CN116641855B - Wind generating set operation monitoring method, system, equipment and storage medium - Google Patents
Wind generating set operation monitoring method, system, equipment and storage medium Download PDFInfo
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- CN116641855B CN116641855B CN202310889297.0A CN202310889297A CN116641855B CN 116641855 B CN116641855 B CN 116641855B CN 202310889297 A CN202310889297 A CN 202310889297A CN 116641855 B CN116641855 B CN 116641855B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 147
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000003860 storage Methods 0.000 title claims abstract description 9
- 238000006073 displacement reaction Methods 0.000 claims abstract description 54
- 230000007613 environmental effect Effects 0.000 claims abstract description 47
- 239000013598 vector Substances 0.000 claims abstract description 14
- 238000004062 sedimentation Methods 0.000 claims description 48
- 238000010586 diagram Methods 0.000 claims description 33
- 238000012545 processing Methods 0.000 claims description 22
- 238000010606 normalization Methods 0.000 claims description 15
- 230000006870 function Effects 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 5
- 238000012549 training Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 3
- 238000003708 edge detection Methods 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 3
- 238000009432 framing Methods 0.000 claims description 3
- 238000012216 screening Methods 0.000 claims description 3
- 238000010248 power generation Methods 0.000 abstract description 2
- 238000004590 computer program Methods 0.000 description 5
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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
- 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
- F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
- F03D13/20—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors
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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
- F03D9/00—Adaptations of wind motors for special use; Combinations of wind motors with apparatus driven thereby; Wind motors specially adapted for installation in particular locations
- F03D9/20—Wind motors characterised by the driven apparatus
- F03D9/25—Wind motors characterised by the driven apparatus the apparatus being an electrical generator
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- 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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- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Wind Motors (AREA)
Abstract
The invention discloses a method, a system, equipment and a storage medium for monitoring operation of a wind generating set, and belongs to the technical field of wind power generation. The method comprises the steps of obtaining a wind generating set operation state video, and extracting a wind generating set monitoring vector according to the wind generating set operation state video so as to reflect the real operation state of the wind generating set; acquiring a monitoring graph containing monitoring marks according to the running state video of the wind generating set, extracting the position information of the monitoring marks, and comparing the position information with preset initial position information to acquire the settlement displacement and settlement inclination of the tower; and acquiring the environmental information of the wind generating set, and compensating the settlement displacement and the settlement gradient according to the environmental information to acquire the settlement monitoring result of the wind generating set. The operation state of the wind generating set can be comprehensively fed back, and the safe operation of the wind generating set is ensured. The problem of running state monitoring accuracy poor in the prior art is solved.
Description
Technical Field
The invention relates to the technical field of wind power generation, in particular to a method, a system, equipment and a storage medium for monitoring the operation of a wind generating set.
Background
The statements in this section merely relate to the background of the present disclosure and may not necessarily constitute prior art.
Wind energy is becoming more and more important worldwide as a clean renewable energy source. The wind generating set is a system for converting wind kinetic energy into electric energy, and with the rapid development of wind power industry in recent years, the manufacturing technology of the domestic large-scale wind generating set is mature and widely applied.
In the application of the wind generating set, the operation of the wind generating set is influenced by various uncertain factors such as natural environment, operation conditions and the like, and once the wind generating set is abnormal, the industrial production operation and the daily life of residents can be seriously influenced. Therefore, it is important to monitor the operation state of the wind turbine.
In the prior art, for on-line monitoring of the running state of the wind generating set, the wind generating set is generally monitored by a sensor, but a large amount of data can be generated during monitoring, so that on one hand, the accuracy of data extraction is poor, and the accuracy of monitoring is reduced; on the other hand, the data processing amount is large and the efficiency is low.
In addition, the operation monitoring of the existing wind generating set is focused on the monitoring of all parts in the operation of the wind generating set, and the influence on the safe operation of the wind generating set caused by the sinking and floating or tilting of a tower of the wind generating set is ignored.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a method, a system, equipment and a storage medium for monitoring the operation of a wind generating set, and the safety and the reliability of the wind generating set during operation are ensured.
In a first aspect, the invention provides a method for monitoring operation of a wind generating set;
a method of monitoring operation of a wind turbine, comprising:
acquiring a running state video of the wind generating set, wherein the running state video of the wind generating set is acquired by a video acquisition module arranged at a monitoring node, and a plurality of monitoring identifiers are symmetrically arranged on a tower of the wind generating set along the same diameter direction;
extracting a monitoring vector of the wind generating set according to the running state video of the wind generating set so as to reflect the real running state of the wind generating set;
acquiring a monitoring graph containing monitoring marks according to the running state video of the wind generating set, extracting the position information of the monitoring marks, and comparing the position information with preset initial position information to acquire the settlement displacement and settlement inclination of the tower;
and acquiring the environmental information of the wind generating set, and compensating the settlement displacement and the settlement gradient according to the environmental information to acquire the settlement monitoring result of the wind generating set.
Further, the extracting the monitoring vector of the wind generating set according to the operation state video of the wind generating set includes:
acquiring a fan blade image sequence according to the running state video of the wind generating set;
acquiring a rotation reference image and a state contrast image of the blade according to the image sequence of the fan blade;
performing contour extraction on the rotation reference image and the state comparison image, and performing image matching by using Euclidean distance to obtain a matching image;
and acquiring the rotation speed of the blade according to the frame difference between the rotation reference diagram and the matching diagram to serve as a monitoring vector of the wind generating set.
Further, the obtaining a monitoring graph including a monitoring identifier according to the running state video of the wind generating set specifically includes: converting the running state video of the wind generating set into multi-frame images, and extracting a monitoring chart according to a preset time granularity; and screening the monitoring graph containing the monitoring identifier by taking the initial image of the monitoring identifier as a template.
Further, the extracting the position information of the monitoring mark, comparing with the preset initial position information, and obtaining the settlement displacement amount of the tower includes:
determining initial position information of each monitoring mark according to an initial state diagram of the monitoring mark;
sequentially performing coarse positioning and accurate positioning on the monitoring graph containing the monitoring marks, and determining real-time position information of each monitoring mark;
and calculating the difference value of the initial position information and the real-time position information of each monitoring mark, carrying out normalization processing, and determining the settlement displacement of the tower.
Preferably, compared with the preset initial position information, the settlement gradient of the tower is obtained specifically as follows: and calculating the sedimentation differences of two different monitoring marks on the same diameter direction, and determining the sedimentation gradient of the tower.
Further, according to the environmental information, compensating the settlement displacement and the settlement inclination, and obtaining the settlement monitoring result of the wind generating set includes:
setting an environment compensation function according to the environment information, and constructing an environment compensation model by taking the minimum measurement error as a target;
training an environment compensation model according to initial environment information in the environment information;
carrying out normalization processing on real-time environmental information in the environmental information, and inputting the real-time environmental information and the sedimentation displacement after normalization processing into an environmental compensation model to obtain the sedimentation displacement after compensation;
and calculating the sedimentation difference of two different monitoring marks in the same diameter direction according to the compensated sedimentation displacement, and determining the sedimentation gradient of the tower.
Preferably, the inputting the real-time environment information and the sedimentation displacement after normalization processing into an environment compensation model, and the obtaining the sedimentation displacement after compensation specifically includes: based on the normalized real-time environmental information, acquiring environmental error compensation according to an environmental compensation model; and based on the sedimentation displacement and the environmental error compensation, acquiring the compensated sedimentation displacement.
In a second aspect, the invention provides a wind turbine generator system operation monitoring system;
a wind turbine generator set operation monitoring system comprising:
an operational status monitoring module configured to: acquiring a running state video of the wind generating set, wherein the running state video of the wind generating set is acquired by a video acquisition module arranged at a monitoring node, and a plurality of monitoring identifiers are symmetrically arranged on a tower of the wind generating set along the same diameter direction; extracting a monitoring vector of the wind generating set according to the running state video of the wind generating set so as to reflect the real running state of the wind generating set;
a sedimentation monitoring module configured to: acquiring a monitoring graph containing monitoring marks according to the running state video of the wind generating set, extracting the position information of the monitoring marks, and comparing the position information with preset initial position information to acquire the settlement displacement and settlement inclination of the tower; and acquiring the environmental information of the wind generating set, and compensating the settlement displacement and the settlement gradient according to the environmental information to acquire the settlement monitoring result of the wind generating set.
In a third aspect, the present invention provides an electronic device;
an electronic device comprising a memory and a processor and computer instructions stored on the memory and running on the processor, which when executed by the processor, perform the steps of the wind turbine generator set operation monitoring method described above.
In a fourth aspect, the present invention provides a computer-readable storage medium;
a computer readable storage medium storing computer instructions which, when executed by a processor, perform the steps of the wind turbine generator set operation monitoring method described above.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the technical scheme provided by the invention, the monitoring node of the running state of the wind generating set is set for collecting video images, and the rotating speed of the fan blade is determined according to the truly collected video information, so that the running state of the wind generating set is truly reflected, and the accuracy of monitoring the state of the wind generating set is improved.
2. According to the technical scheme provided by the invention, the settlement and inclination of the tower are monitored while the running state of the wind generating set is monitored, so that on one hand, the repeated collection of data is avoided; on the other hand, the operation state of the wind generating set can be comprehensively fed back, and the safe operation of the wind generating set is ensured.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a schematic flow chart provided in an embodiment of the present invention;
fig. 2 is a schematic diagram of a system architecture according to an embodiment of the present invention.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular forms also are intended to include the plural forms, and furthermore, it is to be understood that the terms "comprises" and "comprising" and any variations thereof are intended to cover non-exclusive inclusions, such as, for example, processes, methods, systems, products or devices that comprise a series of steps or units, are not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or inherent to such processes, methods, products or devices.
Embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Example 1
A method for monitoring operation of a wind turbine generator set disclosed in this embodiment will be described in detail with reference to fig. 1, and the method for monitoring operation of a wind turbine generator set includes the following steps:
s1, acquiring a running state video of a wind generating set, wherein the running state video of the wind generating set is acquired by a video acquisition module arranged at a monitoring node, and 4 monitoring marks are symmetrically arranged on a tower of the wind generating set along the same diameter direction, wherein the monitoring marks are X-shaped red marks.
S2, extracting a monitoring vector of the wind generating set according to the running state video of the wind generating set so as to reflect the real running state of the wind generating set. The method specifically comprises the following steps:
s201, reading the frame number of the running state video of the wind generating set, and carrying out framing treatment on the running state video of the wind generating set to obtain a running state image sequence; and inputting the running state image sequence into a YOLO target detection model for processing to obtain a fan blade image sequence.
S202, selecting the image with highest definition in the front 20 frames of images of the fan blade image sequence as a rotation reference image according to the definition of the fan blade image, taking the images except the front 20 frames of images as a state contrast image, and carrying out gray processing on the rotation reference image and the state contrast image.
S203, adopting a sobel edge detection algorithm to extract the outline of the rotation reference image and the state contrast image, carrying out image matching by using Euclidean distance, and taking the state contrast image corresponding to the minimum value of the Euclidean distance as a matching image.
Wherein, the formula of Euclidean distance is expressed as follows:
wherein ,for the Euclidean distance between the rotation reference diagram and the state contrast diagram, +.>For turning the pixel point of the reference map +.>For the pixel point of the state contrast diagram, +.>For the total number of pixels, +.>For the gray value corresponding to the rotation reference map, < >>And the gray value corresponding to the state contrast diagram.
S204, calculating a frame difference between the rotation reference diagram and the matching diagram, obtaining time required by the rotation of the blades by the set angle according to the frame difference, and determining the rotation speed of the blades by the rotation set angle according to the required time.
Specifically, according to the structure of the wind generating set, it can be known that the same frame picture appears in the fan blade image sequence every 120 degrees of rotation of the blade.
Therefore, according to the duration of the running state video of the wind generating set, the frame difference between the reference graph and the matching graph is rotated, and the blade rotation time can be obtained, which is expressed as:
wherein ,for the vane rotation time,/->For the frame difference between the rotation reference map and the matching map, < >>The time length of the video of the running state of the wind generating set. And calculating the angular speed and the linear speed of the rotation of the blade according to the rotation time, the rotation angle and the length of the blade.
The angular velocity is expressed as:
wherein ,for the angular speed of rotation of the blade +.>Is the blade rotation time.
The linear velocity is expressed as:
wherein ,for the linear speed of rotation of the blade +.>For the rotation angle of the blade->Is the blade length.
And taking the angular speed and the linear speed of the rotation of the blades as monitoring vectors of the wind generating set, judging whether the wind generating set is in a normal parameter range of the operation of the wind generating set, and further reflecting the real operation state of the wind generating set.
S3, acquiring a monitoring graph containing monitoring marks according to the running state video of the wind generating set, extracting the position information of the monitoring marks, and comparing the position information with preset initial position information to acquire the settlement displacement and settlement inclination of the tower. The method specifically comprises the following steps:
s301, comparing an initial image of a monitoring mark with an operation state image sequence according to a preset time granularity, and screening out an image sequence containing the monitoring mark from the operation state image sequence;
s302, determining initial position information of each monitoring identifier according to an initial state diagram of the monitoring identifier.
Specifically, a pixel coordinate system is established by taking the coordinate of the central point of one of the monitoring marks as the origin, and the initial coordinate of each monitoring mark central point is determined according to the pixel coordinate system.
S303, sequentially performing coarse positioning and accurate positioning on the monitoring graph containing the monitoring identifiers, and determining real-time position information of each monitoring identifier.
Specifically, the initial state diagram is binarized through a binarization algorithm to obtain a binarization diagram, then, convex hulls are obtained on connected domains in the binarization diagram, and the area where the monitoring mark is located is determined. Then, the coordinates of the center point thereof are extracted using Hough transform.
S304, calculating the difference value of the initial position information and the real-time position information of each monitoring mark, and carrying out normalization processing to determine the settlement displacement of the tower.
Illustratively, the difference between the initial coordinates and the real-time coordinates of the 4 monitoring marks in the elevation direction is calculated, and then the average value of the initial coordinates and the real-time coordinates is taken as the settlement displacement amount of the tower.
S305, calculating the sedimentation differences of two different monitoring marks on the same diameter direction, and determining the sedimentation gradient of the tower. Specifically, a difference value of the sedimentation displacement amounts of the first monitoring mark and the third monitoring mark is calculated, and then, the sedimentation inclination of the tower is determined according to the horizontal distance between the first monitoring mark and the third monitoring mark.
S4, acquiring environmental information of the wind generating set, and compensating the settlement displacement and the settlement gradient according to the environmental information to acquire a settlement monitoring result of the wind generating set. The method specifically comprises the following steps:
s401, setting an environment compensation function according to the environment information, and constructing an environment compensation model with the minimum measurement error as a target. Specifically, a regression model is selected to construct an environment compensation model.
S402, training the environment compensation model according to the initial environment information in the environment information.
Specifically, when no settlement displacement is generated in the monitoring and identification, environmental data of one week is collected, normalization processing is carried out on the environmental data, the normalized environmental information is taken as input, and the current measured settlement displacement amount is output as a training model, namely:
wherein ,for the environmental compensation model->For temperature, < >>Is air pressure and is->Is the sedimentation displacement.
S403, carrying out normalization processing on the real-time environment information in the environment information, and inputting the real-time environment information and the sedimentation displacement after normalization processing into an environment compensation model to obtain the sedimentation displacement after compensation.
Exemplary, based on the determined environmental compensation modelAnd the sedimentation displacement amount measured currently +.>And the acquired normalized environmental information, obtaining the compensated sedimentation displacement amount +.>And by the amount of sedimentation displacement->As a result of the final settlement displacement measurement, the fluctuation caused by the external environment change is reduced:
wherein ,for the current measured temperature, +.>For the current measured air pressure.
S404, calculating the sedimentation differences of two different monitoring marks in the same diameter direction according to the compensated sedimentation displacement, and determining the sedimentation inclination of the tower.
Example two
In connection with fig. 2, this embodiment discloses a wind generating set operation monitoring system, including:
an operational status monitoring module configured to: acquiring a running state video of the wind generating set, wherein the running state video of the wind generating set is acquired by a video acquisition module arranged at a monitoring node, and a plurality of monitoring identifiers are symmetrically arranged on a tower of the wind generating set along the same diameter direction of the system; extracting a monitoring vector of the wind generating set according to the running state video of the wind generating set so as to reflect the real running state of the wind generating set;
a sedimentation monitoring module configured to: acquiring a monitoring graph containing monitoring marks according to the running state video of the wind generating set, extracting the position information of the monitoring marks, and comparing the position information with preset initial position information to acquire the settlement displacement and settlement inclination of the tower; and acquiring the environmental information of the wind generating set, and compensating the settlement displacement and the settlement gradient according to the environmental information to acquire the settlement monitoring result of the wind generating set.
It should be noted that the operation state monitoring module and the sedimentation monitoring module correspond to the steps in the first embodiment, and the modules are the same as the examples and the application scenarios implemented by the corresponding steps, but are not limited to the disclosure in the first embodiment. It should be noted that the modules described above may be implemented as part of a system in a computer system, such as a set of computer-executable instructions.
Example III
The third embodiment of the invention provides an electronic device, which comprises a memory, a processor and computer instructions stored on the memory and running on the processor, wherein the steps of the wind generating set running monitoring method are completed when the computer instructions are run by the processor.
Example IV
The fourth embodiment of the invention provides a computer readable storage medium for storing computer instructions, which when executed by a processor, complete the steps of the wind turbine generator set operation monitoring method.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing embodiments are directed to various embodiments, and details of one embodiment may be found in the related description of another embodiment.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A method for monitoring operation of a wind turbine generator system, comprising:
acquiring a running state video of the wind generating set, wherein the running state video of the wind generating set is acquired by a video acquisition module arranged at a monitoring node, and a plurality of monitoring identifiers are symmetrically arranged on a tower of the wind generating set along the same diameter direction;
extracting a monitoring vector of the wind generating set according to the running state video of the wind generating set so as to reflect the real running state of the wind generating set;
acquiring a monitoring graph containing monitoring marks according to the running state video of the wind generating set, extracting the position information of the monitoring marks, and comparing the position information with preset initial position information to acquire the settlement displacement and settlement inclination of the tower;
acquiring environmental information of the wind generating set, compensating the settlement displacement and the settlement gradient according to the environmental information, and acquiring a settlement monitoring result of the wind generating set;
wherein, according to wind generating set running state video, the extraction wind generating set monitoring vector includes:
reading the frame number of the running state video of the wind generating set, and carrying out framing treatment on the running state video of the wind generating set to obtain a running state image sequence; inputting the running state image sequence into a YOLO target detection model for processing to obtain a fan blade image sequence;
according to the definition of the fan blade images, selecting the image with the highest definition in the front 20 frames of images of the fan blade image sequence as a rotation reference image, taking the images except the front 20 frames of images as a state contrast image, and carrying out graying treatment on the rotation reference image and the state contrast image;
adopting a sobel edge detection algorithm to extract the outline of the rotation reference image and the state contrast image, carrying out image matching by using Euclidean distance, and taking the state contrast image corresponding to the minimum value of the Euclidean distance as a matching image;
wherein, the formula of Euclidean distance is expressed as follows:
wherein ,for the Euclidean distance between the rotation reference diagram and the state contrast diagram, +.>For turning the pixel point of the reference map +.>For the pixel point of the state contrast diagram, +.>For the total number of pixels, +.>For the gray value corresponding to the rotation reference map, < >>The gray value corresponding to the state contrast diagram is obtained;
calculating a frame difference between the rotation reference graph and the matching graph, acquiring time required by rotating the blades by a set angle according to the frame difference, and determining the rotating speed of the blades rotating by the set angle according to the required time;
according to the duration of the running state video of the wind generating set, the frame difference between the rotation reference diagram and the matching diagram can obtain the rotation time of the blade, which is expressed as:
wherein ,for the vane rotation time,/->For the frame difference between the rotation reference map and the matching map, < >>The time length of the video of the running state of the wind generating set;
according to the rotation time, the rotation angle and the length of the blade, calculating to obtain the rotation angular speed and the linear speed of the blade;
the angular velocity is expressed as:
wherein ,for the angular speed of rotation of the blade +.>The blade rotation time;
the linear velocity is expressed as:
wherein ,for the linear speed of rotation of the blade +.>For the rotation angle of the blade->Is the length of the blade;
taking the angular speed and the linear speed of the rotation of the blades as monitoring vectors of the wind generating set, judging whether the wind generating set is in a normal parameter range of the operation of the wind generating set or not, and further reflecting the real operation state of the wind generating set;
according to the environmental information, the settlement displacement and the settlement gradient are compensated, and the settlement monitoring result of the wind generating set is obtained by the following steps:
setting an environment compensation function according to the environment information, and constructing an environment compensation model by taking the minimum measurement error as a target;
training an environment compensation model according to initial environment information in the environment information;
carrying out normalization processing on real-time environmental information in the environmental information, and inputting the real-time environmental information and the sedimentation displacement after normalization processing into an environmental compensation model to obtain the sedimentation displacement after compensation;
calculating the sedimentation difference of two different monitoring marks in the same diameter direction according to the compensated sedimentation displacement, and determining the sedimentation gradient of the tower;
inputting the real-time environment information and the sedimentation displacement after normalization treatment into an environment compensation model, and acquiring the sedimentation displacement after compensation specifically comprises the following steps: based on the normalized real-time environmental information, acquiring environmental error compensation according to an environmental compensation model; and based on the sedimentation displacement and the environmental error compensation, acquiring the compensated sedimentation displacement.
2. The method for monitoring operation of a wind generating set according to claim 1, wherein the step of obtaining a monitoring graph including a monitoring identifier according to the video of the operation state of the wind generating set specifically comprises: converting the running state video of the wind generating set into multi-frame images, and extracting a monitoring chart according to a preset time granularity; and screening the monitoring graph containing the monitoring identifier by taking the initial image of the monitoring identifier as a template.
3. The method for monitoring operation of a wind turbine generator system according to claim 1, wherein the extracting the position information of the monitoring mark and comparing with the preset initial position information to obtain the settlement displacement amount of the tower comprises:
determining initial position information of each monitoring mark according to an initial state diagram of the monitoring mark;
sequentially performing coarse positioning and accurate positioning on the monitoring graph containing the monitoring marks, and determining real-time position information of each monitoring mark;
and calculating the difference value of the initial position information and the real-time position information of each monitoring mark, carrying out normalization processing, and determining the settlement displacement of the tower.
4. The method for monitoring operation of a wind turbine generator system according to claim 3, wherein the obtaining of the settlement inclination of the tower as compared with the preset initial position information is specifically: and calculating the sedimentation differences of two different monitoring marks on the same diameter direction, and determining the sedimentation gradient of the tower.
5. A wind turbine generator set operation monitoring system, comprising:
an operational status monitoring module configured to: acquiring a running state video of the wind generating set, wherein the running state video of the wind generating set is acquired by a video acquisition module arranged at a monitoring node, and a plurality of monitoring identifiers are symmetrically arranged on a tower of the wind generating set along the same diameter direction; extracting a monitoring vector of the wind generating set according to the running state video of the wind generating set so as to reflect the real running state of the wind generating set;
a sedimentation monitoring module configured to: acquiring a monitoring graph containing monitoring marks according to the running state video of the wind generating set, extracting the position information of the monitoring marks, and comparing the position information with preset initial position information to acquire the settlement displacement and settlement inclination of the tower; acquiring environmental information of the wind generating set, compensating the settlement displacement and the settlement gradient according to the environmental information, and acquiring a settlement monitoring result of the wind generating set;
wherein, according to wind generating set running state video, the extraction wind generating set monitoring vector includes:
reading the frame number of the running state video of the wind generating set, and carrying out framing treatment on the running state video of the wind generating set to obtain a running state image sequence; inputting the running state image sequence into a YOLO target detection model for processing to obtain a fan blade image sequence;
according to the definition of the fan blade images, selecting the image with the highest definition in the front 20 frames of images of the fan blade image sequence as a rotation reference image, taking the images except the front 20 frames of images as a state contrast image, and carrying out graying treatment on the rotation reference image and the state contrast image;
adopting a sobel edge detection algorithm to extract the outline of the rotation reference image and the state contrast image, carrying out image matching by using Euclidean distance, and taking the state contrast image corresponding to the minimum value of the Euclidean distance as a matching image;
wherein, the formula of Euclidean distance is expressed as follows:
wherein ,for the Euclidean distance between the rotation reference diagram and the state contrast diagram, +.>For turning the pixel point of the reference map +.>For the pixel point of the state contrast diagram, +.>For the total number of pixels, +.>For the gray value corresponding to the rotation reference map, < >>The gray value corresponding to the state contrast diagram is obtained;
calculating a frame difference between the rotation reference graph and the matching graph, acquiring time required by rotating the blades by a set angle according to the frame difference, and determining the rotating speed of the blades rotating by the set angle according to the required time;
according to the duration of the running state video of the wind generating set, the frame difference between the rotation reference diagram and the matching diagram can obtain the rotation time of the blade, which is expressed as:
wherein ,for the vane rotation time,/->For the frame difference between the rotation reference map and the matching map, < >>The time length of the video of the running state of the wind generating set;
according to the rotation time, the rotation angle and the length of the blade, calculating to obtain the rotation angular speed and the linear speed of the blade;
the angular velocity is expressed as:
wherein ,for the angular speed of rotation of the blade +.>The blade rotation time;
the linear velocity is expressed as:
wherein ,for the linear speed of rotation of the blade +.>For the rotation angle of the blade->Is the length of the blade;
taking the angular speed and the linear speed of the rotation of the blades as monitoring vectors of the wind generating set, judging whether the wind generating set is in a normal parameter range of the operation of the wind generating set or not, and further reflecting the real operation state of the wind generating set;
according to the environmental information, the settlement displacement and the settlement gradient are compensated, and the settlement monitoring result of the wind generating set is obtained by the following steps:
setting an environment compensation function according to the environment information, and constructing an environment compensation model by taking the minimum measurement error as a target;
training an environment compensation model according to initial environment information in the environment information;
carrying out normalization processing on real-time environmental information in the environmental information, and inputting the real-time environmental information and the sedimentation displacement after normalization processing into an environmental compensation model to obtain the sedimentation displacement after compensation;
calculating the sedimentation difference of two different monitoring marks in the same diameter direction according to the compensated sedimentation displacement, and determining the sedimentation gradient of the tower;
inputting the real-time environment information and the sedimentation displacement after normalization treatment into an environment compensation model, and acquiring the sedimentation displacement after compensation specifically comprises the following steps: based on the normalized real-time environmental information, acquiring environmental error compensation according to an environmental compensation model; and based on the sedimentation displacement and the environmental error compensation, acquiring the compensated sedimentation displacement.
6. An electronic device comprising a memory and a processor and computer instructions stored on the memory and running on the processor, which when executed by the processor, perform the steps of the wind turbine generator set operation monitoring method of any one of claims 1-4.
7. A computer readable storage medium storing computer instructions which, when executed by a processor, perform the steps of the wind turbine generator set operation monitoring method of any of claims 1-4.
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