CN113915074A - Monitoring method and system of wind driven generator and wind driven generation system - Google Patents
Monitoring method and system of wind driven generator and wind driven generation system Download PDFInfo
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- CN113915074A CN113915074A CN202010660141.1A CN202010660141A CN113915074A CN 113915074 A CN113915074 A CN 113915074A CN 202010660141 A CN202010660141 A CN 202010660141A CN 113915074 A CN113915074 A CN 113915074A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 75
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 48
- 238000012545 processing Methods 0.000 claims abstract description 45
- 238000010248 power generation Methods 0.000 claims abstract description 12
- 230000008569 process Effects 0.000 claims abstract description 5
- 230000036961 partial effect Effects 0.000 claims abstract description 4
- 238000012423 maintenance Methods 0.000 abstract description 12
- 238000013024 troubleshooting Methods 0.000 abstract description 3
- 239000000523 sample Substances 0.000 description 6
- 230000002427 irreversible effect Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 2
- 230000002829 reductive effect Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000007664 blowing Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000002366 time-of-flight method Methods 0.000 description 1
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Classifications
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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
-
- 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
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- 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
- F05B2270/80—Devices generating input signals, e.g. transducers, sensors, cameras or strain gauges
- F05B2270/804—Optical devices
- F05B2270/8042—Lidar systems
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- Engineering & Computer Science (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)
- Wind Motors (AREA)
Abstract
The invention relates to a monitoring method and a monitoring system of a wind driven generator and a wind power generation system. The monitoring system comprises a scanning detection device and a data processing device; the scanning detection device and the data processing device are both fixed on the wind driven generator; the scanning detection device is used for forming a laser beam and scanning a target monitoring area by using the laser beam to obtain point cloud data of the target monitoring area; the target monitoring area comprises a partial area through which the blade tip of the blade of the wind driven generator passes in the rotating process; the data processing device is connected with the scanning detection device and used for receiving the point cloud data, determining the distance between the blade tip and the tower pole of the wind driven generator according to the point cloud data, and outputting prompt information when the distance is smaller than a target threshold value. The monitoring system can reduce the maintenance cost and timely perform troubleshooting.
Description
Technical Field
The invention relates to the technical field of wind power generation, in particular to a monitoring method and a monitoring system of a wind driven generator and a wind power generation system.
Background
Wind power generation is popularized as a power generation mode of green new energy. The wind driven generator mainly utilizes natural wind energy to drive the blades to rotate so as to drive the generator to work and generate electric energy. Therefore, the blades of the wind power generation device need to be exposed in the environment and have a fast aging speed after being blown by wind, exposed to the sun and drenched by rain, so that the blades of the whole wind power generator are easy to deform and further impact on a tower of the wind power generator, and the problem of blade fracture is caused. The blade breakage not only causes the whole wind driven generator to be incapable of working normally, but also brings other safety hazards, such as the situation that other nearby equipment is damaged by the broken blade. Traditional aerogenerator usually needs to adopt artifical periodic overhaul's mode to maintain, needs a large amount of human costs like this, and can't in time carry out troubleshooting, is unfavorable for the timely discovery of potential safety hazard.
Disclosure of Invention
Therefore, it is necessary to provide a monitoring method and system for a wind turbine generator and a wind turbine generator system, which are directed to the problems that the conventional wind turbine generator has high maintenance cost and cannot monitor faults in time.
A monitoring system of a wind driven generator comprises a scanning detection device and a data processing device; the scanning detection device and the data processing device are both fixed on the wind driven generator; the scanning detection device is used for forming a laser beam and scanning a target monitoring area by using the laser beam to obtain point cloud data of the target monitoring area; the target monitoring area comprises a partial area through which the blade tip of the blade of the wind driven generator passes in the rotating process; the data processing device is connected with the scanning detection device and used for receiving the point cloud data, determining the distance between the blade tip and the tower pole of the wind driven generator according to the point cloud data, and outputting prompt information when the distance is smaller than a target threshold value.
According to the monitoring system of the wind driven generator, the scanning detection device can be used for monitoring the distance between the blade tip and the tower pole of the blade of the wind driven generator, and prompt information is output when the distance is smaller than a target threshold value, so that the deformation problem of the blade can be found in time. The monitoring system can monitor the blades of the wind driven generator without manual maintenance, greatly reduces the cost of manual maintenance, can reduce potential safety hazards caused by manual false detection, and solves the problem that the potential safety hazards cannot be found in time in manual maintenance.
In one embodiment, the scanning detection device and the data processing device are integrated in the same laser radar; or the scanning detection device comprises a laser radar, and the data processing device is connected with the laser radar.
In one embodiment, the distance between the target monitoring area and the tower mast is greater than or equal to the minimum safe distance between the blade tip and the tower mast.
In one embodiment, the scanning detection device is fixed at a first position of the wind driven generator; the data processing device is further used for determining a second position of the blade tip relative to the scanning detection device according to the point cloud data, and determining the distance between the blade tip and the tower pole according to the first position and the second position.
In one embodiment, the laser radar is a multi-line laser radar, and the generated multi-line laser beams are distributed along the direction from the blade tip to the tower pole in sequence; the data processing device is also used for determining the laser beams scanned to the blade tip according to the point cloud data and determining the distance between the blade tip and the tower pole according to the distribution of the laser beams.
In one embodiment, the target monitoring area at least comprises an area where the blade tip is located directly below; and/or the scanning detection device is arranged at the upper part of the tower pole and deviates from the center of the tower pole by a preset distance.
In an embodiment, the data processing device is further configured to output alarm information when the distance between the blade tip and the tower pole is determined to be smaller than a target threshold value in the continuous preset frame point cloud data.
In an embodiment, the system further comprises a storage device, and the storage device is used for storing the distance between the blade tip and the tower pole determined by the data processing device and the prompt message.
A method of monitoring a wind turbine, comprising:
acquiring point cloud data of a target monitoring area; the point cloud data is obtained by scanning and detecting a target monitoring area through a scanning and detecting device fixed on the wind driven generator;
determining the distance between the blade tip and the tower pole according to the point cloud data; and
and outputting prompt information when the distance between the blade tip and the tower pole is smaller than a target threshold value.
A wind power generation system comprises a wind power generator, wherein the wind power generator comprises a tower pole and blades which are fixed on the tower pole and can rotate relative to the tower pole; the monitoring system of the wind driven generator in any one of the preceding embodiments is further included.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a side view of a wind power system in one embodiment;
FIG. 2 is a top view of a wind power generation system in an embodiment;
FIG. 3 is a flow chart of a monitoring method of a wind turbine in an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.
An embodiment of the present invention provides a monitoring system (hereinafter, referred to as a monitoring system) for a wind turbine, which is used for monitoring the wind turbine. Referring to fig. 1, fig. 1 is a side view of an embodiment of a monitoring system 100 mounted on a wind turbine 200, wherein the monitoring system 100 and the wind turbine 200 together form a wind power generation system.
The monitoring system 100 includes a scanning detection device and a data processing device. The scanning detection device and the data processing device are both fixed on the wind driven generator 200. It is understood that fixed to wind turbine 200 refers to being fixed to a stationary component of wind turbine 200, not to blade 250. In one embodiment, the scan detection device and the data processing device may be affixed to the tower 210. In other embodiments, as shown in FIG. 1, the entire monitoring system 100 is secured to the nacelle 220. The scanning detection device is used for forming a laser beam, scanning the target detection area by using the laser beam and further receiving the laser beam returned by the target detection area to obtain point cloud data in the target detection area. I.e. the scanning detection means is a laser detection means. The target monitoring area includes a partial area through which the blade tip a of the blade 250 of the wind turbine 200 passes during rotation. During operation of the wind turbine 200, the blades 250 rotate under the blowing of wind energy, and the rotation plane thereof is perpendicular to the horizontal plane. Since the aging of the blade 250 is a progressive process, it can be considered that the rotation plane of the blade 250 during one rotation can be considered as being parallel to the vertical plane of the central axis of the tower 210. So that only a part of the area through which it passes needs to be monitored. Therefore, the blade tip a passes through the target monitoring area during the rotation of the blade 250, and the scanning detection device detects the corresponding point cloud, so that the distance between the blade tip a and the tower 210 can be determined. By monitoring the distance between the blade tip a and the tower 210, the small deformation of the blade 250 can be found in time, because the position change at the blade tip a is most likely to reflect the deformation of the blade 250.
The scanning detection device transmits the collected point cloud data to the data processing device. The data processing device can identify and extract the blade 250 and determine the position of the blade tip a thereof by means of feature point extraction or modeling and the like. In this embodiment, the position of the blade tip a determined by the scanning detection device is relative to the system of the scanning detection device itself, and when the distance between the blade tip a and the tower 210 needs to be determined, the position of the wind turbine 200 or the arrangement of the laser lines output by the scanning detection device needs to be determined. The data processing device judges according to the determined distance and outputs prompt information when the distance is smaller than the target threshold value. The target threshold may be set as desired, such as by setting the distance between the blade 250 and the tower 210 within a safe deformation range. The hint information may include the distance information. The prompt message may be transmitted to a remote terminal or server over a network.
According to the monitoring system of the wind driven generator, the scanning detection device can be used for monitoring the distance between the blade tip and the tower pole of the blade of the wind driven generator, and prompt information is output when the distance is smaller than a target threshold value, so that the deformation problem of the blade can be found in time. The monitoring system can be used for monitoring the blades of the wind driven generator without manual maintenance, greatly reduces the manual maintenance cost and can reduce the potential safety hazard caused by manual false detection.
In an embodiment, the scanning detection device and the data processing device are integrated in the same lidar, that is, the monitoring system is a lidar, which is equivalent to inheriting the data processing device capable of implementing the above functions in the traditional lidar, as shown in fig. 1. In another embodiment, the scanning detection device is a laser radar, and the data processing device is disposed outside the laser radar and connected to the laser radar. At this moment, the laser radar can have a small size, so that the laser radar and the data processing device can be arranged at different positions respectively, and the flexibility of the installation process is improved.
In one embodiment, the distance between the target monitoring area and the tower 210 is greater than or equal to the minimum safe distance of the blade tip a from the tower 210. The minimum safe distance is that once the blade tip a exceeds the distance, there is a high probability that it will strike the tower 210 within a certain time. Through setting up like this, can avoid monitoring the region that closes on the tower pole, reduce the regional area that actual needs monitored, and then reduce data processing volume. In an embodiment, the actual scanning range of the scanning and detecting device may be larger than the range of the target monitoring area, and at this time, the scanning and detecting device may only process the data in the area according to the preset target monitoring area, and reject the point cloud data in other areas other than the area, thereby reducing the data processing amount and increasing the data processing speed.
In one embodiment, the scanning probe is fixed to the wind turbine 200 in a first position. Specifically, as shown in fig. 2, the scanning detection device is fixed to the nacelle of the wind turbine 200, and is offset from the center O of the tower 210 by a predetermined distance. In the present embodiment, a coordinate system is established with the center O of the tower 210 as the origin of coordinates, as shown in fig. 1 and 2. At this time, the first position of the scanning probe device may be represented as (X1, Y1, 0). The data processing device may determine a second position of the blade tip a relative to the scanning probe device based on the point cloud data. Usually, the distance L1 of the blade tip a from the scanning probe device can be calculated by a time-of-flight method or a phase method, and the position of the blade tip a from the azimuth can be determined by the emission angle of the laser beam scanned to the position, i.e., the angle α. The horizontal distance L2 of the tip A from the scanning probe can be calculated from the angle and the distance L1. At this time, to determine the distance L3 between the blade tip a and the tower column, it can be known from the relationship shown in the figure that:
L3＝L2+Y1-R。
wherein R refers to the radius of the tower.
In another embodiment, the lidar may be a solid state multiline lidar. As shown in fig. 1, a 4-line solid state lidar is used in fig. 1. In other embodiments, the number of lines of the lidar may be 3 or more. The generated multi-line laser beams are distributed along the direction from the blade tip A to the tower 201 in sequence. Since the distribution of each line of laser beams is fixed, and therefore the distance between each line of laser beams and the tower is also fixed, the distance between the blade tip and the tower can be determined according to the laser beams specifically detected at the blade tip a and the distribution of the laser beams.
In one embodiment, the target monitoring area at least includes an area where the blade tip a is located right below, that is, the laser beam is projected downward, so as to monitor the area where the blade tip is located right below. In this case, the horizontal plane (i.e. perpendicular to the extension direction of the tower shaft) in which the blade tip is located may be referred to as the blade tip plane. The distance from the intersection of each line of laser beams with the tip plane to the tower is fixed and known. Thus, when a line of laser beams is able to detect the tip, the distance between the tip and the mast may be approximately equal to the distance between the intersection of the laser beams at the tip plane and the mast.
In one embodiment, the scanning probe is continuously or periodically configured to detect the distance of the blade tip relative to the tower. The data processing device can judge through continuous multi-frame point cloud data, for example, analyze the point cloud data of preset frames, determine whether the distances between the blade tips and the tower pole of each frame are smaller than a target threshold value, if so, the data processing device can output alarm information if the irreversible deformation occurs. In this embodiment, when the data processing device determines that the distance between the blade tip and the tower pole is smaller than the target threshold value in a certain frame of point cloud data, the data processing device sends prompt information to prompt a user that the abnormal state exists, and when the distance between the blade tip and the tower pole is smaller than the target threshold value in all the frames of point cloud data, the abnormal state can be determined to be irreversible deformation, and the irreversible deformation needs to be maintained in time, so that false alarm caused by external accidental factors that the blade tip is deformed severely but still in the reversible state can be avoided. In another embodiment, the target threshold may set multiple levels. Such as a safety threshold, a critical threshold, a danger threshold, etc., at which the data processing device may send different prompt messages according to different distance levels. In another embodiment, the data processing device also counts the number of such incidental deformations and likewise issues an alarm message when this number exceeds a preset value.
In an embodiment, the monitoring system further includes a storage device. The storage device is used for storing the distance between the blade tip and the tower pole determined by the data processing device and corresponding prompt information. The distance between the blade tip and the tower pole is recorded through the storage device, so that the deformation record of the blade can be formed, and data reference is provided for subsequent monitoring, maintenance and design of the blade.
An embodiment of the present invention further provides a monitoring method for a wind turbine, which can be implemented by a data processing device in the monitoring system. The flow chart of the method is shown in fig. 3, and specifically comprises the following steps:
s310, point cloud data of the target monitoring area are obtained.
The point cloud data is obtained by scanning and detecting a target monitoring area through a scanning and detecting device fixed on the wind driven generator.
And S320, determining the distance between the blade tip and the tower pole according to the point cloud data.
As shown above, the position of the blade tip relative to the scanning detection device may be determined according to the point cloud data, and then the distance between the blade tip and the tower mast may be finally determined according to the position of the scanning detection device relative to the tower mast.
And S330, outputting prompt information when the distance between the blade tip and the tower pole is smaller than a target threshold value.
The target threshold may be set as desired, as long as it is ensured that the blade does not risk striking the tower or has a low probability of striking the tower when the tip of the blade is in this position. And when the distance is greater than the target threshold value, the processing is not carried out, and the scanning monitoring of the target monitoring area is continued.
By the method, the blades can be automatically monitored without manual regular maintenance, and the method has the advantages of more timely maintenance speed, lower maintenance cost and higher accuracy and safety.
In one embodiment, the distance between the target monitoring area and the tower mast is greater than or equal to the minimum safe distance of the blade tip from the tower mast.
In one embodiment, the scanning detection device is fixed at a first position of the wind driven generator; the method further comprises the following steps: and determining a second position of the blade tip relative to the scanning detection device according to the point cloud data, and determining the distance between the blade tip and the tower pole according to the first position and the second position.
In one embodiment, the laser radar is a multi-line laser radar, and the generated multi-line laser beams are distributed along the direction from the blade tip to the tower pole in sequence; the method further comprises the following steps: and determining the laser beams scanned to the blade tip according to the point cloud data, and determining the distance between the blade tip and the tower pole according to the distribution of the laser beams.
In one embodiment, the target monitoring area includes at least the area where the blade tip is directly below.
In one embodiment, the scanning detection device is disposed at an upper portion of the tower pole and is offset from a center of the tower pole by a predetermined distance.
In an embodiment, the method further includes: and when the distance between the blade tip and the tower pole is determined to be smaller than a target threshold value by the continuous preset frame point cloud data, outputting alarm information.
In an embodiment, the method further includes: and storing the distance between the blade tip and the tower pole determined by the data processing device and the prompt information.
An embodiment of the present invention further provides a wind power generation system, which includes a wind power generator and the monitoring system in any of the above embodiments. By adopting the monitoring system, the overhaul cost can be reduced, hidden dangers can be generated in time, and troubleshooting can be carried out, so that the service life of the whole wind driven generator can be prolonged while the maintenance cost is reduced, and the safety of the surrounding environment is ensured.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The monitoring system of the wind driven generator is characterized by comprising a scanning detection device and a data processing device; the scanning detection device and the data processing device are both fixed on the wind driven generator; the scanning detection device is used for forming a laser beam and scanning a target monitoring area by using the laser beam to obtain point cloud data of the target monitoring area; the target monitoring area comprises a partial area through which the blade tip of the blade of the wind driven generator passes in the rotating process; the data processing device is connected with the scanning detection device and used for receiving the point cloud data, determining the distance between the blade tip and the tower pole of the wind driven generator according to the point cloud data, and outputting prompt information when the distance is smaller than a target threshold value.
2. The monitoring system according to claim 1, wherein the scanning detection means and the data processing means are integrated within the same lidar; or
The scanning detection device comprises a laser radar, and the data processing device is connected with the laser radar.
3. The monitoring system of claim 1, wherein a spacing between the target monitoring area and the tower is greater than or equal to a minimum safe distance of the blade tip from the tower.
4. A monitoring system according to claim 1, wherein the scanning detection means is fixed to the wind turbine in a first position; the data processing device is further used for determining a second position of the blade tip relative to the scanning detection device according to the point cloud data, and determining the distance between the blade tip and the tower pole according to the first position and the second position.
5. The monitoring system of claim 1, wherein the lidar is a multiline lidar that generates multiline laser beams that are distributed in sequence in a direction from the blade tip to the tower; the data processing device is also used for determining the laser beams scanned to the blade tip according to the point cloud data and determining the distance between the blade tip and the tower pole according to the distribution of the laser beams.
6. A monitoring system in accordance with claim 1, wherein the target monitoring area comprises at least an area where the blade tip is directly below; and/or
The scanning detection device is arranged on the upper portion of the tower pole and deviates from the center of the tower pole by a preset distance.
7. The monitoring system of claim 1, wherein the data processing device is further configured to output an alarm message when the distance between the blade tip and the tower is determined to be smaller than a target threshold value through continuous preset frame point cloud data.
8. The monitoring system of claim 1, further comprising a storage device for storing the distance between the blade tip and the tower determined by the data processing device and the prompting information.
9. A method of monitoring a wind turbine, comprising:
acquiring point cloud data of a target monitoring area; the point cloud data is obtained by scanning and detecting a target monitoring area through a scanning and detecting device fixed on the wind driven generator;
determining the distance between the blade tip and the tower pole according to the point cloud data; and
and outputting prompt information when the distance between the blade tip and the tower pole is smaller than a target threshold value.
10. A wind power generation system comprises a wind power generator, wherein the wind power generator comprises a tower pole and blades which are fixed on the tower pole and can rotate relative to the tower pole; characterized in that it further comprises a monitoring system of a wind turbine according to any of claims 1 to 8.
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| CN202010660141.1A CN113915074A (en) | 2020-07-10 | 2020-07-10 | Monitoring method and system of wind driven generator and wind driven generation system |
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| CN202010660141.1A CN113915074A (en) | 2020-07-10 | 2020-07-10 | Monitoring method and system of wind driven generator and wind driven generation system |
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| CN111255636A (en) * | 2018-11-30 | 2020-06-09 | 北京金风科创风电设备有限公司 | Method and device for determining tower clearance of wind generating set |
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