CN114061738A - Wind turbine tower drum foundation ring vibration monitoring method based on calibration plate pose calculation - Google Patents
Wind turbine tower drum foundation ring vibration monitoring method based on calibration plate pose calculation Download PDFInfo
- Publication number
- CN114061738A CN114061738A CN202210045996.2A CN202210045996A CN114061738A CN 114061738 A CN114061738 A CN 114061738A CN 202210045996 A CN202210045996 A CN 202210045996A CN 114061738 A CN114061738 A CN 114061738A
- Authority
- CN
- China
- Prior art keywords
- calibration plate
- monitoring
- foundation ring
- wind turbine
- tower
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H9/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by using radiation-sensitive means, e.g. optical means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- 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
- Y02E10/728—Onshore wind turbines
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention belongs to the field of monitoring of wind driven generators, and particularly relates to a wind turbine tower drum foundation ring vibration monitoring method based on calibration plate pose calculation, wherein a calibration plate used for computer vision is fixed on the inner wall of a wind turbine tower drum foundation ring, so that the calibration plate becomes a vision monitoring mark for the change of the pose of the wind turbine tower drum foundation ring; and monitoring the vibration of the foundation ring of the wind turbine tower barrel by calculating the pose of the calibration plate in real time. Specifically, one or more monocular cameras are used for imaging and identifying corresponding calibration plates fixed on the inner wall of the fan tower drum foundation ring in real time, three monitoring indexes of 'calibration plate displacement', 'tower drum inclination angle' and 'tower drum inclination azimuth angle' of the fan tower drum foundation ring under a camera coordinate system are calculated, and whether the indexes are abnormal or not is checked according to preset index thresholds. The equipment used by the invention has low manufacturing and assembling cost, convenient installation and deployment and high monitoring precision, and can continuously monitor the vibration of the tower drum basic ring for 24 hours.
Description
Technical Field
The invention belongs to the field of monitoring of wind driven generators, and particularly relates to a wind turbine tower drum foundation ring vibration monitoring method based on calibration plate pose calculation.
Background
The current wind turbine tower section of thick bamboo foundation ring gradient detects and needs the constructor to carry instrument equipment such as professional optical level appearance, tripod and sopwith staff, and 8-16 optics are traced a little and are measured in tower section of thick bamboo bottom, need alone to remove the sopwith staff to the specific position at this in-process, and another person reads the scale of sopwith staff and carries out the record through the sight, and this kind of measuring method is single can't accomplish. The environment at the bottom of the tower is complex, and the iron support frame and the cable are visible everywhere, so that the measurement site is inconvenient to complete the calculation work. After the measurement is finished, the measuring personnel need to return to an office site, and the final detection result can be obtained through calculation of a mathematical model on a computer. More importantly, in the running process of the fan, personnel cannot operate inside the tower footing easily, otherwise, safety accidents are easily caused. Therefore, the method is unsafe, high in cost, low in efficiency and easy to generate human errors when recording data.
The operation of the fan depends on the change of the climate, and the detection result in a short time cannot comprehensively reflect the all-weather operation condition of the fan tower cylinder. Therefore, the long-period dynamic information of the attitude change of the tower drum can be effectively captured by using automatic monitoring equipment capable of working for 24 hours, and an alarm can be given in time under the abnormal condition, so that unattended operation of monitoring the attitude of the tower drum is realized. The existing industry commonly uses a tower cylinder inclination angle sensor device, and the device has the disadvantages of high cost, complex installation and no wide popularization in the wind power industry. In addition, a method for capturing the identification point by using a panoramic camera is proposed at present, and monitoring is realized by using a visual measurement mode, but the measurement precision is not comparable to that of a method using an angle sensor, and the assembly and installation process is also relatively complex. Therefore, a simpler and more accurate monitoring method needs to be provided, and the cost of the equipment is remarkably reduced, which is a problem to be solved at present.
Disclosure of Invention
The invention aims to solve the technical problem of providing a wind turbine tower drum foundation ring vibration monitoring method based on calibration plate pose calculation.
The technical scheme of the invention is as follows: a wind turbine tower drum foundation ring vibration monitoring method based on calibration plate pose calculation fixes a calibration plate used by computer vision on the inner wall of a wind turbine tower drum foundation ring, so that the calibration plate becomes a vision monitoring mark for the change of the wind turbine tower drum foundation ring pose; and monitoring the vibration of the foundation ring of the wind turbine tower barrel by calculating the pose of the calibration plate in real time.
Namely, a calibration plate is fixed on the inner wall of a tower drum foundation ring, and the pose of the calibration plate changes along with the pose of the fan tower drum foundation ring; fixing a monocular camera near the ground center of the tower drum, continuously shooting the calibration plate, and continuously monitoring the pose change of the foundation ring of the wind turbine tower drum, wherein the monitoring process comprises the following steps:
and S1, calibrating the lens of the camera and determining the initial posture of the calibration board. And during initial monitoring, shooting the calibration plate by using the monocular camera, calibrating the monocular camera according to the acquired calibration plate image to obtain internal and external parameters and lens distortion parameters of the monocular camera, and calculating to obtain the initial posture of the calibration plate under a camera coordinate system.
And S2, calibrating the posture estimation of the board in real time. In the monitoring process, the monocular camera is used for shooting the current image of the calibration plate at the current moment, and the current posture of the calibration plate under a camera coordinate system is calculated.
And S3, estimating the posture change of the calibration board. And estimating rigid body transformation of the calibration plate from the initial pose to the real-time pose under a camera coordinate system based on a least square method to obtain the pose variation of the calibration plate.
And S4, calculating a tower inclination change parameter. And calculating three monitoring indexes of 'calibration plate displacement', 'tower barrel inclination angle' and 'tower barrel inclination azimuth angle' of the tower barrel foundation ring under the camera coordinate system according to the attitude variation.
And S5, alarming the inclination of the tower. According to three monitoring indexes of 'calibration plate displacement', 'tower barrel inclination angle' and 'tower barrel inclination azimuth angle' and a preset index alarm threshold, an abnormal value is identified in continuous monitoring to alarm.
The monitoring equipment adopting the method of the invention can also use a plurality of monocular cameras to monitor simultaneously. In a specific embodiment, one device comprises two monocular cameras, corresponding calibration plates are simultaneously monitored in the direction of the 90-degree included angle, and respective monitoring indexes are respectively calculated for independent monitoring, so that the stability and reliability of monitoring are improved.
The invention has the beneficial effects that: the method adopts a computer vision scheme to monitor the vibration of the tower drum, can find abnormal vibration in time, reduces the risk of the fan toppling, and practically ensures the fan to operate healthily and stably. Compared with the traditional manual measurement, the method has the advantages that the monitoring data are more comprehensive, the precision is higher, the error is smaller, the automation degree is higher, the monitoring can be continuously carried out for a long time, the accuracy and the efficiency can be greatly improved, and the vibration condition of the tower can be better monitored. Compared with other existing monitoring methods, the monitoring equipment has low requirements on the cost of a camera, has no accurate requirements on the assembly of camera parts, the installation to the center of a tower foundation and the installation of a calibration plate, so that the hardware cost is low, the assembly cost is low, the installation is more convenient and faster, the precision is higher than that of similar monitoring equipment, and the vibration monitoring can be continuously carried out on a tower foundation ring for 24 hours.
Drawings
The contents of the drawings attached to the specification are explained primarily as follows:
FIG. 1 is a schematic view of the installation location of a monocular camera and a calibration plate relative to a tower base ring;
FIG. 2 is a schematic structural diagram of a checkerboard calibration plate;
FIG. 3 is a schematic structural view of a circular calibration plate;
FIG. 4 is a core flow chart of the monitoring method of the present invention;
FIG. 5 is a schematic diagram of the pose of the calibration plate in the camera coordinate system;
FIG. 6 is a schematic diagram illustrating changes in the attitude of the calibration plate within the tower.
In fig. 1, the list of components represented by the various reference numbers is as follows:
1. a fan tower drum foundation ring 2, a calibration plate 3 and a monocular camera.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in FIG. 1, the monocular camera 3 is fixed near the center of the tower ground, the optical axis of the monocular camera 3 is approximately parallel to the horizontal plane, and the calibration plate 2 is fixed on the inner wall of the fan tower base ring 1 and forms an image in the field of view of the monocular camera 3.
In the present invention, the calibration plate includes, but is not limited to, a checkerboard calibration plate and a circular calibration plate.
Fig. 2 shows a structural style of a checkerboard calibration plate that can be embodied in the technical solution of the present invention.
Fig. 3 shows a structure pattern of a common circular calibration plate that can be embodied under the technical solution of the present invention.
The monitoring method proposed by the present invention will be described below by taking a checkerboard as an example.
When the attitude of the tower barrel changes, the calibration plate also changes, so that the attitude change of the calibration plate also reflects the attitude change of the tower barrel. In order to calculate the attitude change of the tower from the attitude change of the calibration board, the following assumptions must be made here:
1) the walls of the tower are rigid, and there is no flexible deformation in the observable part;
2) the ground is static, and the tower barrel inclines or vibrates relative to the ground;
3) the calibration plate is fixed on the wall of the tower cylinder and moves rigidly with the tower cylinder;
4) neglecting the clearance between the plane of the calibration plate and the curved surface of the tower wall;
5) when the camera works, the base is adjusted to be approximately horizontal, and the motion of the tower wall relative to the coordinate system of the camera is observed, but not relative to other coordinate systems;
6) when the camera is calibrated, the coordinate system of the camera is completely coincided with the coordinate system of the tower barrel.
When the camera is calibrated, whether the tower barrel is inclined absolutely or not is not known, but the coordinate system of the tower barrel is supposed to be coincident with the coordinate system of the camera at the moment, and the coordinate system of the camera can be bound together to make rigid motion in the future.
As shown in fig. 4, the core flow of the monitoring method of the present invention is described in detail as follows:
s1, when the monitoring is initial, the monocular camera is calibrated by the calibration plate, so that the internal and external parameters and the lens distortion parameters of the monocular camera are obtained, and the initial posture of the calibration plate is determined.
Regardless of lens distortion and sensor tilt, we calculate the 3d-2d projection from the calibration plate world coordinate system to the image coordinate system using the following formula:
Wherein the content of the first and second substances,
is a scale factor, and is a function of,
being the coordinates of two-dimensional points in the image coordinate system,
is the three-dimensional point coordinate of a certain point in the world coordinate system,
is the main optical axis point of the lens, typically the center of the image;
is the focal length of the lens, [ R | t]As external parameters of the monocular camera: r is the external rotation matrix and t is the translation vector.
And after a checkerboard world coordinate system is defined on the checkerboard calibration plate, the 3d world coordinate of each grid corner point can be obtained. After the chessboard grid calibration board is imaged on the camera sensor, the 2d coordinates of the image of each grid corner point can be extracted, so that a group of grid corner point coordinate pairs projected by 3d-2d can be obtained. By using these corner coordinate pairs, the internal reference matrix a, the external reference rotation matrix R and the translational vector t in the above formula can be estimated. The complete calibration process also needs to take the distortion parameters of the lens into consideration. By using a common camera calibration algorithm, the distortion parameter of the lens and the internal and external parameters of the camera can be obtained simultaneously.
As shown in fig. 5, the rotation matrix R and the translation vector t in the above formula describe the rigid body transformation of the calibration plate from the world coordinate system to the camera coordinate system (in fig. 5, the coordinate system in which the origin C is located represents the camera coordinate system, and the coordinate system in which the origin O is located represents the world coordinate system), which is referred to as the "attitude" of the calibration plate under the camera coordinate system. At the beginning of the monitoring, the calibration plate attitude obtained by calibration is referred to as its "initial attitude".
S2, in the monitoring process, shooting the calibration board in real time by using the monocular camera to obtain a real-time calibration board image, and estimating the real-time posture of the calibration board under a camera coordinate system, namely a new rotation matrix R and a translation vector according to the real-time calibration board image based on the internal parameter and the distortion parameter of the monocular camera
。
World coordinates of a point on any given checkerboard
(the point is homogeneous coordinate)
Can calculate the three-dimensional coordinates of the camera coordinate system corresponding to the three-dimensional coordinate system
As described by the following equation:
and S3, estimating rigid body transformation of the calibration board from the initial pose to the real-time pose under a camera coordinate system based on a least square method, and obtaining the pose variation of the calibration board.
Record the initial posture of the calibration plate as
And
recording the real-time calibration plate posture of monitoring
And
. Under the above 6 assumed conditions, the two poses have a rigid transformation relationship in the camera coordinate system.
Recording the world coordinate set of the checkerboard corner points at the beginning of monitoring
Then can be based on
And
calculating a corresponding set of camera coordinates
(ii) a The same way can calculate the camera coordinate set of real-time checkerboard corner points
. By using
And
to estimate the rigid body transformation matrix of the two poses
And
the following set of equations:
the linear least squares method can be used to estimate the equation set
And
they describe the pose change of the calibration plate from initial to real time. Because the calibration plate is fixed on the inner wall of the tower drum basic ring, the coordinate system of the tower drum is 'bound' on the tower drum,
and
the motion change of the tower coordinate system under the camera coordinate system is also substantially described.
And S4, calculating the inclination parameters (monitoring indexes) of the tower drum basic ring under the camera coordinate system according to the attitude variation of the calibration plate.
For the ordinary user, rigid body transformation
And
it is obscure and difficult to understand, and it is necessary to convert it to a geometric monitoring index that is easy for a user to understand. As shown in fig. 6, a unit vector in the y direction is taken on the camera coordinate system
Applying a rigid body transformation to the unit vector
And
then a new vector can be obtained
。
Note the book
The included angle of the new vector about the y axis of the camera coordinate system, namely the included angle of the real-time y axis of the tower barrel coordinate system about the y axis of the camera coordinate system, is called as the tower barrel inclination angle; note the book
Is a new vector
The included angle between the projection vector on the x-z plane of the camera coordinate system and the x axis of the camera coordinate system is called as the tower inclination azimuth angle; note the book
To calibrate the motion displacement of the board in the camera coordinate system, the displacement is defined as follows:
thus, three monitoring indexes which are easy to understand by the user are obtained: inclination angle of tower
Tower inclination azimuth angle
And calibrating plate displacement
。
S5, setting a limiting condition to monitor the posture change of the tower by using the two monitoring indexes of the displacement and the inclination angle:
1) displacement of calibration plate
；
2) Inclination angle of tower
。
The two conditions need to be met simultaneously, the posture change of the tower barrel is considered to be in a reasonable range, and otherwise, an alarm is given.
Fig. 5 illustrates the rigid body transformation process of the calibration plate from the world coordinate system to the camera coordinate system. The rigid body transformation is called the attitude of the calibration plate under the camera coordinate system, and is specifically realized by a rotation matrix R and a translation vector
To describe.
FIG. 6 is a schematic diagram of the change in attitude of the calibration plates within the tower. The tower coordinate system is initially coincident with the camera coordinate system and the tower coordinate system is "tied" to the tower. After the posture of the tower barrel is changed, the original point of a coordinate system of the tower barrel deviates, and included angles are generated between each axis of the coordinate system of the tower barrel and each axis of a coordinate system of the camera, wherein the inclination angle of the tower barrel is defined as the included angle between the y axes of the two coordinate systems. At this time, the calibration plate also generates a motion displacement t in the camera coordinate system.
In a specific embodiment of the invention, the measured displacement monitoring precision can reach 0.01-0.03 mm, the dynamic inclination angle monitoring precision can reach 0.01-0.1 degrees, the device can rival or even exceed other similar monitoring devices sold in the market, and meanwhile, the device has lower assembly cost and more convenient installation and deployment modes.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (5)
1. A wind turbine tower drum foundation ring vibration monitoring method based on calibration plate pose calculation is characterized by comprising the following steps: fixing a calibration plate used for computer vision on the inner wall of a base ring of a fan tower cylinder to enable the calibration plate to become a vision monitoring mark for the attitude change of the base ring of the fan tower cylinder; and monitoring the vibration of the foundation ring of the wind turbine tower barrel by calculating the pose of the calibration plate in real time.
2. The wind turbine tower drum foundation ring vibration monitoring method based on calibration plate pose calculation as recited in claim 1, wherein: the specific method for realizing the vibration monitoring of the foundation ring of the wind turbine tower barrel by calculating the pose of the calibration plate in real time comprises the following steps,
and continuously imaging and identifying the calibration plate by using a monocular camera, calculating three monitoring indexes of 'tower barrel inclination angle', 'tower barrel inclination azimuth angle' and 'calibration plate displacement' in a 3d camera coordinate system, and carrying out real-time vibration monitoring on the fan tower barrel foundation ring according to the three monitoring indexes.
3. The wind turbine tower drum foundation ring vibration monitoring method based on calibration plate pose calculation as recited in claim 2, wherein: the specific method for calculating three monitoring indexes of 'tower tube inclination angle', 'tower tube inclination azimuth angle' and 'calibration plate displacement' in the 3d camera coordinate system is that,
calculating the initial attitude of the calibration plate by using a calibration algorithm during the initial monitoring;
calculating the real-time posture of the calibration plate by using an image recognition algorithm in the monitoring process;
and estimating the attitude change of the calibration plate by a least square method based on the initial attitude and the real-time attitude of the calibration plate, and further calculating three monitoring indexes of 'a tower barrel inclination angle', 'a tower barrel inclination azimuth angle' and 'calibration plate displacement' in a 3d camera coordinate system.
4. The wind turbine tower drum foundation ring vibration monitoring method based on calibration plate pose calculation as recited in claim 2, wherein: and setting an index alarm threshold value for the two monitoring indexes of the 'calibration plate displacement' and the 'tower barrel inclination angle', and timely sending out an out-of-limit alarm in the continuous monitoring process according to the index alarm threshold value.
5. The wind turbine tower foundation ring vibration monitoring method based on calibration plate pose calculation according to any one of claims 1 to 4, wherein: using one or more monocular cameras and the same number of calibration plates, simultaneously vibration monitoring the wind turbine tower base ring from one or more directions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210045996.2A CN114061738B (en) | 2022-01-17 | 2022-01-17 | Wind turbine tower drum foundation ring vibration monitoring method based on calibration plate pose calculation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210045996.2A CN114061738B (en) | 2022-01-17 | 2022-01-17 | Wind turbine tower drum foundation ring vibration monitoring method based on calibration plate pose calculation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114061738A true CN114061738A (en) | 2022-02-18 |
| CN114061738B CN114061738B (en) | 2022-05-17 |
Family
ID=80230957
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210045996.2A Active CN114061738B (en) | 2022-01-17 | 2022-01-17 | Wind turbine tower drum foundation ring vibration monitoring method based on calibration plate pose calculation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114061738B (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105676209A (en) * | 2016-04-01 | 2016-06-15 | 山东理工大学 | Helicopter-borne laser radar platform three-dimensional attitude angle complex vibration real-time compensation method and device |
| CN106210376A (en) * | 2016-07-29 | 2016-12-07 | 努比亚技术有限公司 | mobile terminal, vibration prompt control device and method |
| CN106989812A (en) * | 2017-05-03 | 2017-07-28 | 湖南科技大学 | Large fan blade modal method of testing based on photogrammetric technology |
| US20170284892A1 (en) * | 2016-04-01 | 2017-10-05 | Seiko Epson Corporation | Observation system and control method for observation system |
| CN206668477U (en) * | 2017-04-05 | 2017-11-24 | 西南交通大学 | Wind turbines tower and its underlying security monitoring system |
| CN109308722A (en) * | 2018-11-26 | 2019-02-05 | 陕西远航光电有限责任公司 | A kind of spatial pose measuring system and method based on active vision |
| CN210068392U (en) * | 2019-04-18 | 2020-02-14 | 北京源清慧虹信息科技有限公司 | Health monitoring system for wind power generation foundation structure |
| CN110910350A (en) * | 2019-10-30 | 2020-03-24 | 同济大学 | Nut loosening detection method for wind power tower cylinder |
| CN111012506A (en) * | 2019-12-28 | 2020-04-17 | 哈尔滨工业大学 | Robot-assisted puncture surgery end tool center calibration method based on stereoscopic vision |
| CN111220123A (en) * | 2020-03-06 | 2020-06-02 | 湖南砼联科技有限责任公司 | Foundation ring inclination angle monitoring system and method |
| CN111307487A (en) * | 2020-03-12 | 2020-06-19 | 智方达(天津)科技有限公司 | Rotating mechanical vibration measurement method based on micro-motion amplification |
| CN112102240A (en) * | 2020-08-11 | 2020-12-18 | 风脉能源（武汉）股份有限公司 | Method and device for measuring inclination of tower drum foundation ring based on machine vision, and computer equipment |
| US20210033451A1 (en) * | 2018-03-29 | 2021-02-04 | Nec Corporation | Vibration measurement system, vibration measurement apparatus, vibration measurement method, and computer-readable recording medium |
| CN215491665U (en) * | 2021-07-06 | 2022-01-11 | 左云京能风力发电有限责任公司凉城分公司 | Inclination angle measuring device at bottom of tower of fan |
-
2022
- 2022-01-17 CN CN202210045996.2A patent/CN114061738B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170284892A1 (en) * | 2016-04-01 | 2017-10-05 | Seiko Epson Corporation | Observation system and control method for observation system |
| CN105676209A (en) * | 2016-04-01 | 2016-06-15 | 山东理工大学 | Helicopter-borne laser radar platform three-dimensional attitude angle complex vibration real-time compensation method and device |
| CN106210376A (en) * | 2016-07-29 | 2016-12-07 | 努比亚技术有限公司 | mobile terminal, vibration prompt control device and method |
| CN206668477U (en) * | 2017-04-05 | 2017-11-24 | 西南交通大学 | Wind turbines tower and its underlying security monitoring system |
| CN106989812A (en) * | 2017-05-03 | 2017-07-28 | 湖南科技大学 | Large fan blade modal method of testing based on photogrammetric technology |
| US20210033451A1 (en) * | 2018-03-29 | 2021-02-04 | Nec Corporation | Vibration measurement system, vibration measurement apparatus, vibration measurement method, and computer-readable recording medium |
| CN109308722A (en) * | 2018-11-26 | 2019-02-05 | 陕西远航光电有限责任公司 | A kind of spatial pose measuring system and method based on active vision |
| CN210068392U (en) * | 2019-04-18 | 2020-02-14 | 北京源清慧虹信息科技有限公司 | Health monitoring system for wind power generation foundation structure |
| CN110910350A (en) * | 2019-10-30 | 2020-03-24 | 同济大学 | Nut loosening detection method for wind power tower cylinder |
| CN111012506A (en) * | 2019-12-28 | 2020-04-17 | 哈尔滨工业大学 | Robot-assisted puncture surgery end tool center calibration method based on stereoscopic vision |
| CN111220123A (en) * | 2020-03-06 | 2020-06-02 | 湖南砼联科技有限责任公司 | Foundation ring inclination angle monitoring system and method |
| CN111307487A (en) * | 2020-03-12 | 2020-06-19 | 智方达(天津)科技有限公司 | Rotating mechanical vibration measurement method based on micro-motion amplification |
| CN112102240A (en) * | 2020-08-11 | 2020-12-18 | 风脉能源（武汉）股份有限公司 | Method and device for measuring inclination of tower drum foundation ring based on machine vision, and computer equipment |
| CN215491665U (en) * | 2021-07-06 | 2022-01-11 | 左云京能风力发电有限责任公司凉城分公司 | Inclination angle measuring device at bottom of tower of fan |
Non-Patent Citations (2)
| Title |
|---|
| NIKOS MELANITIS: "A linear method for camera pair self-calibration", 《COMPUTER VISION AND IMAGE UNDERSTANDING》 * |
| 厉彦钟 等: "《热能与动力机械测试技术》", 31 July 2020 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114061738B (en) | 2022-05-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11200734B2 (en) | Method for reconstructing three-dimensional space scene based on photographing | |
| CN108844459B (en) | Calibration method and device of blade digital sample plate detection system | |
| US8699005B2 (en) | Indoor surveying apparatus | |
| CN104034263B (en) | A kind of non-contact measurement method of forging's block dimension | |
| US20150116691A1 (en) | Indoor surveying apparatus and method | |
| CN108413917B (en) | Non-contact three-dimensional measurement system, non-contact three-dimensional measurement method and measurement device | |
| JP2004163292A (en) | Survey system and electronic storage medium | |
| CN206724901U (en) | A kind of monocular three-dimensional real-time online tracking and positioning system | |
| CN105115560B (en) | A kind of non-contact measurement method of cabin volume of compartment | |
| CN108050928B (en) | Visual measuring instrument and visual measuring method | |
| CN112132908B (en) | Camera external parameter calibration method and device based on intelligent detection technology | |
| RU2572637C2 (en) | Parallel or serial reconstructions in online and offline modes for 3d measurements of rooms | |
| JP4052382B2 (en) | Non-contact image measuring device | |
| CN112492292B (en) | Intelligent visual 3D information acquisition equipment of free gesture | |
| Feng et al. | Inertial measurement unit aided extrinsic parameters calibration for stereo vision systems | |
| CN112229323A (en) | Six-degree-of-freedom measurement method of checkerboard cooperative target based on monocular vision of mobile phone and application of six-degree-of-freedom measurement method | |
| Hosseininaveh et al. | A low-cost and portable system for 3D reconstruction of texture-less objects | |
| CN109493378B (en) | Verticality detection method based on combination of monocular vision and binocular vision | |
| CN112907647B (en) | Three-dimensional space size measurement method based on fixed monocular camera | |
| JP4649192B2 (en) | Stereo image creation method and three-dimensional data creation apparatus | |
| WO2022126339A1 (en) | Method for monitoring deformation of civil structure, and related device | |
| CN114061738B (en) | Wind turbine tower drum foundation ring vibration monitoring method based on calibration plate pose calculation | |
| CN114136544B (en) | Underwater vibration simulation test system and method based on high-speed video measurement | |
| CN114663486A (en) | Building height measurement method and system based on binocular vision | |
| CN112254669B (en) | Intelligent visual 3D information acquisition equipment of many bias angles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |