Laser and video fused blade clearance monitoring system, method, equipment and medium
A technology of video fusion and blades, which is applied in the monitoring of mechanical equipment, wind turbines, wind turbines, etc., can solve the problems of harsh use environment, low test accuracy and low service life of laser test tower clearance method
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Embodiment 1
[0051] Such as figure 1 As shown, the laser radar and the monitoring camera are installed. The laser radar is installed at the left rear of the cabin to monitor a certain scanning area. R), through the coordinate change, the trajectory of the blade sweeping through the tower can be abstracted into a straight line L1 in the top view, and the distance between the straight line L2 and L1 passing through the outer edge of the tower and parallel to L1 is the clearance value of the tower. The origin o of the coordinate system in the laser calculation algorithm is the center point of the laser installation, the X axis is positive to the left, and the Y axis is positive downward. Overall abstract graphics such as figure 2 shown. Using video surveillance to test headroom is similar to laser test headroom. First, abstract the trajectory of the blade sweeping through the tower into a straight line (L1, L2, L3), and then find a straight line parallel to the blade trajectory of the towe...
Embodiment 2
[0059] A laser and video fusion blade clearance monitoring method, comprising the following steps:
[0060] The operating data of the blade is obtained based on the laser radar scanning; the operating data includes the distance of the blade, the operating speed and the angle of the scanning point on the blade; based on the operating data of the blade, the laser clearance confidence of the clearance result is determined, and the laser clearance value of the blade is calculated;
[0061] Obtain a set of scanning points of blade operation based on video headroom monitoring, determine the video headroom confidence of the headroom result through a fusion algorithm according to the dispersion of the scan points, and calculate the video headroom value of the blade;
[0062] Based on the laser clearance confidence, laser clearance value, video clearance confidence and video clearance value, the final blade clearance value is calculated.
[0063] The process of determining the laser cl...
Embodiment 3
[0065] A laser and video fusion blade clearance monitoring method, comprising the following steps:
[0066] Step 1) The laser radar first obtains a group (distance, speed, angle);
[0067] Step 2) Fusion algorithm determines data confidence according to (distance, speed, angle);
[0068] Step 3) The fusion algorithm calculates k1, b1 in the laser coordinate system according to (distance, speed, angle);
[0069] Step 4) Reconfirm the confidence of the headroom result according to the k1 value;
[0070] Step 5) according to k1, b1 and calculate the headroom value;
[0071] Step 6) The video headroom monitoring system acquires a group of scanning points;
[0072] Step 7) calculate the confidence degree of headroom according to the discrete degree of the scanning point of blade;
[0073] Step 8) calculate k2 in the video clearance coordinate system according to the scanning point of video clearance, b2;
[0074] Step 9) reconfirm the confidence of the headroom result accordin...
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