CN117948940A - Method and device for detecting inclination angle of tower - Google Patents

Method and device for detecting inclination angle of tower Download PDF

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Publication number
CN117948940A
CN117948940A CN202410338008.2A CN202410338008A CN117948940A CN 117948940 A CN117948940 A CN 117948940A CN 202410338008 A CN202410338008 A CN 202410338008A CN 117948940 A CN117948940 A CN 117948940A
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China
Prior art keywords
tower
inclination angle
angular velocity
images
corrected
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黄冠龙
应永华
姚志生
黄顺权
王伟
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Ningbo Long Wall Fluid Kinetic Sci Tech Co Ltd
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Ningbo Long Wall Fluid Kinetic Sci Tech Co Ltd
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Priority to CN202410338008.2A priority Critical patent/CN117948940A/en
Publication of CN117948940A publication Critical patent/CN117948940A/en
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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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Abstract

The application provides a method and a device for detecting the inclination angle of a tower, wherein the tower comprises a first area and a second area which are arranged at intervals, and the method comprises the following steps: acquiring a plurality of first images of the tower at a first location while acquiring a plurality of second images of the tower at a second location, the first location corresponding to the first region and the second location corresponding to the second region in the direction of gravity; determining whether the tower is tilted based on the plurality of first images and the plurality of second images; if the tower is determined to be inclined, a first inclination angle and a first angular velocity of the tower at the first area are acquired, while a second inclination angle and a second angular velocity of the tower at the second area are acquired, and an inclination angle of the tower is determined from the first angular velocity, the second angular velocity, the first inclination angle and the second inclination angle. According to the application, the state of the tower is primarily judged before the inclination angle is measured, so that the accuracy of the detection result is improved.

Description

Method and device for detecting inclination angle of tower
Technical Field
The invention relates to the technical field of wind power monitoring, in particular to a method and a device for detecting the inclination angle of a tower.
Background
The tower not only bears the weight of the wind wheel and the cabin, but also bears alternating load transmitted by the wind wheel, and the tower is also subjected to dynamic pneumatic load. The dynamic inclination angle of the tower is directly related to the dynamic load born by the tower and the generated rigidity degradation, so that the measurement of the dynamic inclination angle of the tower is the basis for early warning of the fault of the tower and on-line life prediction.
However, the conventional device for measuring the tilt angle of the tower measures the tilt angle of the tower at each moment of variation, so that the tower is mistakenly inclined to be too large when the wind quantity shakes, which causes inaccurate measurement results.
Disclosure of Invention
The invention solves the problem that the existing method for detecting the inclination angle of the tower has inaccurate measurement results.
In order to solve the above problems, the present invention provides a method for detecting an inclination angle of a tower, the tower including a first area and a second area disposed at intervals, the method comprising:
Acquiring a plurality of first images of the tower at a first location, the first location corresponding to the first area in a direction of gravity, while acquiring a plurality of second images of the tower at a second location, the second location corresponding to the second area;
Determining whether the tower is tilted based on the plurality of first images and the plurality of second images;
If it is determined that the tower is inclined, acquiring a first inclination angle and a first angular velocity of the tower at the first region, simultaneously acquiring a second inclination angle and a second angular velocity of the tower at the second region, and determining an inclination angle of the tower according to the first angular velocity, the second angular velocity, the first inclination angle and the second inclination angle;
Wherein determining whether the tower is tilted from the plurality of first images and the plurality of second images comprises:
sequentially projecting one first image and other first images in a first direction to obtain a plurality of first projection images, and obtaining the coincidence rate of a tower on one first image and a tower on the other first image in each first projection image to obtain a plurality of first coincidence rates;
Sequentially projecting one second image and other second images in a first direction to obtain a plurality of second projection images, and obtaining the superposition rate of a tower on one second image and a tower on the other second image in each second projection image to obtain a plurality of second superposition rates;
And if the difference value between the first coincidence rates is smaller than a first preset value and the difference value between the second coincidence rates is smaller than a second preset value, determining that the tower is inclined.
Optionally, the determining the inclination angle of the tower according to the first angular velocity, the second angular velocity, the first inclination angle and the second inclination angle includes:
correcting the first inclination angle according to the first inclination angle and the first angular velocity to obtain a first corrected inclination angle of the tower in the first area;
Correcting the second inclination angle according to the second inclination angle and the second angular velocity to obtain a second corrected inclination angle of the tower in the second area;
If the difference between the first corrected inclination angle and the second corrected inclination angle is smaller than a threshold value, determining that the inclination angle of the tower is the first corrected inclination angle or the second corrected inclination angle;
and if the difference value between the first corrected inclination angle and the second corrected inclination angle is greater than or equal to a threshold value, processing the first corrected inclination angle and the second corrected inclination angle according to a preset curve relationship to determine the inclination angle of the tower.
Optionally, the processing the first corrected tilt angle and the second corrected tilt angle according to a preset curve relationship to determine the tilt angle of the tower includes:
obtaining a first height from the first region of the tower to the first location according to the first corrected tilt angle, and obtaining a second height from the second region of the tower to the second location according to the second corrected tilt angle;
obtaining a height difference according to the first height and the second height;
acquiring a distance between the first position and the second position;
and obtaining the inclination angle of the tower according to the distance and the height difference.
Optionally, said obtaining a first height of said first region of said tower to said first location based on said first corrected tilt angle comprises:
Fitting a plurality of corrected tilt angles in each of a plurality of different positions to a plurality of heights corresponding to that position to obtain a fitted curve representing the change in corrected tilt angles relative to the change in height of the tower at that position;
the first corrected tilt angle is input to the fitted curve to obtain a first height of the tower at the first location.
Optionally, said fitting a plurality of corrected tilt angles in each of a plurality of different positions to a plurality of heights corresponding to that position to obtain a fitted curve representing a change in corrected tilt angle relative to a change in height of the tower at that position comprises:
Acquiring a plurality of first heights between a plurality of point areas in the first area and a plurality of point areas at the first position, and acquiring a plurality of first correction inclination angles corresponding to the plurality of first heights one by one;
Acquiring a plurality of second heights between a plurality of point areas in the second area and a plurality of point areas at the second position, and acquiring a plurality of second correction inclination angles corresponding to the plurality of second heights one by one;
Fitting the plurality of first heights, the plurality of first corrected tilt angles, the plurality of second heights, and the plurality of second corrected tilt angles to obtain the fitted curve.
Optionally, said correcting said first tilt angle according to said first tilt angle and said first angular velocity to obtain a first corrected tilt angle of said tower in said first region comprises:
Obtaining a first compensation value proportional to the first angular velocity according to the corresponding relation between the angular velocity and the compensation value;
And correcting the first inclination angle according to the first compensation value to obtain the first corrected inclination angle.
Optionally, the acquiring the first tilt angle and the first angular velocity of the tower at the first region comprises:
acquiring a third image at the first position, and obtaining a first inclination angle and a first angular velocity of the first area according to the third image; or (b)
And controlling an inclination sensor to acquire a first inclination angle in the first area, and controlling a gyroscope to acquire a first angular velocity in the first area.
The embodiment of the application also provides a device for detecting the inclination angle of the tower, the tower comprises a machine table and a tower barrel arranged on the machine table, a first position and a second position are arranged on the machine table at intervals, and the device for detecting the inclination angle of the tower comprises:
Two image units respectively arranged at the first position and the second position to acquire a plurality of first images of the tower at the first position and a plurality of second images of the tower at the second position;
The two inclination units are respectively arranged at the first position and the second position;
The two angular velocity units and the two inclination units are respectively arranged at the first position and the second position;
The processor is connected with the two image units, the two inclination units and the two angular velocity units and is used for determining whether the tower is inclined according to the first images and the second images; if the tower is determined to be inclined, controlling the two inclination units and the two angular velocity units to acquire a first inclination angle and a first angular velocity of the tower at the first region and a second inclination angle and a second angular velocity of the tower at the second region, and determining an inclination angle of the tower according to the first angular velocity, the second angular velocity, the first inclination angle and the second inclination angle;
Determining whether the tower is tilted from the plurality of first images and the plurality of second images includes:
sequentially projecting one first image and other first images in a first direction to obtain a plurality of first projection images, and obtaining the coincidence rate of a tower on one first image and a tower on the other first image in each first projection image to obtain a plurality of first coincidence rates;
Sequentially projecting one second image and other second images in a first direction to obtain a plurality of second projection images, and obtaining the superposition rate of a tower on one second image and a tower on the other second image in each second projection image to obtain a plurality of second superposition rates;
And if the difference value between the first coincidence rates is smaller than a first preset value and the difference value between the second coincidence rates is smaller than a second preset value, determining that the tower is inclined.
Optionally, the inclination unit includes any one of an inclination sensor, a camera or a laser;
the angular velocity unit includes one of a gyroscope or a camera.
Optionally, the detecting device further includes a plurality of sedimentation sensors, the sedimentation sensors are uniformly distributed on the top surface of the machine table, the sedimentation sensors are connected with the processor, and when the processor determines that the non-uniform sedimentation of the machine table exceeds a limit value according to measurement data of the sedimentation sensors, an alarm is sent.
The method for detecting the inclination angle of the tower comprises the steps of acquiring a plurality of first images of the tower at a first position and acquiring a plurality of second images of the tower at a second position, determining whether the tower is inclined according to the plurality of first images and the plurality of second images, acquiring a first inclination angle, a first angular velocity, a second inclination angle and a second angular velocity after determining that the tower is inclined, and determining the inclination angle according to the first inclination angle, the first angular velocity, the second inclination angle and the second angular velocity. According to the application, the state of the tower is primarily judged according to the first image and the second image before the inclination angle is measured, so that the situation of false alarm caused by large air quantity in an accidental event is avoided, and the accuracy of a detection result is further improved. Further, the inclination angle of the tower is obtained through the inclination angle and the acceleration of the first area and the inclination angle and the acceleration of the second area, and the accuracy of calculating the inclination angle is improved.
Drawings
FIG. 1 is a flow chart of a method for detecting an inclination angle of a tower according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of determining whether the tower is tilted in the inspection method shown in FIG. 1;
FIG. 3 is a flow chart illustrating the determination of the tower tilt angle based on the first angular velocity, the second angular velocity, the first tilt angle, and the second tilt angle in the inspection method shown in FIG. 1;
FIG. 4 is a schematic flow chart of determining an inclination angle according to a preset curve in the detection method shown in FIG. 2;
Fig. 5 is a schematic structural diagram of a device for detecting an inclination angle of a tower according to an embodiment of the present application.
Reference numerals illustrate:
200. A tower; 201. a machine table; 202. a tower; 203. a first position; 204. a second position; 2021. a first region; 2022. a second region;
100. a detection device; 101. an image unit; 102. an inclination unit; 103. an angular velocity unit; 104. a processor; 105. a sedimentation sensor.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
Referring to fig. 1, fig. 1 is a flow chart illustrating a method for detecting an inclination angle of a tower according to an embodiment of the application. The embodiment of the application provides a method for detecting the inclination angle of a tower, wherein the tower comprises a first area and a second area which are arranged at intervals, and the method comprises the following specific flow:
110. a plurality of first images of the tower are acquired at a first location, while a plurality of second images of the tower are acquired at a second location, the first location corresponding to a first area and the second location corresponding to a second area in a direction of gravity.
Illustratively, a first image is acquired at a first location and a second image is acquired at a second location at a first time within a preset time, and the first image is acquired again at the first location and the second image is acquired again at the second location at the second time, and so on, the images are acquired multiple times within the preset time to obtain a plurality of first images and a plurality of second images. Wherein the first image and the second image at each moment are in one-to-one correspondence.
The interval time between the first moment and the second moment is the same as the interval time between the second moment and the third moment, so that the first inclination angle and the second inclination angle can be conveniently and accurately acquired according to the first image and the second image.
In some embodiments, the first image unit is disposed at a first position to acquire the first image, and the second image unit is disposed at a second position to acquire the second image, wherein the first position corresponds to the first region and the second position corresponds to the second region in a gravity direction, so that the subsequent acquisition of the first inclination angle and the first angular velocity at the first region of the tower by the first image unit and the subsequent acquisition of the second inclination angle and the second angular velocity at the second region of the tower by the second image unit are facilitated, and no additional unit is required to acquire the inclination angle and the angular velocity, thereby simplifying the apparatus and saving the cost.
Wherein in the direction of gravity, the first position corresponds to the first area and the second position corresponds to the second area, which can be understood as the orthographic projection of the first area falling within the first position and the orthographic projection of the second area falling within the second position.
120. A determination is made as to whether the tower is tilted based on the first plurality of images and the second plurality of images.
Determining whether the tower is inclined according to the plurality of first images and the plurality of second images acquired within the preset time, wherein specific steps can be seen in fig. 2, and fig. 2 is a flow chart diagram of determining whether the tower is inclined in the detection method shown in fig. 1. The specific flow is as follows:
121. And sequentially projecting one first image and other first images in a first direction to obtain a plurality of first projection images, and obtaining the superposition rate of the tower on one first image and the tower on the other first image in each first projection image to obtain a plurality of first superposition rates.
The first image and the other first images are projected in the horizontal direction, that is, each pixel point in the first image and each pixel point in the other first image are projected in the horizontal direction to obtain a projection position distribution state, and the non-overlapped pixel points in the projection position distribution state are filtered, so that a first overlapping rate of the tower on each first image and the tower on the other first images can be obtained. For example, the first image acquired at time T1 is denoted as A1, the first image acquired at time T2 is denoted as A2, the first image acquired at time T3 is denoted as A3, the first image acquired at time T4 is denoted as A4, and the first image acquired at time Ti is denoted as Ai, i=1, 2, …, n.
In some embodiments, the first images A1 and A2 at the time T1 are subjected to a projection and filter process to obtain a first coincidence ratio W1 between the time T1 and the time T2, the first images A1 and A3 at the time T1 are subjected to a projection and filter process to obtain a first coincidence ratio W2 between the time T1 and the time T3, the first images A1 and A4 at the time T1 are subjected to a projection and filter process to obtain a first coincidence ratio W3 between the time T1 and the time T4, and the first images A1 and Ai at the time T1 are subjected to a projection and filter process to obtain a first coincidence ratio W (i-1) between the time T1 and the time Ti. The movement trend and the movement state of the tower in the preset time can be seen through a plurality of first coincidence rates between the first image at the time T1 and the first images at other times, so that the accuracy of judging the state of the tower is improved, and the condition of misjudgment is avoided.
In other embodiments, the first images A1 and A2 at time T1 are projected and filtered to obtain a first overlap ratio W1 'between time T1 and time T2, the first images A2 and A3 at time T2 and T3 are projected and filtered to obtain a first overlap ratio W2' between time T2 and time T3, the first images A3 and A4 at time T3 and T4 are projected and filtered to obtain a first overlap ratio W3 'between time T3 and time T4, and the first images a (i-1) and Ai at time T (i-1) are projected and filtered to obtain a first overlap ratio W (i-1)' between time T (i-1) and time Ti. The intermittent motion state of the tower can be seen through the first coincidence rate of the two first images in the interval time, so that the accuracy of judging the state of the tower is improved, and the condition of misjudgment is avoided.
It will be appreciated that the greater the first rate of overlap, the less the amplitude of movement of the tower over the predetermined time will be indicated. If the first coincidence rate is smaller, the larger the amplitude of the movement of the tower in the preset time is indicated.
The projection in the first direction is not limited to the horizontal projection, and may be the vertical projection, or any direction projection, and the state of the tower may be easily recognized, which is not particularly limited herein.
122. And sequentially projecting one second image and other second images in the first direction to obtain a plurality of second projection images, and obtaining the superposition rate of the tower on one second image and the tower on the other second image in each second projection image to obtain a plurality of second superposition rates.
The second image and the other second images are projected in the horizontal direction, that is, each pixel point in the second image and each pixel point in the other second image are projected in the horizontal direction to obtain a projection position distribution state, and the non-overlapped pixel points in the projection position distribution state are filtered, so that the overlapping ratio of the tower on each second image and the tower on the other second images can be obtained.
It will be appreciated that the greater the second rate of overlap, the less the amplitude of movement of the tower over the predetermined time will be indicated. If the second coincidence rate is smaller, the larger the amplitude of the movement of the tower in the preset time is indicated.
In some embodiments, the projection direction of the first image is consistent with the projection direction of the second image to facilitate comparing the first coincidence rate with the second coincidence rate, so as to judge the state of the tower through the coincidence rate in the images acquired at different positions, and increase the accuracy of judging the state of the tower.
In other embodiments, the projection direction of the first image is inconsistent with the projection direction of the second image, so that the first coincidence rate and the second coincidence rate are conveniently combined and compared, the state of the tower is judged by acquiring the coincidence rates of different directions in the images at different positions, for example, the projection direction of the first image is a vertical direction, the projection direction of the second image is a horizontal direction, the state of the tower can be judged by the first coincidence rate of the tower in the vertical direction and the second coincidence rate of the tower in the horizontal direction, the state of the tower is conveniently judged by the coincidence rates of multiple directions, and the judgment accuracy is improved.
123. And if the difference value between the first coincidence rates is smaller than a first preset value and the difference value between the second coincidence rates is smaller than a second preset value, determining that the tower is inclined.
The difference processing is performed on the plurality of first coincidence ratios, for example, an average value t between W1, W2, W3 and W (i-1) is calculated first, t= ((W1+W2+W3+, …, +W (i-1))/(i-1), and then the variance values of W1, W2, W3 and W (i-1) are: ((W1-t) 2+(W2-t)2+(W3-t)2+,…,+(W(i-1)-t)2)/(i-1)).
If the variance value is small, it indicates that the difference between the first coincidence rates is small, and if the variance value is large, it indicates that the difference between the first coincidence rates is relatively large.
The processing manner of the second coincidence rate may refer to the processing manner of the first coincidence rate, which is not described herein.
If the difference between the first plurality of coincidence rates is smaller than the first preset value and the difference between the second plurality of coincidence rates is smaller than the second preset value, it is indicated that the amplitude of the movement of the tower is small within the preset time, i.e. the tower is not accidentally tilted due to occasional events such as a strong wind, but the tower is already tilted.
If the difference between the first coincidence rates is greater than the first preset value or the difference between the second coincidence rates is greater than the second preset value, the occasional shaking caused by the strong wind in the preset time can make the movement amplitude of the tower be large, that is to say, the tower is in a non-inclined state. In some embodiments, the function of the first image unit or the function of the second image unit may be faulty, or the position where the first image unit is set or the position where the second image unit is set may be inaccurate.
According to the application, whether the tower is inclined or not is judged more accurately through the first overlapping rates and the second overlapping rates, so that the situation of misjudgment is avoided.
The difference between the first registration rates may be a difference between the first registration rates between adjacent images according to the interval time, or may be a difference between one first registration rate and other first registration rates in sequence, which may be specifically set according to the actual situation, and is not limited herein specifically.
130. If the tower is determined to be inclined, a first inclination angle and a first angular velocity of the tower at the first area are acquired, while a second inclination angle and a second angular velocity of the tower at the second area are acquired, and an inclination angle of the tower is determined from the first angular velocity, the second angular velocity, the first inclination angle and the second inclination angle.
If the tower is determined to be inclined, the inclination angle of the tower needs to be further determined, if the inclination angle of the tower is overlarge, an early warning needs to be sent out, monitoring information is fed back to a main control system in time, so that on-site operation and maintenance personnel can find out in time, and the safety of a unit is guaranteed.
In addition, if it is determined that the tower is not tilted, the first and second images at the first location are periodically acquired and monitored in this cycle. In some embodiments, to improve accuracy of monitoring the tower, it may be possible to periodically and manually detect whether the tower is tilted, so as to verify the detection result of the detection device, and ensure accuracy of the monitoring device.
Wherein in some embodiments a specific method of acquiring the first tilt angle and the first angular velocity of the tower at the first area may be to acquire a third image at the first location, deriving the first tilt angle and the first angular velocity of the first area from the third image.
In some embodiments, a specific method of obtaining the first tilt angle and the first angular velocity of the tower at the first area may be to control the tilt sensor to obtain the first tilt angle at the first area and to control the gyroscope to obtain the first angular velocity at the first area.
Accordingly, a specific method of obtaining the second tilt angle and the second angular velocity of the tower at the second area may be to obtain a fourth image at the second location, from which the second tilt angle and the second angular velocity of the second area are derived. It is also possible to control the tilt sensor to obtain a second tilt angle in the second area and to control the gyroscope to obtain a second angular velocity in the second area.
It should be noted that, the first inclination angle, the first acceleration, the second inclination angle and the second acceleration are obtained at the same time, so as to ensure the accuracy of the judgment.
The specific flow of determining the inclination angle of the tower according to the first angular velocity, the second angular velocity, the first inclination angle and the second inclination angle may be referred to fig. 3, and fig. 3 is a schematic flow of determining the inclination angle of the tower according to the first angular velocity, the second angular velocity, the first inclination angle and the second inclination angle in the detection method shown in fig. 1, where the specific flow is as follows:
131. the first tilt angle is modified based on the first tilt angle and the first angular velocity to obtain a first modified tilt angle of the tower in the first region.
Illustratively, a first compensation value proportional to the first angular velocity is obtained according to a correspondence between the angular velocity and the compensation value, and the first inclination angle is corrected according to the first compensation value to obtain a first corrected inclination angle. The correspondence between the angular velocity and the compensation value may be obtained from a large amount of actual data, experimental data, or historical data, which is not particularly limited herein.
In addition, in order to further improve the effect of determining the first corrected inclination angle, the correspondence between the angular velocity and the compensation value may be updated with reference to the preset inclination angle identification accuracy, so that the error value between the updated first corrected inclination angle and the manually measured inclination angle is reduced, and thus the correspondence between the updated angular velocity and the compensation value may be more suitable for correction of the first inclination angle.
132. And correcting the second inclination angle according to the second inclination angle and the second angular speed to obtain a second corrected inclination angle of the tower in the second area.
And similarly, obtaining a second compensation value proportional to the second angular velocity according to the corresponding relation between the angular velocity and the compensation value, and correcting the second inclination angle according to the second compensation value to obtain a second corrected inclination angle.
It is understood that the correspondence between the angular velocity and the compensation value may be applied to the first compensation value and the second compensation value. In other embodiments, in order to improve the accuracy of the determination, a first correspondence between the angular velocity and the compensation value at the first position may be established in advance, and a second correspondence between the angular velocity and the compensation value at the second position may be established, so that the inclination angle of each region is closer to the actual inclination angle, thereby improving the accuracy of the measurement.
133. If the difference between the first corrected tilt angle and the second corrected tilt angle is less than the threshold value, determining that the tilt angle of the tower is either the first corrected tilt angle or the second corrected tilt angle.
If the difference between the first corrected tilt angle and the second corrected tilt angle is less than the threshold value, indicating that the tower is tilted straight, rather than bent, the tilt angle of the tower may be determined to be either the first corrected tilt angle or the second corrected tilt angle.
134. And if the difference between the first corrected inclination angle and the second corrected inclination angle is greater than or equal to the threshold value, processing the first corrected inclination angle and the second corrected inclination angle according to a preset curve relationship to determine the inclination angle of the tower.
If the difference between the first corrected inclination angle and the second corrected inclination angle is greater than or equal to the threshold value, the tower is described as being bent, and the first corrected inclination angle of the first area and the second corrected inclination angle of the second area are required to be processed according to a preset curve relationship to obtain the inclination angle of the tower.
The process of processing the first corrected inclination angle and the second corrected inclination angle according to the preset curve relationship to determine the inclination angle of the tower may refer to fig. 4, and fig. 4 is a schematic flow chart of determining the inclination angle according to the preset curve in the detection method shown in fig. 2. The specific flow is as follows:
1341. A first height of a first region of the tower to a first location is obtained from the first corrected tilt angle, and a second height of a second region of the tower to a second location is obtained from the second corrected tilt angle.
In some embodiments, the plurality of corrected tilt angles in each of the plurality of different locations are fitted to the plurality of heights corresponding to that location to obtain a fitted curve representing the change in corrected tilt angles relative to the change in height of the tower at that location. The first corrected tilt angle is input to the fitted curve to obtain a first height of the tower at a first location, and the second corrected tilt angle is input to the fitted curve to obtain a second height of the tower at a second location.
The fitting curve may be obtained by analyzing N corrected inclination angles and corresponding N heights of the N positions, and the fitting curve is used to represent a quantitative relationship between the corrected inclination angles and the heights.
Wherein fitting the plurality of corrected tilt angles in each of the plurality of different locations to the plurality of heights corresponding to that location to obtain a fitted curve representing the change in corrected tilt angle relative to the change in height of the tower at that location comprises the steps of:
Acquiring a plurality of first heights between a plurality of point areas in a first area and a plurality of point areas at a first position, and acquiring a plurality of first correction inclination angles corresponding to the plurality of first heights one by one;
Acquiring a plurality of second heights between a plurality of point areas in the second area and a plurality of point areas at the second position, and acquiring a plurality of second correction inclination angles corresponding to the plurality of second heights one by one;
Fitting the first plurality of heights, the first plurality of corrected tilt angles, the second plurality of heights, and the second plurality of corrected tilt angles to obtain a fitted curve.
By way of example, the fitted curve may be obtained according to the following manner: sequentially obtaining a plurality of first heights between the plurality of point areas in the first area and the plurality of point areas at the first position, for example, the first heights: z 11,Z12,Z13,…,Z1i, obtaining a first corrected tilt angle at a position corresponding to the first height in the first region: alpha 11,α12,α13,…,α1i. Wherein each of the plurality of dot regions within the first region and each of the plurality of dot regions at the first position are in one-to-one correspondence in the vertical direction. Sequentially obtaining a plurality of second heights, e.g., second heights, of the plurality of point areas from the plurality of point areas to the plurality of point areas at the second location within the second area: z 21,Z22,Z23,…,Z2i, obtaining a second corrected tilt angle at a position corresponding to the second height in the second region: alpha 21,α22,α23,…,α2i. Wherein each of the plurality of dot regions within the second region and each of the plurality of dot regions at the second position are in one-to-one correspondence in the vertical direction.
In some embodiments, the plurality of first heights Z 11,Z12,Z13,…,Z1i and the plurality of second heights Z 21,Z22,Z23,…,Z2i are processed to provide a plurality of height differences (Z 11-Z21）、（Z12-Z22）、（Z13-Z23）、…（Z1i-Z2i). A plurality of first corrected tilt angles: and alpha 11,α12,α13,…,α1i and a plurality of second corrected inclination angles alpha 21,α22,α23,…,α2i are processed to obtain a plurality of corrected inclination angle differences (alpha 11-α21）、（α12-α22）、（α13-α23）、…（α1i-α2i), and the inputs corresponding to the plurality of height differences (Z 11-Z21）、（Z12-Z22）、（Z13-Z23）、…（Z1i-Z2i) and the plurality of corrected inclination angle differences (alpha 11-α21）、（α12-α22）、（α13-α23）、…（α1i-α2i) one by one are fitted to obtain a fitting curve Z (i). By fitting the height difference between the first area and the second area and the corrected inclination angle difference, the states of the tower in the first area and the second area can be considered, so that the inclination angle of the tower can be judged from the overall state of the tower, and the accuracy of a fitting curve is improved.
In some embodiments, the plurality of first heights Z 11,Z12,Z13,…,Z1i, the plurality of second heights Z 21,Z22,Z23,…,Z2i, the plurality of second heights Z 21,Z22,Z23,…,Z2i, and the plurality of second modified tilt angles α 21,α22,α23,…,α2i are fitted to obtain a fitted curve. And the calculation steps are reduced and the operation efficiency is improved on the premise of ensuring the accuracy of the data by directly fitting according to a plurality of numerical values.
In some embodiments, a plurality of first heights Z 11,Z12,Z13,…,Z1i and a plurality of first corrected tilt angles: alpha 11,α12,α13,…,α1i is fitted to obtain a first fitted curve Z1 (i), a plurality of second heights Z 21,Z22,Z23,…,Z2i and a plurality of second correction inclination angles alpha 21,α22,α23,…,α2i are fitted to obtain a second fitted curve Z2 (i), the first area and the second area are respectively fitted to obtain two independent fitted curves, the relation between the first correction inclination angle and the first height in the first area and the relation between the second correction inclination angle and the second height in the second area can be more accurate, and the accuracy of the fitted curves in the first area and the second area can be further guaranteed, so that the accuracy of the whole tower judgment is guaranteed.
The fitted curve in the embodiment of the present application is not limited, and for example, the fitted curve may be a regular curve function or an irregular curve. Of course, the fitted curve can be updated according to different patterns and different states of the tower so as to ensure the accuracy of the data.
It should be noted that, N is a natural number greater than 0, and the specific value of N may be set according to the actual situation, which only needs to ensure that the accuracy of the calculated height is high.
According to the application, the first height and the second height are obtained through the first corrected inclination angle and the second corrected inclination angle, and a distance sensor or a laser instrument is not required to be additionally arranged to obtain the first height and the second height, so that the instrument is reduced, and the cost is saved.
1342. The height difference is obtained from the first height and the second height.
The first height and the second height are subtracted to obtain a height difference.
1343. A distance between the first location and the second location is obtained.
The distance between the first position and the second position is obtained by a distance sensor or a laser.
1344. And obtaining the inclination angle of the tower according to the distance and the height difference.
And obtaining the inclination angle of the tower according to the distance and the height difference. For example, α=arctan ((y 1-y 2)/(Z1-Z2)) is calculated from the arctangent function. Wherein y1-y2 represents the distance between the first position and the second position, and Z1-Z2 represents the difference in height between the first height and the second height.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a device for detecting an inclination angle of a tower 200 according to an embodiment of the present application, and the embodiment of the present application further provides a device 100 for detecting an inclination angle of a tower 200, where the tower 200 includes a machine 201 and a tower 202 disposed on the machine 201, a first position 203 and a second position 204 are disposed on the machine 201 at intervals, and the device 100 includes two image units 101, two inclination units 102, two angular velocity units 103 and a processor 104, and the processor 104 is configured to implement the detection method according to any one of the above. Two image units 101 are arranged at a first location 203 and a second location 204, respectively, to acquire a plurality of first images of the tower 200 at the first location 203, while acquiring a plurality of second images of the tower 200 at the second location 204; the two inclination units 102 are respectively arranged at a first position 203 and a second position 204; the two inclination units 102 are respectively arranged at a first position 203 and a second position 204; the processor 104 is connected to the two image units 101, the two inclination units 102 and the two angular velocity units 103 for determining from the plurality of first images and the plurality of second images whether the tower 200 is inclined; if it is determined that the tower 200 is inclined, the two inclination units 102 and the two angular velocity units 103 are controlled to acquire a first inclination angle and a first angular velocity of the tower 200 at the first region 2021 and a second inclination angle and a second angular velocity of the tower 200 at the second region 2022, and determine an inclination angle of the tower 200 according to the first angular velocity, the second angular velocity, the first inclination angle, and the second inclination angle. According to the application, the state of the tower 200 is initially screened according to the first image and the second image before the inclination angle is measured, so that the situation of false alarm caused by large air quantity in an accidental event is avoided, and the accuracy of a detection result is improved. Further, the inclination angle of the tower 200 is obtained through the inclination angle and the acceleration of the first area 2021 and the inclination angle and the acceleration of the second area 2022, so that the situation of false alarm caused by measurement errors is avoided, and the accuracy of the inclination angle is further improved.
Wherein the inclination unit 102 includes any one of an inclination sensor, a camera, or a laser;
the angular velocity unit 103 includes one of a gyroscope or a camera.
In some embodiments, the detecting device 100 further includes a plurality of sedimentation sensors 105, wherein the plurality of sedimentation sensors 105 are uniformly distributed on the top surface of the machine 201, the plurality of sedimentation sensors 105 are connected to the processor 104, and when the processor 104 determines that the non-uniform sedimentation of the machine 201 exceeds the limit value according to the measurement data of the plurality of sedimentation sensors 105, an alarm is issued.
Wherein each sedimentation sensor 105 is at an angle of 90 degrees or 120 degrees to each other. The settlement sensor 105 is arranged in such a way that the disturbance influence of the dynamic load circulating in the operation process of the tower 200 on the machine 201 can be avoided. The embodiment of the application can monitor the settlement and inclination conditions of the foundation under the conditions of extreme wind speed, instantaneous strong wind, flood washing and the like in the operation process of the tower 200 in real time, and avoids the eccentric operation and tower inversion conditions of the fan after uneven settlement.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention should be assessed accordingly to that of the appended claims.

Claims (10)

1. A method of detecting an angle of inclination of a tower, the tower comprising a first region and a second region disposed in spaced apart relation, the method comprising:
Acquiring a plurality of first images of the tower at a first location, the first location corresponding to the first area in a direction of gravity, while acquiring a plurality of second images of the tower at a second location, the second location corresponding to the second area;
Determining whether the tower is tilted based on the plurality of first images and the plurality of second images;
If it is determined that the tower is inclined, acquiring a first inclination angle and a first angular velocity of the tower at the first region, simultaneously acquiring a second inclination angle and a second angular velocity of the tower at the second region, and determining an inclination angle of the tower according to the first angular velocity, the second angular velocity, the first inclination angle and the second inclination angle;
Wherein determining whether the tower is tilted from the plurality of first images and the plurality of second images comprises:
sequentially projecting one first image and other first images in a first direction to obtain a plurality of first projection images, and obtaining the coincidence rate of a tower on one first image and a tower on the other first image in each first projection image to obtain a plurality of first coincidence rates;
Sequentially projecting one second image and other second images in the first direction to obtain a plurality of second projection images, and obtaining the superposition rate of the tower on one second image and the tower on the other second image in each second projection image to obtain a plurality of second superposition rates;
And if the difference value between the first coincidence rates is smaller than a first preset value and the difference value between the second coincidence rates is smaller than a second preset value, determining that the tower is inclined.
2. The method of detecting according to claim 1, wherein the determining the tilt angle of the tower from the first angular velocity, the second angular velocity, the first tilt angle, and the second tilt angle comprises:
correcting the first inclination angle according to the first inclination angle and the first angular velocity to obtain a first corrected inclination angle of the tower in the first area;
Correcting the second inclination angle according to the second inclination angle and the second angular velocity to obtain a second corrected inclination angle of the tower in the second area;
If the difference between the first corrected inclination angle and the second corrected inclination angle is smaller than a threshold value, determining that the inclination angle of the tower is the first corrected inclination angle or the second corrected inclination angle;
and if the difference value between the first corrected inclination angle and the second corrected inclination angle is greater than or equal to a threshold value, processing the first corrected inclination angle and the second corrected inclination angle according to a preset curve relationship to determine the inclination angle of the tower.
3. The method of claim 2, wherein processing the first and second corrected tilt angles according to a preset curve relationship to determine the tilt angle of the tower comprises:
obtaining a first height from the first region of the tower to the first location according to the first corrected tilt angle, and obtaining a second height from the second region of the tower to the second location according to the second corrected tilt angle;
obtaining a height difference according to the first height and the second height;
acquiring a distance between the first position and the second position;
and obtaining the inclination angle of the tower according to the distance and the height difference.
4. A method of inspection according to claim 3, wherein said deriving a first height of said first region of said tower to said first location based on said first corrected tilt angle comprises:
Fitting a plurality of corrected tilt angles in each of a plurality of different positions to a plurality of heights corresponding to that position to obtain a fitted curve representing the change in corrected tilt angles relative to the change in height of the tower at that position;
the first corrected tilt angle is input to the fitted curve to obtain a first height of the tower at the first location.
5. The method of claim 4, wherein fitting the plurality of corrected tilt angles in each of the plurality of different locations to the plurality of heights corresponding to that location to obtain a fitted curve representing the change in corrected tilt angles relative to the change in height of the tower at that location comprises:
Acquiring a plurality of first heights between a plurality of point areas in the first area and a plurality of point areas at the first position, and acquiring a plurality of first correction inclination angles corresponding to the plurality of first heights one by one;
Acquiring a plurality of second heights between a plurality of point areas in the second area and a plurality of point areas at the second position, and acquiring a plurality of second correction inclination angles corresponding to the plurality of second heights one by one;
Fitting the plurality of first heights, the plurality of first corrected tilt angles, the plurality of second heights, and the plurality of second corrected tilt angles to obtain the fitted curve.
6. The method of detecting according to claim 2, wherein correcting the first tilt angle based on the first tilt angle and the first angular velocity to obtain a first corrected tilt angle of the tower in the first region comprises:
Obtaining a first compensation value proportional to the first angular velocity according to the corresponding relation between the angular velocity and the compensation value;
And correcting the first inclination angle according to the first compensation value to obtain the first corrected inclination angle.
7. The method of any one of claims 1 to 5, wherein the acquiring a first tilt angle and a first angular velocity of the tower at the first region comprises:
acquiring a third image at the first position, and obtaining a first inclination angle and a first angular velocity of the first area according to the third image; or (b)
And controlling an inclination sensor to acquire a first inclination angle in the first area, and controlling a gyroscope to acquire a first angular velocity in the first area.
8. The utility model provides a detection device of inclination of pylon, its characterized in that, the pylon includes the board and sets up the tower section of thick bamboo on the board, the interval is provided with first position and second position on the board, detection device includes:
Two image units respectively arranged at the first position and the second position to acquire a plurality of first images of the tower at the first position and a plurality of second images of the tower at the second position;
The two inclination units are respectively arranged at the first position and the second position;
The two angular velocity units and the two inclination units are respectively arranged at the first position and the second position;
The processor is connected with the two image units, the two inclination units and the two angular velocity units and is used for determining whether the tower is inclined according to the first images and the second images; if the tower is determined to be inclined, controlling the two inclination units and the two angular velocity units to acquire a first inclination angle and a first angular velocity of the tower at the first region and a second inclination angle and a second angular velocity of the tower at the second region, and determining an inclination angle of the tower according to the first angular velocity, the second angular velocity, the first inclination angle and the second inclination angle;
Wherein determining whether the tower is tilted from the plurality of first images and the plurality of second images comprises:
sequentially projecting one first image and other first images in a first direction to obtain a plurality of first projection images, and obtaining the coincidence rate of a tower on one first image and a tower on the other first image in each first projection image to obtain a plurality of first coincidence rates;
Sequentially projecting one second image and other second images in a first direction to obtain a plurality of second projection images, and obtaining the superposition rate of a tower on one second image and a tower on the other second image in each second projection image to obtain a plurality of second superposition rates;
And if the difference value between the first coincidence rates is smaller than a first preset value and the difference value between the second coincidence rates is smaller than a second preset value, determining that the tower is inclined.
9. The detection device according to claim 8, wherein the inclination unit includes any one of an inclination sensor, a camera, or a laser;
the angular velocity unit includes one of a gyroscope or a camera.
10. The inspection apparatus of claim 8 further comprising a plurality of sedimentation sensors, a plurality of the sedimentation sensors being evenly distributed on a top surface of the machine, the plurality of sedimentation sensors being coupled to the processor, the processor being configured to issue an alarm when the processor determines from measurement data of the plurality of sedimentation sensors that the machine is unevenly settled beyond a defined value.
CN202410338008.2A 2024-03-25 2024-03-25 Method and device for detecting inclination angle of tower Pending CN117948940A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202410338008.2A CN117948940A (en) 2024-03-25 2024-03-25 Method and device for detecting inclination angle of tower

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202410338008.2A CN117948940A (en) 2024-03-25 2024-03-25 Method and device for detecting inclination angle of tower

Publications (1)

Publication Number Publication Date
CN117948940A true CN117948940A (en) 2024-04-30

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202410338008.2A Pending CN117948940A (en) 2024-03-25 2024-03-25 Method and device for detecting inclination angle of tower

Country Status (1)

Country Link
CN (1) CN117948940A (en)

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