A method for detecting the flatness of a tower flange of a wind turbine generator set

Abstract

The present invention discloses a flatness detection method for a tower flange of a wind turbine generator set, comprising two steps: a flange plane 3D point cloud acquisition stage and a flatness calculation stage; wherein: the flange plane 3D point cloud acquisition stage comprises the following steps: rotation control comprises the following steps: the 3D vision detection module is accurately positioned; the 3D vision detection module performs laser line scanning on the annular surface to be detected by the flange; the 3D vision detection module performs 3D point cloud acquisition on the flange surface to be detected; the flatness calculation stage comprises the following steps: flatness calculation is performed according to the 3D points output by the 3D vision detection module; and the result is output; compared with the prior art, the flatness detection method for the tower flange of a wind turbine generator set of the present invention integrates motion control and 3D vision detection technology, provides an automated detection method, innovates the current single instrument manual detection method, and improves the efficiency and speed of tower flange flatness detection.

Description

Technical Field

[0001] The present invention relates to the field of intelligent detection technology, and in particular to a method for detecting the flatness of a tower flange of a wind turbine generator set. Background Art

[0002] The tower of a wind turbine generator set is composed of 3-7 sections of cylindrical or conical cylinders. The cylinder and the large-size flange (diameter 2900mm-4800mm) are welded together, and the tower units are connected by flanges with high-strength fastening bolts. The flatness of the tower flange is an important factor affecting the splicing of the tower. After the wind turbine tower is spliced, the flatness of the top flange is required to be within 0.5mm, the flatness of the flange on the base ring is required to be within 1.5mm, and the flatness of the remaining flanges is required to be within 2mm. Due to the internal stress generated during the welding process, the flatness of the flange becomes larger. If it is not repaired, it will seriously affect the life of the tower. Therefore, the flatness value of the tower flange is the key point of tower manufacturing, and detecting the flatness of the tower flange has become an important process in tower manufacturing. For the detection of flatness, traditional detection methods such as the indicator method, the bridge method, and the stepper method can no longer meet the actual needs. In the wind turbine tower industry, laser leveling instruments are currently commonly used for detection, which has the following problems:

[0003] 1. After the flange is welded to the tower, it is placed upright on the roller frame. The flange has a large diameter. The existing measurement method requires manual climbing and manual measurement by building auxiliary mechanisms such as scaffolding, which poses a safety hazard to personnel operation;

[0004] 2. The current laser leveling measurement method first collects 4 points to establish a reference plane and then collects 16 points for flatness detection. For large-sized flanges, the reference plane and the collection point set are highly random and cannot truly reflect the flange flatness, resulting in certain distortion in the measurement results.

[0005] 3. The measurement requires the participation of 2-3 staff members, the steps are cumbersome, and after the measurement, they need to go to the office area to use special software for data analysis. It usually takes 2-3 hours to complete the inspection of a flange, which is inefficient. Summary of the invention

[0006] The object of the present invention is to provide a method for detecting the flatness of a tower flange of a wind turbine generator set, which is used to solve the above-mentioned technical problem.

[0007] A method for detecting the flatness of a tower flange of a wind turbine generator set includes two steps: a flange plane 3D point cloud acquisition stage and a flatness calculation stage; wherein:

[0008] The flange plane 3D point cloud acquisition stage includes the following steps:

[0009] Motion control accurately positions the 3D vision detection module;

[0010] The rotation control drives the 3D visual inspection module to perform laser line scanning on the flange surface to be inspected;

[0011] The 3D visual inspection module collects 3D point clouds of the flange surface to be inspected;

[0012] The flatness calculation phase includes the following steps:

[0013] Calculate the flatness based on the 3D points output by the 3D vision detection module;

[0014] Output the result.

[0015] According to one embodiment of the present invention, a parameter setting stage is further included before the flange plane 3D point cloud acquisition stage. The parameters set in the parameter setting stage are used to control the precise positioning of the 3D visual detection module and the frequency of 3D point cloud acquisition.

[0016] According to one embodiment of the present invention, the parameter setting stage includes the following steps:

[0017] Recall parameters: Recall the saved related parameters, which are the related parameters of the flange model that has been tested;

[0018] Or set parameters: set new parameters for the new flange model, and the new parameters are parameters for controlling the precise positioning of the 3D vision detection module.

[0019] According to one embodiment of the present invention, the step of accurately positioning the 3D vision detection module by motion control includes:

[0020] Adjust the height of the 3D vision inspection module according to the flange to be inspected;

[0021] Adjust the distance between the 3D vision inspection module and the center of the inspection flange according to the diameter of the flange to be inspected.

[0022] According to one embodiment of the present invention, before the step of calculating the flatness based on the 3D points output by the visual system, there is also a step of detecting the coverage range of the flange surface to be inspected, which is used to determine whether the 3D visual inspection module covers the entire flange surface to be inspected after one rotation.

[0023] According to one embodiment of the present invention, the detection standard of the detection step of the coverage range of the flange surface to be inspected is to determine whether the field of view of the 3D visual inspection module exceeds the flange ring distance. If so, it is determined that the detection area completely covers the flange surface to be inspected; if not, it returns to the step of precise positioning of the 3D visual inspection module.

[0024] According to an embodiment of the present invention, before the step of calculating the flatness based on the received 3D points, the step of filtering and denoising the 3D point cloud is also included.

[0025] According to one embodiment of the present invention, before the step of calculating the flatness according to the received 3D points, a step of reference plane fitting is also included.

[0026] According to an embodiment of the present invention, before the step of outputting the detection result, a step of comparing with a preset flange flatness tolerance is also included.

[0027] According to an embodiment of the present invention, the step of outputting the detection result outputs flatness data and an area exceeding the standard.

[0028] Compared with the prior art, the flatness detection method of the tower flange of a wind turbine generator set of the present invention has the following advantages:

[0029] 1. Compared with the currently commonly used laser leveling instrument, the present invention integrates motion control and 3D visual detection technology, provides an automated detection method, innovates the current single instrument manual detection method, and improves the efficiency and speed of tower flange flatness detection.

[0030] 2. The flatness calculation is performed based on massive 3D point cloud data. The calculated flatness result is more scientific and reasonable than the current manual calculation of 16 points of data collected by a laser leveling instrument, which improves the accuracy of tower flange flatness detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a flow chart of the flatness detection method of the tower flange of a wind turbine generator set of the present invention;

[0032] Figure 2 It is a structural schematic diagram of a detection device using the flatness detection method of a tower flange of a wind turbine generator set of the present invention;

[0033] Figure 3 It is a schematic diagram of the use status of the flatness detection device of the tower flange of a wind turbine generator set;

[0034] In the figure: 1. Rack, 2. Lifting module, 21. Lifting frame, 211. Linear slide rail, 22. Lifting drive, 23. Lifting transmission, 24. Lifting actuator, 3. Rotation module, 31. Rotation drive, 32. Speed ​​reducer, 33. Rotation arm, 4. Linear module, 41. Linear drive, 42. Linear actuator, 5. 3D visual inspection module, 6. Master control module, 61. Industrial computer, 62. Display, 63. Keyboard, 64. Mouse, 7. Counterweight

[0035] The realization of the functions and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0036] The following will disclose multiple embodiments of the present invention with drawings. For the purpose of clear description, many practical details will be described together in the following description. However, it should be understood that these practical details should not be used to limit the present invention. That is, in some embodiments of the present invention, these practical details are not necessary. In addition, for the purpose of simplifying the drawings, some conventional structures and components will be depicted in a simple schematic manner in the drawings.

[0037] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front and back) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0038] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0039] In order to further understand the content, features and effects of the present invention, the following embodiments are given as examples and described in detail with reference to the accompanying drawings:

[0040] Embodiment 1:

[0041] See also Figure 1 , Figure 1 This is a flow chart of the flatness detection method of the tower flange of a wind turbine generator set in this embodiment. As shown in the figure, the flatness detection method of the tower flange of a wind turbine generator set includes two steps: the flange plane 3D point cloud acquisition stage and the flatness calculation stage; wherein:

[0042] The flange plane 3D point cloud acquisition stage includes the following steps:

[0043] Motion control accurately positions the 3D vision detection module;

[0044] The rotation control drives the 3D visual inspection module to perform laser line scanning on the flange surface to be inspected;

[0045] The 3D visual inspection module collects 3D point clouds of the flange surface to be inspected;

[0046] The flatness calculation phase includes the following steps:

[0047] Calculate the flatness based on the 3D points output by the 3D vision detection module;

[0048] Output the result.

[0049] Please review Figure 1 As shown in the figure, in this embodiment, before the flange plane 3D point cloud acquisition stage, a parameter setting stage is also included. The parameters set in the parameter setting stage are used to control the precise positioning of the 3D visual inspection module and the frequency of 3D point cloud acquisition.

[0050] Please review Figure 1 , as shown in the figure, in this embodiment, the parameter setting stage includes the following steps:

[0051] Recall parameters: Recall the saved related parameters, which are the related parameters of the flange model that has been tested;

[0052] Or set parameters: set new parameters for the new flange model, and the new parameters are parameters for controlling the precise positioning of the 3D vision detection module.

[0053] Please review Figure 1 As shown in the figure, in this embodiment, the steps of accurately positioning the 3D vision detection module by motion control include:

[0054] Adjust the height of the 3D vision inspection module according to the flange to be inspected;

[0055] Adjust the distance between the 3D vision inspection module and the center of the inspection flange according to the diameter of the flange to be inspected.

[0056] Please review Figure 1 As shown in the figure, in this embodiment, before the step of calculating the flatness according to the 3D points output by the visual system, it also includes a step of detecting the coverage range of the flange surface to be inspected, which is used to determine whether the 3D visual inspection module covers the entire flange surface to be inspected after one rotation.

[0057] Please review Figure 1 As shown in the figure, in this embodiment, the detection standard of the detection step of the coverage range of the flange surface to be inspected is to determine whether the field of view of the 3D vision inspection module exceeds the flange ring distance. If so, it is determined that the detection area completely covers the flange surface to be inspected; if not, it returns to the step of precise positioning of the 3D vision inspection module.

[0058] Please review Figure 1 As shown in the figure, in this embodiment, before the step of calculating the flatness according to the received 3D points, a step of filtering and denoising the 3D point cloud is also included.

[0059] Please review Figure 1 As shown in the figure, in this embodiment, before the step of calculating the flatness according to the received 3D points, a reference plane fitting step is also included.

[0060] Please review Figure 1 As shown in the figure, in this embodiment, before the step of outputting the detection result, the step of comparing with the preset flange flatness tolerance is also included.

[0061] Please review Figure 1 As shown in the figure, in this embodiment, the step of outputting the detection results outputs the flatness data and the exceeding area.

[0062] Embodiment 2:

[0063] See also Figure 2 and Figure 3 , Figure 2 It is a schematic diagram of the structure of a detection device using the flatness detection method of the tower flange of a wind turbine generator set of the present invention; Figure 3 FIG. 1 is a schematic diagram of the use state of the flatness detection device for the tower flange of a wind turbine generator set according to this embodiment. Figure 3 As shown, the flatness detection device for the tower flange of a wind turbine generator set includes a frame 1, a lifting module 2, a rotating module 3, a linear module 4, a 3D visual detection module 5 and a master control module 6. The lifting module 2 is arranged on the frame 1, and is used to control the height of the 3D visual detection module 5; the rotating module 3 is connected to the execution end of the lifting module 2, and is used to drive the 3D visual detection module 5 to rotate; the linear module 4 is arranged on the rotating module 3, and the linear module 4 is used to drive the 3D visual detection module 5 to move along the radial direction of the rotating module 3; the 3D visual detection module 5 adopts a 3D industrial camera, and the 3D industrial camera is arranged on the execution end of the linear module 4, and is used to collect and output data of the flange surface to be detected; the master control module 6 is arranged on the frame 1, and is used to control the actions of the lifting module 2, the rotating module 3 and the linear module 4, receive and analyze the data output by the 3D visual detection module 5, and output the detection result.

[0064] In this embodiment, the flatness detection device of the tower flange of the wind turbine generator set also includes a sensor detection module, which is connected to the master control module 6 and is used to sense and detect the positions of the lifting module 2, the linear module 4 and the 3D visual detection module 5. The sensor detection module includes a lifting module limit sensor, a linear module upper limit and zero point sensor and a detection module sensor. The lifting module limit sensor is used to control the height of the lifting module 2 driving the rotating module 3 to rise, the linear module upper limit and zero point sensor is used to control the zero point and stroke of the linear module 4, and the detection module sensor is used to control the line scanning range of the 3D visual detection module 5.

[0065] Please review Figure 2As shown in the figure, in this embodiment, the lifting module 2 includes a lifting frame 21, a lifting drive member 22, a lifting transmission member 23 and a lifting actuator 24. The lifting frame 21 is arranged on the frame 1, the lifting drive member 22 is arranged on the lifting frame 21, the lifting transmission member 23 is connected to the output end of the lifting drive member 22, and the lifting actuator 24 is connected to the lifting transmission member 23. The lifting drive member 22 can be driven by a motor or a cylinder. In this embodiment, the lifting drive member 23 adopts a servo motor, and the lifting transmission member 23 adopts a ball screw. The ball screw is connected to the output end of the servo motor. The lifting actuator 24 is connected to the ball screw through a screw nut. When the servo motor is started, the ball screw rotates, the screw nut slides on the ball screw, and drives the lifting actuator 24 to move up and down.

[0066] Please review Figure 2 As shown in the figure, in order to make the lifting actuator 24 move up and down smoothly, a linear slide rail 211 is provided on the lifting frame 21, and the lifting actuator 21 is connected to the linear slide rail 211 through a slider.

[0067] Please review Figure 2 As shown in the figure, in this embodiment, the lifting actuator 24 adopts a lifting plate, and the rotating module 3 is arranged on the lifting plate.

[0068] Please review Figure 2 As shown in the figure, in this embodiment, the rotating module 3 includes a rotating driving member 31, a reducer 32 and a rotating arm 33. The rotating driving member 31 is arranged on the lifting actuator 24, the reducer 32 is connected to the output end of the rotating driving member 31, and the rotating arm 33 is connected to the output end of the reducer 32. In specific applications, the rotating driving member 31 adopts a servo motor, the output end of the servo motor is connected to the reducer 32, and the output end of the reducer 32 is connected to the rotating arm 33. When the servo motor is started, the reducer 32 starts with the servo motor and drives the rotating arm 33 to rotate. The linear module 4 arranged on the rotating arm rotates with the rotating arm, driving the 3D visual inspection module 5 to collect 3D point clouds on the flange surface of the tower of the wind turbine generator set.

[0069] Please review Figure 2 As shown in the figure, in this embodiment, the linear module 4 includes a linear driver 41 and a linear actuator 42. The linear driver 41 is arranged on the rotating module 3, and the linear actuator 42 is connected to the actuator end of the linear driver 41. The 3D visual detection module 5 is arranged on the linear actuator 42. In specific applications, the linear driver 41 can be driven by a motor or a cylinder. In this embodiment, the linear driver 41 adopts a servo motor, and the linear actuator 42 adopts a ball screw. The ball screw is connected to the output end of the servo motor. The 3D visual detection module 5 is connected to the ball screw through a screw nut. When the servo motor is started, the ball screw rotates and drives the screw nut to slide along the ball screw, and the 3D visual detection module 5 slides with the screw nut.

[0070] Please review Figure 2 As shown in the figure, in this embodiment, there are two linear modules 4, which are symmetrically arranged on both sides of the rotating arm 33. The execution end of one linear module 4 is used to install the 3D vision detection module 5, and the execution end of the other linear module 4 is installed with a counterweight 7 of the same weight as the 3D vision detection module 5. When one linear module 4 adjusts the position of the 3D vision detection module 5, the other linear module 4 performs the same action to adjust the position of the counterweight 7, so that the 3D vision detection module 5 and the counterweight 7 always maintain a mutually symmetrical state, so that the rotating arm 33 can rotate smoothly.

[0071] Please review Figure 2 As shown in the figure, the master control module 6 of this embodiment includes a hardware part and a software part. The hardware part includes an industrial computer 61, a display 62, a keyboard 63 and a mouse 64. The display 62, the keyboard 63 and the mouse 64 are connected to the industrial computer 61. The hardware part is used for user operation; the software part integrates motion control and machine vision functions at the same time, which is used to control the actions of the lifting module 2, the rotating module 3 and the linear module 4, receive and analyze the data output by the 3D vision detection module 5, and output the detection results.

[0072] Please review Figure 3As shown in the figure, in specific application, according to the optimal working distance of the 3D industrial camera, the flatness detection device of the tower flange of the wind turbine generator set of this embodiment is moved to the optimal distance position opposite the flange and powered on, the industrial computer 61 is turned on, the software part is started, the lifting module 2 and the linear module 4 return to the zero position, and the parameters or configuration parameters are called out from the software, wherein the called out parameters are the saved related parameters called out from the general control module 6, and the related parameters are the related parameters of the flange model that has been detected; the configuration parameters are for the new flange model, and the parameters are the positioning of the lifting module 2, the speed of the rotating module 3, and the positioning parameters of the linear module 4. Then, according to the parameters, the lifting module 2 raises or lowers the rotating module 3 to the specified position, and according to the parameters, the linear module 4 moves the 3D industrial camera to the specified position. After that, the rotating arm 33 rotates at a uniform speed according to the parameters, and the 3D industrial camera performs laser line scanning. The rotating arm rotates one circle, and the flange ring point cloud of the area within the field of view of the 3D industrial camera during the rotation process is collected. The number of point clouds is related to the set acquisition frequency and the number of line scans. Then, according to the flange model and flange size, it is determined whether the flange detection is completed after one rotation. If the field of view of the 3D industrial camera exceeds the flange ring distance, the flange area is completely covered. If the field of view is smaller than the flange ring, it is not completely covered. The point cloud of the new area is collected according to the configured parameters until it is completely collected. After obtaining the complete point cloud data, the software performs point cloud filtering and denoising, and then fits the reference plane, and then calculates the flatness to obtain the flange flatness numerical result, compares the flatness value with the preset flange flatness tolerance, and finally displays the final result and the area exceeding the standard.

[0073] Embodiment three:

[0074] Take the upper flange of the upper section and the lower flange of the lower section as an example. The tower and flange are welded together and placed on a 500 mm high roller frame. The height of the frame 1 is 1500 mm. Based on the upper flange detection setting of the upper section, the height of the elevator origin is 1832.5 mm, the elevator working stroke is 1000 mm, the rotating arm is 4300 mm long, the linear module 4 origin position is 1457.5 mm from the center of the rotating arm 33, and the linear module working stroke is 800 mm.

[0075] The selected 3D industrial camera has an optimal working distance of 325mm and a laser line scanning range of 250mm. The following table shows the dimensions of the upper flange of the upper section and the lower flange of the lower section.

[0076]

[0077] The following table shows the situations during the two types of flange inspection.

[0078]

[0079] It can be seen that after a simple operation, the rotating arm 33 can completely cover the flange surface to be inspected after one rotation. When the selected 3D industrial camera is a type with a higher resolution, such as a 3D industrial camera with a laser line scan range of 100mm and an optimal working distance of 150mm, the rotating arm 33 can complete the inspection after two rotations through the position control of the lifting module (2) and the linear module 4. When a 3D industrial camera with a line scan laser range of 20mm and an optimal working distance of 60mm is selected, the upper flange of the upper section is inspected after 7 rotations of the rotating arm 33, and the lower flange of the lower section is inspected after 8 rotations of the rotating arm 33.

[0080] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for detecting the flatness of a tower flange of a wind turbine generator set, based on a device for detecting the flatness of a tower flange of a wind turbine generator set, the device comprising a frame, a lifting module, a rotating module, a linear module, a 3D visual detection module, a sensor detection module and a master control module, wherein the lifting module is arranged on the frame and is used to control the height of the 3D visual detection module; the rotating module is connected to the execution end of the lifting module and is used to drive the 3D visual detection module to rotate; the linear module is arranged on the rotating module and is used to drive the 3D visual detection module to move along the radial direction of the rotating module; the 3D visual detection module uses a 3D industrial camera, which is arranged on the execution end of the linear module and is used to collect and output data of the flange surface to be detected; The rotating module includes a rotating driving member, a reducer and a rotating arm. The rotating driving member is arranged on the lifting module. The reducer is connected to the output end of the rotating driving member, and the rotating arm is connected to the output end of the reducer. The master control module is arranged on the frame, used to control the actions of the lifting module, the rotating module and the linear module, receive and analyze the data output by the 3D visual detection module, and output the detection result. The sensor detection module is connected to the master control module, used to sense and detect the positions of the lifting module, the linear module and the 3D visual detection module. The sensor detection module includes a lifting module limit sensor, a linear module upper limit and zero point sensor and a detection module sensor. The flatness detection method of the tower flange of a wind turbine generator set includes two steps: a flange plane 3D point cloud acquisition stage and a flatness calculation stage, and is characterized in that: The flange plane 3D point cloud acquisition stage includes the following steps: Motion control precisely positions the 3D vision detection module: the lifting module raises or lowers the rotating module to a specified position, and the linear module drives the 3D vision detection module to move along the radial direction of the rotating module, moving the 3D industrial camera to a specified position; The rotation control drives the 3D visual inspection module to perform laser line scanning on the flange surface to be inspected: when the rotating drive member is started, the reducer starts with the rotating drive member and drives the rotating arm to rotate. The linear module on the rotating arm rotates with the rotating arm, driving the 3D visual inspection module to rotate around the flange surface of the wind turbine tower for one circle; The 3D visual inspection module collects 3D point clouds of the flange surface to be inspected; The flatness calculation phase includes the following steps: Calculate the flatness based on the 3D point cloud output by the 3D vision detection module; Output the result.

2. The method for detecting the flatness of a tower flange of a wind turbine generator set according to claim 1, characterized in that: The flange plane 3D point cloud acquisition stage also includes a parameter setting stage before the stage, and the parameters set in the parameter setting stage are used to control the precise positioning of the 3D visual detection module and the frequency of 3D point cloud acquisition.

3. The method for detecting the flatness of a tower flange of a wind turbine generator set according to claim 2, characterized in that: The parameter setting stage includes the following steps: Recall parameters: Recall the saved related parameters, which are the related parameters of the flange model that has been tested; Or set parameters: set new parameters for the new flange model, and the new parameters are parameters for controlling the precise positioning of the 3D vision detection module.

4. The method for detecting the flatness of a tower flange of a wind turbine generator set according to claim 1, characterized in that: The step of accurately positioning the 3D vision detection module by motion control includes: Adjusting the height of the 3D vision inspection module according to the flange to be inspected; The distance between the 3D vision inspection module and the center of the flange to be inspected is adjusted according to the diameter of the flange to be inspected.

5. The method for detecting the flatness of a tower flange of a wind turbine generator set according to claim 1, characterized in that: Before the step of calculating the flatness according to the 3D point cloud output by the 3D vision inspection module, a step of detecting the coverage range of the flange surface to be inspected is also included, which is used to determine whether the 3D vision inspection module covers the entire flange surface to be inspected after one rotation.

6. The method for detecting the flatness of a tower flange of a wind turbine generator set according to claim 5, characterized in that: The detection standard for the coverage range of the flange surface to be inspected is to determine whether the field of view of the 3D visual inspection module exceeds the flange ring distance. If so, it is determined that the inspection area completely covers the flange surface to be inspected; if not, it returns to the step of precise positioning of the 3D visual inspection module.

7. The method for detecting the flatness of a tower flange of a wind turbine generator set according to claim 1, characterized in that: Before the step of calculating the flatness of the 3D point cloud output by the 3D visual detection module, the step of filtering and denoising the 3D point cloud is also included.

8. The method for detecting the flatness of a tower flange of a wind turbine generator set according to claim 1, characterized in that: Before the step of calculating the flatness according to the 3D point cloud output by the 3D visual detection module, a reference plane fitting step is also included.

9. The method for detecting the flatness of a tower flange of a wind turbine generator set according to claim 8, characterized in that: The step of outputting the result also includes a step of comparing the result with a preset flange flatness tolerance.

10. The method for detecting the flatness of a tower flange of a wind turbine generator set according to claim 1, characterized in that: The step of outputting the results outputs flatness data and the area exceeding the standard.

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