower figures in the reference coordinate system in the two cases to determine the current position information and the standard position information.
In the embodiment of the present application, the result information displayed by the control display 302 is used to remind the user whether the position status of the monitoring device 200 is correct. If the positional status of the monitoring device 200 is correct, the user locks the monitoring device 200 with respect to the nacelle 101 so that the monitoring device 200 remains in the correct position. If the position state of the monitoring device 200 is incorrect, the user continues to adjust the position state of the monitoring device 200, and the mobile phone continues to execute steps S401 to 404.
In the embodiment of the present application, the specific manner of displaying the result information on the display 302 is not particularly limited. For example, the display 302 may be controlled to display information in the form of text, and the user knows whether the position state of the monitoring apparatus 200 is correct according to the text content; alternatively, the display 302 is controlled to display corresponding graphs, each graph represents a corresponding result, and the user knows whether the position state of the monitoring device 200 is correct according to the graphs.
Of course, other ways of outputting the result information may also be applied, for example, controlling the sound module to output the voice information, and the user knows whether the location state of the monitoring apparatus 200 is correct according to the voice content.
In the embodiment of the present application, if the result information displayed by the display 302 indicates that the position state of the monitoring device 200 is incorrect, the user can adjust the monitoring device 200 with reference to the standard position information and the current parameter information displayed by the display 302, so as to continue to correct the monitoring device 200 to the correct position; if the resulting information displayed by the display 302 indicates that the positional status of the monitoring device 200 is correct, the user locks the monitoring device 200 relative to the nacelle 101.
In an embodiment of the present application, step S404 specifically includes: determining the difference value between the current parameter information of the edge line and the preset standard parameter information, determining whether the position state of the monitoring equipment is correct according to the difference value, and controlling the display 302 to display result information.
In an embodiment of the present application, before step S404, the method further includes: the model selection instruction of the wind generating set 100 receives a model selection instruction for the wind generating set 100; and determining preset standard position information according to the model selection instruction of the wind generating set 100.
In the embodiment of the present application, the tower 101 of the monitoring apparatus 200 is used as a reference during the installation of the monitoring apparatus 200. The current position information of the tower figure in the image shot by the monitoring device 200 is compared with the preset standard position information to judge whether the position state of the monitoring device 200 is correct.
The above determination process can be performed by the position correcting apparatus 300, which greatly reduces the influence of subjective factors of the person, so that the monitoring apparatus 200 can be corrected to the correct position more accurately. Because the monitoring devices 200 on the same model of wind generating set 100 all adopt the same standard position information to determine and correct the position states thereof, when each monitoring device 200 is corrected to the correct position, the tower clearance images shot by the monitoring devices 200 on the same model of wind generating set 100 can have higher uniformity. The uniform tower clearance image shot by each monitoring device 200 provides good conditions for effective implementation of subsequent functions of the clearance monitoring system, and guarantees effectiveness of measurement of the clearance monitoring system, thereby effectively guaranteeing normal and safe operation of the wind generating set 100.
It should be noted that the tower clearance images captured by the monitoring devices 200 on the same model of wind turbine generator system 100 may have high uniformity, which may mean that the shapes and positions of the tower figures in each tower clearance image are consistent or have small errors.
The embodiment of the application also provides another position correction method for tower clearance monitoring equipment of a wind generating set, and a flow chart of the method is shown in fig. 10 and comprises the following steps:
s501: an image captured by the monitoring apparatus 200 is acquired, and the display 302 is controlled to display the image.
The specific content of step S501 is the same as the specific step of step S401, and is not described herein again.
S502: receiving a model selection instruction for the wind generating set 100; and determining preset standard position information according to the model selection instruction of the wind generating set 100.
In one embodiment of the present application, the user may input or select the model of the wind turbine generator set 100 to which the monitoring apparatus 200 belongs in the model selection area 3022 as shown in fig. 7 or 8. The mobile phone detects the input or selection operation of the user, determines that a model selection instruction of the wind generating set 100 is received, and determines preset standard position information according to the model selection instruction of the wind generating set 100. Those skilled in the art will appreciate that the standard position information corresponding to the same model of wind turbine generator set 100 is the same.
Of course, the specific operation mode of inputting or selecting the model of the wind turbine generator set 100 to which the monitoring device 200 belongs by the user is not limited in the embodiment of the present application, and the user may also input or select the model of the wind turbine generator set 100 to which the monitoring device 200 belongs by other types of operations. For example, a user inputs or selects the model of the wind turbine generator set 100 to which the monitoring device 200 belongs through voice information or preset gestures, and the mobile phone may determine that a model selection instruction of the wind turbine generator set 100 is received after the input or selection operation of the user is detected.
It should be noted that step S501 and step S502 are not in strict sequence, and may be executed simultaneously.
S503: a target area is identified in the image, and a tower figure is determined in the target area.
As will be appreciated by those skilled in the art, the user pre-installing the monitoring device 200 at the bottom of the nacelle 101 is a coarse adjustment of the monitoring device's position status so that the monitoring device is relatively close to the correct position. The position correction method for the tower clearance monitoring equipment of the wind generating set provided by the embodiment of the application mainly helps a user to finely adjust the monitoring equipment 200 pre-installed at the bottom of the nacelle 101 of the wind generating set 100, so that the monitoring equipment 200 is finally corrected to the correct position. Therefore, for the same model of wind turbine generator system 100, when the monitoring device 200 is pre-installed at the bottom of the nacelle 101, the area where the tower pattern is located in the image captured by the monitoring device 200 can be roughly determined.
Taking 8 and 9 as examples, the tower graphic B is approximately in the area near the upper left corner of the image. The area near the top left corner (i.e., the target area) may be identified in the image, and then the tower graphic B may be determined in the area near the top left corner. Therefore, the interference of the figure of the alternative object in the image on the recognition result can be greatly reduced, the calculation amount can be reduced, and the recognition speed and accuracy can be improved.
S504: according to the tower figure, the current parameter information of the edge line of the tower figure is determined, and the display 302 is controlled to display the current parameter information.
In one embodiment of the present application, a virtual reference coordinate system may be preset. And current parameter information of the edge line is used for representing the position of the edge line of the tower figure in the current image in the reference coordinate system. Those skilled in the art will appreciate that the position of the straight line in the coordinate system may be characterized by information such as the slope and the coordinates of the end point, and thus the current parameter information of the edge line may include the current slope and/or the current coordinates of the end point. The embodiment of the present application provides two specific implementations of step S504, namely, the manner (a) and the manner (b).
The mode (a) specifically includes:
(a1) and determining the contour coordinates of the tower graph, and fitting the edge line of the tower graph according to the contour coordinates.
As shown in fig. 9, assuming that lines near two boundaries of the image display area 3024 of the functional interface are taken as an x-axis and a y-axis, an xOy coordinate system (i.e., a reference coordinate system) is established, coordinates of the contour of the tower figure in the coordinate system are determined, and at least one of an edge line LI and an edge line L2 of the tower figure is fitted.
(a2) The current slope of the edge line and the current coordinates of an end point are determined.
Taking the edge line LI as an example, the slope of the edge line LI in the xOy coordinate system and the coordinates of the end point P1 of the edge line L in the xOy coordinate system are determined.
Alternatively, the slope of the edge line LI and the coordinates of the end point P1 of the edge line L are displayed in the information display area 3023 of the function interface.
The mode (b) specifically includes:
(b1) and determining the contour coordinates of the tower graph, and fitting the edge line of the tower graph according to the contour coordinates.
As shown in fig. 9, assuming that two boundaries of the image display area 3024 of the functional interface are used as an x-axis and a y-axis, an xOy coordinate system (i.e., a reference coordinate system) is established, coordinates of the contour of the tower figure in the coordinate system are determined, and at least one of an edge line LI and an edge line L2 of the tower figure is fitted.
(b2) The coordinates of the two end points of the edge line are determined.
Taking the edge line LI as an example, the coordinates of the endpoint P1 and the endpoint P2 of the edge line LI in the xOy coordinate system are determined.
Alternatively, the coordinates of the endpoint P1 and the endpoint P2 of the edge line LI are displayed in the information display area 3023 of the function interface.
S505: and determining the difference value between the current parameter information of the edge line and the preset standard parameter information.
And standard parameter information for representing the position of the tower figure in the reference coordinate system when the position state of the monitoring device 200 is correct. The standard parametric information may include standard slope and/or endpoint coordinates.
When the embodiment of step S504 adopts the method (a), the embodiment of step S505 is: and determining the slope difference between the current slope of the edge line and the preset standard slope, and the coordinate difference between the current coordinate of one end point and the preset standard coordinate.
For example, the difference between the current slope of the edge line LI and the preset standard slope, and the difference between the current coordinate of the endpoint P1 of the edge line L and the preset standard coordinate are determined.
When the embodiment of step S504 adopts the method (b), the embodiment of step S505 is: and determining a first coordinate difference between the current coordinate of the first end point of the edge line and a preset first standard coordinate, and a second coordinate difference between the current coordinate of the second end point of the edge line and a preset second standard coordinate.
For example, a first coordinate difference of the current coordinate of the end point P1 of the edge line L1 and a preset first standard coordinate and a second coordinate difference of the current coordinate of the end point P2 of the edge line L1 and a preset second standard coordinate are determined.
S506: and determining whether the position state of the monitoring equipment is correct or not according to the difference value, and controlling the display 302 to display result information.
When the embodiment of step S504 adopts the method (a), the embodiment of step S506 is: if the slope difference does not exceed the preset slope difference threshold and the coordinate difference does not exceed the preset coordinate difference threshold, it is determined that the position state of the monitoring device is correct, and the display 302 is controlled to display a prompt message that the position state of the monitoring device is correct.
For example, if the difference between the current slope of the edge line LI and the preset standard slope does not exceed the preset slope threshold, and the difference between the current coordinate of the endpoint P1 of the edge line L and the preset standard coordinate does not exceed the preset coordinate threshold, it is determined that the position state of the monitoring device is correct, and the display 302 is controlled to display a prompt message that the position state of the monitoring device is correct.
When the embodiment of step S504 adopts the method (b), the embodiment of step S506 is: if the first coordinate difference does not exceed the preset first coordinate difference threshold value and the second coordinate difference does not exceed the preset second coordinate difference threshold value, it is determined that the position state of the monitoring device is correct, and the display 302 is controlled to display a prompt message that the position state of the monitoring device is correct.
For example, if the first coordinate difference between the current coordinate of the endpoint P1 of the edge line L1 and the preset first standard coordinate does not exceed the preset first coordinate difference threshold, and the second coordinate difference between the current coordinate of the endpoint P2 of the edge line L1 and the preset second standard coordinate does not exceed the preset second coordinate difference threshold, it is determined that the position status of the monitoring device is correct, and the display 302 is controlled to display a prompt that the position status of the monitoring device is correct.
In this embodiment, the specific content of the result information displayed by the display 302 in step S506 is consistent with the specific content in step S404, and is not described herein again.
In an embodiment of the present application, the method for correcting the position of the tower clearance monitoring device of the wind turbine generator system may further include: and controlling the display 302 to display the graph of the standard edge line according to the preset standard parameter information.
Alternatively, the display 302 is controlled in the image display area 3024 of the function interface to display the graph of the standard edge line L0 shown in fig. 9, based on the standard slope and the coordinates of one end point in the standard parameter information.
Alternatively, the display 302 is controlled to display the graph of the standard edge line L0 shown in fig. 9 in the image display area 3024 of the function interface in accordance with the coordinates of two end points in the standard parameter information.
The user can more intuitively see the position relationship between the edge line of the tower figure in the current image and the standard edge line, and adjust the monitoring device 200 according to the position relationship, so that the monitoring device 200 can be corrected to the correct position more quickly.
Based on the same inventive concept, the embodiment of the present application further provides a position rectification device 600 (hereinafter referred to as the position rectification device 600) of a tower clearance monitoring apparatus of a wind turbine generator system, as shown in fig. 11, the position rectification device 600 includes: an image acquisition module 601, an image determination module 602, a location determination module 603, and a result determination module 604.
The image acquisition module 601 is used for acquiring an image captured by the monitoring device 200 and controlling the display 302 to display the image.
The image determination module 602 is configured to determine a tower figure in the image.
The position determining module 603 is configured to determine current position information of the tower figure and control the display 302 to display the current position information.
The result determining module 604 is configured to determine whether the position status of the monitoring device 200 is correct according to the current position information and preset standard position information, and control the display 302 to display the result information.
In an embodiment of the present application, the image obtaining module 601 is further configured to receive a model selection instruction for the wind generating set 100 by the model selection instruction of the wind generating set 100, and determine preset standard position information according to the model selection instruction of the wind generating set 100.
In an embodiment of the present application, the image obtaining module 601 is further configured to control the display 302 to display a graph of a standard edge line according to preset standard parameter information.
The position correcting device 600 provided by the embodiment of the present application has the same inventive concept and the same advantages as the previous embodiments, and the contents not shown in detail in the position correcting device 600 can refer to the previous embodiments and are not described again.
Based on the same inventive concept, the embodiment of the present application further provides a position rectification device 300 (hereinafter referred to as the position rectification device 300) of the tower clearance monitoring device of the wind turbine generator system, where the position rectification device 300 is in communication connection with the monitoring device 200, and receives an image captured by the monitoring device 200. The monitoring device 200 is pre-installed at the bottom of the nacelle 101 of the wind park 100 and is able to photograph the tower 102.
The position correcting device 300 includes a processor 301 and a display 302.
The processor 301 is configured to: acquiring an image shot by the monitoring device 200, and controlling the display 302 to display the image; determining a tower graph in the image; determining the current position information of the tower graph, and controlling the display 302 to display the current position information; and determining whether the position state of the monitoring device 200 is correct or not according to the current position information and preset standard position information, and controlling the display 302 to display result information.
The display 302 is used to display images and current location information.
In one embodiment of the present application, the processor 301 is configured to: a target area is identified in the image, and a tower figure is determined in the target area.
In one embodiment of the present application, the processor 301 is configured to: determining the current parameter information of the edge line of the tower graph according to the tower graph, and controlling the display 302 to display the current parameter information; determining the difference between the current parameter information of the edge line and the preset standard parameter information, determining whether the position state of the monitoring device 200 is correct according to the difference, and controlling the display 302 to display the result information.
In one embodiment of the present application, the processor 301 is configured to: before determining whether the position status of the monitoring device 200 is correct, the model selection instruction of the wind generating set 100 receives the model selection instruction for the wind generating set 100; and determining preset standard position information according to the model selection instruction of the wind generating set 100.
The Processor 301 in the embodiment of the present Application may be a CPU (Central Processing Unit, CPU 301), a general-purpose Processor 301, a DSP (Digital Signal Processor, DSP 301), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or other Programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor 301 may also be a combination of computing functions, e.g., comprising one or more microprocessors 301, a combination of a DSP and a microprocessor 301, or the like.
It will be appreciated by those skilled in the art that the display 302 provided by the embodiments of the present application may be specially designed and manufactured for the required purposes, or may comprise known devices in a general purpose computer. These devices have stored therein computer programs that are selectively activated or reconfigured. Such a computer program may be stored in a device (e.g., computer) readable medium or in any type of medium suitable for storing electronic instructions and respectively coupled to a bus.
It will be appreciated by those skilled in the art that the position correcting device 300 further comprises a storage system 202, the storage system 202 being configured to store machine readable instructions, which when executed by the processor 301, cause the processor 301 to perform the calibration method for monitoring the position status of the device 200 provided in the above embodiments of the present application.
The storage system 202 in the embodiments of the present application may include a ROM (Read-Only Memory) or other types of static storage devices that can store static information and instructions, may include a RAM (Random access Memory) or other types of dynamic storage devices that can store information and instructions, may also include an EEPROM (Electrically Erasable Programmable Read-Only Memory), a CD-ROM (Compact disk Read-Only Memory) or other optical disk storage, optical disk storage (including Compact disk, laser disk, optical disk, digital versatile disk, blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto.
The position correcting device 300 provided in the embodiment of the present application has the same inventive concept and the same advantages as the embodiments described above, and the details of the position correcting device 300 that are not shown in detail can refer to the embodiments described above, and are not described herein again.
Fig. 12 is a block diagram of an exemplary position orthotic device 300, suitable for implementing an exemplary embodiment of the present invention. The position correcting apparatus 300 shown in fig. 12 is only an example, and should not bring any limitation to the function and the range of use of the embodiment of the present invention.
As shown in fig. 12, the position correcting device 300 may be embodied in the form of a general purpose computing device. The components of the position correcting device 300 may include, but are not limited to: one or more processors 301 or processors 301, a memory system 202, and a bus 203 connecting the various system components (including the memory system 202 and the processors 301).
Bus 203 represents one or more of any of several types of bus structures. By way of example, these bus structures include, but are not limited to: industry architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
The position orthotic device 300 typically comprises a variety of computer system readable media. Such media may be any available media that is accessible by the position correction device 300 and includes both volatile and nonvolatile media, removable and non-removable media.
Storage system 202 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)204 and/or cache memory 205. The position correcting device 300 may further include other removable/non-removable, volatile/nonvolatile computer system storage media (such as memory 303 in fig. 12). By way of example only, the storage system may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 12, commonly referred to as a "hard disk drive"). Although not shown in FIG. 12, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a floppy disk) and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 203 by one or more data media interfaces. Storage system 202 may include at least one program product having at least one program module 207 configured to perform various functions of embodiments of the present invention.
A program/utility 208 having at least one program module 207 may be stored, for example, in storage system 202, such program modules 207 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, and in some combination, may comprise an implementation of a network environment. Program modules 207 generally perform the functions and/or methodologies of embodiments of the present invention as described herein.
The position correcting device 300 may also communicate with the display 302 and one or more other external devices 40 (e.g., keyboard, pointing device, etc.), and may also communicate with one or more devices that enable a user to interact with the position correcting device 300 and/or with any devices (e.g., network card, modem, etc.) that enable the computer system 20 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 209. Further, the position orthotic device 300 may also communicate with one or more networks, such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network (e.g., the internet) via the network adapter 210. As shown in fig. 12, the network adapter 210 may communicate with other modules of the position correction device 300 via the bus 203. It should be appreciated that although not shown in FIG. 12, other hardware and/or software modules may be used in conjunction with computer system 20, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
It should be noted that FIG. 12 is only a schematic illustration of a computing system that may be used to implement various embodiments of the present invention. Those skilled in the art will appreciate that the position correcting device 300 may be implemented by the introduction of additional computing devices.
Based on the same inventive concept, embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the position correction method for tower headroom monitoring equipment of a wind turbine generator system provided in the above embodiments of the present application.
The computer readable medium includes, but is not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magnetic-optical disks, ROMs, RAMs, EPROMs (Erasable Programmable Read-Only memories), EEPROMs, flash memories, magnetic cards, or optical cards. That is, a readable medium includes any medium that stores or transmits information in a form readable by a device (e.g., a computer).
The computer-readable storage medium provided in the embodiments of the present application has the same inventive concept and the same advantages as the embodiments described above, and contents not shown in detail in the computer-readable storage medium may refer to the embodiments described above, and are not described herein again.
By applying the embodiment of the application, at least the following beneficial effects can be realized:
in the embodiment of the application, the shooting object tower of the monitoring equipment is used as a reference object in the installation process of the monitoring equipment. The current position information of the tower graph in the image shot by the monitoring equipment is compared with the preset standard position information, so that whether the position state of the monitoring equipment is correct or not is judged.
The above-mentioned judgement process can be reduced the influence of subjective factor of people to a great extent by the position correction equipment for supervisory equipment can be corrected to the correct position more accurately. Because the monitoring devices on the wind generating sets of the same model all adopt the same standard position information to determine and correct the position states of the monitoring devices, when all the monitoring devices are corrected to the correct positions, tower clearance images shot by the monitoring devices on the wind generating sets of the same model can have higher uniformity. The unified tower clearance image shot by each monitoring device provides good conditions for the effective implementation of the subsequent functions of the clearance monitoring system, and the effectiveness of the measurement of the clearance monitoring system is ensured, so that the normal and safe operation of the wind generating set is effectively ensured.
Those of skill in the art will appreciate that the various operations, methods, steps in the processes, acts, or solutions discussed in this application can be interchanged, modified, combined, or eliminated. Further, other steps, measures, or schemes in various operations, methods, or flows that have been discussed in this application can be alternated, altered, rearranged, broken down, combined, or deleted. Further, steps, measures, schemes in the prior art having various operations, methods, procedures disclosed in the present application may also be alternated, modified, rearranged, decomposed, combined, or deleted.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations should also be regarded as the protection scope of the present application.

Claims (14)

1. A method for correcting the position of a tower clearance monitoring device of a wind turbine generator system, wherein the monitoring device is pre-installed at the bottom of a cabin of the wind turbine generator system in an area between an impeller and the tower and can shoot the tower, and the method comprises the following steps:
acquiring an image shot by the monitoring equipment, and controlling a display to display the image;
determining a tower graph in the image;
determining the current position information of the tower graph, and controlling the display to display the current position information;
and determining whether the position state of the monitoring equipment is correct or not according to the current position information and preset standard position information, and controlling the display to display result information.
2. The method of claim 1, wherein said determining a tower graphic in said image comprises: a target area is identified in the image, and the tower figure is determined in the target area.
3. The method of claim 1, wherein determining current position information for the tower graphic and controlling the display to display the current position information comprises: determining current parameter information of an edge line of the tower graph according to the tower graph, and controlling the display to display the current parameter information;
the determining whether the position state of the monitoring device is correct according to the current position information and preset standard position information, and controlling the display to display result information includes: and determining a difference value between the current parameter information of the edge line and preset standard parameter information, determining whether the position state of the monitoring equipment is correct according to the difference value, and controlling the display to display result information.
4. The method of claim 3, wherein determining current parameter information for an edge line of the tower graphic based on the tower graphic comprises:
determining the contour coordinate of the tower graph, and fitting an edge line of the tower graph according to the contour coordinate;
determining the current slope of the edge line and the current coordinate of an end point; or determining the coordinates of two end points of the edge line.
5. The method of claim 4, wherein determining the difference between the current parameter information of the edge line and the preset standard parameter information comprises: determining the slope difference between the current slope of the edge line and a preset standard slope, and the coordinate difference between the current coordinate of an end point and a preset standard coordinate;
the determining whether the position state of the monitoring device is correct according to the difference value and controlling the display to display result information includes: and if the slope difference does not exceed a preset slope difference threshold value and the coordinate difference does not exceed a preset coordinate difference threshold value, determining that the position state of the monitoring equipment is correct, and controlling the display to display prompt information that the position state of the monitoring equipment is correct.
6. The method of claim 4, wherein determining the difference between the current parameter information of the edge line and the preset standard parameter information comprises: determining a first coordinate difference between the current coordinate of the first end point of the edge line and a preset first standard coordinate, and a second coordinate difference between the current coordinate of the second end point of the edge line and a preset second standard coordinate;
the determining whether the position state of the monitoring device is correct according to the difference value and controlling the display to display result information includes:
and if the first coordinate difference does not exceed a preset first coordinate difference threshold value and the second coordinate difference does not exceed a preset second coordinate difference threshold value, determining that the position state of the monitoring equipment is correct, and controlling the display to display prompt information that the position state of the monitoring equipment is correct.
7. The method of claim 3, comprising: and controlling the display to display the graph of the standard edge line according to preset standard parameter information.
8. The method according to any one of claims 1-7, prior to said determining whether the location status of the monitoring device is correct, comprising:
receiving a model selection instruction aiming at the wind generating set;
and determining preset standard position information according to the model selection instruction of the wind generating set.
9. A position correction device of tower clearance monitoring equipment of a wind generating set is characterized by comprising the following components:
the image acquisition module is used for acquiring the image shot by the monitoring equipment and controlling a display to display the image;
the image determining module is used for determining a tower graph in the image;
the position determining module is used for determining the current position information of the tower graph and controlling the display to display the current position information;
and the result determining module is used for determining whether the position state of the monitoring equipment is correct or not according to the current position information and preset standard position information, and controlling the display to display result information.
10. A position rectification device of a tower clearance monitoring device of a wind generating set, wherein the monitoring device is pre-installed at the bottom of a cabin of the wind generating set in an area between an impeller and a tower and can shoot the tower, and is characterized in that the position rectification device comprises a processor and a display;
the processor is used for acquiring the image shot by the monitoring equipment and controlling the display to display the image; determining a tower graph in the image; determining the current position information of the tower graph, and controlling the display to display the current position information; and determining whether the position state of the monitoring equipment is correct or not according to the current position information and preset standard position information, and controlling the display to display result information.
11. The device of claim 10, wherein the processor is configured to: a target area is identified in the image, and the tower figure is determined in the target area.
12. The device of claim 10, wherein the processor is configured to:
determining current parameter information of an edge line of the tower graph according to the tower graph, and controlling the display to display the current parameter information;
and determining a difference value between the current parameter information of the edge line and preset standard parameter information, determining whether the position state of the monitoring equipment is correct according to the difference value, and controlling the display to display result information.
13. The device of claim 10, wherein the processor is configured to:
receiving a model selection instruction for a wind generating set before the determining whether the position status of the monitoring device is correct; and determining preset standard position information according to the model selection instruction of the wind generating set.
14. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out a method of position correction of a tower headroom monitoring device of a wind turbine generator set according to any of claims 1-8.
CN201911253473.1A 2019-12-09 2019-12-09 Position correction method and device for tower clearance monitoring equipment of wind generating set Pending CN111246162A (en)

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Application publication date: 20200605