CN113309674A - Method and device for determining clearance distance of wind generating set - Google Patents

Method and device for determining clearance distance of wind generating set Download PDF

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Publication number
CN113309674A
CN113309674A CN202110347637.8A CN202110347637A CN113309674A CN 113309674 A CN113309674 A CN 113309674A CN 202110347637 A CN202110347637 A CN 202110347637A CN 113309674 A CN113309674 A CN 113309674A
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tower
pixel
auxiliary tool
distance
end points
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CN113309674B (en
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张琦
李向楠
李新乐
赵勇
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Jinfeng Technology Co ltd
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Xinjiang Goldwind Science and Technology Co Ltd
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Priority to PCT/CN2021/119889 priority patent/WO2022205805A1/en
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    • 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
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/33—Proximity of blade to tower
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

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  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Wind Motors (AREA)

Abstract

A method and a device for determining clearance of a wind generating set are disclosed, wherein the method comprises the following steps: acquiring an image of the wind generating set shot by shooting equipment installed on a cabin; acquiring physical parameters of the wind generating set; determining tower drum identification points of the wind generating set based on the parameters, the physical parameters and the auxiliary parameters of the image, wherein the auxiliary parameters refer to relevant parameters of an auxiliary tool, and the auxiliary tool is arranged at the tower bottom of the wind generating set; and determining the clearance distance from the blade tip of the wind generating set to the tower of the wind generating set based on the tower identification point. Through the method and the device, the problem that the clearance distance cannot be accurately determined in the prior art can be effectively solved.

Description

Method and device for determining clearance distance of wind generating set
Technical Field
The present disclosure relates generally to the field of wind power generation, and more particularly, to a method and an apparatus for determining a clearance of a wind turbine generator.
Background
The basic principle of tower clearance video monitoring is a process of converting a pixel distance between a tower and a blade into an actual distance through image calculation by using shooting equipment (such as a camera), however, parameters required by the conversion process are different due to different models of wind generating sets, installation positions of the shooting equipment and shooting angles. At present, camera interfaces on a cabin of a standard wind generating set are consistent, so that the wind generating set of the same model is suitable for one set of parameters, but when a tower clearance video monitoring system is installed on the wind generating set without the preset interface, a great error is caused due to the fact that the error of an installation process is different from the determination method of installation positions of installation personnel. The existing installation and verification method is that two reference lines are preset on a display interface of a tower clearance video monitoring program, and a tower drum of a wind generating set on the display interface is required to be consistent with the reference lines when a camera is installed, wherein the reference lines and subsequent algorithm parameters are determined by shooting images when the camera installation position of the wind generating set is tested.
However, the installation method still has the inaccuracy problem, and fig. 1 and fig. 2 respectively show the position error of the tower barrel after the installation of different wind generating sets. It can be seen from fig. 1 and 2 that there are errors in the lateral direction and the longitudinal direction, which may cause a large calculation error when the clearance is determined on different wind turbine generators using the same calculation parameters, thereby causing inaccurate control of the wind turbine generators. Therefore, how to eliminate the installation error caused by different wind generating sets and camera installation positions is particularly important.
Disclosure of Invention
The embodiment of the disclosure provides a method and a device for determining a clearance distance of a wind generating set, which can effectively solve the problem that the clearance distance cannot be accurately determined in the prior art.
In one general aspect, there is provided a clearance determination method of a wind turbine generator system, including: acquiring an image of the wind generating set shot by shooting equipment installed on a cabin; acquiring physical parameters of the wind generating set; determining tower drum identification points of the wind generating set based on the parameters, the physical parameters and the auxiliary parameters of the image, wherein the auxiliary parameters refer to relevant parameters of an auxiliary tool, and the auxiliary tool is arranged at the tower bottom of the wind generating set; and determining the clearance distance from the blade tip of the wind generating set to the tower of the wind generating set based on the tower identification point.
Optionally, the parameters of the image include a pixel height of the auxiliary tool included in the image, an extension line pixel distance of a portion of an extension line of a center line of the auxiliary tool toward the tower top end, which is visible in the image; the physical parameters comprise the actual distance between the blade tip and the ground when the blade of the wind power generation set vertically faces downwards; the auxiliary parameters comprise the actual height of the auxiliary tool and the actual distance corresponding to the pixel distance of the extension line.
Optionally, determining a tower identification point of the wind turbine generator system based on the parameters of the image, the physical parameters and the auxiliary parameters includes: obtaining the pixel distance of the blade tip from the ground when the blade is vertically downward on the basis of the actual distance of the blade tip from the ground when the blade is vertically downward, the actual height of the auxiliary tool, the pixel height of the auxiliary tool and the actual distances corresponding to the pixel distance of the extension line and the pixel distance of the extension line; and determining tower drum identification points based on the pixel distance between the blade tip and the ground when the blade is vertically downward.
Optionally, the obtaining of the physical parameters of the wind turbine generator system includes: and acquiring the actual distance from the blade tip to the ground when the blade vertically faces downwards based on the hub height and the impeller diameter of the wind generating set.
Optionally, the actual distance corresponding to the extension line pixel distance is acquired based on a tower height of the wind generating set, an actual distance from the shooting device to a center line of the tower, and a viewing angle of the shooting device.
Optionally, determining a tower identification point based on the pixel distance of the blade tip from the ground when the blade is vertically downward includes: determining a coordinate point on a center line of the tower drum, which is vertically away from a preset pixel distance at the bottom of the tower, wherein the preset pixel distance is the pixel distance from the blade tip to the ground when the blade vertically faces downwards; and determining the coordinate points as tower tube identification points.
Optionally, the parameters of the image include pixel coordinates of four end points of the auxiliary tool included in the image, and pixel lengths of an upper edge or a lower edge of the auxiliary tool; the physical parameters comprise the actual distance between the mounting point of the shooting equipment and the blade tip of the vertically downward blade; the auxiliary parameter includes an actual length of the photographing apparatus from an edge corresponding to the pixel length.
Optionally, determining a tower identification point of the wind turbine generator system based on the parameters of the image, the physical parameters and the auxiliary parameters includes: obtaining coordinates of two end points of a line where a tower drum identification point is located based on pixel coordinates, pixel lengths and actual lengths of four end points of the auxiliary tool and actual distances between a shooting device mounting point and a blade tip of a vertically downward blade, wherein the line where the tower drum identification point is located is a line parallel to the upper edge and the lower edge of the auxiliary tool, and the two end points are intersection points of the line where the tower drum identification point is located and extension lines of the left edge of the auxiliary tool towards the top end of the tower drum and the right edge of the auxiliary tool towards the top end of the tower drum respectively; and obtaining the middle point of the two end points based on the coordinates of the two end points of the line where the tower tube identification point is located, and determining the middle point as the tower tube identification point.
Optionally, obtaining coordinates of two end points of a line on which the tower drum identification point is located based on the pixel coordinates, the pixel length, the actual length of the four end points of the auxiliary tool and the actual distance between the shooting device mounting point and the blade tip of the vertically downward blade, including: acquiring pixel coordinates of four end points of the auxiliary tool; obtaining the pixel length of the lower edge of the auxiliary tool based on the pixel coordinates of the two end points corresponding to the lower edge of the auxiliary tool, or obtaining the pixel length of the upper edge of the auxiliary tool based on the pixel coordinates of the two end points corresponding to the upper edge of the auxiliary tool; obtaining pixel distances of two end points of a line where a tower drum identification point is located based on the pixel length of the lower edge or the pixel length of the upper edge of the auxiliary tool, the actual length of the shooting equipment distance and the edge corresponding to the pixel length, and the actual distance between the installation point of the shooting equipment and the blade tip of the vertically downward blade; and obtaining coordinates of the two end points of the line where the tower tube identification point is located based on the pixel distance of the two end points of the line where the tower tube identification point is located and the relation of the two end points of the line where the tower tube identification point is located.
Optionally, before obtaining coordinates of two end points of the line where the tower tube identification point is located based on a pixel distance of the line where the tower tube identification point is located and a relationship between the two end points of the line where the tower tube identification point is located, the method further includes: obtaining a relationship of two end points of the left edge of the auxiliary tool based on pixel coordinates of the two end points of the left edge of the auxiliary tool; obtaining the relationship of two end points of the right edge of the auxiliary tool based on the pixel coordinates of the two end points of the right edge of the auxiliary tool; and obtaining the relation of the two end points of the line where the tower drum identification point is located according to the relation of the two end points of the left edge and the relation of the two end points of the right edge of the auxiliary tool.
Optionally, obtaining the clearance distance from the blade tip to the tower based on the tower identification point includes: acquiring the pixel distance between the blade tip of the blade and the tower drum identification point; acquiring the pixel length of the upper edge or the lower edge of the auxiliary tool and the actual length of the edge corresponding to the pixel length; and obtaining the clearance distance from the blade tip to the tower drum based on the pixel distance, the pixel length and the actual length of the blade tip and the tower drum identification point of the blade.
In another general aspect, there is provided a clearance determining apparatus of a wind turbine generator set, including: an image acquisition unit configured to acquire an image of the wind turbine generator set photographed by a photographing apparatus mounted on the nacelle; a physical parameter obtaining unit configured to obtain physical parameters of the wind turbine generator system; the tower identification point determining unit is configured to determine a tower identification point of the wind generating set based on the parameters of the image, the physical parameters and the auxiliary parameters, wherein the auxiliary parameters refer to relevant parameters of an auxiliary tool, and the auxiliary tool is arranged at the tower bottom of the wind generating set; and the clearance distance determination unit is configured to determine the clearance distance from the blade tip of the wind generating set to the tower of the wind generating set based on the tower identification point.
Optionally, the parameters of the image include a pixel height of the auxiliary tool, an extension line pixel distance of a portion of an extension line of the center line of the auxiliary tool towards the top end of the tower drum, which can be seen in the image, the physical parameters include an actual distance of a blade tip from the ground when the blade of the wind power generation set is vertically downward, and the auxiliary parameters include an actual height of the auxiliary tool and an actual distance corresponding to the extension line pixel distance.
Optionally, the tower identification point determining unit is further configured to obtain a pixel distance from the blade tip to the ground when the blade is vertically downward, based on an actual distance from the blade tip to the ground when the blade is vertically downward, an actual height of the auxiliary tool, a pixel height of the auxiliary tool, and the extended line pixel distance and an actual distance corresponding to the extended line pixel distance; and determining tower drum identification points based on the pixel distance between the blade tip and the ground when the blade is vertically downward.
Optionally, the physical parameter obtaining unit is further configured to obtain an actual distance of the blade tip from the ground when the blade is vertically downward based on a hub height and an impeller diameter of the wind turbine generator system.
Optionally, the actual distance corresponding to the extension line pixel distance is obtained based on the height of the tower of the wind turbine generator system, the actual distance from the shooting device to the center line of the tower, and the viewing angle of the shooting device.
Optionally, the tower identification point determining unit is further configured to determine a coordinate point on a centerline of the tower, which is vertically away from the tower bottom by a predetermined pixel distance, where the predetermined pixel distance is a pixel distance from the blade tip to the ground when the blade is vertically downward; and determining the coordinate points as tower tube identification points.
Optionally, the parameters of the image include pixel coordinates of four end points of the auxiliary tool, pixel lengths of an upper edge or a lower edge of the auxiliary tool, the physical parameters include an actual distance between a mounting point of the shooting device and a tip of the vertically downward blade, and the auxiliary parameters include an actual length between the shooting device and the edge corresponding to the pixel lengths.
Optionally, the tower identification point determining unit is further configured to obtain coordinates of two end points of a line where the tower identification point is located based on pixel coordinates, pixel lengths, and actual lengths of four end points of the auxiliary tool and an actual distance between the shooting device mounting point and a blade tip of the vertically downward blade, where the line where the tower identification point is located is a line parallel to upper and lower edges of the auxiliary tool, and the two end points are intersection points of the line where the tower identification point is located, and a left edge extension line of the auxiliary tool and a right edge extension line of the auxiliary tool respectively; and obtaining the middle point of the two end points based on the coordinates of the two end points of the line where the tower tube identification point is located, and determining the middle point as the tower tube identification point.
Optionally, the tower identification point determination unit is further configured to obtain pixel coordinates of four end points of the auxiliary tool; obtaining the pixel length of the lower edge of the auxiliary tool based on the pixel coordinates of the two end points corresponding to the lower edge of the auxiliary tool, or obtaining the pixel length of the upper edge of the auxiliary tool based on the pixel coordinates of the two end points corresponding to the upper edge of the auxiliary tool; obtaining pixel distances of two end points of a line where a tower drum identification point is located based on the pixel length of the lower edge or the pixel length of the upper edge of the auxiliary tool, the actual length of the shooting equipment distance and the edge corresponding to the pixel length, and the actual distance between the installation point of the shooting equipment and the blade tip of the vertically downward blade; and obtaining coordinates of the two end points of the line where the tower tube identification point is located based on the pixel distance of the two end points of the line where the tower tube identification point is located and the relation of the two end points of the line where the tower tube identification point is located.
Optionally, the tower identification point determining unit is further configured to, before obtaining coordinates of two end points of the line on which the tower identification point is located based on a pixel distance of the line on which the tower identification point is located and a relationship between the two end points of the line on which the tower identification point is located, obtain a relationship between two end points of the left edge of the auxiliary tool based on pixel coordinates of the two end points of the left edge of the auxiliary tool; obtaining the relationship of two end points of the right edge of the auxiliary tool based on the pixel coordinates of the two end points of the right edge of the auxiliary tool; and obtaining the relation of the two end points of the line where the tower drum identification point is located according to the relation of the two end points of the left edge and the relation of the two end points of the right edge of the auxiliary tool.
Optionally, the clearance distance determining unit is further configured to obtain a pixel distance between a blade tip of the blade and the tower identification point; acquiring the pixel length of the upper edge or the lower edge of the auxiliary tool and the actual length of the edge corresponding to the pixel length; and obtaining the clearance distance from the blade tip to the tower drum based on the pixel distance, the pixel length and the actual length of the blade tip and the tower drum identification point of the blade.
In another general aspect, there is provided a computer-readable storage medium storing instructions that, when executed by at least one computing device, cause the at least one computing device to perform a method of determining a clearance of a wind park as described above.
In another general aspect, there is provided a system comprising at least one computing device and at least one storage device storing instructions, wherein the instructions, when executed by the at least one computing device, cause the at least one computing device to perform a method of determining a clearance of a wind park as any one of the above.
According to the method and the device for determining the clearance distance of the wind generating set, the tower drum identification point is determined by combining the physical parameters of the wind generating set with the related parameters of the auxiliary tool and the parameters of the image obtained by the shooting equipment, and a fixed tower drum identification point is not manually positioned according to historical experience, so that the problem that the clearance distance from the blade tip to the tower drum cannot be accurately determined by using the fixed tower drum identification point when errors are caused by different installation positions of the wind generating set and the shooting equipment is solved, the accurate clearance distance can be obtained, and further the clearance control on the wind generating set can be accurately performed based on the accurate clearance distance. Therefore, the problem that the clearance cannot be accurately determined in the prior art can be effectively solved through the method and the device.
Additional aspects and/or advantages of the present general inventive concept 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 general inventive concept.
Drawings
The above and other objects and features of the embodiments of the present disclosure will become more apparent from the following description taken in conjunction with the accompanying drawings illustrating embodiments, in which:
fig. 1 is a schematic view showing a longitudinal installation error of a photographing apparatus in the related art;
fig. 2 is a schematic view showing a lateral mounting error of a photographing apparatus in the related art;
fig. 3 is a schematic view illustrating an application scenario of the headroom determination method according to an embodiment of the disclosure;
FIG. 4 shows a flow chart of a method of determining a clearance of a wind park of an embodiment of the present disclosure;
FIG. 5 is a schematic diagram illustrating the location of an auxiliary tool in a first manner of an embodiment of the present disclosure;
FIG. 6 shows a schematic diagram of various parameters of an embodiment of the present disclosure;
FIG. 7 shows a schematic view of a camera relative to a tower centerline of an embodiment of the present disclosure;
FIG. 8 is a schematic diagram illustrating the location of an auxiliary tool in a second manner of an embodiment of the present disclosure;
FIG. 9 shows a schematic diagram of camera imaging principles of an embodiment of the present disclosure;
FIG. 10 shows a schematic of clearance versus actual distance of the aide for an embodiment of the present disclosure;
fig. 11 shows a block diagram of a clearance determining apparatus of a wind turbine generator set of the present disclosure.
Detailed Description
The following detailed description is provided to assist the reader in obtaining a thorough understanding of the methods, devices, and/or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatus, and/or systems described herein will be apparent to those skilled in the art after reviewing the disclosure of the present application. For example, the order of operations described herein is merely an example, and is not limited to those set forth herein, but may be changed as will become apparent after understanding the disclosure of the present application, except to the extent that operations must occur in a particular order. Moreover, descriptions of features known in the art may be omitted for clarity and conciseness.
The features described herein may be embodied in different forms and should not be construed as limited to the examples described herein. Rather, the examples described herein have been provided to illustrate only some of the many possible ways to implement the methods, devices, and/or systems described herein, which will be apparent after understanding the disclosure of the present application.
As used herein, the term "and/or" includes any one of the associated listed items and any combination of any two or more.
Although terms such as "first", "second", and "third" may be used herein to describe various elements, components, regions, layers or sections, these elements, components, regions, layers or sections should not be limited by these terms. Rather, these terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first element, component, region, layer or section referred to in the examples described herein could also be referred to as a second element, component, region, layer or section without departing from the teachings of the examples.
The terminology used herein is for the purpose of describing various examples only and is not intended to be limiting of the disclosure. The singular is also intended to include the plural unless the context clearly indicates otherwise. The terms "comprises," "comprising," and "having" specify the presence of stated features, quantities, operations, elements, components, and/or combinations thereof, but do not preclude the presence or addition of one or more other features, quantities, operations, components, elements, and/or combinations thereof.
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 disclosure belongs after understanding the present disclosure. Unless explicitly defined as such herein, terms (such as those defined in general dictionaries) should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present disclosure, and should not be interpreted in an idealized or overly formal sense.
Further, in the description of the examples, when it is considered that detailed description of well-known related structures or functions will cause a vague explanation of the present disclosure, such detailed description will be omitted.
The invention provides a method and a device for determining a Clearance distance of a wind generating set, which can solve the problem that the Clearance distance from a blade tip to a Tower cannot be accurately determined by using a fixed Tower identification point when errors are caused by installation positions of different wind generating sets and shooting equipment. The tower headroom video monitoring system can comprise a server, a wind generating set, an auxiliary tool, a shooting device and the like, wherein the server and the wind generating set can be connected wirelessly or in a wired manner, and the system is not limited herein. The server may be one server, a server cluster formed by a plurality of servers, or a cloud computing platform or a virtualization center. The shooting device may be a camera or any device capable of shooting. The following description will be given taking a server and a camera as examples.
Fig. 3 is a schematic view illustrating an application scenario of the headroom determination method according to an embodiment of the disclosure. As shown in fig. 3, a server (not shown) acquires an image of the wind generating set captured by a capturing device (e.g., a camera) installed on the nacelle and a physical parameter of the wind generating set, then determines a tower identification point of the wind generating set based on the parameter of the image, the physical parameter and a relevant parameter of an auxiliary tool, and further determines a clearance distance from a blade tip to a tower based on the determined tower identification point, wherein the auxiliary tool may be disposed at the tower bottom of the wind generating set. Therefore, the clearance distance calculated by the clearance distance determining device (such as a tower clearance video monitoring system) can be ensured to be accurate and effective through the disclosure, and the wind generating set is controlled according to the calculated clearance distance.
It should be noted that the method and the device can also be used for calibrating the tower drum identification points, that is, relatively accurate tower drum identification points are obtained based on the parameters of the image, the physical parameters and the related parameters of the auxiliary tool.
The present disclosure is described in detail below with reference to the attached drawings.
Fig. 4 shows a flow chart of a clearance determination method of a wind park of an embodiment of the disclosure. Referring to fig. 4, the method for determining the clearance of the wind turbine generator system includes the following steps:
in step S401, an image of the wind turbine generator system photographed by a photographing apparatus mounted on the nacelle is acquired. In the step, after the shooting equipment is installed on the engine room, the shooting equipment can select any angle to shoot the picture of the wind generating set, and then the picture is sent to the server in a wireless or wired mode.
In step S402, physical parameters of the wind turbine generator set are acquired. The physical parameters may include, but are not limited to: based on the actual distance from the tip of the blade to the ground when the blade is vertically downward, the actual distance from the equipment mounting point to the tip of the blade which is vertically downward is shot. The physical parameters may be stored in the server in advance, or may be measured in real time and then transmitted to the server.
In step S403, tower identification points of the wind turbine generator system are determined based on the parameters of the image, the physical parameters and the auxiliary parameters, wherein the auxiliary parameters refer to relevant parameters of an auxiliary tool, and the auxiliary tool is arranged at the tower bottom of the wind turbine generator system. The tower drum identification point is a projection point from the blade tip of the blade to the tower drum when the blade of the wind generating set is vertically downward. The image parameters may include, but are not limited to: the pixel height of the auxiliary tool included in the image, the pixel distance of the extension line of the center line of the auxiliary tool towards the top end of the tower drum, the pixel coordinates of the four end points of the auxiliary tool included in the image, and the pixel length of the upper edge or the lower edge of the auxiliary tool. The auxiliary parameters may include, but are not limited to: the actual height of the auxiliary tool, the actual distance corresponding to the pixel distance of the extension line and the actual length of the shooting equipment from the edge corresponding to the pixel length. The auxiliary tool can be composed of a plate, two vertical rods and a cross rod, or a vertical rod and a cross rod.
The determination of the tower identification point of the wind turbine generator system in step S403 may be performed in two ways, each of which requires an auxiliary tool but requires different parameters, and the determination process of the tower identification point is described in the two ways.
First, the parameters of the image may include a pixel height of the auxiliary tool included in the image, and an extension line pixel distance of a portion of an extension line of a center line of the auxiliary tool toward the tower top end, which is visible in the image; the physical parameter may include an actual distance of the blade tip from the ground based on the blade being vertically down; the auxiliary parameters may include an actual height of the auxiliary tool and an actual distance corresponding to the pixel distance of the extension line.
Taking an example of the auxiliary tool consisting of a vertical rod and a cross rod, the process of determining the tower identification point based on the above parameters is described below, and fig. 5 shows a schematic diagram of the position of the auxiliary tool in the first mode of the embodiment of the present disclosure, as shown in fig. 5, the vertical rod of the auxiliary tool is placed below the nacelle and is vertically fixed along the center line of the tower, the vertical solid line represents the vertical rod, the dotted line extension line represents the center line of the tower, and the black point is the tower identification point to be determined, that is, the point on the tower closest to the blade when the blade sweeps across the tower.
According to the embodiment of the disclosure, the tower identification point of the wind generating set can be determined based on the parameters of the image, the physical parameters and the auxiliary parameters in the following manner: obtaining the pixel distance of the blade tip from the ground when the blade is vertically downward on the basis of the actual distance of the blade tip from the ground when the blade is vertically downward, the actual height of the auxiliary tool, the pixel height of the auxiliary tool and the actual distances corresponding to the pixel distance of the extension line and the pixel distance of the extension line; and determining tower drum identification points based on the pixel distance between the blade tip and the ground when the blade is vertically downward.
Specifically, fig. 6 shows a schematic diagram of parameters of an embodiment of the present disclosure, and as shown in fig. 6, the above-mentioned shooting device takes a camera as an example, and knows the actual distance h from the ground to the blade tip when the blade is vertically downwardbThe actual height of the auxiliary tool, i.e. the actual height L of the vertical rodyPixel height L of the auxiliary tooly′Extension line of center line of auxiliary tool towards top end of tower drumExtended line pixel distance h of the portion visible in the imagea′Extending the actual distance h corresponding to the pixel distance of the linea. Pixel distance h between blade tip and ground when blade is vertically downwardb′Can be obtained by the following formula:
Figure BDA0003001300280000091
when the pixel distance from the blade tip to the ground when the blade is vertically downward is obtained, the tower drum identification point can be found out on the tower drum centerline based on the pixel distance from the blade tip to the ground when the blade is vertically downward, and according to the embodiment of the disclosure, the tower drum identification point can be determined in the following manner: determining a coordinate point on a center line of the tower drum, which is vertically away from a preset pixel distance at the bottom of the tower, wherein the preset pixel distance is the pixel distance from the blade tip to the ground when the blade vertically faces downwards; and determining the coordinate points as tower tube identification points. Through the embodiment of the disclosure, the tower drum identification point can be quickly determined based on the pixel distance between the blade tip and the ground when the blade is vertically downward.
It should be noted that the tower centerline is determined based on the nacelle, and the tower centerline is a line on one side of the blade in a line corresponding to a merged slot of two parts forming the nacelle, as shown in fig. 7 in particular, a line on a lower side in fig. 7 is the tower centerline.
According to the embodiment of the disclosure, the actual distance from the blade tip to the ground when the blade is vertically downward can be obtained based on the hub height and the impeller diameter of the wind generating set. For example, the impeller radius may be obtained based on the diameter of the impeller, and then the impeller radius may be subtracted from the hub height of the wind turbine to obtain the actual distance of the blade tip from the ground when the blade is vertically downward.
According to the embodiment of the disclosure, the actual distance corresponding to the pixel distance of the extension line can be acquired based on the height of the tower of the wind generating set, the actual distance from the shooting equipment to the center line of the tower and the visual angle of the shooting equipment.
For example, as shown in FIG. 6, the distance m from the camera to the center line of the tower and the tower height h are knowntPhase of changeThe viewing angle is a degrees, then the actual distance h corresponding to the pixel distance of the extension line can be obtained by the following formulaa：
Figure BDA0003001300280000101
Secondly, the parameters of the image may include pixel coordinates of four end points of the auxiliary tool included in the image, and pixel lengths of an upper edge or a lower edge of the auxiliary tool; the physical parameters may include an actual distance between a mounting point of the photographing apparatus and a tip of the vertically downward blade; the auxiliary parameter may include an actual length of the distance between the photographing device and the edge corresponding to the pixel length, that is, when the pixel length is an upper edge of the auxiliary tool, the auxiliary parameter includes the actual length of the distance between the photographing device and the upper edge, and when the pixel length is a lower edge of the auxiliary tool, the auxiliary parameter includes the actual length of the distance between the photographing device and the lower edge.
The process of determining the tower identification point based on the above parameters is described below by taking an auxiliary tool as an example formed by a plate, fig. 8 shows a schematic diagram of the position of the auxiliary tool in a second mode of the embodiment of the present disclosure, as shown in fig. 8, an auxiliary tool a 'B' C 'D' is placed below the nacelle and fixed along the center line of the tower, a 'B' in fig. 8 represents the lower edge of the auxiliary tool in the camera, and may also represent the pixel distance of the lower edge, C 'D' represents the upper edge of the auxiliary tool in the camera, and may also represent the pixel distance of the upper edge, and the midpoint of G 'H' is the tower identification point to be determined, i.e., the point on the tower closest to the blade when the blade passes through the tower.
In this manner, the imaging principle OF the camera is used, and in order to better understand the determination process OF the cylinder identification point in this manner, the imaging principle OF the camera is briefly described below, as shown in fig. 9, (a) OF fig. 9 is a schematic diagram OF the imaging principle OF the camera when the auxiliary tool is composed OF a plate, where OI is the actual height OF the camera from the tip OF the blade facing vertically downward, OE is the actual height OF the camera from the lower edge OF the auxiliary tool, OF is the actual height OF the camera from the upper edge OF the auxiliary tool, C 'D' is the pixel distance OF the upper edge OF the auxiliary tool in the camera, and a 'B' is the pixel distance OF the lower edge OF the auxiliary tool in the camera. It should be noted that, as described above, the auxiliary tool may also be composed of two vertical bars and one cross bar or one vertical bar and one cross bar, and when the auxiliary tool is composed of one vertical bar and one cross bar, the schematic view of the camera imaging principle is shown in fig. 9 (B). The process of determining the cartridge identification point will be described below with reference to fig. 9 (a) only, taking an example in which the auxiliary tool is formed of a plate.
Based on the similar triangle principle, the following can be known: Δ AEO ≈ Δ OO 'A', Δ BEO ≈ Δ OO 'B', Δ COF ≈ Δ OO 'C', Δ DFO ≈ Δ OO 'F', and the following proportional relationship is also known:
Figure BDA0003001300280000111
from the above relationship, the following relationship can be inferred:
Figure BDA0003001300280000112
Figure BDA0003001300280000113
since AB ═ CD, we can get:
Figure BDA0003001300280000114
Figure BDA0003001300280000115
in the same way, the following can be obtained:
Figure BDA0003001300280000116
Figure BDA0003001300280000117
with the above relationship known, according to an embodiment of the present disclosure, the tower identification point of the wind turbine generator system may be determined based on the parameters of the image, the physical parameters, and the auxiliary parameters in the following manner: obtaining coordinates of two end points of a line where a tower drum identification point is located based on pixel coordinates, pixel lengths and actual lengths of four end points of the auxiliary tool and actual distances between a shooting device mounting point and a blade tip of a vertically downward blade, wherein the line where the tower drum identification point is located is a line parallel to the upper edge and the lower edge of the auxiliary tool, and the two end points are intersection points of the line where the tower drum identification point is located and extension lines of the left edge of the auxiliary tool towards the top end of the tower drum and the right edge of the auxiliary tool towards the top end of the tower drum respectively; and obtaining the middle point of the two end points based on the coordinates of the two end points of the line where the tower tube identification point is located, and determining the middle point as the tower tube identification point.
Specifically, the coordinates of the pixel points of the four end points of the assistant tool shown in fig. 8 in the image are known as a' (x)a,ya)、B′(xb,yb)、C′(xc,yc)、D′(xd,yd) And A 'B', C 'D', OI, OE and OF, determining the coordinates OF two end points G 'H' OF a line where the tower tube identification point is located based on the coordinates OF the four end points, OI, OE and A 'B', or determining the coordinates OF two end points G 'H' OF the line where the tower tube identification point is located based on the coordinates OF the four end points, OI, OF and C 'D', and then determining the position OF the point, wherein the midpoint is the tower tube identification point, based on the coordinates OF G 'H'.
According to the embodiment of the disclosure, the coordinates of two end points of a line where the tower drum identification point is located can be obtained based on the pixel coordinates, the pixel length, the actual length of the four end points of the auxiliary tool and the actual distance between the installation point of the shooting device and the blade tip of the vertically downward blade in the following manner: acquiring pixel coordinates of four end points of the auxiliary tool; obtaining the pixel length of the lower edge of the auxiliary tool based on the pixel coordinates of the two end points corresponding to the lower edge of the auxiliary tool, or obtaining the pixel length of the upper edge of the auxiliary tool based on the pixel coordinates of the two end points corresponding to the upper edge of the auxiliary tool; obtaining pixel distances of two end points of a line where a tower drum identification point is located based on the pixel length of the lower edge or the pixel length of the upper edge of the auxiliary tool, the actual length of the shooting equipment distance and the edge corresponding to the pixel length, and the actual distance between the installation point of the shooting equipment and the blade tip of the vertically downward blade; and obtaining coordinates of the two end points of the line where the tower tube identification point is located based on the pixel distance of the two end points of the line where the tower tube identification point is located and the relation of the two end points of the line where the tower tube identification point is located.
Specifically, the coordinates of the two end points G 'H' of the line on which the tower identification point is located are determined based on the four end point coordinates, OI, OE, and a 'B'. It is known that the coordinates of the pixel points of the four end points of the assistant tool shown in fig. 8 in the image are a' (x)a,ya)、B′(xb,yb)、C′(xc,yc)、D′(xd,yd) A 'B' can be obtained by the following formula:
Figure BDA0003001300280000121
the pixel distance of G 'H' can be obtained based on formula (8) and formula (10):
Figure BDA0003001300280000122
then, an expression of G 'H' (corresponding to the relationship between two end points of a line where the tower tube identification point is located) is obtained based on the coordinates of the four end points of A 'B' C 'D', and then the coordinates of G 'and H' are determined based on the expression of G 'H' and the pixel distance of G 'H'.
According to the embodiment of the disclosure, before obtaining the coordinates of the two end points of the line where the tower drum identification point is located based on the pixel distance of the line where the tower drum identification point is located and the relationship between the two end points of the line where the tower drum identification point is located, obtaining the relationship between the two end points of the left edge of the auxiliary tool based on the pixel coordinates of the two end points of the left edge of the auxiliary tool; obtaining the relationship of two end points of the right edge of the auxiliary tool based on the pixel coordinates of the two end points of the right edge of the auxiliary tool; and obtaining the relation of the two end points of the line where the tower drum identification point is located according to the relation of the two end points of the left edge and the relation of the two end points of the right edge of the auxiliary tool.
Specifically, the expression of G 'H' is obtained based on the coordinates of the four endpoints of a 'B' C 'D', which can be implemented as follows:
coordinate A '(x) based on A' Ca,ya)、C′(xc,yc) The expression of A 'C' (corresponding to the relationship of the two end points of the left edge) is obtained:
Figure BDA0003001300280000123
b '(x) coordinates based on B' Db,yb)、D′(xd,yd) The expression for B 'D' (corresponding to the relationship of the two end points of the right edge) is obtained:
Figure BDA0003001300280000131
due to the A 'B' slope
Figure BDA0003001300280000132
The expression of the straight line G 'H' can be obtained based on the above equations (12) to (14):
y＝kghx+bgh＝kabx+bgh (15)
after obtaining the expression of G 'H' (15), determining the coordinates of G 'and H' based on the expression of G 'H' and the pixel distance of G 'H' can be achieved by:
at this time, let G' point (x)g,yg) On the straight line A 'C', yg＝kacxg+bacThen
bgh＝yg-kghxg＝yg-kabxg＝kacxg+bac-kabxg＝(kac-kab)xg+bac
(16)
Thus, the G 'H' expression can be expressed as:
y＝kabx+bgh＝kabx+yg-kghxg＝kabx+kacxg+bac-kabxg(17)
then, based on B ' D ' expression (13) and G ' H ' expression (17), the coordinates of intersection point H ' of B ' D ' and G ' H ' can be obtained:
Figure BDA0003001300280000133
Figure BDA0003001300280000134
based on the coordinates of G 'and H', and the pixel distance c of G 'H' as calculated above, the following equation is obtained:
Figure BDA0003001300280000135
wherein the content of the first and second substances,
Figure BDA0003001300280000136
Figure BDA0003001300280000137
x can be obtained by the above equationg：
Figure BDA0003001300280000141
Based on obtaining xgAnd the above formula, obtaining y in turng,xh,yhAnd obtaining the coordinates of G 'and H', and obtaining the midpoint of G 'H', namely the tower drum identification point required to be determined, according to the coordinates of G 'and H'.
In step S404, the clearance distance from the blade tip to the tower is determined based on the tower identification point. After the tower identification point is determined, the clearance distance from the blade tip of the wind generating set to the tower of the wind generating set can be determined by combining auxiliary tools.
According to the embodiment of the disclosure, the clearance distance from the blade tip to the tower can be obtained based on the tower identification point in the following way: acquiring the pixel distance between the blade tip of the blade and the tower drum identification point; acquiring the pixel length of the upper edge or the lower edge of the auxiliary tool and the actual length of the edge corresponding to the pixel length; and obtaining the clearance distance from the blade tip to the tower drum based on the pixel distance, the pixel length and the actual length of the blade tip and the tower drum identification point of the blade. Through the embodiment of the disclosure, the clearance distance can be accurately and conveniently obtained.
For example, as shown in FIG. 5, the distance covered by the double-headed arrow is the clearance, which is mapped on the plane as shown in FIG. 10, and the length of the known ground mark, i.e. the auxiliary tool, is LxCorresponding to a pixel distance of Lx′The distance of the pixels corresponding to the clearance is Lc′And the true distance L corresponding to the clearance distance from the blade tip to the tower barrelcThe following proportional relationship can be obtained:
Figure BDA0003001300280000142
Figure BDA0003001300280000143
fig. 11 is a block diagram illustrating a clearance determining apparatus of a wind turbine generator set according to the present disclosure, and as shown in fig. 11, the apparatus includes an image obtaining unit 110, a physical parameter obtaining unit 112, a tower identification point determining unit 114, and a clearance determining unit 116.
An image acquisition unit 110 configured to acquire an image of the wind turbine generator set photographed by a photographing apparatus mounted on the nacelle; a physical parameter obtaining unit 112 configured to obtain physical parameters of the wind turbine generator set; a tower identification point determination unit 114 configured to determine a tower identification point of the wind turbine generator system based on the parameters of the image, the physical parameters and the auxiliary parameters, wherein the auxiliary parameters refer to relevant parameters of an auxiliary tool, and the auxiliary tool is arranged at the tower bottom of the wind turbine generator system; a clearance determination unit 116 configured to determine a clearance from the blade tip of the wind turbine generator to the tower of the wind turbine generator based on the tower identification point.
According to the embodiment of the disclosure, the parameters of the image comprise the pixel height of the auxiliary tool, the extension line pixel distance of the part of the extension line of the center line of the auxiliary tool towards the top end of the tower drum, which can be seen in the image, the physical parameters comprise the actual distance of the blade tip from the ground when the blade of the wind power generation set is vertically downward, and the auxiliary parameters comprise the actual height of the auxiliary tool and the actual distance corresponding to the extension line pixel distance.
According to the embodiment of the present disclosure, the tower identification point determining unit 114 is further configured to obtain the pixel distance from the blade tip to the ground when the blade is vertically downward, based on the actual distance from the blade tip to the ground when the blade is vertically downward, the actual height of the auxiliary tool, the pixel height of the auxiliary tool, and the actual distance between the extension line pixel distance and the extension line pixel distance; and determining tower drum identification points based on the pixel distance between the blade tip and the ground when the blade is vertically downward.
According to an embodiment of the present disclosure, the physical parameter obtaining unit 112 is further configured to obtain an actual distance of the blade tip from the ground when the blade is vertically downward based on a hub height and an impeller diameter of the wind turbine generator system.
According to the embodiment of the disclosure, the actual distance corresponding to the pixel distance of the extension line is obtained based on the height of the tower of the wind generating set, the actual distance from the shooting equipment to the center line of the tower and the visual angle of the shooting equipment.
According to an embodiment of the present disclosure, the tower identification point determining unit 114 is further configured to determine a coordinate point on a centerline of the tower, which is vertically distant from the tower bottom by a predetermined pixel distance, where the predetermined pixel distance is a pixel distance from the blade tip to the ground when the blade is vertically downward; and determining the coordinate points as tower tube identification points.
According to the embodiment of the disclosure, the parameters of the image comprise pixel coordinates of four end points of the auxiliary tool and pixel lengths of an upper edge or a lower edge of the auxiliary tool, the physical parameters comprise actual distances between a mounting point of the shooting device and a blade tip of the vertically downward blade, and the auxiliary parameters comprise actual lengths between the shooting device and the edge corresponding to the pixel lengths.
According to the embodiment of the present disclosure, the tower identification point determining unit 114 is further configured to obtain coordinates of two end points of a line where the tower identification point is located based on the pixel coordinates, the pixel lengths, the actual lengths of the four end points of the auxiliary tool and the actual distance between the installation point of the shooting device and the blade tip of the vertically downward blade, where the line where the tower identification point is located is a line parallel to the upper edge and the lower edge of the auxiliary tool, and the two end points are intersection points of the line where the tower identification point is located and the left edge extension line of the auxiliary tool and the right edge extension line of the auxiliary tool, respectively; and obtaining the middle point of the two end points based on the coordinates of the two end points of the line where the tower tube identification point is located, and determining the middle point as the tower tube identification point.
According to an embodiment of the present disclosure, the tower identification point determination unit 114 is further configured to obtain pixel coordinates of four end points of the auxiliary tool; obtaining the pixel length of the lower edge of the auxiliary tool based on the pixel coordinates of the two end points corresponding to the lower edge of the auxiliary tool, or obtaining the pixel length of the upper edge of the auxiliary tool based on the pixel coordinates of the two end points corresponding to the upper edge of the auxiliary tool; obtaining pixel distances of two end points of a line where a tower drum identification point is located based on the pixel length of the lower edge or the pixel length of the upper edge of the auxiliary tool, the actual length of the shooting equipment distance and the edge corresponding to the pixel length, and the actual distance between the installation point of the shooting equipment and the blade tip of the vertically downward blade; and obtaining coordinates of the two end points of the line where the tower tube identification point is located based on the pixel distance of the two end points of the line where the tower tube identification point is located and the relation of the two end points of the line where the tower tube identification point is located.
According to an embodiment of the present disclosure, the tower identification point determining unit 114 is further configured to, before obtaining coordinates of two end points of the line on which the tower identification point is located based on the pixel distance of the line on which the tower identification point is located and the relationship between the two end points of the line on which the tower identification point is located, obtain the relationship between the two end points of the left edge of the auxiliary tool based on the pixel coordinates of the two end points of the left edge of the auxiliary tool; obtaining the relationship of two end points of the right edge of the auxiliary tool based on the pixel coordinates of the two end points of the right edge of the auxiliary tool; and obtaining the relation of the two end points of the line where the tower drum identification point is located according to the relation of the two end points of the left edge and the relation of the two end points of the right edge of the auxiliary tool.
According to an embodiment of the present disclosure, the clearance determining unit 116 is further configured to obtain a pixel distance between a blade tip of the blade and the tower identification point; acquiring the pixel length of the upper edge or the lower edge of the auxiliary tool and the actual length of the edge corresponding to the pixel length; and obtaining the clearance distance from the blade tip to the tower drum based on the pixel distance, the pixel length and the actual length of the blade tip and the tower drum identification point of the blade.
According to an embodiment of the present disclosure, there is provided a computer-readable storage medium storing instructions that, when executed by at least one computing device, cause the at least one computing device to perform a method of determining a clearance of a wind park as in any of the embodiments described above.
According to an embodiment of the present disclosure, there is provided a system comprising at least one computing device and at least one storage device storing instructions, wherein the instructions, when executed by the at least one computing device, cause the at least one computing device to perform a method of determining a clearance of a wind park as in any of the embodiments described above.
Although a few embodiments of the present disclosure have been shown and described, it would be appreciated by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the disclosure, the scope of which is defined in the claims and their equivalents.

Claims (14)

1. A method for determining a clearance distance of a wind generating set is characterized by comprising the following steps:
acquiring an image of the wind generating set shot by shooting equipment installed on a cabin;
acquiring physical parameters of the wind generating set;
determining tower drum identification points of the wind generating set based on the parameters of the image, the physical parameters and the auxiliary parameters, wherein the auxiliary parameters refer to relevant parameters of auxiliary tools, and the auxiliary tools are arranged at the tower bottom of the wind generating set;
and determining the clearance distance from the blade tip of the wind generating set to the tower barrel of the wind generating set based on the tower barrel identification point.
2. The clearance determining method of claim 1, wherein the parameters of the image include a pixel height of an auxiliary tool included in the image, an extended line pixel distance of a portion of an extended line of a center line of the auxiliary tool toward a tower top end visible in the image;
the physical parameters comprise actual distances of blade tips from the ground when the blades of the wind power generation set are vertically downward;
the auxiliary parameters comprise the actual height of the auxiliary tool and the actual distance corresponding to the pixel distance of the extension line.
3. The clearance determination method of claim 2, wherein determining a tower identification point of the wind generating set based on the parameters of the image, the physical parameters, and the auxiliary parameters comprises:
obtaining the pixel distance from the blade tip to the ground when the blade is vertically downward on the basis of the actual distance from the blade tip to the ground when the blade is vertically downward, the actual height of the auxiliary tool, the pixel height of the auxiliary tool, the extended line pixel distance and the actual distance corresponding to the extended line pixel distance;
and determining the tower drum identification point based on the pixel distance between the blade tip and the ground when the blade is vertically downward.
4. The clearance determination method of claim 3, wherein the obtaining of the physical parameter of the wind turbine generator set comprises:
and acquiring the actual distance from the blade tip to the ground when the blade vertically faces downwards based on the hub height and the impeller diameter of the wind generating set.
5. The clearance determining method of claim 3, wherein the actual distance corresponding to the extended line pixel distance is obtained based on a tower height of the wind turbine generator system, an actual distance from the photographing apparatus to a center line of the tower, and a viewing angle of the photographing apparatus.
6. The clearance determination method of claim 3, wherein determining the tower identification point based on the pixel distance of the blade tip from the ground when the blade is facing vertically downward comprises:
determining a coordinate point on a centerline of the tower drum, which is vertically distant from a predetermined pixel distance at the bottom of the tower, wherein the predetermined pixel distance is the pixel distance from the blade tip to the ground when the blade is vertically downward;
and determining the coordinate point as the tower drum identification point.
7. The clearance determining method of claim 1, wherein the parameters of the image include pixel coordinates of four end points of the assistant tool included in the image, a pixel length of an upper edge or a lower edge of the assistant tool;
the physical parameters comprise the actual distance between the mounting point of the shooting equipment and the blade tip of the blade vertically downwards;
the auxiliary parameter includes an actual length of the photographing apparatus from an edge corresponding to the pixel length.
8. The clearance determination method of claim 7, wherein determining a tower identification point of the wind generating set based on the parameters of the image, the physical parameters, and the auxiliary parameters comprises:
obtaining coordinates of two end points of a line where the tower drum identification point is located based on pixel coordinates of four end points of the auxiliary tool, the pixel length, the actual length and an actual distance between a shooting device mounting point and a blade tip of a vertically downward blade, wherein the line where the tower drum identification point is located is a line parallel to upper and lower edges of the auxiliary tool, and the two end points are intersection points of the line where the tower drum identification point is located and an extension line of a left edge of the auxiliary tool towards the top end of the tower drum and an extension line of a right edge of the auxiliary tool towards the top end of the tower drum respectively;
and obtaining the middle point of the two end points based on the coordinates of the two end points of the line where the tower tube identification point is located, and determining the middle point as the tower tube identification point.
9. The clearance determining method as claimed in claim 8, wherein the obtaining coordinates of two end points of a line on which the tower identification point is located based on the pixel coordinates of the four end points of the auxiliary tool, the pixel length, the actual length, and the actual distance between the photographing apparatus mounting point and the blade tip of the blade facing vertically downward comprises:
acquiring pixel coordinates of four end points of the auxiliary tool;
obtaining the pixel length of the lower edge of the auxiliary tool based on the pixel coordinates of the two end points corresponding to the lower edge of the auxiliary tool, or obtaining the pixel length of the upper edge of the auxiliary tool based on the pixel coordinates of the two end points corresponding to the upper edge of the auxiliary tool;
obtaining pixel distances of two end points of a line where the tower drum identification point is located based on the pixel length of the lower edge or the pixel length of the upper edge of the auxiliary tool, the actual length of the shooting equipment from the edge corresponding to the pixel length, and the actual distance between the installation point of the shooting equipment and the blade tip of the vertically downward blade;
and obtaining coordinates of two end points of the line where the tower tube identification point is located based on the pixel distance of the two end points of the line where the tower tube identification point is located and the relation of the two end points of the line where the tower tube identification point is located.
10. The clearance determining method as claimed in claim 8, further comprising, before obtaining coordinates of two end points of the line on which the tower identification point is located based on a pixel distance of the line on which the tower identification point is located and a relationship between the two end points of the line on which the tower identification point is located, the method further comprising:
obtaining the relation of two end points of the left edge of the auxiliary tool based on the pixel coordinates of the two end points of the left edge of the auxiliary tool;
obtaining the relation of two end points of the right edge of the auxiliary tool based on the pixel coordinates of the two end points of the right edge of the auxiliary tool;
and obtaining the relation of the two end points of the line where the tower drum identification point is located according to the relation of the two end points of the left edge and the relation of the two end points of the right edge of the auxiliary tool.
11. The clearance determination method as claimed in any one of claims 1 to 10, wherein the obtaining the clearance from the blade tip to the tower based on the tower identification point comprises:
acquiring the pixel distance between the blade tip of the blade and the tower drum identification point;
acquiring the pixel length of the upper edge or the lower edge of the auxiliary tool and the actual length of the edge corresponding to the pixel length;
and obtaining the clearance distance from the blade tip to the tower drum based on the pixel distance between the blade tip of the blade and the tower drum identification point, the pixel length and the actual length.
12. A clearance distance determination apparatus of a wind turbine generator system, comprising:
the image acquisition unit is configured to acquire an image of the wind generating set shot by a shooting device installed on the cabin;
a physical parameter obtaining unit configured to obtain physical parameters of the wind turbine generator set;
a tower identification point determination unit configured to determine a tower identification point of a wind turbine generator system based on the parameters of the image, the physical parameters and auxiliary parameters, wherein the auxiliary parameters refer to relevant parameters of an auxiliary tool, and the auxiliary tool is arranged at the tower bottom of the wind turbine generator system;
a clearance distance determination unit configured to determine a clearance distance from the blade tip of the wind generating set to the tower of the wind generating set based on the tower identification point.
13. A computer-readable storage medium storing instructions that, when executed by at least one computing device, cause the at least one computing device to perform a method of determining a clearance of a wind park according to any of claims 1 to 11.
14. A system comprising at least one computing device and at least one storage device storing instructions, wherein the instructions, when executed by the at least one computing device, cause the at least one computing device to perform a method of determining a clearance for a wind park as claimed in any of claims 1 to 11.
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