Method and apparatus for determining static clearance distance of wind turbine generator system

Abstract

The application discloses a static clearance distance determination method and device for a wind turbine generator set. The static clearance distance determination method comprises the following steps: acquiring an image captured by a slide rail camera installed at the bottom of a tower of the wind turbine generator set, wherein the image at least comprises a hub of the wind turbine generator set and a blade tip of a vertically downward blade; determining a tower drum identification point of the wind turbine generator set in the captured image based on parameters of the image and physical parameters of the wind turbine generator set; and determining a static clearance distance of the wind turbine generator set based on the tower drum identification point, wherein the static clearance distance refers to a clearance distance when a certain blade of the wind turbine generator set is locked to be vertically downward.

Description

Technical Field

[0001] This disclosure generally relates to the field of wind power generation technology, and more specifically, to a method and apparatus for determining the static clearance distance of wind turbine generator sets suitable for wind turbine installation and re-inspection. Background Technology

[0002] The static clearance of a wind turbine refers to the clearance measured when the rotor of the wind turbine is locked in a Y-shape, that is, the clearance when a certain blade of the wind turbine is locked vertically downwards. Measuring the static clearance can increase the safety of blade installation during wind turbine hoisting and can prevent major accidents caused by blade imbalance during wind turbine re-inspection. However, currently there is no dedicated method or device for determining the static clearance distance. Summary of the Invention

[0003] Therefore, embodiments of this disclosure provide a method and apparatus for determining the static clearance distance of a wind turbine generator set, so as to accurately determine the static clearance distance.

[0004] In one general aspect, a method for determining the static clearance distance of a wind turbine generator set is provided. The method includes: acquiring an image captured by a sliding-rail camera installed at the base of the wind turbine generator set tower, wherein the image includes at least the hub of the wind turbine generator set and the tips of vertically downward-facing blades; determining tower marker points of the wind turbine generator set in the captured image based on parameters of the image and physical parameters of the wind turbine generator set; and determining the static clearance distance of the wind turbine generator set based on the tower marker points, wherein the static clearance distance refers to the clearance distance when a blade of the wind turbine generator set is locked vertically downwards.

[0005] Optionally, the sliding camera is configured such that the wheel hub is located at the center of the image captured by the sliding camera.

[0006] Optionally, the sliding camera includes: a camera; a ground sliding rail on which the camera is slidably mounted; a sliding rail magnet at one end of the ground sliding rail for attaching to the tower of the wind turbine generator; a level for detecting the levelness of the camera; and a support leg at the other end of the ground sliding rail for supporting the ground sliding rail.

[0007] Optionally, the step of determining the tower marker point of the wind turbine generator in the captured image based on the parameters of the image and the physical parameters of the wind turbine generator includes: the parameters of the image include the pixel coordinates of the two endpoints of a first virtual scale arranged on the hub and the pixel coordinates of the two endpoints of a second virtual scale arranged on the first tower weld, wherein the actual length of the first virtual scale is equal to the actual length of the second virtual scale; the physical parameters include the hub height, the height of the first tower weld, and the tip height of the vertically downward blades.

[0008] Optionally, the step of determining the tower marker point of the wind turbine generator in the captured image based on the parameters of the image and the physical parameters of the wind turbine generator includes: determining the pixel coordinates of two points on the line where the tower marker point is located based on the pixel coordinates of the two endpoints of the first virtual scale, the pixel coordinates of the two endpoints of the second virtual scale, the hub height, the height of the first tower weld, and the blade tip height, wherein the line where the tower marker point is located is parallel to the first and second virtual scales, and the two points on the line where the tower marker point is located are the intersections of the line where the tower marker point is located with the lines connecting the first endpoint of the first virtual scale and the first endpoint of the second virtual scale, and the intersections of the lines connecting the second endpoint of the first virtual scale and the second endpoint of the second virtual scale, respectively; obtaining the pixel coordinates of the midpoint of the two points on the line where the tower marker point is located based on the pixel coordinates of the two points; and determining the midpoint as the tower marker point.

[0009] Optionally, the step of determining the pixel coordinates of two points on the line where the tower marker point is located, based on the pixel coordinates of the two endpoints of the first virtual ruler, the pixel coordinates of the two endpoints of the second virtual ruler, the hub height, the height of the first tower weld, and the blade tip height, includes: determining the pixel length of the first virtual ruler based on the pixel coordinates of the two endpoints of the first virtual ruler, or determining the pixel length of the second virtual ruler based on the pixel coordinates of the two endpoints of the second virtual ruler; determining the pixel distance between the two points on the line where the tower marker point is located based on the pixel length of the first virtual ruler or the pixel length of the second virtual ruler, the hub height or the height of the first tower weld, and the blade tip height; and determining the pixel coordinates of the two points on the line where the tower marker point is located based on the pixel distance between the two points on the line where the tower marker point is located and the relationship between the two points on the line where the tower marker point is located.

[0010] Optionally, the relationship between the first endpoint of the first virtual ruler and the first endpoint of the second virtual ruler is determined based on the pixel coordinates of the first endpoint of the first virtual ruler and the first endpoint of the second virtual ruler; the relationship between the second endpoint of the first virtual ruler and the second endpoint of the second virtual ruler is determined based on the pixel coordinates of the second endpoint of the first virtual ruler and the second endpoint of the second virtual ruler; and the relationship between the two points on the line where the tower marker point is located is determined based on the relationship between the first endpoint of the first virtual ruler and the first endpoint of the second virtual ruler and the relationship between the second endpoint of the first virtual ruler and the second endpoint of the second virtual ruler.

[0011] Optionally, the step of determining the static clearance distance of the wind turbine generator set based on the tower marking point includes: determining the pixel distance between the tower marking point and the tip of the vertically downward blade; determining the actual distance corresponding to each unit pixel; and determining the static clearance distance of the wind turbine generator set based on the pixel distance and the actual distance corresponding to each unit pixel.

[0012] Optionally, the step of determining the actual distance corresponding to a unit pixel includes: determining the actual distance corresponding to a unit pixel based on the hub width and its corresponding pixel width, the hub height, and the tip height of the vertically downward blade.

[0013] In another general aspect, a static clearance distance determination device for a wind turbine generator set is provided. The static clearance distance determination device includes: an image acquisition unit configured to acquire an image captured by a sliding rail camera mounted at the base of the wind turbine generator set tower, wherein the image includes at least the hub of the wind turbine generator set and the tips of the vertically downward-facing blades; a tower marker point determination unit configured to determine tower marker points of the wind turbine generator set in the captured image based on parameters of the image and physical parameters of the wind turbine generator set; and a static clearance distance determination unit configured to determine the static clearance distance of the wind turbine generator set based on the tower marker points, wherein the static clearance distance refers to the clearance distance when a certain blade of the wind turbine generator set is locked vertically downwards.

[0014] Optionally, the sliding camera is configured such that the wheel hub is located at the center of the image captured by the sliding camera.

[0015] Optionally, the sliding camera includes: a camera; a ground sliding rail on which the camera is slidably mounted; a sliding rail magnet at one end of the ground sliding rail for attaching to the tower of the wind turbine generator; a level for detecting the levelness of the camera; and a support leg at the other end of the ground sliding rail for supporting the ground sliding rail.

[0016] Optionally, the parameters of the image include the pixel coordinates of the two endpoints of a first virtual scale arranged on the hub and the pixel coordinates of the two endpoints of a second virtual scale arranged on the first tower weld, wherein the actual length of the first virtual scale is equal to the actual length of the second virtual scale; the physical parameters include the hub height, the height of the first tower weld, and the tip height of the vertically downward blade.

[0017] Optionally, the tower marker point determination unit is configured to: determine the pixel coordinates of two points on the line where the tower marker point is located based on the pixel coordinates of the two endpoints of the first virtual scale, the pixel coordinates of the two endpoints of the second virtual scale, the hub height, the height of the first tower weld, and the blade tip height, wherein the line where the tower marker point is located is parallel to the first and second virtual scales, and the two points on the line where the tower marker point is located are the intersections of the line where the tower marker point is located with the lines connecting the first endpoint of the first virtual scale and the first endpoint of the second virtual scale, and the intersections of the lines connecting the second endpoint of the first virtual scale and the second endpoint of the second virtual scale, respectively; obtain the pixel coordinates of the midpoint of the two points on the line where the tower marker point is located based on the pixel coordinates of the two points; and determine the midpoint as the tower marker point.

[0018] Optionally, the tower marker point determination unit is further configured to: determine the pixel length of the first virtual scale based on the pixel coordinates of the two endpoints of the first virtual scale, or determine the pixel length of the second virtual scale based on the pixel coordinates of the two endpoints of the second virtual scale; determine the pixel distance between the two points on the line where the tower marker point is located based on the pixel length of the first virtual scale or the pixel length of the second virtual scale, the hub height or the height of the first tower weld, and the blade tip height; and determine the pixel coordinates of the two points on the line where the tower marker point is located based on the pixel distance between the two points on the line where the tower marker point is located and the relationship between the two points on the line where the tower marker point is located.

[0019] Optionally, the tower marker point determination unit is further configured to: determine the relationship between the first endpoint of the first virtual scale and the first endpoint of the second virtual scale based on the pixel coordinates of the first endpoint of the first virtual scale and the first endpoint of the second virtual scale; determine the relationship between the second endpoint of the first virtual scale and the second endpoint of the second virtual scale based on the pixel coordinates of the second endpoint of the first virtual scale and the second endpoint of the second virtual scale; and determine the relationship between the two points on the line where the tower marker point is located based on the relationship between the first endpoint of the first virtual scale and the first endpoint of the second virtual scale and the relationship between the second endpoint of the first virtual scale and the second endpoint of the second virtual scale.

[0020] Optionally, the static clearance distance determination unit is configured to: determine the pixel distance between the tower marker point and the tip of the vertically downward blade; determine the actual distance corresponding to each unit pixel; and determine the static clearance distance of the wind turbine generator based on the pixel distance and the actual distance corresponding to each unit pixel.

[0021] Optionally, the static clearance distance determination unit is further configured to: determine the actual distance corresponding to a unit pixel based on the hub width and its corresponding pixel width, hub height, and the tip height of the vertically downward blade.

[0022] In another general aspect, a computer-readable storage medium is provided that stores a computer program, which, when executed by a processor, implements the static clearance distance determination method as described above.

[0023] In another general aspect, a computing device is provided, the computing device comprising: a processor; and a memory storing a computer program that, when executed by the processor, implements the static clearance distance determination method as described above.

[0024] The static clearance distance determination method and apparatus according to embodiments of this disclosure can accurately determine tower marker points based on images captured by a camera installed at the base of a wind turbine tower, combined with the physical parameters of the wind turbine tower. Furthermore, based on the determined tower marker points, the static clearance distance can be precisely calculated, thus solving the problem that no method for determining static clearance distance exists in the related art. In addition, by accurately determining the static clearance distance, the static clearance distance determination method and apparatus according to embodiments of this disclosure can ensure the consistency of blade installation after blade hoisting, thereby improving power generation. Moreover, it can confirm the wear condition of the blades during wind turbine re-inspection, avoiding safety accidents caused by blade imbalance. Attached Figure Description

[0025] The above and other objects and features of the embodiments of this disclosure will become clearer from the following description taken in conjunction with the accompanying drawings illustrating the embodiments, wherein:

[0026] Figure 1 This is a flowchart illustrating a method for determining the static clearance distance of a wind turbine generator set according to an embodiment of the present disclosure;

[0027] Figure 2 This is a schematic diagram illustrating a sliding camera according to an embodiment of the present disclosure;

[0028] Figure 3 This is a diagram illustrating an image captured by a sliding camera according to an embodiment of the present disclosure;

[0029] Figure 4This is a flowchart illustrating a method for determining tower marker points of a wind turbine generator in captured images according to an embodiment of the present disclosure;

[0030] Figure 5 This is an illustration of an example of determining tower marker points of a wind turbine generator in a captured image according to an embodiment of the present disclosure;

[0031] Figure 6 This is a block diagram illustrating a static clearance distance determination device for a wind turbine generator set according to an embodiment of the present disclosure;

[0032] Figure 7 This is a block diagram illustrating a computing device according to an embodiment of the present disclosure. Detailed Implementation

[0033] The following detailed embodiments are provided to aid 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 become apparent upon understanding this disclosure. For example, the order of operations described herein is merely illustrative and is not limited to those orders set forth herein, but may be changed as will become clear upon understanding this disclosure, except for operations that must occur in a specific order. Furthermore, for clarity and conciseness, descriptions of features known in the art may be omitted.

[0034] 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 are provided only to illustrate some of the many feasible ways of implementing the methods, apparatus, and / or systems described herein, which will become clear upon understanding the disclosure of this application.

[0035] As used herein, the term “and / or” includes any one of the associated listed items and any combination of any two or more.

[0036] Although terms such as “first,” “second,” and “third” may be used herein to describe various components, assemblies, regions, layers, or parts, these components, assemblies, regions, layers, or parts should not be limited by these terms. Rather, these terms are used only to distinguish one component, assembly, region, layer, or part from another. Thus, without departing from the teaching of the examples described herein, the first component, first assembly, first region, first layer, or first part referred to as the first component, first assembly, first region, first layer, or first part may also be referred to as the second component, second assembly, second region, second layer, or second part.

[0037] In the specification, when an element (such as a layer, region, or substrate) is described as being "on" another element, "connected to," or "bonded to" another element, the element may be directly "on" another element, directly "connected to," or "bonded to" the other element, or one or more other elements may be present in between. Conversely, when an element is described as being "directly on" another element, "directly connected to," or "directly bonded to" another element, no other elements may be present in between.

[0038] The terminology used herein is for the purpose of describing various examples only and is not intended to limit disclosure. Unless the context clearly indicates otherwise, the singular form is intended to include the plural form as well. The terms “comprising,” “including,” and “having” indicate the presence of the described features, quantities, operations, components, elements, and / or combinations thereof, but do not preclude the presence or addition of one or more other features, quantities, operations, components, elements, and / or combinations thereof.

[0039] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains upon understanding this disclosure. Unless expressly defined herein, terms (such as those defined in a general dictionary) shall be interpreted as having a meaning consistent with their meaning in the context of the relevant field and in this disclosure, and shall not be interpreted in an idealized or overly formalistic manner.

[0040] Furthermore, in the description of the examples, detailed descriptions of well-known related structures or functions will be omitted when it is believed that such detailed descriptions would lead to a vague interpretation of this disclosure.

[0041] The method and apparatus for determining the static clearance distance of a wind turbine generator set according to embodiments of this disclosure can be used for wind turbine installation and re-inspection. During blade installation, the static clearance distance determination method and apparatus can be used to preliminarily check for potential problems after blade installation, such as imbalance of the three blades, significant differences between the static blade values ​​and design values, thus increasing the assurance of blade installation. During wind turbine re-inspection, the static clearance distance determination method and apparatus can be used to check for problems such as increased blade imbalance due to uneven stress after blade operation, and abnormal changes in static clearance, facilitating timely detection of problems during blade operation and thus preventing major accidents in advance.

[0042] The following reference Figures 1 to 7 A method and apparatus for determining the static clearance distance of a wind turbine generator set according to embodiments of the present disclosure are described in detail.

[0043] Figure 1This is a flowchart illustrating a method for determining the static clearance distance of a wind turbine generator set according to an embodiment of the present disclosure. The method for determining the static clearance distance of a wind turbine generator set according to an embodiment of the present disclosure can be implemented in a computing device with sufficient computing power.

[0044] Reference Figure 1 In step S101, images captured by a sliding camera installed at the base of the wind turbine tower can be obtained. Here, in order to accurately determine the static clearance distance, the images captured by the sliding camera can include at least the hub of the wind turbine and the tips of the vertically downward-pointing blades. The configuration and installation method of the sliding camera are described below.

[0045] Figure 2 This is a schematic diagram illustrating a sliding camera according to an embodiment of the present disclosure.

[0046] Reference Figure 2 The sliding camera may include a camera 201, a ground sliding rail 202, a sliding rail magnet 203, a level 204, and a support leg 205. The camera 201 is slidably mounted on the ground sliding rail 202. The sliding rail magnet 203 is located at one end of the ground sliding rail 202 for attaching to the tower of the wind turbine. The level 204 is used to detect the levelness of the camera 201. By adjusting the camera 201 based on the levelness detected by the level 204, the camera 201 can be kept level with the ground. When the camera 201 is level with the ground, the image captured by the camera 201 can be used to determine the static clearance distance of the wind turbine. The support leg 205 is positioned near the other end of the ground sliding rail 202 (i.e., the end without the sliding rail magnet 203) for supporting the ground sliding rail 202. Optionally, the support leg 205 may be telescopic. Furthermore, the slider camera may also include a magnet mount 206 for mounting the slider magnet 203, a camera mount 207 for mounting the camera 201 and the level 204, a latch 208 for securing the camera mount 207, and a handle 209 for adjusting the position and / or length of the support leg 205.

[0047] In order to determine the static clearance distance based on the images captured by camera 201, the sliding camera needs to be set up so that the wheel hub is centered in the image captured by the sliding camera. Figure 3 This is an illustration showing images captured by a slider camera according to an embodiment of the present disclosure. Figure 3 In this configuration, the hub is located at the center of the captured image. Thus, in the image captured by the sliding camera, the line extending vertically from the center point of the image is the tower centerline, and the tower marker point is located on the tower centerline. According to embodiments of this disclosure, by setting the sliding camera so that the hub is located at the center of the image captured by the sliding camera, the tower centerline can be accurately located, thereby accurately determining the tower marker point, and ultimately accurately determining the static clearance distance.

[0048] Return to reference Figure 1 In step S102, based on the parameters of the captured image and the physical parameters of the wind turbine generator set, the tower marker points of the wind turbine generator set can be determined in the captured image. Here, the image parameters may include the pixel coordinates of the two endpoints of a first virtual scale arranged on the hub and the pixel coordinates of the two endpoints of a second virtual scale arranged on the first tower weld, wherein the actual length of the first virtual scale is equal to the actual length of the second virtual scale. Optionally, the actual length of the first virtual scale can be, for example, the hub width. Furthermore, the physical parameters of the wind turbine generator set may include the hub height (or tower height), the height of the first tower weld, and the tip height of the vertically downward-facing blades. See below for further details. Figure 4 and Figure 5 This describes a method for identifying tower markers of wind turbine generators in captured images.

[0049] Figure 4 This is a flowchart illustrating a method for determining tower marker points of a wind turbine generator in an image captured according to an embodiment of the present disclosure.

[0050] Reference Figure 4 In step S401, the pixel coordinates of two points on the line containing the tower marker can be determined based on the pixel coordinates of the two endpoints of the first virtual scale, the pixel coordinates of the two endpoints of the second virtual scale, the hub height, the height of the first tower weld, and the blade tip height. Here, the line containing the tower marker is parallel to the first and second virtual scales, and the two points on the line containing the tower marker are the intersections of the line containing the tower marker with the lines connecting the first endpoint (e.g., the left endpoint) of the first virtual scale and the first endpoint (e.g., the left endpoint) of the second virtual scale, and the intersections of the lines connecting the second endpoint (e.g., the right endpoint) of the first virtual scale and the second endpoint (e.g., the right endpoint) of the second virtual scale.

[0051] Specifically, the pixel length of the first virtual ruler can be determined based on the pixel coordinates of its two endpoints, or the pixel length of the second virtual ruler can be determined based on the pixel coordinates of its two endpoints. Then, the pixel distance between two points on the line containing the tower marker can be determined based on the pixel length of the first or second virtual ruler, the hub height or the height of the first tower weld, and the blade tip height. Finally, the pixel coordinates of the two points on the line containing the tower marker can be determined based on the pixel distance between them and the relationship between the two points on the line containing the tower marker (i.e., the expression for the line containing the tower marker).

[0052] Next, in step S402, the pixel coordinates of the midpoint of the two points on the line where the tower marker point is located can be obtained based on the pixel coordinates of the two points on the line where the tower marker point is located.

[0053] In step S403, the midpoint of the two points on the line where the tower marker point is located can be determined as the tower marker point.

[0054] Figure 5 This is an illustration of an example of determining the tower marker points of a wind turbine generator in a captured image according to an embodiment of the present disclosure. The following is in conjunction with... Figure 4 and Figure 5 The method for identifying tower markers of wind turbine generators in captured images is described in detail.

[0055] like Figure 5 As shown, in the image captured by the sliding camera, the horizontal direction is defined as the x-axis, and the vertical direction as the y-axis. A′B′ is the first virtual scale, C′D′ is the second virtual scale, and G′H′ is the line where the tower marker point is located. According to an embodiment of this disclosure, A′B′ coincides with the hub edge, and C′D′ coincides with the first tower weld. Furthermore, OE is defined as the hub height, OF as the height of the first tower weld, and OI as the blade tip height. Thus, the pixel coordinates of the two endpoints of the first virtual scale and the two endpoints of the second virtual scale are known as A′(x... a y a ), B′(x b y b ), C′(x c y c ), D′(x d y d The pixel length of the first virtual ruler can be calculated using equation (1):

[0056]

[0057] The pixel distance between two points on the line where the tower marker is located can be calculated using equation (2):

[0058]

[0059] Then, the expression for G′H′ can be obtained based on the pixel coordinates of A′B′C′D′ (equivalent to the relationship between the two ends of the line where the tower marker point is located), and the pixel coordinates of G′ and H′ can be determined based on the expression for G′H′ and the pixel distance of G′H′.

[0060] According to embodiments of this disclosure, the relationship between the first endpoint of the first virtual ruler and the first endpoint of the second virtual ruler can be determined based on the pixel coordinates of the first endpoint of the first virtual ruler and the first endpoint of the second virtual ruler; the relationship between the second endpoint of the first virtual ruler and the second endpoint of the second virtual ruler can be determined based on the pixel coordinates of the second endpoint of the first virtual ruler and the second endpoint of the second virtual ruler; and the relationship between two points on the line where the tower marker point is located can be determined based on the relationship between the first endpoint of the first virtual ruler and the first endpoint of the second virtual ruler and the relationship between the second endpoint of the first virtual ruler and the second endpoint of the second virtual ruler.

[0061] Specifically, the expression for G′H′ based on the pixel coordinates of A′B′C′D′ can be achieved as follows:

[0062] Based on the coordinates A′(x) of A′C′ a y a ), C′(x c y c The expression for obtaining A′C′ is:

[0063]

[0064] Based on the coordinates B′D′, B′(x) b y b ), D′(x d y d The expression for obtaining B′D′ is:

[0065]

[0066] Since the slope of A′B' is Therefore, by combining equations (3) and (4), we can obtain the expression for G′H′:

[0067] y = k gh x+b gh =k ab x+b gh (5)

[0068] After obtaining the expression for G′H′, based on the expression for G′H′ and the pixel distance between G′H′, the pixel coordinates of G′ and H′ can be determined in the following way.

[0069] Let point G′(x) g y g On the line A′C′, y g =k ac x g +b ac Then there is

[0070] 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 (6)

[0072] Therefore, the expression for G′H’ can be represented as:

[0073] 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 (7)

[0074] Then, based on the expressions for B′D′ and G′H′ (17), the pixel coordinates of the intersection point H′ of B′D′ and G′H′ can be obtained.

[0075]

[0076]

[0077] Based on the pixel coordinates of G′ and H′ and the pixel distance c between G′ and h′, the following equation can be obtained:

[0078]

[0079] in,

[0080]

[0081]

[0082] The equation above can be used to obtain x. g :

[0083]

[0084] Based on obtaining x gFrom the above equations, we can obtain y in sequence. g x h y h This allows us to determine the pixel coordinates of G′ and H′.

[0085] Similar to equations (1) and (2), the pixel length of the second virtual scale can also be calculated, and the pixel distance between two points on the line where the tower marker point is located can also be calculated.

[0086] Return to reference Figure 1 In step S103, the static clearance distance of the wind turbine generator can be determined based on the tower marker point. As mentioned above, the static clearance distance refers to the clearance distance when a blade of the wind turbine generator is locked vertically downward. Specifically, the pixel distance between the tower marker point and the tip of the vertically downward blade can be determined first, then the actual distance corresponding to each unit pixel can be determined, and finally, the static clearance distance of the wind turbine generator can be determined based on the pixel distance between the tower marker point and the tip of the vertically downward blade and the actual distance corresponding to each unit pixel. According to embodiments of this disclosure, the actual distance corresponding to each unit pixel can be determined based on the hub width and its corresponding pixel width, hub height, and the tip height of the vertically downward blade.

[0087] For example, assuming the wheel hub width is L x The pixel width of the wheel hub is L x' If the hub height is OE and the blade tip height is OI, then the actual distance corresponding to a unit pixel can be determined by the following equation:

[0088]

[0089] Then, the static clearance of the wind turbine generator can be determined by the following equation:

[0090]

[0091] Among them, L c L represents the static clearance distance of a wind turbine generator. c' This represents the pixel distance between the tower marker and the tip of the vertically downward-pointing blade.

[0092] According to the method for determining the static clearance distance of wind turbine generators described above, tower marker points can be accurately identified in the image, and the static clearance distance can be precisely calculated based on these marker points, thus solving the problem of the lack of a method for determining static clearance distance in related fields. Furthermore, by accurately determining the static clearance distance, the method enables the consistency of blade installation after installation, thereby improving power generation. It also allows for the verification of blade wear during turbine re-inspection, preventing safety accidents caused by blade imbalance.

[0093] Figure 6 This is a block diagram illustrating a static clearance distance determination apparatus for a wind turbine generator set according to an embodiment of the present disclosure. The static clearance distance determination apparatus for a wind turbine generator set according to an embodiment of the present disclosure can be implemented in a computing device with sufficient computing power.

[0094] Reference Figure 6 According to an embodiment of the present disclosure, the static clearance distance determination device 600 for a wind turbine generator set may include an image acquisition unit 610, a tower marker point determination unit 620, and a static clearance distance determination unit 630.

[0095] The image acquisition unit 610 can acquire images taken by a rail camera mounted at the base of the wind turbine tower. As described above, the acquired images may include at least the hub of the wind turbine and the tips of the vertically downward-pointing blades.

[0096] Alternatively, refer to the above. Figure 2 The described sliding camera may include a camera, a ground sliding rail, a sliding rail magnet, a level, and support legs. The camera is slidably mounted on the ground sliding rail, the sliding rail magnet is located at one end of the ground sliding rail for attaching to the tower of the wind turbine, the level is used to detect the camera's levelness, and the support legs are located near the other end of the ground sliding rail for supporting the rail. Alternatively, the sliding camera can be positioned so that the hub of the turbine is centered in the image captured by the camera.

[0097] The tower marker point determination unit 520 can determine the tower marker points of the wind turbine generator in the captured image based on the parameters of the acquired image and the physical parameters of the wind turbine generator. Here, the image parameters may include the pixel coordinates of the two endpoints of a first virtual scale arranged on the hub and the pixel coordinates of the two endpoints of a second virtual scale arranged on the first tower weld, and the actual lengths of the first and second virtual scales are equal. The physical parameters of the wind turbine generator may include the hub height, the height of the first tower weld, and the tip height of the vertically downward-facing blades.

[0098] The tower marker point determination unit 620 can determine the pixel coordinates of two points on the line containing the tower marker point based on the pixel coordinates of the two endpoints of the first virtual scale, the pixel coordinates of the two endpoints of the second virtual scale, the hub height, the height of the first tower weld, and the blade tip height. Here, the line containing the tower marker point is parallel to the first and second virtual scales, and the two points on the line containing the tower marker point are the intersections of the line containing the tower marker point with the lines connecting the first endpoints of the first and second virtual scales, and the intersections of the lines connecting the second endpoints of the first and second virtual scales, respectively. Optionally, the tower marker point determination unit 620 can obtain the pixel coordinates of the midpoint of the two points on the line containing the tower marker point based on the pixel coordinates of the two points, and determine the obtained midpoint as the tower marker point.

[0099] The tower marker point determination unit 620 can also determine the pixel length of the first virtual scale based on the pixel coordinates of the two endpoints of the first virtual scale, or determine the pixel length of the second virtual scale based on the pixel coordinates of the two endpoints of the second virtual scale. Based on the pixel length of the first virtual scale or the pixel length of the second virtual scale, the hub height or the height of the first tower weld, and the blade tip height, it can determine the pixel distance between two points on the line where the tower marker point is located. Furthermore, based on the pixel distance between the two points on the line where the tower marker point is located and the relationship between the two points on the line where the tower marker point is located, it can determine the pixel coordinates of the two points on the line where the tower marker point is located.

[0100] As described above, the tower marker point determination unit 620 can determine the relationship between the first endpoint of the first virtual scale and the first endpoint of the second virtual scale based on the pixel coordinates of the first endpoint of the first virtual scale and the first endpoint of the second virtual scale. It can also determine the relationship between the second endpoint of the first virtual scale and the second endpoint of the second virtual scale based on the pixel coordinates of the second endpoint of the first virtual scale and the second endpoint of the second virtual scale. Furthermore, it can determine the relationship between two points on the line where the tower marker point is located based on the relationship between the first endpoint of the first virtual scale and the first endpoint of the second virtual scale, as well as the relationship between the second endpoint of the first virtual scale and the second endpoint of the second virtual scale.

[0101] The static clearance distance determination unit 630 can determine the static clearance distance of the wind turbine generator set based on the tower marker point. As mentioned above, the static clearance distance refers to the clearance distance when a blade of the wind turbine generator set is locked vertically downward. Further, the static clearance distance determination unit 630 can determine the pixel distance between the tower marker point and the tip of the vertically downward blade, determine the actual distance corresponding to each unit pixel, and determine the static clearance distance of the wind turbine generator set based on the pixel distance and the actual distance corresponding to each unit pixel. Optionally, the static clearance distance determination unit 630 can determine the actual distance corresponding to each unit pixel based on the hub width and its corresponding pixel width, hub height, and the tip height of the vertically downward blade.

[0102] Figure 7 This is a block diagram illustrating a computing device according to an embodiment of the present disclosure.

[0103] Reference Figure 7 The computing device 700 according to embodiments of the present disclosure may include a processor 710 and a memory 720. The processor 710 may include (but is not limited to) a central processing unit (CPU), a digital signal processor (DSP), a microcomputer, a field-programmable gate array (FPGA), a system-on-a-chip (SoC), a microprocessor, an application-specific integrated circuit (ASIC), etc. The memory 720 may store computer programs to be executed by the processor 710. The memory 720 includes high-speed random access memory and / or a non-volatile computer-readable storage medium. When the processor 710 executes the computer program stored in the memory 720, the static clearance distance determination method described above can be implemented.

[0104] The method for determining the static clearance distance of a wind turbine generator set according to embodiments of this disclosure can be programmed into a computer program and stored on a computer-readable storage medium. When the computer program is executed by a processor, the method for determining the static clearance distance of a wind turbine generator set as described above can be implemented. Examples of computer-readable storage media include: read-only memory (ROM), random access programmable read-only memory (PROM), electrically erasable programmable read-only memory (EEPROM), random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), flash memory, non-volatile memory, CD-ROM, CD-R, CD+R, CD-RW, CD+RW, DVD-ROM, DVD-R, DVD+R, DVD-RW, DVD+RW, DVD-RAM, BD-ROM, BD-R, BD-R LTH, BD-RE, Blu-ray or optical disc storage, hard disk drive (HDD), solid-state drive (SSD), card storage (such as multimedia cards, secure digital (SD) cards, or ultra-fast digital (XD) cards), magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid-state drive, and any other device configured to store a computer program and any associated data, data files, and data structures in a non-transitory manner and to provide the computer program and any associated data, data files, and data structures to a processor or computer so that the processor or computer can execute the computer program. In one example, the computer program and any associated data, data files, and data structures are distributed across a networked computer system, such that the computer program and any associated data, data files, and data structures are stored, accessed, and executed in a distributed manner through one or more processors or computers.

[0105] The static clearance distance determination method and apparatus according to embodiments of this disclosure can accurately determine tower marker points based on images captured by a camera installed at the base of a wind turbine tower, combined with the physical parameters of the wind turbine tower. Furthermore, based on the determined tower marker points, the static clearance distance can be precisely calculated, thus solving the problem that no method for determining static clearance distance exists in the related art. In addition, by accurately determining the static clearance distance, the static clearance distance determination method and apparatus according to embodiments of this disclosure can ensure the consistency of blade installation after blade hoisting, thereby improving power generation. Moreover, it can confirm the wear condition of the blades during wind turbine re-inspection, avoiding safety accidents caused by blade imbalance.

[0106] While some embodiments of this disclosure have been shown and described, those skilled in the art will understand that modifications may be made to these embodiments without departing from the principles and spirit of this disclosure, which are defined by the claims and their equivalents.

Claims

1. A method for determining the static clearance distance of a wind turbine generator set, characterized in that, The method for determining the static clearance distance includes: Acquire images taken by a sliding rail camera installed at the base of a wind turbine tower, wherein the images include at least the hub of the wind turbine and the tips of the vertically downward-pointing blades; Based on the parameters of the image and the physical parameters of the wind turbine generator, the tower identification point of the wind turbine generator is determined in the captured image. Based on the tower markers, the static clearance distance of the wind turbine generator set is determined. The static clearance distance refers to the clearance distance when a single blade of the wind turbine generator set is locked in a vertically downward orientation. The sliding camera is configured such that the wheel hub is located at the center of the image captured by the sliding camera. The image parameters include the pixel coordinates of the two endpoints of a first virtual scale arranged on the hub and the pixel coordinates of the two endpoints of a second virtual scale arranged on the first tower weld, wherein the actual length of the first virtual scale is equal to the actual length of the second virtual scale; the physical parameters include the hub height, the height of the first tower weld, and the tip height of the vertically downward-pointing blades. The step of determining the tower marker point of the wind turbine generator in the captured image based on the parameters of the image and the physical parameters of the wind turbine generator includes: Based on the pixel coordinates of the two endpoints of the first virtual scale, the pixel coordinates of the two endpoints of the second virtual scale, the hub height, the height of the first tower weld, and the blade tip height, the pixel coordinates of two points on the line where the tower marker point is located are determined. The line where the tower marker point is located is parallel to the first and second virtual scales. The two points on the line where the tower marker point is located are the intersections of the line where the tower marker point is located with the lines connecting the first endpoint of the first virtual scale and the first endpoint of the second virtual scale, and the intersections of the lines connecting the second endpoint of the first virtual scale and the second endpoint of the second virtual scale, respectively. Based on the pixel coordinates of the two points on the line where the tower marker is located, the pixel coordinates of the midpoint of the two points on the line where the tower marker is located are obtained. The midpoint is designated as the tower identification point. The steps for determining the pixel coordinates of two points on the line where the tower marker point is located, based on the pixel coordinates of the two endpoints of the first virtual scale, the pixel coordinates of the two endpoints of the second virtual scale, the hub height, the height of the first tower weld, and the blade tip height, include: The pixel length of the first virtual ruler is determined based on the pixel coordinates of the two endpoints of the first virtual ruler, or the pixel length of the second virtual ruler is determined based on the pixel coordinates of the two endpoints of the second virtual ruler. Based on the pixel length of the first virtual scale or the pixel length of the second virtual scale, the hub height or the height of the first tower weld, and the blade tip height, determine the pixel distance between the two points on the line where the tower marker point is located; Based on the pixel distance between the two points on the line where the tower marker is located and the relationship between the two points on the line where the tower marker is located, the pixel coordinates of the two points on the line where the tower marker is located are determined.

2. The method for determining static clearance distance as described in claim 1, characterized in that, The sliding camera includes: camera; The camera is slidably mounted on a ground slide rail. A sliding rail magnet is installed at one end of a ground sliding rail and is used to attach to the tower of the wind turbine generator. A level is used to check the levelness of a camera. The outrigger is positioned at the other end of the ground slide rail to support it.

3. The method for determining static clearance distance as described in claim 1, characterized in that, Based on the pixel coordinates of the first endpoint of the first virtual ruler and the first endpoint of the second virtual ruler, the relationship between the first endpoint of the first virtual ruler and the first endpoint of the second virtual ruler is determined; Based on the pixel coordinates of the second endpoints of the first virtual ruler and the second endpoints of the second virtual ruler, the relationship between the second endpoints of the first virtual ruler and the second virtual ruler is determined; based on the relationship between the first endpoint of the first virtual ruler and the first endpoint of the second virtual ruler, and the relationship between the second endpoints of the first virtual ruler and the second endpoints of the second virtual ruler, the relationship between the two points on the line where the tower marker point is located is determined.

4. The method for determining static clearance distance as described in any one of claims 1-3, characterized in that, The steps for determining the static clearance distance of a wind turbine generator based on tower markers include: Determine the pixel distance between the tower marker and the tip of the vertically downward-pointing blade; Determine the actual distance corresponding to each unit pixel; Based on the pixel distance and the actual distance corresponding to each pixel, the static clearance distance of the wind turbine generator is determined.

5. The method for determining static clearance distance as described in claim 4, characterized in that, The steps to determine the actual distance corresponding to a unit pixel include: Based on the hub width and its corresponding pixel width, hub height, and blade tip height of the vertically downward-pointing blades, the actual distance corresponding to a unit pixel is determined.

6. A device for determining the static clearance distance of a wind turbine generator set, characterized in that, The static clearance distance determination device includes: The image acquisition unit is configured to acquire images taken by a sliding rail camera installed at the base of a wind turbine tower, wherein the images include at least the hub of the wind turbine and the tips of the vertically downward-pointing blades. The tower identification point determination unit is configured to: determine the tower identification point of the wind turbine generator in the captured image based on the parameters of the image and the physical parameters of the wind turbine generator; The static clearance distance determination unit is configured to determine the static clearance distance of the wind turbine generator set based on tower marker points. The static clearance distance refers to the clearance distance when a blade of the wind turbine generator set is locked vertically downwards. The sliding camera is configured such that the wheel hub is located at the center of the image captured by the sliding camera. The image parameters include the pixel coordinates of the two endpoints of a first virtual scale arranged on the hub and the pixel coordinates of the two endpoints of a second virtual scale arranged on the first tower weld, wherein the actual length of the first virtual scale is equal to the actual length of the second virtual scale; the physical parameters include the hub height, the height of the first tower weld, and the tip height of the vertically downward-pointing blades. The tower identification point determination unit is further configured as follows: Based on the pixel coordinates of the two endpoints of the first virtual scale, the pixel coordinates of the two endpoints of the second virtual scale, the hub height, the height of the first tower weld, and the blade tip height, the pixel coordinates of two points on the line where the tower marker point is located are determined. The line where the tower marker point is located is parallel to the first and second virtual scales. The two points on the line where the tower marker point is located are the intersections of the line where the tower marker point is located with the lines connecting the first endpoint of the first virtual scale and the first endpoint of the second virtual scale, and the intersections of the lines connecting the second endpoint of the first virtual scale and the second endpoint of the second virtual scale, respectively. Based on the pixel coordinates of the two points on the line where the tower marker is located, the pixel coordinates of the midpoint of the two points on the line where the tower marker is located are obtained. The midpoint is designated as the tower identification point. The tower identification point determination unit is further configured as follows: The pixel length of the first virtual ruler is determined based on the pixel coordinates of the two endpoints of the first virtual ruler, or the pixel length of the second virtual ruler is determined based on the pixel coordinates of the two endpoints of the second virtual ruler. Based on the pixel length of the first virtual scale or the pixel length of the second virtual scale, the hub height or the height of the first tower weld, and the blade tip height, determine the pixel distance between the two points on the line where the tower marker point is located; Based on the pixel distance between the two points on the line where the tower marker is located and the relationship between the two points on the line where the tower marker is located, the pixel coordinates of the two points on the line where the tower marker is located are determined.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the static clearance distance determination method as described in any one of claims 1 to 5.

8. A computing device, characterized in that, The computing device includes: processor; and The memory stores a computer program that, when executed by a processor, implements the static clearance distance determination method as described in any one of claims 1 to 5.

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