Wind turbine blade clearance distance monitoring method and monitoring system

Abstract

The application provides a wind turbine blade clearance distance monitoring method and a monitoring system, and the method comprises the following steps: obtaining a blade tip initial coordinate value and a tower initial coordinate value when a target blade passes a front face of a tower; processing the blade tip initial coordinate value and the tower initial coordinate value to obtain a blade tip target coordinate value and a tower target coordinate value of the target blade; and calculating a current clearance distance between the target blade and the tower at a preset position according to the blade tip target coordinate value and the tower target coordinate value. The monitoring method can monitor the current clearance distance between the target blade and the tower at the preset position in real time, and ensure the safety of the unit. When the current clearance distance is less than a preset clearance threshold, the pitch mechanism is started by using the method, which is beneficial to the design of the tower and the blade with a clearance setting margin in the whole machine design process, and can greatly reduce the design cost of the whole machine.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of wind power generation, and particularly relates to a wind turbine blade clearance distance monitoring method and a monitoring system. BACKGROUND

[0002] With the continuous progress and maturity of wind power technology, wind turbine generators have gradually developed from early 1.5MW units to large-scale units such as 3MW, 4MW, 5MW, 7MW, 8MW, 10MW, and 11MW, and the supporting blades are widely used in longer blades, among which the longest blade diameter currently used in China is 203 meters. And the old units installed more than 10 years ago are widely replaced with long blades to improve the quality and efficiency of the technical transformation program. The widespread use of long blades requires monitoring the minimum clearance distance between the blade tip and the tower during the rotation of the blade to avoid the risk of blade sweeping the tower and endangering the safety of the unit under some special wind conditions.

[0003] Currently, the main means of wind turbine clearance detection on the market uses a millimeter wave generator to set corresponding alarm values and shutdown values, and other critical return ray values to perform corresponding clearance warning. One or more millimeter wave generators are installed at the tail of the nacelle, and the angle of each millimeter wave generator is set in advance. If the blade is pushed by the wind load when the blade rotates to the bottom, the control system of the unit will perform a pitch action when the blade enters the alarm value or shutdown value set by the millimeter wave radar, which can effectively increase the clearance distance between the unit blade and the tower. The relatively accurate blade clearance distance detection technology has not been effectively solved.

[0004] In view of the above problems, it is necessary to provide a wind turbine blade clearance distance monitoring method and a monitoring system which are reasonable in design and effectively solve the above problems. SUMMARY

[0005] The present application aims to at least solve one of the technical problems existing in the prior art, and provides a wind turbine blade clearance distance monitoring method and a monitoring system.

[0006] One aspect of the present application provides a wind turbine blade clearance distance monitoring method, which comprises:

[0007] obtaining a blade tip initial coordinate value and a tower initial coordinate value when a target blade passes the front of the tower;

[0008] processing the blade tip initial coordinate value and the tower initial coordinate value to obtain a blade tip target coordinate value and a tower target coordinate value of the target blade;

[0009] According to the blade tip target coordinate value and the tower target coordinate value, the current clearance distance between the target blade and the tower at the preset position is calculated.

[0010] Optionally, the blade tip initial coordinate value and the tower initial coordinate value are processed to obtain a blade tip target coordinate value and a tower target coordinate value of the target blade, including:

[0011] The blade tip initial coordinate value and the tower initial coordinate value are processed to identify a blade tip coordinate value and a tower coordinate value of the target blade at a preset position in a preset coordinate system;

[0012] The blade tip coordinate value is processed by clustering fitting to obtain a blade tip target coordinate value, and the tower coordinate value corresponding to the blade tip height is identified to obtain the tower target coordinate value.

[0013] Optionally, the blade tip coordinate value is processed by clustering fitting to obtain a blade tip target coordinate value, and the tower coordinate value corresponding to the blade tip height is identified to obtain the tower target coordinate value, including:

[0014] The blade tip coordinate value is processed by clustering mean fitting to obtain the blade tip target coordinate value.

[0015] Optionally, the blade tip initial coordinate value and the tower initial coordinate value are processed to identify a blade tip coordinate value and a tower coordinate value of the target blade at a preset position in a preset coordinate system, including:

[0016] The obtained blade tip initial coordinate value and tower initial coordinate value are processed by regional point cloud data to identify a blade tip coordinate value and a tower coordinate value of the target blade at a preset position in a preset coordinate system according to a preset point cloud coordinate classification.

[0017] Optionally, after the current clearance distance between the target blade and the tower at the preset position is calculated according to the blade tip fitting coordinate value and the tower coordinate value, the method further includes:

[0018] The current clearance distance is compared with a preset clearance threshold, and if the current clearance distance is less than the preset clearance threshold, an alarm is output and a unit variable pitch system is started.

[0019] Another aspect of the application provides a wind turbine blade clearance distance monitoring system, characterized in that the monitoring system comprises a wind power generation unit, a data acquisition unit and a data processing unit, the data processing unit is electrically connected with the data acquisition unit and the wind power generation unit respectively;

[0020] The wind power generation unit comprises a wind turbine and a tower, the wind turbine is arranged at the top of the tower, and the wind turbine comprises at least one blade.

[0021] The data acquisition unit is arranged at the front part of the nacelle of the wind turbine generator set, and is configured to acquire the initial coordinate value of the blade tip and the initial coordinate value of the tower when the target blade passes the front face of the tower, and send the initial coordinate value of the blade tip and the initial coordinate value of the tower to the data processing unit;

[0022] The data processing unit is configured to process the acquired initial coordinate value of the blade tip and the initial coordinate value of the tower, and obtain the target coordinate value of the blade tip and the target coordinate value of the tower of the target blade, and calculate the current clearance distance between the target blade and the tower at the preset position according to the target coordinate value of the blade tip and the target coordinate value of the tower.

[0023] Optionally, the data processing unit is further configured to process the initial coordinate value of the blade tip and the initial coordinate value of the tower, and identify the coordinate value of the blade tip and the coordinate value of the tower of the target blade at the preset position in the preset coordinate system.

[0024] Optionally, the data processing unit is further configured to perform clustering fitting processing on the coordinate value of the blade tip to obtain the target coordinate value of the blade tip, and identify the coordinate value of the tower corresponding to the height of the blade tip to obtain the target coordinate value of the tower.

[0025] Optionally, the data processing unit is further configured to compare the current clearance distance with a preset clearance distance threshold, and give a corresponding treatment scheme.

[0026] Optionally, the data acquisition unit adopts a laser radar range finder, and the laser beam emitted by the laser radar range finder is irradiated along the direction of the tower.

[0027] The wind turbine generator set blade clearance distance monitoring method and monitoring system of the embodiment of the application can monitor the current clearance distance between the target blade and the tower at the preset position in real time, and ensure the safety of the generator set. When it is identified that the current clearance distance of the generator set is less than the preset clearance threshold, the pitch mechanism is started, which is beneficial to the design of the tower and the blade with a clearance setting margin, and can greatly reduce the design cost of the whole machine. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 FIG. 1 is a flowchart of a wind turbine generator set blade clearance distance monitoring method according to an embodiment of the application;

[0029] Figure 2 A structural schematic diagram of a wind turbine blade clearance distance monitoring system according to another embodiment of the present application;

[0030] Figure 3 A structural schematic diagram of a wind power generation unit and a data acquisition unit according to another embodiment of the present application;

[0031] Figure 4 A wind speed-power diagram when a wind turbine is normally generating power according to another embodiment of the present application;

[0032] Figure 5 A wind speed-clearance diagram when a wind turbine is normally generating power according to another embodiment of the present application. DETAILED DESCRIPTION

[0033] In order for those skilled in the art to better understand the technical solutions of the present application, the present application will be further described in detail below in combination with the drawings and specific embodiments.

[0034] As shown in the drawings, Figure 1 One aspect of the present application provides a wind turbine blade clearance distance monitoring method S100, which comprises:

[0035] S110, acquiring initial coordinate values of a blade tip and a tower when a target blade passes a front face of the tower.

[0036] Specifically, in the present embodiment, the data acquisition unit 120 acquires initial coordinate values of a blade tip and a tower when a target blade passes a front face of the tower. The data acquisition unit 120 is arranged at a front part of a nacelle of the wind turbine, and the data acquisition unit 120 is preferably a laser radar range finder. The laser radar range finder measures three-dimensional coordinates of the blade tip and the outside of the tower 112 within a range of a viewing angle, and the laser beam emitted by the laser radar range finder is irradiated along the direction of the tower 112, that is, the laser beam of the laser radar range finder is perpendicular to the ground plane, and the corresponding Z axis in the three-dimensional coordinate system is perpendicular to the ground plane.

[0037] The laser radar range finder is the first laser radar in China for unmanned driving to detect a distance of 500 meters, adopts a unique optical system design, has the characteristics of a longer range, higher point cloud density and point cloud coverage, and can accurately capture every detail in the field.

[0038] The laser radar rangefinder can emit multiple laser lines during operation and simultaneously perform high-speed non-repetitive scanning. Up to 240,000 points of point cloud data can be distributed in a 60-degree FOV conical scanning line of sight per second, and a field of view coverage rate of only 100 ms can achieve 99.8%, and the point cloud density is higher than that of the mainstream 128-line mechanical laser radar on the market, ensuring that objects in the field of view can still be quickly perceived when the object is moving at high speed, and the measured object point cloud three-dimensional coordinates are stored in real time. That is, the data acquisition unit 120 acquires the initial point cloud three-dimensional coordinate values of the blade tip and the tower drum when the target blade passes the front of the tower drum 112, and sends the initial point cloud three-dimensional coordinate values of the blade tip and the tower drum to the data processing unit 130.

[0039] In this embodiment, the scanning period of the laser radar rangefinder is 100 ms, and the laser radar rangefinder collects the point cloud three-dimensional coordinates of the corresponding target blade and tower drum 112 in the scanning period of 100 ms. The coordinates collected each time need to be processed in subsequent steps. The laser radar rangefinder transmits the collected data to the controller unit 120, and the controller unit 120 further processes the data with a sampling period of 50 ms.

[0040] S120, processing the blade tip initial coordinate value and the tower drum initial coordinate value to obtain a blade tip target coordinate value and a tower drum target coordinate value of the target blade.

[0041] In this step, the following steps are further included.

[0042] First, the blade tip initial coordinate value and the tower drum initial coordinate value are processed to identify the blade tip coordinate value and the tower drum coordinate value of the target blade at the preset position in the preset coordinate system.

[0043] Specifically, it should be noted that in this embodiment, the preset coordinate system is the coordinate system in which the laser radar rangefinder is located, and the preset position is the vertical distance of the target blade from the 6 o'clock position of the laser radar rangefinder, wherein the 6 o'clock position of the blade refers to the blade perpendicular to the ground plane. That is, when the target blade is turned to the front of the tower drum 112, the data processing unit 130 identifies the blade tip coordinate value and the tower drum coordinate value of the target blade perpendicular to the ground plane in the coordinate system in which the laser radar rangefinder is located.

[0044] Specifically, in this embodiment, the data processing unit 130 classifies the point cloud data of the target blade and the tower drum 112 region measured by the data acquisition unit 120 according to the point cloud coordinates corresponding to the positive and negative y-axis regions of the laser radar rangefinder. The object point cloud data measured by the positive y-axis is the tower drum 112, and the object point cloud data measured by the negative y-axis is the target blade.

[0045] Secondly, the tip coordinate values are subjected to clustering fitting processing to obtain tip target coordinate values, and the tower coordinate values corresponding to the tip height are identified to obtain tower target coordinate values. Further preferably, the tip coordinate values are subjected to clustering mean fitting processing to obtain the tip target coordinate values.

[0046] Specifically, in the present embodiment, assuming that the target blade length is 60.5 meters, the distance between the laser radar installation position and the vertical 6 o'clock position of the blade root on the parallel horizontal plane at the bottom of the cabin 134 is 0.2 meters, it can be inferred that the vertical distance of the target blade tip part relative to the laser radar installation at the vertical 6 o'clock position is 60.3 meters.

[0047] By calculating the clustering mean of the point cloud three-dimensional coordinates of the blade cross section under the vertical geodetic height 60.3m in the laser radar coordinate system (wherein the point cloud coordinates of the blade tip cross section are obtained by averaging the corresponding point clouds at the same height z1), a target three-dimensional coordinate point A(x1, y1, z1) measured by the laser radar is fitted, that is, the tip target coordinate value A(x1, y1, z1), and the tower tangent coordinate B(x2, y2, z1) of the tower outer wall detected at the vertical geodetic height 60.3m, that is, the tower target coordinate value B(x2, y2, z1).

[0048] S130, according to the tip target coordinate value and the tower target coordinate value, the current clearance distance between the target blade and the tower at the preset position is calculated.

[0049] Specifically, in the present embodiment, according to the tip target coordinate value A(x1, y1, z1) and the tower target coordinate value B(x2, y2, z1) obtained in the S120 step, the relative distance between points A and B in the gravity coordinate system is calculated, and the clearance distance between the target blade and the tower 112 outer wall at the vertical 6 o'clock position of the target blade is obtained, that is, the current clearance distance is obtained.

[0050] Illustratively, after the current clearance distance between the target blade and the tower at the preset position is calculated according to the tip fitting coordinate value and the tower coordinate value, the method further comprises:

[0051] The current clearance distance is compared with a preset clearance threshold, and if the current clearance distance is less than the preset clearance threshold, an alarm is output and the unit variable pitch system is started.

[0052] Specifically, in the embodiment, the measured current clearance distance is transmitted to the localized PLC, the localized PLC outputs an alarm when identifying that the current clearance distance is less than the preset clearance distance threshold, and the wind turbine variable pitch system starts to pitch back to 90 degrees, reduces the wind energy absorbed by the wind turbine, and reduces the rotation speed of the wind turbine, thereby ensuring the safety of the wind turbine.

[0053] The monitoring method can monitor the current clearance distance between the target blade and the tower at the preset position in real time, thereby ensuring the safety of the wind turbine.

[0054] Another aspect of the present application provides a wind turbine blade clearance distance monitoring system 100, as shown in Figure 2 and Figure 3 The monitoring system 100 comprises a wind power generation unit 110, a data acquisition unit 120, and a data processing unit 120 data processing unit 130 and a wind power generation system 130, and the data processing unit 120 data processing unit 130 is electrically connected with the data acquisition unit 120 and the wind power generation system 130 wind power generation unit 110 respectively.

[0055] As shown in Figure 3 The wind power generation system 130 wind power generation unit 110 comprises a wind turbine 111 and a tower 112, and the wind turbine 111 is arranged at the top of the tower 112, and the wind turbine 111 comprises at least one blade 1111.

[0056] As shown in Figure 3 The data acquisition unit 120 is arranged at the front of the nacelle 1112 of the wind turbine 111, and is used for acquiring the tip initial coordinate value and the tower initial coordinate value when the target blade passes through the front of the tower 112, and sending the tip initial coordinate value and the tower initial coordinate value to the data processing unit 130.

[0057] It should be noted that in the embodiment, the data acquisition unit 120 is preferably a laser radar range finder, which measures the three-dimensional coordinates of the blade tip and the outer part of the tower within the range of the viewing angle, and the laser beam emitted by the laser radar range finder is irradiated along the direction of the tower 112, that is, the laser beam of the laser radar range finder is perpendicular to the ground plane, and the corresponding Z axis in the three-dimensional coordinate system is perpendicular to the ground plane.

[0058] The laser radar range finder selects the first laser radar in China for unmanned driving, which has a detection distance of 500 meters, adopts a special optical system design, has the characteristics of longer range, higher point cloud density and point cloud coverage, and can accurately capture every detail in the field.

[0059] The laser radar rangefinder can emit multiple laser lines and simultaneously perform high-speed non-repetitive scanning during operation. Up to 240,000 points of point cloud data per second can be distributed in a 60-degree FOV conical scanning line of sight, and a field of view coverage rate of only 100 ms can achieve 99.8%, and the point cloud density is higher than that of the mainstream 128-line mechanical laser radar on the market, ensuring that objects can be quickly perceived in the field of view when moving at high speed, and the measured object point cloud three-dimensional coordinates are stored in real time. That is, the data acquisition unit 120 acquires the initial point cloud three-dimensional coordinate values of the blade tip and the tower drum when the target blade passes through the front of the tower drum 112, and sends the initial point cloud three-dimensional coordinate values of the blade tip and the tower drum to the data processing unit 130.

[0060] In this embodiment, the scanning period of the laser radar rangefinder is 100 ms, and the laser radar rangefinder collects the point cloud three-dimensional coordinates of the corresponding target blade and tower drum 112 in the scanning period of 100 ms. The coordinates collected each time need to be processed in subsequent steps. The laser radar rangefinder transmits the collected data to the controller unit 120, and the controller unit 120 further processes the data with a sampling period of 50 ms.

[0061] Illustratively, the data processing unit 130 is configured to process the obtained initial coordinate values of the blade tip and the tower drum to obtain target coordinate values of the blade tip and the tower drum of the target blade, and calculate the current clearance distance between the target blade and the tower drum 112 at the preset position according to the target coordinate values of the blade tip and the tower drum.

[0062] Illustratively, the data processing unit 130 is further configured to process the initial coordinate values of the blade tip and the tower drum to identify the coordinate values of the blade tip and the tower drum of the target blade at the preset position in the preset coordinate system.

[0063] It should be noted that in this embodiment, the preset coordinate system is the coordinate system of the laser radar rangefinder, and the preset position is the vertical distance of the target blade at the 6 o'clock position relative to the laser radar rangefinder, wherein the 6 o'clock position of the blade refers to the blade perpendicular to the ground plane. That is, when the target blade is turned to the front of the tower drum 112, the data processing unit 130 identifies the coordinate values of the blade tip and the tower drum of the target blade perpendicular to the ground plane in the coordinate system of the laser radar rangefinder.

[0064] Specifically, in the present embodiment, the data processing unit 130 classifies the point cloud three-dimensional coordinate values of the target blade tip and the tower 112 measured by the data acquisition unit 120 into target blade and tower 112 region point cloud data according to the point cloud coordinates corresponding to the positive and negative y-axis regions of the laser range finder. The object point cloud data measured by the positive y-axis is the tower 112, and the object point cloud data measured by the negative y-axis is the target blade.

[0065] Illustratively, the data processing unit 130 is also used to cluster and fit the tip coordinate values to obtain the tip target coordinate values, and to identify the tower coordinate values at the corresponding tip height to obtain the tower target coordinate values.

[0066] Specifically, in the present embodiment, assuming that the length of the target blade is 60.5 meters, the distance from the laser range finder installation position to the blade root at the 6 o'clock position perpendicular to the target blade is 0.2 meters from the bottom of the nacelle 134 parallel to the horizontal plane, it can be inferred that the vertical distance of the target blade tip part relative to the laser range finder installation at the 6 o'clock position perpendicular to the target blade is 60.3 meters.

[0067] By calculating the point cloud three-dimensional coordinate clustering mean under the laser radar coordinate system at a distance of 60.3m perpendicular to the geodetic height, the leaf section under the point cloud three-dimensional coordinate clustering mean is fitted into a laser range finder measured target three-dimensional coordinate point A(x1, y1, z1), that is, the tip target coordinate value A(x1, y1, z1). Similarly, the tower tangent coordinate B(x2, y2, z1) of the tower outer wall detected at a distance of 60.3m perpendicular to the geodetic height is also the tower target coordinate value B(x2, y2, z1). Finally, by calculating the relative distance of points A and B in the gravity coordinate system, the clearance distance of the target blade from the outer wall of the tower 112 at the 6 o'clock position perpendicular to the target blade can be obtained, that is, the current clearance distance of the target blade at the preset position from the tower 112 is obtained.

[0068] Illustratively, the data processing unit 130 is also used to compare the current clearance distance with the preset clearance distance threshold, and give the corresponding disposal scheme.

[0069] In the present embodiment, the measured current clearance distance is transmitted to the domestic PLC, and the domestic PLC outputs an alarm when it identifies that the current clearance distance is less than the preset clearance distance threshold, and the wind turbine variable pitch system starts to pitch back to 90 degrees, reducing the wind turbine's absorption of wind energy, so as to reduce the speed of the wind turbine and ensure the safety of the unit.

[0070] The wind turbine blade clearance distance monitoring system of this invention acquires the initial tip coordinates and tower coordinates of the target blade as it passes the front of the tower via a data acquisition unit, and sends these coordinates to a data processing unit. The data processing unit processes the acquired initial tip and tower coordinates to obtain the target blade tip coordinates and tower coordinates, and calculates the current clearance distance between the target blade and the tower at a preset position based on these coordinates. This monitoring system can monitor the current clearance distance between the target blade and the tower at a preset position in real time, ensuring turbine safety. When this monitoring system detects that the current clearance distance is less than a preset clearance threshold, it activates a pitch control and return mechanism, which is beneficial for reducing the weight of the tower and blades with sufficient clearance margin during the overall turbine design process, significantly reducing the overall turbine design cost.

[0071] like Figure 4 and Figure 5 The image shown is a diagram illustrating the actual measured results of this embodiment. By recording data from one week of normal power generation operation of the wind turbine, the following results can be obtained. Figure 4 The wind speed-power ratio shown Figure 5 The measured data showing the correlation between wind speed and headroom are from... Figure 5 This allows us to obtain measured data on the clearance at the blade tip as a function of wind speed. Correspondingly... Figure 4 In the wind speed-power diagram, the clearance at the blade tip is relatively minimal when the wind speed is 11 m / s near full power generation. The measured clearance characteristics are consistent with the simulation trend graph of the theoretical model of the unit. This ensures that the clearance between the wind turbine blades and the turbine is less than the fault threshold, thus guaranteeing the safety of the unit.

[0072] It is understood that the above embodiments are merely exemplary implementations used to illustrate the principles of the present invention, and the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A method for monitoring the clearance distance of wind turbine blades, characterized in that, The method includes: A lidar rangefinder installed at the front of the wind turbine nacelle is used to obtain the initial coordinates of the blade tip and the initial coordinates of the tower when the target blade passes the front of the tower. The laser beam emitted by the lidar rangefinder illuminates the tower along the direction of the tower. The initial coordinates of the blade tip and the initial coordinates of the tower are respectively the initial three-dimensional coordinates of the blade tip point cloud and the initial three-dimensional coordinates of the tower point cloud. Processing the initial coordinate values ​​of the blade tip and the initial coordinate values ​​of the tower to identify the blade tip coordinate value and tower coordinate value of the target blade at a preset position in a preset coordinate system can specifically include: The acquired initial coordinate values ​​of the blade tip and the initial coordinate values ​​of the tower are processed into regional point cloud data. According to the preset point cloud coordinate classification, the blade tip coordinate value and tower coordinate value of the target blade at the preset position in the preset coordinate system are identified. The preset coordinate system is the coordinate system of the lidar rangefinder, and the preset position is the target blade perpendicular to the ground plane. Clustering and fitting are performed on the blade tip coordinate values ​​to obtain the blade tip target coordinate values, and the tower target coordinate values ​​are obtained by identifying the tower coordinate values ​​at the corresponding blade tip height. Based on the target coordinates of the blade tip and the target coordinates of the tower, the current clearance distance between the target blade and the tower at a preset position is calculated; wherein, Based on the target blade tip coordinates and the target tower coordinates, after calculating the current clearance distance between the target blade and the tower at a preset position, the method further includes: The current clearance distance is compared with the preset clearance threshold. If the current clearance distance is less than the preset clearance threshold, an alarm is output and the unit pitch system is activated.

2. A wind turbine blade clearance distance monitoring system, characterized in that, The monitoring system for the wind turbine blade clearance monitoring method according to claim 1 includes a wind power generation unit, a data acquisition unit, and a data processing unit, wherein the data processing unit is electrically connected to the data acquisition unit and the wind power generation unit respectively. The wind power generation unit includes a wind turbine and a tower. The wind turbine is located at the top of the tower and includes at least one blade. The data acquisition unit is located at the front of the nacelle of the wind turbine and is used to acquire the initial coordinate values ​​of the blade tip and the initial coordinate values ​​of the tower when the target blade passes the front of the tower, and send the initial coordinate values ​​of the blade tip and the initial coordinate values ​​of the tower to the data processing unit. The data processing unit is used to process the obtained initial coordinate values ​​of the blade tip and the initial coordinate values ​​of the tower to obtain the target coordinate values ​​of the blade tip and the tower, and to calculate the current clearance distance between the target blade and the tower at a preset position based on the target coordinate values ​​of the blade tip and the tower.

3. The monitoring system according to claim 2, characterized in that, The data processing unit is also used to process the initial coordinate values ​​of the blade tip and the initial coordinate values ​​of the tower, and identify the blade tip coordinate value and tower coordinate value of the target blade at a preset position in the preset coordinate system.

4. The monitoring system according to claim 3, characterized in that, The data processing unit is also used to perform cluster fitting processing on the blade tip coordinate values ​​to obtain the blade tip target coordinate values, and to identify the tower coordinate values ​​at the corresponding blade tip height to obtain the tower target coordinate values.

5. The monitoring system according to claim 4, characterized in that, The data processing unit is also used to compare the current clearance distance with a preset clearance distance threshold and provide a corresponding handling plan.

6. The monitoring system according to any one of claims 2 to 5, characterized in that, The data acquisition unit uses a lidar rangefinder, and the laser beam emitted by the lidar rangefinder illuminates the tower along its direction.

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