WO2022205805A1

WO2022205805A1 - Clearance distance determination method and apparatus for wind turbine generator set

Info

Publication number: WO2022205805A1
Application number: PCT/CN2021/119889
Authority: WO
Inventors: 张琦; 李向楠; 李新乐; 赵勇
Original assignee: 新疆金风科技股份有限公司
Priority date: 2021-03-31
Filing date: 2021-09-23
Publication date: 2022-10-06
Also published as: CN113309674A; CN113309674B

Abstract

A clearance distance determination method and apparatus for a wind turbine generator set. The method comprises: acquiring an image of a wind turbine generator set (100) that is photographed by a photographic device (200) mounted on a nacelle (S401); acquiring a physical parameter of the wind turbine generator set (100) (S402); determining a tower barrel identification point (400) of the wind turbine generator set on the basis of parameters of the image, the physical parameter and auxiliary parameters, wherein the auxiliary parameters refer to relevant parameters of an auxiliary tool, and the auxiliary tool is arranged at the tower bottom of the wind turbine generator set (100) (S403); and on the basis of the tower barrel identification point (400), determining the clearance distance from a blade tip of the wind turbine generator set (100) to a tower barrel (130) of the wind turbine generator set (S404). The present application further relates to a computer-readable storage medium storing an instruction, and a system comprising at least one computing apparatus and at least one storage apparatus that stores an instruction.

Description

Method and device for determining clearance distance of wind turbine

technical field

The present application generally relates to the technical field of wind power generation, and more particularly, to a method and device for determining the clearance distance of a wind turbine.

Background technique

The basic principle of tower clearance video monitoring is the process of converting the captured video through the image calculation device (such as a camera) to convert the pixel distance between the tower and the blade into the actual distance. However, the parameters required for this conversion process are because The model of the wind turbine, the installation location of the shooting equipment and the shooting angle vary. At present, because the camera interface on the nacelle is the same on the standard wind turbine, a set of parameters is applicable to the wind turbine of the same model, but when the tower clearance video monitoring system is installed on the wind turbine without the preset interface, Due to the error of the installation process itself and the different methods of the installation personnel to determine the installation position, a large error will be caused. The existing installation and verification method is to preset two reference lines on the display interface of the tower clearance video monitoring program. When installing the camera, the tower of the wind turbine on the display interface needs to be consistent with the reference line. The algorithm parameters are determined based on the images taken while testing the camera installation position of the wind turbine.

However, the above-mentioned installation method still has the problem of inaccuracy. Figures 1 and 2 show the tower position errors after the installation of different wind turbines respectively. It can be seen from Figure 1 and Figure 2 that there are errors in both the horizontal and vertical directions. This error may cause a large calculation error when the same calculation parameters are used to determine the clearance distance on different wind turbines, which will lead to the control of wind turbines. Inaccurate. Therefore, how to eliminate the installation errors caused by different installation positions of wind turbines and cameras is particularly important.

SUMMARY OF THE INVENTION

The embodiments of the present application provide a method and device for determining the clearance distance of a wind turbine, which can effectively solve the problem that the clearance distance cannot be accurately determined in the prior art.

In a general aspect, a method for determining the clearance distance of a wind turbine is provided, comprising: acquiring an image of the wind turbine captured by a photographing device installed on the nacelle; acquiring physical parameters of the wind turbine; image-based parameters, physical parameters Parameters and auxiliary parameters, determine the tower identification point of the wind turbine, wherein the auxiliary parameter refers to the relevant parameters of the auxiliary tool, and the auxiliary tool is set at the bottom of the tower of the wind turbine; based on the tower identification point, determine the blade of the wind turbine. Clearance distance from the tip to the tower of the wind turbine.

In another general aspect, a device for determining the clearance distance of a wind turbine is provided, comprising: an image acquisition unit configured to acquire an image of the wind turbine captured by a photographing device installed on the nacelle; a parameter acquisition unit, which is is configured to obtain physical parameters of the wind turbine; the identification point determination unit is configured to determine the tower identification point of the wind turbine based on the parameters of the image, the physical parameters and the auxiliary parameters, wherein the auxiliary parameters refer to the relevant parameters of the auxiliary tools , the auxiliary tool is arranged at the bottom of the tower of the wind turbine; the clearance determination unit is configured to determine the clearance distance from the tip of the wind turbine to the tower of the wind turbine based on the tower identification point.

In another general aspect, a computer-readable storage medium storing instructions is provided, wherein the instructions, when executed by at least one computing device, cause the at least one computing device to perform a method for determining a clearance distance for a wind turbine as described above. .

In another general aspect, a system is provided that includes at least one computing device and at least one storage device storing instructions, wherein the instructions, when executed by the at least one computing device, cause the at least one computing device to perform any of the above The method of determining the clearance distance of the generator set.

According to the method and device for determining the clearance distance of a wind turbine according to an embodiment of the present application, the tower identification point is determined by combining the physical parameters of the wind turbine itself with the relevant parameters of auxiliary tools and the parameters of the image obtained by the photographing equipment. Experience and manual positioning of a fixed tower identification point, therefore, eliminates the problem that the fixed tower identification point cannot accurately determine the clearance distance from the blade tip to the tower when errors are caused by different installation positions of wind turbines and shooting equipment. , so that the accurate clearance distance can be obtained, and then the wind turbine can be accurately controlled based on the clearance distance. Therefore, the present application can effectively solve the problem that the clearance distance cannot be accurately determined in the prior art.

Additional aspects and/or advantages of the present general inventive concept will be set forth in part in the ensuing description, and in part will be apparent from the description, or may be learned by practice of the present general inventive concept.

Description of drawings

The above and other objects and features of the embodiments of the present application will become more apparent from the following description in conjunction with the accompanying drawings showing the embodiments, wherein:

1 shows a schematic diagram of the vertical installation error of a photographing device in the related art;

2 shows a schematic diagram of the lateral installation error of the photographing device in the related art;

3 shows a schematic diagram of an application scenario of the method for determining the clearance distance according to the embodiment of the present application;

4 shows a flowchart of a method for determining a clearance distance of a wind turbine according to an embodiment of the present application;

Fig. 5 shows the schematic diagram of the position of the auxiliary tool in the first mode of the embodiment of the present application;

Fig. 6 shows the schematic diagram of each parameter of the embodiment of the present application;

7 shows a schematic diagram of the relative position of the camera and the center line of the tower according to an embodiment of the present application;

8 shows a schematic diagram of the location of the auxiliary tool in the second mode of the embodiment of the present application;

FIG. 9 shows a schematic diagram of a camera imaging principle of an embodiment of the present application;

FIG. 10 shows a schematic diagram of the headroom distance and the actual distance of the auxiliary tool according to an embodiment of the present application;

FIG. 11 shows a block diagram of the device for determining the clearance distance of the wind turbine of the present application.

Detailed ways

The following detailed description is provided to assist the reader in gaining a comprehensive understanding of the methods, apparatus and/or systems described herein. However, various changes, modifications and equivalents of the methods, apparatus and/or systems described herein will be apparent upon understanding of the disclosure of the present application. For example, the orders of operations described herein are examples only, and are not limited to those orders set forth herein, except that operations must occur in a particular order, as will be apparent upon understanding the disclosure of this application That was changed. Furthermore, descriptions of features known in the art may be omitted for increased clarity and conciseness.

The features described herein may be implemented in different forms and should not be construed as limited to the examples described herein. Rather, the examples described herein have been provided to illustrate but a few of the many possible ways of implementing the methods, devices and/or systems described herein, which would be after an understanding of the disclosure of the present application. clearly.

As used herein, the term "and/or" includes any one and any combination of any two or more of the associated listed items.

Although terms such as “first,” “second,” and “third” may be used herein to describe various elements, components, regions, layers or sections, these elements, components, regions, layers or sections should not be restricted by these terms. Rather, these terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, reference to a first member, first component, first region, first layer or first portion in the examples described herein could also be termed a second member, second member, first layer or first portion without departing from the teachings of the examples. Component, second area, second layer or second section.

The terminology used herein is used to describe various examples only and is not to be used to limit the disclosure. The singular forms are also intended to include the plural forms unless the context clearly dictates otherwise. The terms "comprising", "including" and "having" indicate the presence of the recited features, quantities, operations, components, elements, and/or combinations thereof, but do not preclude the presence or addition of one or more other features, numbers, operations, components , elements and/or combinations thereof.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs after understanding this application. Unless explicitly so defined herein, terms (such as those defined in general dictionaries) should be construed to have meanings consistent with their meanings in the context of the relevant art and in this application, and should not be idealized or Explain too formally.

Also, in the description of examples, detailed descriptions of well-known related structures or functions will be omitted when it is considered that such detailed descriptions would cause obscure interpretation of the present application.

The application provides a method and device for determining the clearance distance of a wind turbine, which can solve the problem that the fixed tower identification point cannot accurately determine the distance between the blade tip and the tower when errors are caused by different installation positions of the wind turbine and the photographing equipment. The problem of the clearance distance, the method for determining the clearance distance of the wind turbine of the present application can be applied to the tower clearance video monitoring system (Tower Clearance System), and the tower clearance monitoring system can realize the real-time measurement of the clearance distance, and use this as the According to the control of the wind turbine, the clearance distance can also be called Tower Clearance, that is, the vertical distance between the blade tip and the tower. The tower clearance video monitoring system may include servers, wind turbines, auxiliary tools, photographing equipment, etc., wherein the server and the wind turbines may be connected wirelessly or wired, which is not limited here. The above server may be one server, or a server cluster composed of several servers, or may be a cloud computing platform or a virtualization center. The above-mentioned photographing device may be a camera, or any device that can photograph. The following description takes the server and camera as examples.

Exemplarily, FIG. 3 shows a schematic diagram of an application scenario of the method for determining a clearance distance according to an embodiment of the present application. The tower clearance video surveillance system may include a wind turbine 100, a photographing device 200, a server 300 and auxiliary tools (not shown in the figure). The wind turbine 100 includes a nacelle 140, blades 120, a tower 130 and the like. The photographing device 200 is installed at the bottom of the casing of the nacelle 140 of the wind turbine 100 . Wherein, the above-mentioned photographing device (eg, camera) may photograph the wind generating set 100 during the operation of the wind generating set 100 to obtain an image of the wind generating set. Afterwards, the image of the wind turbine can be sent to the server 300 through a wired or wireless network. The server 300 can determine the tower identification point 400 of the wind turbine 100 based on the acquired physical parameters of the wind turbine and the received image of the wind turbine, and based on the parameters of the image, the physical parameters and the related parameters of the auxiliary tools, Further, the clearance distance from the blade tip to the tower 130 is determined based on the determined tower identification point 400, and the above-mentioned auxiliary tool may be arranged at the tower bottom of the wind power generating set. Therefore, the present application can ensure that the headroom distance calculated by the headroom distance determination device (eg, a tower headroom video monitoring system) is accurate and effective, and then the wind turbines are controlled according to the calculated headroom distance.

It should be noted that the present application can also be used for calibrating tower identification points, that is, to obtain relatively accurate tower identification points based on image parameters, physical parameters and related parameters of auxiliary tools.

The present application will be described in detail below with reference to the accompanying drawings.

FIG. 4 shows a flowchart of a method for determining a clearance distance of a wind turbine according to an embodiment of the present application. Referring to FIG. 4 , the method for determining the clearance distance of the wind turbine includes the following steps:

In step S401, an image of the wind power generating set photographed by a photographing device installed on the nacelle is acquired. In this step, after the photographing device is installed on the nacelle, the photographing device can select any angle to take a picture of the wind turbine, and then send it to the server wirelessly or wiredly.

In step S402, physical parameters of the wind turbine are acquired. The physical parameters may include, but are not limited to, the actual distance between the installation point of the photographing device and the tip of the vertically downward blade based on the actual distance of the blade tip from the ground when the blade is vertically downward. The above physical parameters may be stored in the server in advance, or may be measured in real time and then sent to the server.

In step S403, the tower identification point of the wind turbine is determined based on the parameters of the image, the physical parameters and the auxiliary parameters, wherein the auxiliary parameters refer to the relevant parameters of the auxiliary tools, and the auxiliary tools are arranged at the bottom of the tower of the wind turbine. The tower identification point is the projection point of the blade tip of the blade to the tower when the blade of the wind turbine is vertically downward. The above-mentioned image parameters may include but are not limited to: the pixel height of the auxiliary tool included in the image, the extension line pixel distance of the part that can be seen in the image of the extension line of the center line of the auxiliary tool toward the top of the tower, and the The pixel coordinates of the four endpoints of the assist tool, and the pixel length of the top or bottom edge of the assist tool. The above-mentioned auxiliary parameters may include, but are not limited to: the actual height of the auxiliary tool, the actual distance corresponding to the pixel distance of the extension line, and the actual length of the edge corresponding to the distance between the shooting device and the pixel length. The above-mentioned auxiliary tool may be composed of one plate, two vertical bars and one horizontal bar, or one vertical bar and one horizontal bar.

In the above-mentioned step S403, the tower identification point of the wind turbine can be determined in the following two ways. Each method requires auxiliary tools, but the required parameters are different. process.

In the first way, the parameters of the above image may include the pixel height of the auxiliary tool included in the image, and the pixel distance of the extension line of the part that can be seen in the image from the extension line of the center line of the auxiliary tool toward the top of the tower; the above physical The parameters may include the actual distance between the blade tip and the ground when the blade is vertically downward; the above-mentioned auxiliary parameters may include the actual height of the auxiliary tool and the actual distance corresponding to the pixel distance of the extension line.

The process of determining the tower identification point based on the above-mentioned parameters is described below by taking the auxiliary tool consisting of a vertical bar and a horizontal bar as an example, and FIG. As shown in Figure 5, the vertical rod of the auxiliary tool is placed in the lower part of the engine room and fixed vertically along the center line of the tower. The vertical solid line represents the vertical rod, the extension line of the dotted line represents the center line of the tower, and the black point is the tower to be determined. The barrel identification point, that is, the point on the barrel closest to the blade when the blade sweeps through the tower.

According to the embodiment of the present application, the tower identification point of the wind turbine can be determined based on the parameters of the image, the physical parameters and the auxiliary parameters in the following ways: based on the actual distance of the blade tip from the ground when the blade is vertically downward, the distance of the auxiliary tool The actual height, the pixel height of the auxiliary tool, and the actual distance corresponding to the pixel distance of the extension line and the pixel distance of the extension line are used to obtain the pixel distance between the blade tip and the ground when the blade is vertically downward; based on the distance between the blade tip and the ground when the blade is vertically downward The pixel distance of , determines the tower identification point.

Specifically, FIG. 6 shows a schematic diagram of each parameter of the embodiment of the present application. As shown in FIG. 6 , the above-mentioned photographing device takes a camera as an example. It is known that the actual distance h _b between the blade tip and the ground when the blade is vertically downward, The actual height of the auxiliary tool is the actual height of the vertical pole _Ly , the pixel height of the auxiliary tool _Ly′ , the extension line of the center line of the auxiliary tool toward the top of the tower can be seen in the image. The pixel distance _{ha ′} , the actual distance _ha corresponding to the pixel distance of the extension line. When the blade is vertically downward, the pixel distance h _b' between the blade tip and the ground can be obtained by the following formula:

When the pixel distance between the blade tip and the ground when the blade is vertically downward is obtained, and based on the pixel distance between the blade tip and the ground when the blade is vertically downward, the tower identification point can be found on the center line of the tower. According to the implementation of the present application For example, the tower identification point can be determined in the following manner: determine the coordinate point on the center line of the tower with a predetermined pixel distance from the tower bottom, wherein the predetermined pixel distance is the pixel distance between the blade tip and the ground when the blade is vertically downward; The point is determined as the tower identification point. Through the embodiment of the present application, the tower identification point can be quickly determined based on the pixel distance between the blade tip and the ground when the blade is vertically downward.

It should be noted that the above-mentioned center line of the tower is determined based on the engine room, and the center line of the tower is the line on the side of the blade in the line corresponding to the merged gap of the two parts of the engine room. The line is the centerline of the tower.

According to the embodiment of the present application, the actual distance between the blade tip and the ground when the blade is vertically downward can be obtained based on the hub height and the impeller diameter of the wind turbine. For example, the impeller radius can be obtained based on the impeller diameter, and then the actual distance between the blade tip and the ground when the blade is vertically downward can be obtained by subtracting the impeller radius from the hub height of the wind turbine.

According to the embodiment of the present application, the actual distance corresponding to the pixel distance of the extension line may be obtained based on the tower height of the wind turbine, the actual distance from the photographing device to the center line of the tower, and the viewing angle of the photographing device.

For example, as shown in Figure 6, given the distance m from the camera to the center line of the tower, the tower height h _t , and the camera angle of view _a °, the actual distance ha corresponding to the pixel distance of the extension line can be obtained by the following formula:

In the second way, the parameters of the above-mentioned image may include the pixel coordinates of the four endpoints of the auxiliary tool included in the image, and the pixel length of the upper or lower edge of the auxiliary tool; the above-mentioned physical parameters may include the installation point of the shooting device and the vertical downward direction. The actual distance of the tip of the blade; the above-mentioned auxiliary parameters may include the actual length of the edge corresponding to the distance between the shooting equipment and the pixel length, that is, when the pixel length is the upper edge of the auxiliary tool, the auxiliary parameters include the distance between the shooting equipment and the actual length of the edge. The actual length of the upper edge. When the pixel length is the lower edge of the auxiliary tool, the auxiliary parameters include the distance between the shooting device and the actual length of the lower edge.

The process of determining the tower identification point based on the above parameters is described below by taking the auxiliary tool consisting of a plate as an example. FIG. 8 shows a schematic diagram of the location of the auxiliary tool in the second mode of the embodiment of the present application, as shown in FIG. 8 , The auxiliary tool A'B'C'D' is placed in the lower part of the nacelle and fixed along the centerline of the tower. A'B' in Figure 8 represents the lower edge of the auxiliary tool in the camera, and can also represent the pixel distance of the lower edge, C 'D' represents the upper edge of the auxiliary tool in the camera, and it can also represent the pixel distance of the upper edge. The midpoint of G'H' is the tower identification point to be determined, that is, the distance on the cylinder when the blade sweeps the tower. The closest point to the leaf.

This method requires the use of the imaging principle of the camera. In order to better understand the process of determining the identification point of the barrel in this method, the following briefly introduces the imaging principle of the camera, as shown in Figure 9, and Figure 9(A) is an auxiliary Schematic diagram of the camera imaging principle when the tool consists of a board, where OI is the actual height of the camera from the tip of the blade that is vertically downward, OE is the actual height of the camera from the lower edge of the auxiliary tool, and OF is the camera from the auxiliary board. The actual height of the edge, C'D' is the pixel distance of the upper edge of the auxiliary tool in the camera, and A'B' is the pixel distance of the lower edge of the auxiliary tool in the camera. It should be noted that, as mentioned above, the auxiliary tool can also be composed of two vertical bars and a horizontal bar or a vertical bar and a horizontal bar, when the auxiliary tool is composed of a vertical bar and a horizontal bar , the schematic diagram of the camera imaging principle is shown in Figure 9(B). In the following, only with reference to FIG. 9(A), the process of determining the identification point of the cylinder will be described by taking the example that the auxiliary tool is formed of a plate.

Based on the similar triangle principle, it can be known that ΔAEO≈ΔOO'A', ΔBEO≈ΔOO'B', ΔCOF≈ΔOO'C', ΔDFO≈ΔOO'F', and the following proportional relationships can also be known:

From the above relationship, the following relationship can be inferred:

Since AB=CD, we get:

Similarly, we can get:

In the case of knowing the above relationship, according to the embodiment of the present application, the tower identification point of the wind turbine can be determined based on the parameters of the image, the physical parameters and the auxiliary parameters in the following manner: Based on the pixels of the four end points of the auxiliary tool Coordinates, pixel length, actual length, and the actual distance between the installation point of the photographing device and the tip of the vertically downward blade, to obtain the coordinates of the two ends of the line where the tower identification point is located, where the line where the tower identification point is located is The line parallel to the upper and lower edges of the auxiliary tool, the two ends are the intersections of the line where the tower identification point is located, the extension line of the left edge of the auxiliary tool toward the top of the tower, and the extension line of the right edge of the auxiliary tool toward the top of the tower; based on The coordinates of the two end points of the line where the tower identification point is located, the midpoint of the two ends is obtained, and the midpoint is determined as the tower identification point.

Specifically, it is known that the pixel coordinates of the four end points of the auxiliary tool shown in Fig. 8 in the image are A'(x _a , ya ), B'(x _b , _{y b} ₎ , C'(x _c , y _c ), D'(x _d , y _d ), A'B', C'D', OI, OE, OF, determine the location of the tower identification point based on the coordinates of the four endpoints, OI, OE and A'B' The coordinates of the two end points G'H' of the line can also be determined based on the coordinates of the four end points, OI, OF and C'D' to determine the coordinates of the two end points G'H' of the line where the tower identification point is located. The coordinates of 'H' determine the position of the midpoint, and the midpoint is the identification point of the tower.

According to the embodiments of the present application, the tower identification can be obtained in the following manner based on the pixel coordinates, pixel length, actual length of the four end points of the auxiliary tool, and the actual distance between the installation point of the photographing device and the tip of the vertically downward blade The coordinates of the two ends of the line where the point is located: obtain the pixel coordinates of the four endpoints of the auxiliary tool; based on the pixel coordinates of the two end points corresponding to the lower edge of the auxiliary tool, obtain the pixel length of the lower edge of the auxiliary tool, or, based on the upper edge of the auxiliary tool The pixel coordinates of the corresponding two ends are obtained to obtain the pixel length of the upper edge of the auxiliary tool; based on the pixel length of the lower edge of the auxiliary tool or the pixel length of the upper edge, the actual length of the edge corresponding to the distance of the shooting device and the pixel length, and the installation point of the shooting device and the actual length of the edge. The actual distance of the tip of the vertically downward blade is obtained, and the pixel distance of the two ends of the line where the tower identification point is located is obtained; based on the pixel distance of the two ends of the line where the tower identification point is located and the line where the tower identification point is located The relationship between the two end points of , obtain the coordinates of the two ends of the line where the tower identification point is located.

Specifically, the description is given by taking the determination of the coordinates of the two end points G′H′ of the line where the tower identification point is located based on the coordinates of the four end points, OI, OE and A′B′ as an example. It is known that the pixel coordinates of the four end points of the auxiliary tool shown in Fig. 8 in the image are A'(x _a , y _a ), B'(x _b , y _b ), C'(x _c , y _c ) , D'(x _d , y _d ), A'B' can be obtained by the following formula:

Based on formula (8) and formula (10), the pixel distance of G'H' can be obtained:

Then, based on the coordinates of the four endpoints of A'B'C'D', the expression of G'H' (equivalent to the relationship between the two ends of the line where the tower identification point is located) is obtained, and then based on the expression of G'H' And the pixel distance of G'H' determines the coordinates of G' and H'.

According to the embodiment of the present application, before obtaining the coordinates of the two ends of the line where the tower identification point is located, based on the relationship between the pixel distance of the line where the tower identification point is located and the two ends of the line where the tower identification point is located, based on the auxiliary From the pixel coordinates of the two ends of the left edge of the tool, the relationship between the two ends of the left edge of the auxiliary tool is obtained; based on the pixel coordinates of the two ends of the right edge of the auxiliary tool, the relationship between the two ends of the right edge of the auxiliary tool is obtained; according to the auxiliary tool The relationship between the two end points of the left edge of the tool and the relationship between the two end points of the right edge is obtained to obtain the relationship between the two end points of the line where the tower identification point is located.

Specifically, the expression of G'H' is obtained based on the coordinates of the four endpoints of A'B'C'D', which can be achieved in the following ways:

Based on the coordinates A'(x _a , y _a ) and C'(x _c , y _c ) of A'C', the expression of A'C' (equivalent to the relationship between the two ends of the left edge) is obtained:

Based on the coordinates B'(x _b , y _b ) and D' (x _d , y _d ) of B'D', the expression of B'D' (equivalent to the relationship between the two ends of the right edge) is obtained:

Due to the A'B' slope

Based on the above formulas (12)-(14), the expression of the straight line G'H' can be obtained as:

y=k _gh x+b _gh =k _ab x+b _gh (15)

After the G'H' expression (15) is obtained, determining the coordinates of G' and H' based on the expression of G'H' and the pixel distance of G'H' can be implemented as follows:

At this time, let G' point (x _g , y _g ) be on the straight line A'C', y _g =k _ac x _g +b _ac , then

b _gh =y _g -k _gh x _g =y _g -k _ab x _g =k _ac x _g +b _ac -k _ab x _g =(k _ac -k _ab )x _g +b _ac (16)

Therefore, the G'H' expression can be expressed as:

y=k _ab x+b _gh =k _ab x+y _g -k _gh x _g =k _ab x+k _ac x _g +b _ac -k _ab x _g (17)

Then, based on B'D' expression (13) and G'H' expression (17), the coordinates of the intersection H' of B'D' and G'H' can be obtained:

Based on the coordinates of G' and H', and the pixel distance c of G'H' obtained above, the following equation is obtained:

in,

x _g can be obtained from the above equation:

Based on the obtained x _g and the above formula, y _g , x _h , y _h are obtained in turn, the coordinates of G' and H' are obtained, and through the coordinates of the two, the midpoint of G'H' is obtained, which is the required determination. Tower identification point.

In step S404, based on the tower identification point, the clearance distance from the blade tip to the tower is determined. After the tower identification point is determined, the clearance distance from the blade tip of the wind turbine to the tower of the wind turbine can be determined in combination with the auxiliary tool.

According to the embodiments of the present application, the clearance distance from the tip to the tower can be obtained based on the identification point of the tower in the following manner: obtain the pixel distance between the tip of the blade and the identification point of the tower; obtain the upper edge or lower edge of the auxiliary tool Pixel length, the actual length of the edge corresponding to the pixel length; based on the pixel distance, pixel length and actual length between the blade tip and the tower identification point, the clearance distance from the blade tip to the tower is obtained. Through the embodiments of the present application, the clearance distance can be obtained accurately and conveniently.

For example, as shown in Figure 5, the double arrow indicates the clearance distance, which is mapped to the plane as shown in Figure 10. The length of the known ground sign, that is, the auxiliary tool, is L _x , and the corresponding pixel distance is L _x′ , the pixel distance corresponding to the clearance distance is L _c′ , then the real distance L _c corresponding to the clearance distance from the blade tip to the tower can be obtained by the following proportional relationship:

FIG. 11 is a block diagram showing a device for determining the clearance distance of a wind turbine of the present application. As shown in FIG. 11 , the device includes an image acquisition unit 110 , a parameter acquisition unit 112 , an identification point determination unit 114 and a clearance determination unit 116 .

The image acquisition unit 110 is configured to acquire an image of the wind turbine that is captured by the photographing device installed on the nacelle; the parameter acquisition unit 112 is configured to acquire physical parameters of the wind turbine; the identification point determination unit 114 is configured to be based on Image parameters, physical parameters and auxiliary parameters to determine the tower identification point of the wind turbine, wherein the auxiliary parameters refer to the relevant parameters of auxiliary tools, and the auxiliary tools are set at the bottom of the tower of the wind turbine; the clearance determination unit 116 is configured To determine the clearance distance from the tip of the wind turbine to the tower of the wind turbine based on the tower identification point.

According to the embodiment of the present application, the parameters of the image include the pixel height of the auxiliary tool, the pixel distance of the extension line of the extension line of the center line of the auxiliary tool toward the top of the tower that can be seen in the image, and the physical parameters include wind power generation The actual distance between the blade tip and the ground when the blades of the group are vertically downward. The auxiliary parameters include the actual height of the auxiliary tool and the actual distance corresponding to the pixel distance of the extension line.

According to the embodiment of the present application, the identification point determination unit 114 is further configured to be based on the actual distance of the blade tip from the ground when the blade is vertically downward, the actual height of the auxiliary tool, the pixel height of the auxiliary tool, and the pixel distance of the extension line and The actual distance corresponding to the pixel distance of the extension line is obtained to obtain the pixel distance between the blade tip and the ground when the blade is vertically downward; the tower identification point is determined based on the pixel distance between the blade tip and the ground when the blade is vertically downward.

According to the embodiment of the present application, the parameter obtaining unit 112 is further configured to obtain the actual distance between the blade tip and the ground when the blade is vertically downward based on the hub height and the impeller diameter of the wind turbine.

According to the embodiment of the present application, the actual distance corresponding to the pixel distance of the extension line is obtained based on the tower height of the wind turbine, the actual distance from the photographing device to the center line of the tower, and the viewing angle of the photographing device.

According to an embodiment of the present application, the identification point determination unit 114 is further configured to determine a coordinate point on the center line of the tower that is vertically away from the tower bottom by a predetermined pixel distance, where the predetermined pixel distance is the distance between the blade tip and the ground when the blade is vertically downward. Pixel distance; determine the coordinate point as the tower identification point.

According to the embodiment of the present application, the parameters of the image include the pixel coordinates of the four end points of the auxiliary tool, the pixel length of the upper edge or the lower edge of the auxiliary tool, and the physical parameters include the distance between the installation point of the photographing device and the tip of the vertically downward blade. The actual distance, the auxiliary parameter includes the actual length of the edge corresponding to the pixel length from the photographing device.

According to the embodiment of the present application, the identification point determination unit 114 is further configured to be based on the pixel coordinates of the four end points of the auxiliary tool, the pixel length, the actual length, and the actual distance between the installation point of the photographing device and the tip of the vertically downward blade. Distance, obtain the coordinates of the two ends of the line where the tower identification point is located, wherein, the line where the tower identification point is located is a line parallel to the upper and lower edges of the auxiliary tool, and the two ends are the line where the tower identification point is located and the auxiliary tool. The intersection of the left edge extension line and the right edge extension line of the auxiliary tool; based on the coordinates of the two ends of the line where the tower identification point is located, the midpoint of the two ends is obtained, and the midpoint is determined as the tower identification point.

According to the embodiment of the present application, the identification point determination unit 114 is further configured to obtain the pixel coordinates of the four end points of the auxiliary tool; based on the pixel coordinates of the two end points corresponding to the lower edge of the auxiliary tool, the pixel length of the lower edge of the auxiliary tool is obtained, Or, based on the pixel coordinates of the two end points corresponding to the upper edge of the auxiliary tool, the pixel length of the upper edge of the auxiliary tool is obtained; Length and the actual distance between the installation point of the photographing device and the tip of the vertically downward blade, obtain the pixel distance of the two ends of the line where the tower identification point is located; based on the pixel distance of the two ends of the line where the tower identification point is located, and The relationship between the two ends of the line where the tower identification point is located is obtained, and the coordinates of the two ends of the line where the tower identification point is located are obtained.

According to the embodiment of the present application, the identification point determination unit 114 is further configured to obtain the position where the tower identification point is located based on the relationship between the pixel distance of the line where the tower identification point is located and the two ends of the line where the tower identification point is located. Before the coordinates of the two ends of the line, based on the pixel coordinates of the two ends of the left edge of the auxiliary tool, the relationship between the two ends of the left edge of the auxiliary tool is obtained; based on the pixel coordinates of the two ends of the right edge of the auxiliary tool, the The relationship between the two ends of the right edge; according to the relationship between the two ends of the left edge of the auxiliary tool and the relationship between the two ends of the right edge, the relationship between the two ends of the line where the tower identification point is located is obtained.

According to the embodiment of the present application, the clearance determination unit 116 is further configured to obtain the pixel distance between the tip of the blade and the identification point of the tower; obtain the pixel length of the upper or lower edge of the auxiliary tool, and the actual length of the edge corresponding to the pixel length. Length; based on the pixel distance, pixel length and actual length between the blade tip and the tower identification point, the clearance distance from the blade tip to the tower is obtained.

According to an embodiment of the present application, there is provided a computer-readable storage medium storing instructions, wherein, when the instructions are executed by at least one computing device, the at least one computing device is caused to perform the headroom of the wind turbine according to any of the foregoing embodiments. distance determination method.

According to an embodiment of the present application, there is provided a system including at least one computing device and at least one storage device storing instructions, wherein the instructions, when executed by the at least one computing device, cause the at least one computing device to perform any of the implementations described above. An example of the method of determining the clearance distance of a wind turbine.

Although some embodiments of the present application have been shown and described, those skilled in the art will appreciate that these embodiments can be to modify.

Claims

A method for determining the clearance distance of a wind turbine, wherein the method for determining the clearance distance comprises:

Obtain images of wind turbines captured by camera equipment installed on the nacelle;

obtaining the physical parameters of the wind turbine;

Determine the tower identification point of the wind turbine based on the parameters of the image, the physical parameters and the auxiliary parameters, wherein the auxiliary parameters refer to relevant parameters of auxiliary tools, and the auxiliary tools are set on the wind turbine. the bottom of the tower;

Based on the tower identification point, the clearance distance from the tip of the wind turbine to the tower of the wind turbine is determined.
The method for determining the clearance distance according to claim 1, wherein the parameters of the image include the pixel height of the auxiliary tool included in the image, the extension line of the center line of the auxiliary tool toward the top of the tower in the image The pixel distance of the extension line that can be seen in the part;

The physical parameter includes the actual distance between the blade tip and the ground when the blade of the wind turbine is vertically downward;

The auxiliary parameters include the actual height of the auxiliary tool and the actual distance corresponding to the pixel distance of the extension line.
The method for determining the clearance distance according to claim 2, wherein the determining the tower identification point of the wind turbine based on the parameters of the image, the physical parameters and the auxiliary parameters comprises:

Based on the actual distance between the blade tip and the ground when the blade is vertically downward, the actual height of the auxiliary tool, the pixel height of the auxiliary tool, and the actual distance corresponding to the pixel distance of the extension line and the pixel distance of the extension line distance, obtain the pixel distance between the blade tip and the ground when the blade is vertically downward;

The tower identification point is determined based on the pixel distance between the blade tip and the ground when the blade is vertically downward.
The method for determining a clearance distance according to claim 3, wherein the acquiring the physical parameters of the wind turbine comprises:

Based on the hub height and the impeller diameter of the wind turbine, the actual distance between the blade tip and the ground when the blade is vertically downward is obtained.
The method for determining the clearance distance according to claim 3, wherein the actual distance corresponding to the pixel distance of the extension line is based on the height of the tower of the wind turbine, the actual distance from the photographing device to the center line of the tower, and the The angle of view of the camera is obtained.
The method for determining a clearance distance according to claim 3, wherein the determining the tower identification point based on the pixel distance between the blade tip and the ground when the blade is vertically downward comprises:

Determine the coordinate point of the vertical distance from the tower bottom to the predetermined pixel distance on the center line of the tower, wherein the predetermined pixel distance is the pixel distance between the blade tip and the ground when the blade is vertically downward;

The coordinate point is determined as the tower identification point.
The method for determining the clearance distance according to claim 1, wherein the parameters of the image include pixel coordinates of the four end points of the auxiliary tool included in the image, and the pixel length of the upper edge or the lower edge of the auxiliary tool. ;

The physical parameter includes the actual distance between the installation point of the photographing device and the tip of the vertically downward blade;

The auxiliary parameter includes the actual length of the photographing device from the edge corresponding to the pixel length.
The method for determining the clearance distance according to claim 7, wherein the determining the tower identification point of the wind turbine based on the parameters of the image, the physical parameters and the auxiliary parameters comprises:

Based on the pixel coordinates of the four end points of the auxiliary tool, the pixel length, the actual length, and the actual distance between the installation point of the photographing device and the tip of the vertically downward blade, the location where the tower identification point is located is obtained. The coordinates of the two ends of the line, wherein the line where the tower identification point is located is a line parallel to the upper and lower edges of the auxiliary tool, and the two end points are the line where the tower identification point is located and the auxiliary tool respectively. The intersection of the extension line of the left edge of the auxiliary tool toward the top of the tower and the extension of the right edge of the auxiliary tool toward the top of the tower;

Based on the coordinates of the two ends of the line where the tower identification point is located, the midpoint of the two ends is obtained,

The midpoint is determined as the tower identification point.
The clear distance determination method according to claim 8, wherein the pixel coordinates based on the four end points of the auxiliary tool, the pixel length, the actual length, and the installation point of the photographing device and the vertically downward blade The actual distance of the blade tip, obtain the coordinates of the two ends of the line where the tower identification point is located, including:

Obtain the pixel coordinates of the four endpoints of the auxiliary tool;

Obtain the pixel length of the lower edge of the auxiliary tool based on the pixel coordinates of the two end points corresponding to the lower edge of the auxiliary tool, or obtain the upper edge of the auxiliary tool based on the pixel coordinates of the two end points corresponding to the upper edge of the auxiliary tool pixel length;

Based on the pixel length of the lower edge of the auxiliary tool or the pixel length of the upper edge, the actual length of the camera device from the edge corresponding to the pixel length, and the actual distance between the camera device installation point and the tip of the vertically downward blade distance, obtains the pixel distance of the two ends of the line where the tower identification point is located;

Based on the pixel distance between the two ends of the line where the tower identification point is located and the relationship between the two ends of the line where the tower identification point is located, the coordinates of the two ends of the line where the tower identification point is located are obtained.
The method for determining the clearance distance according to claim 8, wherein the tower identification is obtained based on the relationship between the pixel distance of the line where the tower identification point is located and the two ends of the line where the tower identification point is located. Before the coordinates of the two ends of the line where the point is located, it also includes:

Based on the pixel coordinates of the two ends of the left edge of the auxiliary tool, the relationship between the two ends of the left edge of the auxiliary tool is obtained;

Based on the pixel coordinates of the two ends of the right edge of the auxiliary tool, the relationship between the two ends of the right edge of the auxiliary tool is obtained;

According to the relationship between the two ends of the left edge of the auxiliary tool and the relationship between the two ends of the right edge, the relationship between the two ends of the line where the tower identification point is located is obtained.
The method for determining a clearance distance according to any one of claims 1 to 10, wherein the determining the clearance distance from the tip of the wind turbine to the tower based on the tower identification point comprises:

Obtain the pixel distance between the tip of the blade of the wind turbine and the identification point of the tower;

Obtain the pixel length of the upper or lower edge of the auxiliary tool, and the actual length of the edge corresponding to the pixel length;

Based on the pixel distance between the blade tip of the blade and the tower identification point, the pixel length and the actual length, the clearance distance from the blade tip to the tower is obtained.
A device for determining the clearance distance of a wind turbine, wherein the device for determining the clearance distance comprises:

an image acquisition unit, configured to acquire an image of the wind turbine that is photographed by a photographing device installed on the nacelle;

a parameter acquisition unit, configured to acquire physical parameters of the wind turbine;

The identification point determination unit is configured to determine the tower identification point of the wind turbine based on the parameters of the image, the physical parameters and the auxiliary parameters, wherein the auxiliary parameters refer to relevant parameters of auxiliary tools, and the auxiliary parameters The tool is arranged at the bottom of the tower of the wind turbine;

A clearance determination unit configured to determine a clearance distance from the tip of the wind turbine to the tower of the wind turbine based on the tower identification point.
A computer-readable storage medium storing instructions, wherein the instructions, when executed by at least one computing device, cause the at least one computing device to perform the wind power generation of any one of claims 1 to 11 The method of determining the clearance distance of the unit.
A system comprising at least one computing device and at least one storage device storing instructions, wherein the instructions, when executed by the at least one computing device, cause the at least one computing device to perform as in claims 1 to 11 The method for determining the clearance distance of a wind turbine according to any claim.