Wind turbine blade detection method, device, system, equipment and medium

Abstract

This application provides a method, apparatus, system, equipment, and medium for inspecting wind turbine blades. The method includes: acquiring first point cloud data of the leading edge surface of the blade, the first point cloud data including the spatial coordinates of multiple points on the leading edge surface of the blade; determining the deformation parameters of the leading edge surface of the blade based on the first point cloud data and pre-acquired second point cloud data of the leading edge surface of a reference blade, the second point cloud data including the spatial coordinates of multiple points on the leading edge surface of the reference blade; and determining the inspection result of the wind turbine blade based on the deformation parameters of the leading edge surface of the blade. This application can achieve wind turbine blade inspection while reducing the cost of blade inspection.

Description

Technical Field

[0001] The present application belongs to the field of wind power generation technology, and in particular, relates to a blade detection method, device, system, equipment and medium for a wind turbine generator set. Background Art

[0002] With the rapid development of new energy technologies, wind energy, as an important renewable energy source, has been increasingly used.

[0003] As the core component of a wind turbine, the life and safety of the blade directly affect the life and safety of the entire wind turbine. Downtime caused by blade failure usually requires a long maintenance time, which brings huge economic losses to the wind farm. The maintenance and repair of blade failure will greatly increase the manpower and material operation and maintenance costs of the wind farm, which is not conducive to the sustainable and healthy development of the wind power industry. Therefore, blade inspection is particularly important. Summary of the invention

[0004] The embodiments of the present application provide a method, device, system, equipment and medium for detecting blades of a wind turbine generator set, which can realize blade detection of the wind turbine generator set at a relatively low cost.

[0005] In a first aspect, an embodiment of the present application provides a method for detecting blades of a wind turbine generator set, the method comprising: acquiring first point cloud data of a leading edge surface of the blade, the first point cloud data comprising spatial position coordinates of a plurality of points on the leading edge surface of the blade; determining deformation parameters of the leading edge surface of the blade according to the first point cloud data and second point cloud data of a leading edge surface of a pre-acquired reference blade, the second point cloud data comprising spatial position coordinates of a plurality of points on the leading edge surface of the reference blade; determining detection results of the blades of the wind turbine generator set according to the deformation parameters of the leading edge surface of the blade.

[0006] According to an implementation scheme of the first aspect of the present application, the deformation parameters of the leading edge surface of the blade are determined based on the first point cloud data and the second point cloud data of the leading edge surface of the reference blade acquired in advance, specifically including: converting the first point cloud data and the second point cloud data to the same grid point coordinate system to obtain gridded first point cloud data and gridded second point cloud data; calculating the difference between the spatial position coordinates of multiple points in the gridded first point cloud data and the spatial position coordinates of multiple points in the gridded second point cloud data to obtain the deformation variables of the multiple points on the leading edge surface of the blade; the deformation parameters of the leading edge surface include the deformation variables of the multiple points on the leading edge surface.

[0007] In this way, by converting the first point cloud data and the second point cloud data to the same grid point coordinate system, and making a difference between the first point cloud data and the second point cloud data, the deformation variables of multiple points on the leading edge surface of the blade (i.e., the deformation parameters of the leading edge surface of the blade) are obtained. On the one hand, since the deformation parameters of the leading edge surface of the blade are calculated in the same coordinate system (standard), the accuracy of the deformation parameters of the leading edge surface of the blade can be guaranteed; on the other hand, after converting the first point cloud data and the second point cloud data to the same grid point coordinate system, the deformation variables of multiple points on the leading edge surface of the blade can be obtained at the same time, thereby shortening the calculation time and improving the calculation rate.

[0008] According to any of the aforementioned embodiments of the first aspect of the present application, the difference between the spatial position coordinates of multiple points in the gridded first point cloud data and the spatial position coordinates of multiple points in the gridded second point cloud data is calculated to obtain the deformation variables of multiple points on the leading edge surface of the blade, specifically including: taking the spatial position coordinates of the point on the leading edge surface of the blade where the tip is located in the gridded first point cloud data as the first target spatial position coordinates, taking the spatial position coordinates of the point on the leading edge surface of the reference blade where the tip is located in the gridded second point cloud data as the second target spatial position coordinates, and calculating the difference between the first target spatial position coordinates and the second target spatial position coordinates; for any i-th point among the multiple points on the leading edge surface of the blade, taking the spatial position coordinates in the gridded first point cloud data that are a preset distance threshold away from the first target spatial position coordinates as the first spatial position coordinates of the i-th point, taking the spatial position coordinates in the gridded second point cloud data that are a preset distance threshold away from the second target spatial position coordinates as the second spatial position coordinates of the i-th point, calculating the difference between the first spatial position coordinate of the i-th point and the second spatial position coordinate of the i-th point, and obtaining the deformation variable of the i-th point.

[0009] In this way, the coordinates of the blade tip are used as the coordinate reference benchmark, and the preset distance threshold is used as the distance reference benchmark to determine the one-to-one correspondence between the spatial position coordinates of multiple points in the first point cloud data and the spatial position coordinates of multiple points in the second point cloud data. Therefore, when calculating the deformation variable of the i-th point, it can be ensured that it is based on the spatial position coordinates of the i-th point in the first point cloud data and the spatial position coordinates of the same i-th point in the second point cloud data, thereby ensuring the accuracy of the deformation variables of multiple points on the leading edge surface of the blade.

[0010] According to any of the aforementioned embodiments of the first aspect of the present application, the deformation parameters include a first deformation parameter of the leading edge surface of the blade perpendicular to the windward surface of the blade; based on the deformation parameters of the leading edge surface of the blade, the detection results of the blades of the wind turbine generator set are determined, specifically including: based on the first deformation parameters, determining the target deformation parameters of the entire blade perpendicular to the windward surface of the blade; based on the target deformation parameters, determining the load borne by the blade.

[0011] In this way, the embodiment of the present application can obtain the deformation parameters of the entire blade on the windward side perpendicular to the blade based on the deformation parameters of the leading edge surface of the blade, so that maintenance personnel can timely understand the deformation of the entire blade. Furthermore, the load borne by the blade can also be obtained based on the deformation parameters of the entire blade on the windward side perpendicular to the blade, so as to prevent the blade from breaking due to abnormal load and the occurrence of blade sweeping tower accidents.

[0012] According to any of the aforementioned embodiments of the first aspect of the present application, the target deformation parameter of the entire blade on the windward surface perpendicular to the blade is determined based on the first deformation parameter, specifically including: obtaining the target deformation parameter corresponding to the first deformation parameter based on the first corresponding relationship and the first deformation parameter; wherein the first corresponding relationship is the corresponding relationship between the deformation parameter of the leading edge surface of the blade perpendicular to the windward surface of the blade and the deformation parameter of the entire blade perpendicular to the windward surface of the blade.

[0013] In this way, based on the pre-established first correspondence between the deformation parameters of the leading edge surface of the blade and the deformation parameters of the entire blade on the windward surface perpendicular to the blade, the target deformation parameters of the entire blade on the windward surface perpendicular to the blade corresponding to the first deformation parameters can be quickly determined, which can reduce the amount of calculation during real-time calculation and improve the processing speed.

[0014] According to any of the aforementioned embodiments of the first aspect of the present application, the target deformation parameters include the deformation amounts of multiple points on the blade surface perpendicular to the windward surface of the blade; based on the target deformation parameters, the load borne by the blade is determined, specifically including: obtaining the load borne by multiple points on the blade surface based on a pre-established second corresponding relationship between the deformation amount and the load and the deformation amounts of multiple points on the blade surface perpendicular to the windward surface of the blade.

[0015] In this way, based on the pre-established second correspondence between the deformation amount and the load, the load borne by the multiple points on the blade surface corresponding to the deformation amount of the multiple points on the blade surface can be quickly determined, which can reduce the amount of calculation during real-time calculation and improve the processing speed.

[0016] According to any of the aforementioned embodiments of the first aspect of the present application, the deformation parameters include a first deformation parameter of the leading edge surface of the blade perpendicular to the windward surface of the blade; based on the deformation parameters of the leading edge surface of the blade, the detection results of the blades of the wind turbine generator set are determined, specifically including: determining the clearance distance of the blade based on the first deformation parameter.

[0017] In this way, the embodiment of the present application can obtain the clearance distance of the blade based on the deformation parameters of the leading edge surface of the blade, thereby achieving clearance protection of the blade and preventing the blade from colliding with the tower.

[0018] According to any of the aforementioned embodiments of the first aspect of the present application, the first deformation parameter includes a first deformation amount of a plurality of points on the leading edge surface of the blade perpendicular to the windward surface of the blade when the tip of the blade is downward and perpendicular to the ground; according to the first deformation parameter, the clearance distance of the blade is determined, specifically including: obtaining the maximum deformation amount among the plurality of first deformation amounts; calculating the sum or difference between a predetermined initial clearance distance and the maximum deformation amount to obtain the clearance distance of the blade, the initial clearance distance being the distance between the tip of the blade and the tower of the wind turbine when the blade is not deformed and is not under load.

[0019] In this way, the embodiment of the present application can determine the maximum deformation variable (i.e., the deformation variable of the blade tip) based on multiple first deformation variables when the blade tip is downward and perpendicular to the ground, and then accurately and quickly obtain the clearance distance of the blade based on the difference or sum of the initial clearance distance when the blade is not deformed and is not under load and the maximum deformation variable.

[0020] According to any of the aforementioned embodiments of the first aspect of the present application, the deformation parameters include a second deformation parameter of the leading edge surface of the blade parallel to the windward surface of the blade; based on the deformation parameters of the leading edge surface of the blade, the detection results of the blades of the wind turbine generator set are determined, specifically including: determining the ice thickness and / or ice range on the leading edge of the blade based on the second deformation parameter.

[0021] In this way, the embodiment of the present application can obtain the ice thickness and / or ice range of the leading edge of the blade based on the deformation parameters of the leading edge surface of the blade, so that maintenance personnel can timely understand the ice condition of the leading edge of the blade, and then protect the wind turbine generator set when the ice is more serious.

[0022] According to any of the aforementioned embodiments of the first aspect of the present application, the second deformation parameter includes the second deformation amount of multiple points on the leading edge surface of the blade parallel to the windward surface of the blade; based on the second deformation parameter, determining the ice thickness and / or ice range on the leading edge of the blade, specifically including: obtaining the first N second deformation amounts in order from large to small, where N is a positive integer; determining the ice thickness on the leading edge of the blade based on the first N second deformation amounts.

[0023] In this way, by selecting the largest first N second deformation variables, for example, calculating the average, median or mode of the first N second deformation variables to obtain the ice thickness on the leading edge of the blade, it is possible to avoid errors in the obtained ice thickness due to errors in a few second deformation variables, thereby ensuring the accuracy of the ice thickness on the leading edge of the blade.

[0024] According to any of the aforementioned embodiments of the first aspect of the present application, the second deformation parameter includes a second deformation amount of multiple points on the leading edge surface of the blade parallel to the windward surface of the blade; based on the second deformation parameter, determining the ice thickness and / or ice range on the leading edge of the blade, specifically including: obtaining the number of grids in the gridded first point cloud data where the spatial position coordinates of the second deformation amount are greater than a preset threshold; determining the ice range on the leading edge of the blade based on the number of grids obtained and the area of ​​the predetermined grids.

[0025] In this way, since the ice on the leading edge of the blade is usually irregular in shape, it is difficult to calculate the ice range / ice area on the leading edge of the blade. However, this problem can be solved by dividing into multiple grids and counting the number of grids where the spatial position coordinates of the second deformation amount are greater than the preset threshold and the area based on the grid, so that the ice range / ice area on the leading edge of the blade can be accurately calculated.

[0026] According to any of the aforementioned embodiments of the first aspect of the present application, first point cloud data of the leading edge surface of the blade is acquired by a laser radar, and the laser radar is installed on a rotating component that rotates synchronously with the blades of the wind turbine generator set.

[0027] According to any of the aforementioned embodiments of the first aspect of the present application, the rotating component includes a hub or a fairing.

[0028] In a second aspect, an embodiment of the present application provides a blade detection device for a wind turbine generator set, the device comprising: an acquisition module, used to acquire first point cloud data of the leading edge surface of the blade, the first point cloud data including the spatial position coordinates of multiple points on the leading edge surface of the blade; a first determination module, used to determine the deformation parameters of the leading edge surface of the blade based on the first point cloud data and second point cloud data of the leading edge surface of a pre-acquired reference blade, the second point cloud data including the spatial position coordinates of multiple points on the leading edge surface of the reference blade; a second determination module, used to determine the detection result of the blade of the wind turbine generator set based on the deformation parameters of the leading edge surface of the blade.

[0029] In a third aspect, an embodiment of the present application provides a controller for a wind turbine generator set, the controller of the wind turbine generator set comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps of the blade detection method for the wind turbine generator set provided in the first aspect are implemented.

[0030] In a fourth aspect, an embodiment of the present application provides a blade detection system for a wind turbine generator set, comprising a blade detection device of a wind turbine generator set as provided in the second aspect or a controller of a wind turbine generator set as provided in the third aspect, and a collection device; the collection device is used to collect and generate first point cloud data of the leading edge surface of the blade, and send the first point cloud data to an acquisition module, and the collection device is installed on a rotating component that rotates synchronously with the blades of the wind turbine generator set.

[0031] According to any of the aforementioned embodiments of the fourth aspect of the present application, the collection device includes a laser radar, and the rotating component includes a hub or a fairing.

[0032] In a fifth aspect, an embodiment of the present application provides a wind turbine generator set, the wind turbine generator set comprising blades; a rotating component, the rotating component rotates synchronously with the blades; and a blade detection system for the wind turbine generator set as provided in the fourth aspect.

[0033] According to any of the aforementioned embodiments of the fifth aspect of the present application, the blade detection system includes three blades and at least three acquisition devices, the acquisition devices are installed on a rotating component and remain relatively stationary with the blades, each blade corresponds to at least one acquisition device, and the acquisition device corresponding to each blade is configured to obtain first point cloud data of the leading edge surface of the corresponding blade.

[0034] According to any of the aforementioned embodiments of the fifth aspect of the present application, the blade detection system also includes three blade position proximity switches, which correspond one-to-one to the three blades of the wind turbine generator set, and each blade position proximity switch is configured to output a trigger signal when the tip of the corresponding blade is downward and perpendicular to the ground; the acquisition device is specifically configured to obtain first point cloud data of the leading edge surface of the blade when receiving the trigger signal sent by the blade position proximity switch.

[0035] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the blade detection method for a wind turbine generator set as provided in the first aspect are implemented.

[0036] The blade detection method, device, system, equipment and medium of the wind turbine generator set of the embodiment of the present application, the blade detection method of the wind turbine generator set includes: obtaining first point cloud data of the leading edge surface of the blade, the first point cloud data including the spatial position coordinates of multiple points on the leading edge surface of the blade; determining the deformation parameters of the leading edge surface of the blade according to the first point cloud data and the second point cloud data of the leading edge surface of the reference blade acquired in advance, the second point cloud data including the spatial position coordinates of multiple points on the leading edge surface of the reference blade; determining the detection result of the blade of the wind turbine generator set according to the deformation parameters of the leading edge surface of the blade. The scheme of the embodiment of the present application does not need to install more sensors and other acquisition equipment on the wind turbine generator set, but detects the blade of the wind turbine generator set based on the first point cloud data of the leading edge surface of the blade and the second point cloud data of the leading edge surface of the reference blade, so that the cost of blade detection can be reduced while realizing the blade detection of the wind turbine generator set. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0038] Figure 1 A schematic diagram of a flow chart of a blade detection method for a wind turbine generator set provided in an embodiment of the present application;

[0039] Figure 2 A schematic diagram of the structure of a wind turbine generator set provided in an embodiment of the present application;

[0040] Figure 3 for Figure 1 A schematic flow chart of step S102 in the blade detection method of a wind turbine generator set shown;

[0041] Figure 4 for Figure 3 A schematic flow chart of step S302 in the blade detection method of a wind turbine generator set shown;

[0042] Figure 5 A schematic front view of a blade of a wind turbine generator set provided in an embodiment of the present application;

[0043] Figure 6 A schematic diagram of the structure of a wind turbine generator set provided in an embodiment of the present application;

[0044] Figure 7 A schematic side view of a blade of a wind turbine generator set provided in an embodiment of the present application when not bearing a load;

[0045] Figure 8A schematic side view of a blade of a wind turbine generator set provided in an embodiment of the present application when under load;

[0046] Fig. 9 for Figure 1 A schematic flow chart of step S103 in the blade detection method of a wind turbine generator set shown;

[0047] Fig.10 A schematic diagram of the structure of a wind turbine generator set provided in an embodiment of the present application;

[0048] Fig.11 for Figure 1 A schematic flow chart of step S103 in the blade detection method of a wind turbine generator set shown;

[0049] Fig.12 A front view schematic diagram of ice forming on the leading edge of a blade of a wind turbine generator set provided in an embodiment of the present application;

[0050] Fig.13 for Figure 1 A schematic flow chart of step S103 in the blade detection method of a wind turbine generator set shown;

[0051] Fig.14 A schematic diagram of a structure of a blade detection device for a wind turbine generator set provided in an embodiment of the present application;

[0052] Fig.15 A schematic diagram of the structure of a controller of a wind turbine generator set provided in an embodiment of the present application;

[0053] Fig.16 A schematic diagram of the structure of a wind turbine generator set provided in an embodiment of the present application;

[0054] Fig.17 A schematic structural diagram of a blade detection system for a wind turbine generator set provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0056] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0057] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0058] Before describing the technical solutions provided by the embodiments of the present application, in order to facilitate the understanding of the embodiments of the present application, the present application first specifically describes the problems existing in the prior art:

[0059] As mentioned above, blades are the core components of wind turbines, so blade inspection is particularly important. Especially as the impeller diameter and blade size of wind turbines are getting larger and larger, the larger swept area and impeller diameter not only improve power transmission, but also pose arduous operation and maintenance challenges to the safe operation of wind turbines. As blades continue to grow in size and cost investment continues to increase, reliability monitoring of the structural health of blades is particularly important.

[0060] The embodiments of the present application provide a method, device, system, equipment and medium for detecting blades of a wind turbine generator set, which can realize blade detection of the wind turbine generator set at a relatively low cost.

[0061] The technical concept of the embodiments of the present application is to detect the blades of a wind turbine based on first point cloud data of the leading edge surface of the blade and second point cloud data of the leading edge surface of a reference blade, thereby enabling blade detection of the wind turbine without installing a large number of sensors on the wind turbine, thereby enabling the cost of blade detection to be reduced while achieving blade detection of the wind turbine.

[0062] The following first introduces the blade detection method of the wind turbine generator set provided in the embodiment of the present application.

[0063] like Figure 1 As shown, the blade detection method of the wind turbine generator set provided in the embodiment of the present application includes the following steps:

[0064] S101, acquiring first point cloud data of the leading edge surface of the blade, the first point cloud data including spatial position coordinates of a plurality of points on the leading edge surface of the blade;

[0065] S102, determining deformation parameters of the leading edge surface of the blade according to the first point cloud data and second point cloud data of the leading edge surface of the reference blade acquired in advance, the second point cloud data including spatial position coordinates of a plurality of points on the leading edge surface of the reference blade;

[0066] S103: Determine the detection result of the blade of the wind turbine generator set according to the deformation parameters of the leading edge surface of the blade.

[0067] The specific implementation of the above steps will be described in detail below.

[0068] The blade detection method of the wind turbine generator set in the embodiment of the present application first obtains the first point cloud data of the leading edge surface of the blade, the first point cloud data includes the spatial position coordinates of multiple points on the leading edge surface of the blade; then, according to the first point cloud data and the second point cloud data of the leading edge surface of the reference blade acquired in advance, the deformation parameters of the leading edge surface of the blade are determined, the second point cloud data includes the spatial position coordinates of multiple points on the leading edge surface of the reference blade; finally, according to the deformation parameters of the leading edge surface of the blade, the detection result of the blade of the wind turbine generator set is determined. The scheme of the embodiment of the present application does not need to install a large number of sensors and other acquisition equipment on the wind turbine generator set, but detects the blade of the wind turbine generator set based on the first point cloud data of the leading edge surface of the blade and the second point cloud data of the leading edge surface of the reference blade, so that the cost of blade detection can be reduced while realizing the blade detection of the wind turbine generator set.

[0069] The specific implementation methods of the above steps are introduced below.

[0070] First, S101 is introduced, where first point cloud data of the leading edge surface of the blade is obtained. The first point cloud data includes spatial position coordinates of a plurality of points on the leading edge surface of the blade.

[0071] Specifically, the first point cloud data of the leading edge surface of the blade can be obtained by, for example, a collection device installed on a wind turbine. Exemplarily, the collection device includes but is not limited to a laser radar, and can also be other devices / equipment capable of collecting point cloud data. Taking a laser radar as an example, a laser radar can usually detect physical quantities such as the shape of an object, the distance of an object, the displacement size of an object, the size of a shape change, and the moving speed at a certain distance, and the measurement accuracy can reach the millimeter level. The laser radar can perform a laser scan on the leading edge surface of the blade and receive the first point cloud data generated during the scanning process. It is easy to understand that the data of each point in the first point cloud data can be a spatial position coordinate, such as a (x, y, z) three-dimensional coordinate.

[0072] In some embodiments, the position of the laser radar and the blade can remain relatively still, so as to facilitate accurate acquisition of the first point cloud data of the leading edge surface of the blade. Specifically, the laser radar can be installed on the rotating part of the wind turbine generator set, and the rotating part can rotate synchronously with the blade. Exemplarily, the rotating part may include a hub and / or a fairing. In this way, by installing the acquisition device (such as a laser radar) on the rotating part of the wind turbine generator set, on the one hand, it can be ensured that the position of the acquisition device and the blade remains relatively still, so as to facilitate accurate acquisition of the first point cloud data of the leading edge surface of the blade; on the other hand, since the acquisition device is not directly installed on the blade, it has no effect on the blade structure and will not affect the lightning protection characteristics of the blade.

[0073] Since a wind turbine generator set generally includes three blades, in order to facilitate the detection of each blade, in some embodiments, the wind turbine generator set may include at least three acquisition devices, each blade corresponds to at least one acquisition device, and the acquisition device corresponding to each blade is configured to obtain the first point cloud data of the leading edge surface of the corresponding blade. Figure 2 As shown, taking the acquisition device as a laser radar as an example, the wind turbine generator set 20 may include three blades 201, three laser radars 202, a deflector 203 and a hub (not shown in the figure). Figure 2The dotted line 204 in the figure is the scanning line (or scanning path) of the laser radar 202. The three laser radars 202 can be installed on the fairing 203 and / or the hub, and each laser radar 202 can remain relatively still with the corresponding blade 201. The first laser radar 202 corresponds to the first blade 201, and the first laser radar 202 is used to obtain the first point cloud data of the leading edge surface of the first blade 201; the second laser radar 202 corresponds to the second blade 201, and the second laser radar 202 is used to obtain the first point cloud data of the leading edge surface of the second blade 201; the third laser radar 202 corresponds to the third blade 201, and the third laser radar 202 is used to obtain the first point cloud data of the leading edge surface of the third blade 201. In this way, the detection of the three blades of the wind turbine can be achieved.

[0074] Of course, considering the cost, it is also possible to install only a collection device corresponding to one or two blades of the wind turbine generator set, that is, only detect any one or two blades of the wind turbine generator set, and the embodiment of the present application is not limited to this.

[0075] The above is a specific implementation of S101. The following describes a specific implementation of S102.

[0076] S102, determining deformation parameters of the leading edge surface of the blade according to the first point cloud data and second point cloud data of the leading edge surface of the reference blade acquired in advance, the second point cloud data including spatial position coordinates of a plurality of points on the leading edge surface of the reference blade.

[0077] Among them, the reference blade can also be called a standard blade or a blade in an ideal state. For example, when detecting the load or clearance distance of the blade, the reference blade can be a blade that is not deformed and not under load. For example, when detecting the icing condition on the blade, the reference blade can be a blade that is not frozen. Of course, the reference blade can also be a blade that is neither deformed nor under load and is not frozen. In addition, the reference blade can be a blade of the same model as the blade measured in S101, for example, the reference blade can be a blade from the same production batch as the blade measured in S101.

[0078] It is easy to understand that the second point cloud data of the leading edge surface of the reference blade can be pre-acquired by an acquisition device (such as a laser radar). It is easy to understand that the data of each point in the second point cloud data can be a spatial position coordinate, such as a (x, y, z) three-dimensional coordinate. It should be noted that in order to reduce the amount of subsequent calculations, the relative position relationship between the acquisition device and the reference blade can be made the same as the relative position relationship between the acquisition device and the blade during actual measurement. In other words, the acquisition device can acquire the first point cloud data of the blade and the second point cloud data of the reference blade at the same angle and the same distance.

[0079] After obtaining the first point cloud data and the second point cloud data of the leading edge surface of the reference blade, the deformation parameters of the leading edge surface of the blade can be determined by comparing the first point cloud data and the second point cloud data. The deformation parameters of the leading edge surface of the blade can include deformation amounts of multiple points on the leading edge surface of the blade.

[0080] like Figure 3 As shown, according to some embodiments of the present application, optionally, S102 may specifically include the following steps S301 and S302.

[0081] S301, converting the first point cloud data and the second point cloud data into the same grid point coordinate system to obtain gridded first point cloud data and gridded second point cloud data.

[0082] Specifically, the collected first point cloud data and the second point cloud data can be gridded, that is, the first point cloud data and the second point cloud data are converted to the same grid point coordinate system, so as to facilitate the subsequent calculation of deformation parameters. It should be noted that the embodiment of the present application does not limit the algorithm or method used for gridding, as long as the first point cloud data and the second point cloud data can be converted to the same grid point coordinate system, and the algorithm can include, for example, the algorithm in the data model software (such as UG).

[0083] S302, calculating the difference between the spatial position coordinates of multiple points in the gridded first point cloud data and the spatial position coordinates of multiple points in the gridded second point cloud data, and obtaining the deformation amounts of the multiple points on the leading edge surface of the blade.

[0084] Specifically, after obtaining the gridded first point cloud data and the gridded second point cloud data, the spatial position coordinates of multiple points in the gridded first point cloud data are subtracted from the spatial position coordinates of multiple points in the gridded second point cloud data to obtain the deformation amounts of multiple points on the leading edge surface of the blade.

[0085] In this way, by converting the first point cloud data and the second point cloud data to the same grid point coordinate system, and making a difference between the first point cloud data and the second point cloud data, the deformation variables of multiple points on the leading edge surface of the blade (i.e., the deformation parameters of the leading edge surface of the blade) are obtained. On the one hand, since the deformation parameters of the leading edge surface of the blade are calculated in the same coordinate system (standard), the accuracy of the deformation parameters of the leading edge surface of the blade can be guaranteed; on the other hand, after converting the first point cloud data and the second point cloud data to the same grid point coordinate system, the deformation variables of multiple points on the leading edge surface of the blade can be obtained at the same time, thereby shortening the calculation time and improving the calculation rate.

[0086] like Figure 4 As shown, according to some embodiments of the present application, optionally, S302 may specifically include the following steps S401 and S402.

[0087] S401. The spatial position coordinates of the point on the leading edge surface of the blade where the blade tip is located in the gridded first point cloud data are used as the first target spatial position coordinates, and the spatial position coordinates of the point on the leading edge surface of the reference blade where the blade tip is located in the gridded second point cloud data are used as the second target spatial position coordinates, and the difference between the first target spatial position coordinates and the second target spatial position coordinates is calculated.

[0088] Specifically, in order to accurately determine the correspondence between each spatial position coordinate in the gridded first point cloud data and each spatial position coordinate in the gridded second point cloud data, the first target spatial position coordinate of the point where the blade tip is located can be found from the first point cloud data, and the second target spatial position coordinate of the point where the blade tip is located can be found from the second point cloud data. The deformation variable of the blade tip can be obtained by subtracting the first target spatial position coordinate from the second target spatial position coordinate.

[0089] It is easy to understand that if the direction along the blade is the y direction, and the y direction points from the root of the blade to the tip of the blade, then the coordinate of the tip of the blade in the y direction (i.e., the ordinate) is the largest. Therefore, in some examples, the spatial position coordinate with the largest ordinate can be found from the gridded first point cloud data, and the spatial position coordinate with the largest ordinate in the first point cloud data is determined as the first target spatial position coordinate. Similarly, the spatial position coordinate with the largest ordinate can be found from the gridded second point cloud data, and the spatial position coordinate with the largest ordinate in the second point cloud data is determined as the second target spatial position coordinate.

[0090] In other examples, the first N spatial position coordinates can be selected and sorted from the gridded first point cloud data in the order of the ordinate from large to small, and then the average, median or mode of the first N spatial position coordinates can be calculated to obtain the first target spatial position coordinates. Wherein, N is an integer greater than 1. Similarly, the first N spatial position coordinates can be selected and sorted from the gridded second point cloud data in the order of the ordinate from large to small, and then the average, median or mode of the first N spatial position coordinates can be calculated to obtain the second target spatial position coordinates. In this way, it is possible to avoid large errors in the first target spatial position coordinates and the second target spatial position coordinates due to errors in a few spatial position coordinates sorted in the front of the ordinate, thereby ensuring the accuracy of the first target spatial position coordinates and the second target spatial position coordinates.

[0091] S402. For any i-th point among the multiple points on the leading edge surface of the blade, the spatial position coordinates in the gridded first point cloud data that are at a preset distance threshold from the first target spatial position coordinates are used as the first spatial position coordinates of the i-th point, and the spatial position coordinates in the gridded second point cloud data that are at a preset distance threshold from the second target spatial position coordinates are used as the second spatial position coordinates of the i-th point, and the difference between the first spatial position coordinate of the i-th point and the second spatial position coordinate of the i-th point is calculated to obtain the deformation variable of the i-th point.

[0092] Specifically, for example, the spatial position coordinates of the first target are (x1, y1, z1), the spatial position coordinates of the second target are (x1', y1', z1'), and the preset distance threshold is ΔL. Taking the coordinates of the blade tip as the coordinate reference datum, taking the preset distance threshold as the distance reference datum, the spatial position coordinates at a distance ΔL from the first target spatial position coordinates (x1, y1, z1) are determined as the first spatial position coordinates of the i-th point, such as the first spatial position coordinates (x2, y2, z2), and the spatial position coordinates at a distance ΔL from the second target spatial position coordinates (x1', y1', z1') are determined as the second spatial position coordinates of the i-th point, such as the second spatial position coordinates (x2', y2', z2'). Then, the difference between the first spatial position coordinates (x2, y2, z2) and the second spatial position coordinates (x2', y2', z2') is calculated to obtain the deformation variable of the i-th point.

[0093] Exemplarily, the difference between the first spatial position coordinate (x2, y2, z2) and the second spatial position coordinate (x2', y2', z2') can be calculated according to the following expression (1):

[0094]

[0095] Among them, L iRepresents the deformation variable of the i-th point.

[0096] It should be noted that when calculating the deformation amount of different points on the leading edge surface of the blade, the preset distance threshold ΔL is different. That is, compared with the point closer to the blade tip, the preset distance threshold ΔL corresponding to the point farther from the blade tip is larger.

[0097] In addition, when calculating the deformation amount of the next point (such as the i+1 point), the first spatial position coordinate of the i+1 point can be obtained based on the first spatial position coordinate of the i+1 point and the preset step length ΔL', the second spatial position coordinate of the i+1 point can be obtained based on the second spatial position coordinate of the i+1 point and the preset step length ΔL', and then the difference between the first spatial position coordinate of the i+1 point and the second spatial position coordinate of the i+1 point is calculated, thereby obtaining the deformation amount of the i+1 point. By analogy, the first spatial position coordinate of the i+2 point can be obtained based on the first spatial position coordinate of the i+1 point and the preset step length ΔL', the second spatial position coordinate of the i+2 point can be obtained based on the second spatial position coordinate of the i+1 point and the preset step length ΔL', and then the difference between the first spatial position coordinate of the i+2 point and the second spatial position coordinate of the i+2 point is calculated, thereby obtaining the deformation amount of the i+2 point.

[0098] In this way, the coordinates of the blade tip are used as the coordinate reference benchmark, and the preset distance threshold is used as the distance reference benchmark to determine the one-to-one correspondence between the spatial position coordinates of multiple points in the first point cloud data and the spatial position coordinates of multiple points in the second point cloud data. Therefore, when calculating the deformation variable of the i-th point, it can be ensured that it is based on the spatial position coordinates of the i-th point in the first point cloud data and the spatial position coordinates of the same i-th point in the second point cloud data, thereby ensuring the accuracy of the deformation variables of multiple points on the leading edge surface of the blade.

[0099] Combination Figure 5 and Figure 6 As shown, the blade 201 may include a windward surface 501, a leeward surface 502, a leading edge 503, and a trailing edge 504. In some embodiments, the deformation parameter of the leading edge surface of the blade may include a first deformation parameter of the leading edge 503 of the blade perpendicular to the windward surface 501 of the blade, that is, the first deformation parameter may be understood as Figure 6 The deformation parameters in the first direction X (perpendicular to the windward surface 501 of the blade) are shown.

[0100] like Figure 7 As shown, when the blade 201 is designed and manufactured, in order to prevent the blade from sweeping the tower and colliding with the impeller during the rotation of the impeller, the blade 201 is designed to be pre-bent, and the blade 201 is bent toward the side where the windward surface 501 is located. Figure 8As shown, during the operation of the wind turbine generator set, the shape of the blade 201 will change due to the influence of wind force. The greater the wind speed, the greater the deformation of the blade 201. When the wind speed is high, the blade 201 bends toward the side where the leeward surface 502 is located. In other words, when the blade 201 is subjected to different loads, the blade 201 and its leading edge will bend. Figure 6 The first direction X shown is deformed to different degrees.

[0101] Therefore, the leading edge surface of the blade can be Figure 6 The first deformation parameter in the first direction X shown can determine the load borne by the blade.

[0102] Specifically, if Fig. 9 As shown, according to some embodiments of the present application, optionally, S103, determining the detection result of the blade of the wind turbine generator set according to the deformation parameters of the leading edge surface of the blade, can specifically include the following steps S901 and S902.

[0103] S901. Determine a target deformation parameter of the entire blade at a windward surface perpendicular to the blade according to the first deformation parameter.

[0104] S902: Determine the load borne by the blade according to the target deformation parameter.

[0105] In this way, the embodiment of the present application can obtain the deformation parameters of the entire blade on the windward side perpendicular to the blade based on the deformation parameters of the leading edge surface of the blade, so that maintenance personnel can timely understand the deformation of the entire blade. Furthermore, the load borne by the blade can also be obtained based on the deformation parameters of the entire blade on the windward side perpendicular to the blade, so as to prevent the blade from breaking due to abnormal load and the occurrence of blade sweeping tower accidents.

[0106] According to some embodiments of the present application, optionally, S901 may specifically include the following steps: according to the first corresponding relationship and the first deformation parameter, obtaining the target deformation parameter corresponding to the first deformation parameter; wherein the first corresponding relationship is the corresponding relationship between the deformation parameter of the leading edge surface of the blade perpendicular to the windward surface of the blade and the deformation parameter of the entire blade perpendicular to the windward surface of the blade.

[0107] Specifically, the leading edge of the blade is an important component of the blade, and the shape of the leading edge surface will also change with the change of the blade shape. Specifically, as the load borne by the blade becomes larger and larger, the change of the blade shape will also become larger and larger, and correspondingly, the change of the shape of the leading edge surface will also become larger and larger. Therefore, the first corresponding relationship between the deformation parameters of the leading edge surface of the blade perpendicular to the windward surface of the blade and the deformation parameters of the entire blade perpendicular to the windward surface of the blade can be obtained in advance through test data, historical data or model training.

[0108] According to some embodiments of the present application, optionally, the first deformation parameter may include a first deformation amount of a plurality of points on the leading edge surface of the blade in a direction perpendicular to the windward surface of the blade. According to the first corresponding relationship and the first deformation parameter, obtaining a target deformation parameter corresponding to the first deformation parameter may specifically include the following steps:

[0109] M deformation ranges are pre-divided, such as L1-L2, L2-L3, ..., Ln-1-Ln, where M and n are both positive integers, and L1 to Ln represent different deformations. Then, according to the size of the first deformation, the N first deformations corresponding to the N points on the leading edge surface are divided into preset deformation ranges, and the number of first deformations in each deformation range is determined, such as m1 first deformations in the range L1-L2, m2 first deformations in the range L2-L3, ..., m in Ln-1-Ln. n Then, according to the first corresponding relationship, the target deformation parameter corresponding to the number of first deformations in the multiple different deformation ranges is determined. For example, it is determined that there are m1 first deformations in the range L1 to L2, m2 first deformations in the range L2 to L3, ..., m in Ln-1 to Ln. n The target deformation parameter corresponding to the first deformation amount may include the deformation amount of multiple points on the blade surface perpendicular to the windward surface of the blade.

[0110] In this way, based on the pre-established first correspondence between the deformation parameters of the leading edge surface of the blade and the deformation parameters of the entire blade on the windward surface perpendicular to the blade, the target deformation parameters of the entire blade on the windward surface perpendicular to the blade corresponding to the first deformation parameters can be quickly determined, which can reduce the amount of calculation during real-time calculation and improve the processing speed.

[0111] According to some embodiments of the present application, optionally, S902 may specifically include the following steps: obtaining the loads borne by multiple points on the blade surface based on a pre-established second correspondence between the deformation amount and the load and the deformation amounts of multiple points on the blade surface perpendicular to the windward surface of the blade.

[0112] Specifically, as the load borne by the blade increases, the change in the shape of the blade will also increase, and accordingly, the change in the shape of the leading edge surface will also increase. Therefore, the second corresponding relationship between the deformation amount of the blade and the load can be obtained in advance through test data, historical data or model training. Then, based on the second corresponding relationship, the load borne by multiple points on the blade surface corresponding to the deformation amount of multiple points on the blade surface perpendicular to the windward surface of the blade can be determined.

[0113] In this way, based on the pre-established second correspondence between the deformation amount and the load, the load borne by the multiple points on the blade surface corresponding to the deformation amount of the multiple points on the blade surface can be quickly determined, which can reduce the amount of calculation during real-time calculation and improve the processing speed.

[0114] According to some embodiments of the present application, optionally, a blade load data limit value and / or a blade deformation data limit value may be set. When the load borne by a first number of points on the blade surface is greater than the blade load data limit value, an alarm signal may be issued, and the wind turbine generator set may be controlled to shut down, thereby achieving fault warning and shutdown protection for the wind turbine generator set. Similarly, when the deformation amount of a second number of points on the blade surface perpendicular to the windward surface of the blade is greater than the blade deformation data limit value, an alarm signal may be issued, and the wind turbine generator set may be controlled to shut down, thereby achieving fault warning and shutdown protection for the wind turbine generator set. The first number and the second number may be flexibly set according to actual conditions, and the embodiments of the present application do not limit this.

[0115] According to some embodiments of the present application, optionally, the embodiments of the present application can also achieve clearance protection of the blade according to the deformation parameters of the leading edge surface of the blade.

[0116] According to some embodiments of the present application, optionally, S103, determining the detection result of the blade of the wind turbine generator set according to the deformation parameters of the leading edge surface of the blade, can specifically include the following steps: determining the clearance distance of the blade according to the first deformation parameter. The clearance distance can be understood as the distance between the tip of the blade and the tower of the wind turbine generator set when the tip of the blade is vertically downward and perpendicular to the ground. Generally speaking, it is necessary to ensure that the clearance distance is greater than a distance threshold to avoid collision between the blade and the tower. Therefore, when determining the clearance distance of the blade, the first deformation parameter used can be the first deformation parameter of the leading edge surface of the blade when the tip of the blade is downward and perpendicular to the ground. The first deformation parameter can include the first deformation amount of multiple points of the leading edge surface of the blade perpendicular to the windward surface of the blade when the tip of the blade is downward and perpendicular to the ground.

[0117] In this way, the embodiment of the present application can obtain the clearance distance of the blade based on the deformation parameters of the leading edge surface of the blade, thereby achieving clearance protection of the blade and preventing the blade from colliding with the tower.

[0118] like Fig.10As shown, in order to ensure that the first point cloud data and the first deformation parameter of the leading edge surface of the blade when the blade tip is downward and perpendicular to the ground can be accurately obtained, according to some embodiments of the present application, optionally, the wind turbine generator set may include a controller 1001, three acquisition devices 1002 and three blade position proximity switches 1003, the three blade position proximity switches 1003 correspond to the three blades of the wind turbine generator set one by one, and each blade position proximity switch 1003 is configured to output a trigger signal when the tip of the corresponding blade is downward and perpendicular to the ground. The acquisition device 1002 is specifically configured to obtain the first point cloud data of the leading edge surface of the blade when the trigger signal sent by the blade position proximity switch is received. In this way, the first point cloud data of the leading edge surface of the blade when the blade tip is downward and perpendicular to the ground can be accurately obtained, and then the first deformation parameter of the leading edge surface of the blade when the blade tip is downward and perpendicular to the ground can be obtained.

[0119] According to some embodiments of the present application, optionally, the first deformation parameter may include a first deformation amount of a plurality of points on the leading edge surface of the blade perpendicular to the windward surface of the blade when the blade tip is downward and perpendicular to the ground. Fig.11 As shown, according to the first deformation parameter, the clearance distance of the blade is determined, which specifically includes the following steps S1101 and S1102.

[0120] S1101, obtaining the maximum deformation value among multiple first deformation values. It is easy to understand that the deformation value of the blade tip is the largest on the entire blade, so the maximum deformation value among the multiple first deformation values ​​obtained can be used as the deformation value of the blade tip in a direction perpendicular to the windward surface of the blade.

[0121] S1102, calculating the sum or difference between the predetermined initial clearance distance and the maximum deformation amount to obtain the clearance distance of the blade, wherein the initial clearance distance is the distance between the tip of the blade and the tower of the wind turbine generator set when the blade is not deformed and is not under load.

[0122] Specifically, when the blade is installed, the distance between the tip of the blade and the tower of the wind turbine is known. Therefore, the distance between the tip of the blade and the tower of the wind turbine when the blade is not deformed and not under load can be obtained, thereby obtaining the initial clearance distance. Generally speaking, the blade will generally deform toward the side close to the tower. If the position of the tip of the blade when it is not deformed and not under load is taken as the origin, and the direction from the origin to the tower is positive, then the maximum deformation variable is a positive number. In the case where the maximum deformation variable is a positive number, the difference between the initial clearance distance and the maximum deformation variable can be calculated to obtain the clearance distance of the blade. If the direction from the origin to the tower is negative, then the maximum deformation variable is a negative number. In the case where the maximum deformation variable is a negative number, the sum of the initial clearance distance and the maximum deformation variable can be calculated to obtain the clearance distance of the blade.

[0123] In this way, the embodiment of the present application can determine the maximum deformation variable (i.e., the deformation variable of the blade tip) based on multiple first deformation variables when the blade tip is downward and perpendicular to the ground, and then accurately and quickly obtain the clearance distance of the blade based on the difference or sum of the initial clearance distance when the blade is not deformed and is not under load and the maximum deformation variable.

[0124] According to some embodiments of the present application, a clearance distance safety threshold may be optionally set. When the clearance distance of the blades is greater than the clearance distance safety threshold, an alarm signal may be issued and the wind turbine generator set may be controlled to shut down, thereby achieving fault warning and shutdown protection for the wind turbine generator set.

[0125] The inventors of this application have further discovered that with the continuous expansion of wind farm construction in cold climate areas and low wind speed areas, the problem of blade icing has become increasingly prominent. The blades of wind farm units in low wind speed areas and plateau areas are more seriously affected by freezing, with nearly two months of freezing period each year. Running with ice on the blades will reduce the life of the blades, and in severe cases may cause blade breakage. At the same time, ice falling also threatens the safety of personnel in wind farms. Blade icing will also reduce the power generation efficiency of the unit. Therefore, it is particularly important to detect the icing condition of the blades. However, the current blade icing detection methods have problems with low reliability and accuracy.

[0126] For example, the inventors of this application have found that: (1) the video detection method cannot accurately measure the thickness of the ice layer on the blade, but can only determine whether the blade is frozen; (2) the ultrasonic sensor measurement method needs to be installed on the blade in advance. Due to the influence of the blade material, the sensor needs to be installed on the blade surface through the blade material, which causes certain damage to the blade structure and the sensor is easily damaged by lightning strikes; (3) the ice sensor detection method and the optical fiber condensation method are to detect ice or frost by optical fiber condensation or sensors installed in the same environment as the blade, and indirectly sense whether the blades in the same environment are frozen, rather than directly measure, which affects the accuracy of blade detection; (4) the measurement of impeller mass imbalance is sometimes not accurate. For example, if three blades are frozen at the same time and the degree of freezing is the same, in this case, the blade freezing cannot be accurately detected by the impeller mass imbalance; (5) the humidity and temperature combined with wind speed and power data for blade icing detection are sometimes easily affected by terrain wind speed and sensor accuracy.

[0127] In view of the above findings, an embodiment of the present application proposes a method for blade icing detection in combination with the deformation parameters of the leading edge surface of the blade, which can accurately measure the ice thickness and / or ice range of the leading edge of the blade, thereby solving the problems of low reliability and accuracy of current blade icing detection methods.

[0128] Specifically, if Fig.12 As shown, the deformation parameters of the leading edge 503 surface of the blade include a second deformation parameter of the leading edge 503 surface of the blade parallel to the windward surface 501 of the blade, or in other words, the deformation parameters of the leading edge 503 surface of the blade include a second deformation parameter of the leading edge 503 of the blade in the plane where the windward surface 501 is located.

[0129] According to some embodiments of the present application, optionally, S103, determining the inspection results of the blades of the wind turbine generator set according to the deformation parameters of the leading edge surface of the blades, may specifically include the following steps: determining the ice thickness and / or ice range on the leading edge of the blades according to the second deformation parameter.

[0130] In this way, the embodiment of the present application can obtain the ice thickness and / or ice range of the leading edge of the blade based on the deformation parameters of the leading edge surface of the blade, so that maintenance personnel can timely understand the ice condition of the leading edge of the blade, and then protect the wind turbine generator set when the ice is more serious.

[0131] According to some embodiments of the present application, optionally, the second deformation parameter includes a second deformation amount of a plurality of points on the leading edge surface of the blade parallel to the windward surface of the blade. Fig.12 As shown, the second deformation amount Δz may refer to the deformation amount of a point on the leading edge surface of the blade in the second direction Z. Determining the ice thickness and / or ice range on the leading edge of the blade according to the second deformation parameter may specifically include the following steps:

[0132] Step 1: Obtain the first N second shape variables in descending order of the second shape variables, where N is a positive integer;

[0133] Step 2: Determine the ice thickness on the leading edge of the blade based on the first N second deformation amounts.

[0134] It is easy to understand that the deformation amount of each point on the leading edge surface of the blade in the second direction Z is the ice thickness at each point on the leading edge surface of the blade. In step 1 and step 2, the largest first plurality of second deformation amounts can be selected, and the average, median or mode of the first plurality of second deformation amounts can be calculated to obtain the ice thickness on the leading edge of the blade.

[0135] In this way, by selecting the largest first multiple second deformation variables, for example, calculating the average, median or mode of the first multiple second deformation variables to obtain the ice thickness on the leading edge of the blade, it is possible to avoid errors in the obtained ice thickness due to errors in a few second deformation variables, thereby ensuring the accuracy of the ice thickness on the leading edge of the blade.

[0136] It should be noted that, in some examples, N may be equal to 1, that is, the largest second deformation amount is selected as the ice thickness on the leading edge of the blade.

[0137] like Fig.13 As shown, according to some embodiments of the present application, optionally, determining the ice thickness and / or ice range on the leading edge of the blade according to the second deformation parameter may specifically include the following steps S1301 and S1302.

[0138] S1301, obtaining the number of grids where the spatial position coordinates of the second deformation amount greater than a preset threshold value are located in the gridded first point cloud data.

[0139] Specifically, for example, Fig.12 The plane parallel to the windward surface 501 of the blade (the plane where YZ is located) is divided into m×n grids, and the first point cloud data of the leading edge surface of the blade is distributed in multiple grids. Among them, a grid may include the spatial position coordinates of one point or multiple points. In S1301, the number of grids where the points (spatial position coordinates) whose second deformation variable is greater than the preset threshold are counted. For example, there are 100 points (spatial position coordinates) whose second deformation variable is greater than the preset threshold, and these 100 points are located in 50 grids, then the number of grids where the points (spatial position coordinates) whose second deformation variable is greater than the preset threshold are located is 50. Among them, the preset threshold can be flexibly adjusted according to the actual situation. For example, the preset threshold is 0, and this embodiment of the present application does not limit this.

[0140] S1302: Determine the icing range on the leading edge of the blade according to the number of acquired grids and the predetermined area of ​​the grids.

[0141] Specifically, the area of ​​a single grid can be predetermined, such as 1 square centimeter. Then, by calculating the product of the number of grids where the points (spatial position coordinates) whose second deformation amount obtained in S1301 is greater than a preset threshold are located and the area of ​​a single grid, the icing range (icing area) on the leading edge of the blade can be determined.

[0142] In this way, since the ice on the leading edge of the blade is usually irregular in shape, it is difficult to calculate the ice range / ice area on the leading edge of the blade. However, this problem can be solved by dividing into multiple grids and counting the number of grids where the spatial position coordinates of the second deformation amount are greater than the preset threshold and the area based on the grid, so that the ice range / ice area on the leading edge of the blade can be accurately calculated.

[0143] According to some embodiments of the present application, optionally, a blade leading edge ice thickness limit value and a blade leading edge ice area range limit value may be set. When the ice thickness on the leading edge of the blade is greater than the blade leading edge ice thickness limit value, an alarm signal may be issued, and the wind turbine generator set may be controlled to shut down, thereby achieving fault warning and shutdown protection for the wind turbine generator set. When the ice range on the leading edge of the blade is greater than the blade leading edge ice area range limit value, an alarm signal may also be issued, and the wind turbine generator set may be controlled to shut down, thereby achieving fault warning and shutdown protection for the wind turbine generator set.

[0144] The inventors of this application have discovered that in the related art, the blade detection and protection of wind turbines mainly targets one aspect for detection and protection, without comprehensive detection and protection of the blades. Specifically, taking clearance protection as an example, clearance protection only takes the distance between the blade tip and the tower as the protection target to prevent collision between the blade and the tower, and does not pay attention to the overall load of the blade and the deformation of the blade, and does not make a trend judgment on the damage to the blade structure. Taking blade load protection as an example, blade load protection also only takes the blade load as the protection target to prevent damage to the blade structure, and does not pay attention to the actual deformation of the blade and the clearance problem of the blade.

[0145] As can be seen from the above contents, in some embodiments of the present application, the overall deformation detection of the blade, the load detection of the blade, the clearance distance detection of the blade and the icing condition detection of the blade can be realized simultaneously according to the deformation parameters of the leading edge surface of the blade, and the comprehensive protection of clearance protection, load protection and icing protection can be realized, which is of great significance in the field of wind power generation technology.

[0146] Based on the blade detection method of the wind turbine generator set provided in the above embodiment, the present application also provides a specific implementation of the blade detection device of the wind turbine generator set. Please refer to the following embodiment.

[0147] like Fig.14 As shown, the blade detection device 1400 of the wind turbine generator set provided in the embodiment of the present application includes the following modules:

[0148] An acquisition module 1401 is used to acquire first point cloud data of the leading edge surface of the blade, where the first point cloud data includes spatial position coordinates of a plurality of points on the leading edge surface of the blade;

[0149] A first determination module 1402 is used to determine the deformation parameters of the leading edge surface of the blade according to the first point cloud data and the second point cloud data of the leading edge surface of the reference blade acquired in advance, wherein the second point cloud data includes the spatial position coordinates of a plurality of points on the leading edge surface of the reference blade;

[0150] The second determination module 1403 is used to determine the detection result of the blade of the wind turbine generator set according to the deformation parameters of the leading edge surface of the blade.

[0151] In the blade detection device of the wind turbine generator set in the embodiment of the present application, the acquisition module 1401 is used to acquire the first point cloud data of the leading edge surface of the blade, the first point cloud data includes the spatial position coordinates of multiple points on the leading edge surface of the blade; the first determination module 1402 is used to determine the deformation parameters of the leading edge surface of the blade according to the first point cloud data and the second point cloud data of the leading edge surface of the reference blade acquired in advance, the second point cloud data includes the spatial position coordinates of multiple points on the leading edge surface of the reference blade; the second determination module 1403 is used to determine the detection result of the blade of the wind turbine generator set according to the deformation parameters of the leading edge surface of the blade. The solution of the embodiment of the present application does not need to install more sensors and other acquisition equipment on the wind turbine generator set, but detects the blade of the wind turbine generator set based on the first point cloud data of the leading edge surface of the blade and the second point cloud data of the leading edge surface of the reference blade, so that the cost of blade detection can be reduced while realizing the blade detection of the wind turbine generator set.

[0152] In some embodiments, the first determination module 1402 is specifically used to: convert the first point cloud data and the second point cloud data to the same grid point coordinate system to obtain gridded first point cloud data and gridded second point cloud data; calculate the difference between the spatial position coordinates of multiple points in the gridded first point cloud data and the spatial position coordinates of multiple points in the gridded second point cloud data to obtain the deformation variables of multiple points on the leading edge surface of the blade; the deformation parameters of the leading edge surface include the deformation variables of multiple points on the leading edge surface.

[0153] In this way, by converting the first point cloud data and the second point cloud data to the same grid point coordinate system, and making a difference between the first point cloud data and the second point cloud data, the deformation variables of multiple points on the leading edge surface of the blade (i.e., the deformation parameters of the leading edge surface of the blade) are obtained. On the one hand, since the deformation parameters of the leading edge surface of the blade are calculated in the same coordinate system (standard), the accuracy of the deformation parameters of the leading edge surface of the blade can be guaranteed; on the other hand, after converting the first point cloud data and the second point cloud data to the same grid point coordinate system, the deformation variables of multiple points on the leading edge surface of the blade can be obtained at the same time, thereby shortening the calculation time and improving the calculation rate.

[0154] In some embodiments, the first determination module 1402 is specifically used to: use the spatial position coordinates of the point on the leading edge surface of the blade where the tip is located in the gridded first point cloud data as the first target spatial position coordinates, use the spatial position coordinates of the point on the leading edge surface of the reference blade where the tip is located in the gridded second point cloud data as the second target spatial position coordinates, and calculate the difference between the first target spatial position coordinates and the second target spatial position coordinates; for any i-th point among the multiple points on the leading edge surface of the blade, use the spatial position coordinates in the gridded first point cloud data that are at a preset distance threshold from the first target spatial position coordinates as the first spatial position coordinates of the i-th point, use the spatial position coordinates in the gridded second point cloud data that are at a preset distance threshold from the second target spatial position coordinates as the second spatial position coordinates of the i-th point, calculate the difference between the first spatial position coordinate of the i-th point and the second spatial position coordinate of the i-th point, and obtain the deformation variable of the i-th point.

[0155] In this way, the coordinates of the blade tip are used as the coordinate reference benchmark, and the preset distance threshold is used as the distance reference benchmark to determine the one-to-one correspondence between the spatial position coordinates of multiple points in the first point cloud data and the spatial position coordinates of multiple points in the second point cloud data. Therefore, when calculating the deformation variable of the i-th point, it can be ensured that it is based on the spatial position coordinates of the i-th point in the first point cloud data and the spatial position coordinates of the same i-th point in the second point cloud data, thereby ensuring the accuracy of the deformation variables of multiple points on the leading edge surface of the blade.

[0156] In some embodiments, the deformation parameters include a first deformation parameter of the leading edge surface of the blade perpendicular to the windward surface of the blade; the second determination module 1403 is specifically used to: determine the target deformation parameter of the entire blade perpendicular to the windward surface of the blade based on the first deformation parameter; determine the load borne by the blade based on the target deformation parameter.

[0157] In this way, the embodiment of the present application can obtain the deformation parameters of the entire blade on the windward side perpendicular to the blade based on the deformation parameters of the leading edge surface of the blade, so that maintenance personnel can timely understand the deformation of the entire blade. Furthermore, the load borne by the blade can also be obtained based on the deformation parameters of the entire blade on the windward side perpendicular to the blade, so as to prevent the blade from breaking due to abnormal load and the occurrence of blade sweeping tower accidents.

[0158] In some embodiments, the second determination module 1403 is specifically used to: obtain a target deformation parameter corresponding to the first deformation parameter based on the first corresponding relationship and the first deformation parameter; wherein the first corresponding relationship is the correspondence between the deformation parameter of the leading edge surface of the blade perpendicular to the windward surface of the blade and the deformation parameter of the entire blade perpendicular to the windward surface of the blade.

[0159] In this way, based on the pre-established first correspondence between the deformation parameters of the leading edge surface of the blade and the deformation parameters of the entire blade on the windward surface perpendicular to the blade, the target deformation parameters of the entire blade on the windward surface perpendicular to the blade corresponding to the first deformation parameters can be quickly determined, which can reduce the amount of calculation during real-time calculation and improve the processing speed.

[0160] In some embodiments, the target deformation parameters include the deformation amounts of multiple points on the blade surface perpendicular to the windward surface of the blade; the second determination module 1403 is specifically used to obtain the loads borne by multiple points on the blade surface based on a pre-established second correspondence between the deformation amount and the load and the deformation amounts of multiple points on the blade surface perpendicular to the windward surface of the blade.

[0161] In this way, based on the pre-established second correspondence between the deformation amount and the load, the load borne by the multiple points on the blade surface corresponding to the deformation amount of the multiple points on the blade surface can be quickly determined, which can reduce the amount of calculation during real-time calculation and improve the processing speed.

[0162] In some embodiments, the deformation parameter includes a first deformation parameter of a leading edge surface of the blade being perpendicular to a windward surface of the blade; the second determination module 1403 is specifically used to determine a clearance distance of the blade according to the first deformation parameter.

[0163] In this way, the embodiment of the present application can obtain the clearance distance of the blade based on the deformation parameters of the leading edge surface of the blade, thereby achieving clearance protection of the blade and preventing the blade from colliding with the tower.

[0164] In some embodiments, the first deformation parameter includes a first deformation amount of multiple points on the leading edge surface of the blade perpendicular to the windward surface of the blade when the tip of the blade is downward and perpendicular to the ground; the second determination module 1403 is specifically used to: obtain the maximum deformation amount among the multiple first deformation amounts; calculate the sum or difference between a predetermined initial clearance distance and the maximum deformation amount to obtain the clearance distance of the blade, the initial clearance distance being the distance between the tip of the blade and the tower of the wind turbine when the blade is not deformed and is not under load.

[0165] In this way, the embodiment of the present application can determine the maximum deformation variable (i.e., the deformation variable of the blade tip) based on multiple first deformation variables when the blade tip is downward and perpendicular to the ground, and then accurately and quickly obtain the clearance distance of the blade based on the difference or sum of the initial clearance distance when the blade is not deformed and is not under load and the maximum deformation variable.

[0166] In some embodiments, the deformation parameter includes a second deformation parameter that the leading edge surface of the blade is parallel to the windward surface of the blade; the second determination module 1403 is specifically used to determine the ice thickness and / or ice range on the leading edge of the blade according to the second deformation parameter.

[0167] In this way, the embodiment of the present application can obtain the ice thickness and / or ice range of the leading edge of the blade based on the deformation parameters of the leading edge surface of the blade, so that maintenance personnel can timely understand the ice condition of the leading edge of the blade, and then protect the wind turbine generator set when the ice is more serious.

[0168] In some embodiments, the second deformation parameter includes the second deformation amount of multiple points on the leading edge surface of the blade parallel to the windward surface of the blade; the second determination module 1403 is specifically used to: obtain the first N second deformation amounts in order from large to small, where N is a positive integer; determine the ice thickness on the leading edge of the blade based on the first N second deformation amounts.

[0169] In this way, by selecting the largest first N second deformation variables, for example, calculating the average, median or mode of the first N second deformation variables to obtain the ice thickness on the leading edge of the blade, it is possible to avoid errors in the obtained ice thickness due to errors in a few second deformation variables, thereby ensuring the accuracy of the ice thickness on the leading edge of the blade.

[0170] In some embodiments, the second deformation parameter includes a second deformation amount of multiple points on the leading edge surface of the blade parallel to the windward surface of the blade; the second determination module 1403 is specifically used to: obtain the number of grids in the gridded first point cloud data where the spatial position coordinates of the second deformation amount are greater than a preset threshold; determine the range of ice on the leading edge of the blade based on the number of grids obtained and the area of ​​the predetermined grids.

[0171] In this way, since the ice on the leading edge of the blade is usually irregular in shape, it is difficult to calculate the ice range / ice area on the leading edge of the blade. However, this problem can be solved by dividing into multiple grids and counting the number of grids where the spatial position coordinates of the second deformation amount are greater than the preset threshold and the area based on the grid, so that the ice range / ice area on the leading edge of the blade can be accurately calculated.

[0172] In some embodiments, first point cloud data of the leading edge surface of the blade is acquired by using a laser radar, and the laser radar is installed on a rotating component that rotates synchronously with the blades of the wind turbine generator set.

[0173] In some embodiments, the rotating component includes a hub or a spinner.

[0174] It should be noted that Fig.14 Each module / unit in the device shown has the function of implementing each step in the above method embodiment and can achieve its corresponding technical effect. For the sake of concise description, it will not be repeated here.

[0175] Based on the blade detection method of the wind turbine generator set provided in the above embodiment, the present application also provides a controller of the wind turbine generator set, such as Fig.15 As shown, the controller of the wind turbine generator set includes a processor 1501, a memory 1502, and a computer program stored in the memory 1502 and executable on the processor. When the computer program is executed by the processor 1501, the steps of the blade detection method of the wind turbine generator set provided in the above method embodiment are implemented.

[0176] Specifically, the processor 1501 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0177] The memory 1502 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 1502 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In one example, the memory 1502 may include a removable or non-removable (or fixed) medium, or the memory 1502 is a non-volatile solid-state memory. The memory 1502 may be inside or outside the integrated gateway disaster recovery device.

[0178] In one example, the memory 1502 may be a read-only memory (ROM). In one example, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0179] The memory 1502 may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present application.

[0180] The processor 1501 implements each method / step in the above method embodiment by reading and executing the computer program instructions stored in the memory 1502, and achieves the corresponding technical effects achieved by executing each method / step in the above method embodiment, which will not be repeated here for the sake of brevity.

[0181] In one example, the controller of the wind turbine generator set may further include a communication interface 1503 and a bus 1510. Fig.15 As shown, the processor 1501, the memory 1502, and the communication interface 1503 are connected via a bus 1510 and communicate with each other.

[0182] The communication interface 1503 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0183] Bus 1510 includes hardware, software or both, and the components of the controller of wind turbine generator set are coupled to each other. For example, but not limitation, bus may include Accelerated Graphics Port (AGP) or other graphics bus, Enhanced Industry Standard Architecture (EISA) bus, Front Side Bus (FSB), Hyper Transport (HT) interconnection, Industry Standard Architecture (ISA) bus, InfiniBand interconnection, Low Pin Count (LPC) bus, Memory bus, Micro Channel Architecture (MCA) bus, Peripheral Component Interconnect (PCI) bus, PCI-Express (PCI-X) bus, Serial Advanced Technology Attachment (SATA) bus, Video Electronics Standards Association Local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 1510 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the present application considers any suitable bus or interconnection.

[0184] Based on the blade detection device of the wind turbine and the controller of the wind turbine provided in the above embodiments, accordingly, the present application also provides a blade detection system of a wind turbine, including a blade detection device of the wind turbine as described above or a controller of the wind turbine as described above, and a collection device; the collection device is used to collect and generate first point cloud data of the leading edge surface of the blade, and send the first point cloud data to an acquisition module or the controller of the wind turbine, and the collection device is installed on a rotating component that rotates synchronously with the blades of the wind turbine.

[0185] In some embodiments, the collection device may include a laser radar, and the rotating component may include a hub or a fairing.

[0186] Based on the blade detection system of the wind turbine generator set provided in the above embodiment, the present application also provides a wind turbine generator set accordingly. Fig.16 As shown, the wind turbine generator set 20 includes: blades 201, a rotating component 1601 and a blade detection system 1602 of the wind turbine generator set. The rotating component 1601 rotates synchronously with the blades 201. The blade detection system 1602 of the wind turbine generator set may include the blade detection system of the wind turbine generator set provided in the above embodiment.

[0187] like Fig.17 As shown, in some embodiments, optionally, the blade detection system 1602 may include a controller 1001, three blades ( Fig.17 Not shown) and at least three collecting devices 1002, the collecting devices 1002 are installed on the rotating part ( Fig.17 The controller 1001 is a controller of the wind turbine generator set provided in the above embodiment. The controller 1001 may be a main controller of the wind turbine generator set or other controllers other than the main controller. Fig.17 As shown, when the controller 1001 is a controller other than the main controller, the controller 1001 can be communicatively connected with the main controller 1900 of the wind turbine generator set through the field communication bus 1800, and the controller 1001 can send an alarm signal to the main controller 1900 of the wind turbine generator set. After receiving the alarm signal, the main controller 1900 of the wind turbine generator set can control the wind turbine generator set to shut down.

[0188] Continue to see Fig.17 The blade detection system 1602 also includes three blade position proximity switches 1003, which correspond one to one to the three blades of the wind turbine generator set, and each blade position proximity switch is configured to output a trigger signal when the tip of the corresponding blade is downward and perpendicular to the ground; the acquisition device 1002 is specifically configured to obtain the first point cloud data of the leading edge surface of the blade when receiving the trigger signal sent by the blade position proximity switch 1003.

[0189] In addition, in combination with the blade detection method of the wind turbine generator set in the above embodiment, the embodiment of the present application can provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any one of the blade detection methods of the wind turbine generator set in the above embodiment is implemented. Examples of computer-readable storage media include non-transitory computer-readable storage media, such as electronic circuits, semiconductor memory devices, ROM, random access memory, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, and hard disks.

[0190] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0191] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), appropriate firmware, plug-in, function card, etc. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or communication link by a data signal carried in a carrier. "Machine-readable medium" may include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (Radio Frequency, RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0192] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0193] The above reference is according to the method of the embodiment of the present application, the flow chart of the device (system) and the computer program product and / or the block diagram described various aspects of the present application.It should be understood that each square box in the flow chart and / or the block diagram and the combination of each square box in the flow chart and / or the block diagram can be realized by computer program instructions.These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the realization of the function / action specified in one or more square boxes of the flow chart and / or the block diagram.Such a processor can be but is not limited to a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit.It can also be understood that each square box in the block diagram and / or the flow chart and the combination of the square boxes in the block diagram and / or the flow chart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

[0194] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A blade detection method for a wind turbine generator set, characterized in that: include: Acquire first point cloud data of the leading edge surface of the blade, wherein the first point cloud data includes spatial position coordinates of a plurality of points on the leading edge surface of the blade; Determine the deformation parameters of the leading edge surface of the blade according to the first point cloud data and second point cloud data of the leading edge surface of the reference blade acquired in advance, wherein the second point cloud data includes the spatial position coordinates of a plurality of points on the leading edge surface of the reference blade; Determining a detection result of the blade of the wind turbine generator set according to a deformation parameter of the leading edge surface of the blade; The deformation parameter includes a first deformation parameter of the leading edge surface of the blade perpendicular to the windward surface of the blade; Determining the detection result of the blade of the wind turbine generator set according to the deformation parameter of the leading edge surface of the blade specifically includes: Determining a target deformation parameter of the entire blade at a position perpendicular to the windward surface of the blade according to the first deformation parameter; Determining the load borne by the blade according to the target deformation parameter; Determining a target deformation parameter of the entire blade perpendicular to the windward surface of the blade according to the first deformation parameter specifically includes: Obtaining the target deformation parameter corresponding to the first deformation parameter according to the first corresponding relationship and the first deformation parameter; The first corresponding relationship is a corresponding relationship between a deformation parameter of the leading edge surface of the blade perpendicular to the windward surface of the blade and a deformation parameter of the entire blade perpendicular to the windward surface of the blade; The target deformation parameter includes deformation amounts of a plurality of points on the surface of the blade perpendicular to the windward surface of the blade; Determining the load borne by the blade according to the target deformation parameter specifically includes: The loads borne by the multiple points on the blade surface are obtained based on the pre-established second corresponding relationship between the deformation amount and the load and the deformation amounts of the multiple points on the blade surface perpendicular to the windward surface of the blade.

2. The method according to claim 1, characterized in that Determining the deformation parameters of the leading edge surface of the blade according to the first point cloud data and the second point cloud data of the leading edge surface of the reference blade acquired in advance specifically includes: Converting the first point cloud data and the second point cloud data to the same grid point coordinate system to obtain gridded first point cloud data and gridded second point cloud data; The difference between the spatial position coordinates of multiple points in the gridded first point cloud data and the spatial position coordinates of multiple points in the gridded second point cloud data is calculated to obtain the deformation variables of the multiple points on the leading edge surface of the blade; the deformation parameters of the leading edge surface include the deformation variables of the multiple points on the leading edge surface.

3. The method according to claim 2, characterized in that The calculating the difference between the spatial position coordinates of the plurality of points in the first gridded point cloud data and the spatial position coordinates of the plurality of points in the second gridded point cloud data to obtain the deformation amounts of the plurality of points on the leading edge surface of the blade specifically includes: The spatial position coordinates of the point where the blade tip is located on the leading edge surface of the blade in the first gridded point cloud data are used as the first target spatial position coordinates, the spatial position coordinates of the point where the blade tip is located on the leading edge surface of the reference blade in the second gridded point cloud data are used as the second target spatial position coordinates, and the difference between the first target spatial position coordinates and the second target spatial position coordinates is calculated; For any i-th point among the multiple points on the leading edge surface of the blade, the spatial position coordinate in the gridded first point cloud data that is at a preset distance threshold from the first target spatial position coordinate is used as the first spatial position coordinate of the i-th point, and the spatial position coordinate in the gridded second point cloud data that is at the preset distance threshold from the second target spatial position coordinate is used as the second spatial position coordinate of the i-th point, and the difference between the first spatial position coordinate of the i-th point and the second spatial position coordinate of the i-th point is calculated to obtain the deformation variable of the i-th point.

4. The method according to any one of claims 1 to 3, characterized in that Determining the detection result of the blade of the wind turbine generator set according to the deformation parameter of the leading edge surface of the blade specifically includes: A clearance distance of the blade is determined according to the first deformation parameter.

5. The method according to claim 4, characterized in that The first deformation parameter includes a first deformation amount of a plurality of points on the leading edge surface of the blade perpendicular to the windward surface of the blade when the tip of the blade is downward and perpendicular to the ground; Determining the clearance distance of the blade according to the first deformation parameter specifically includes: Obtaining a maximum deformation amount among a plurality of said first deformation amounts; The sum or difference between a predetermined initial clearance distance and a maximum deformation amount is calculated to obtain the clearance distance of the blade, wherein the initial clearance distance is the distance between the tip of the blade and the tower of the wind turbine generator set when the blade is not deformed and is not under load.

6. The method according to any one of claims 1 to 3, characterized in that The deformation parameters include a second deformation parameter of the leading edge surface of the blade being parallel to the windward surface of the blade; Determining the detection result of the blade of the wind turbine generator set according to the deformation parameter of the leading edge surface of the blade specifically includes: The ice thickness and / or ice range on the leading edge of the blade is determined according to the second deformation parameter.

7. The method according to claim 6, characterized in that The second deformation parameter includes a second deformation amount of a plurality of points on the leading edge surface of the blade parallel to the windward surface of the blade; Determining the ice thickness and / or ice range on the leading edge of the blade according to the second deformation parameter specifically includes: Obtain the first N second deformation variables in descending order of the second deformation variables, where N is a positive integer; The ice thickness on the leading edge of the blade is determined according to the first N amounts of the second deformation.

8. The method according to claim 6, characterized in that The second deformation parameter includes a second deformation amount of a plurality of points on the leading edge surface of the blade parallel to the windward surface of the blade; Determining the ice thickness and / or ice range on the leading edge of the blade according to the second deformation parameter specifically includes: Acquire the number of grids where the spatial position coordinates of the second deformation amount are greater than a preset threshold in the gridded first point cloud data; The icing range on the leading edge of the blade is determined according to the acquired number of grids and the predetermined area of ​​the grids.

9. The method according to claim 1, characterized in that The first point cloud data of the leading edge surface of the blade is acquired by a laser radar, and the laser radar is installed on a rotating component that rotates synchronously with the blade of the wind turbine generator set.

10. The method according to claim 9, characterized in that The rotating component includes a hub or a fairing.

11. A blade detection device for a wind turbine generator set, characterized in that: include: An acquisition module, configured to acquire first point cloud data of the leading edge surface of the blade, wherein the first point cloud data includes spatial position coordinates of a plurality of points on the leading edge surface of the blade; A first determination module, configured to determine a deformation parameter of a leading edge surface of the blade according to the first point cloud data and second point cloud data of a leading edge surface of a reference blade acquired in advance, wherein the second point cloud data includes spatial position coordinates of a plurality of points on the leading edge surface of the reference blade; A second determination module, configured to determine a detection result of the blade of the wind turbine generator set according to a deformation parameter of a leading edge surface of the blade; The deformation parameter includes a first deformation parameter of the leading edge surface of the blade perpendicular to the windward surface of the blade; The second determining module is specifically used to: Obtaining a target deformation parameter corresponding to the first deformation parameter according to the first corresponding relationship and the first deformation parameter; The first corresponding relationship is a corresponding relationship between a deformation parameter of the leading edge surface of the blade perpendicular to the windward surface of the blade and a deformation parameter of the entire blade perpendicular to the windward surface of the blade; The target deformation parameter includes deformation amounts of a plurality of points on the surface of the blade perpendicular to the windward surface of the blade; The loads borne by the multiple points on the blade surface are obtained based on the pre-established second corresponding relationship between the deformation amount and the load and the deformation amounts of the multiple points on the blade surface perpendicular to the windward surface of the blade.

12. A controller for a wind turbine generator set, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps of the blade detection method of a wind turbine generator set as claimed in any one of claims 1 to 10 are implemented.

13. A blade detection system for a wind turbine generator set, characterized in that: It comprises the blade detection device of the wind turbine generator set as claimed in claim 11 or the controller of the wind turbine generator set as claimed in claim 12, and a collection device; The acquisition device is used to collect and generate first point cloud data of the leading edge surface of the blade, and send the first point cloud data to an acquisition module of a blade detection device of the wind turbine generator set or a controller of the wind turbine generator set. The acquisition device is installed on a rotating component that rotates synchronously with the blades of the wind turbine generator set.

14. The blade detection system of a wind turbine generator set according to claim 13, characterized in that: The collection device includes a laser radar, and the rotating component includes a hub or a fairing.

15. A wind turbine generator set, characterized in that: include: blade; A rotating component, wherein the rotating component rotates synchronously with the blade; A blade detection system for a wind turbine generator set as claimed in claim 13 or 14.

16. The wind turbine generator set according to claim 15, characterized in that: The blade detection system includes three blades and at least three acquisition devices, wherein the acquisition devices are mounted on the rotating component and remain relatively stationary with respect to the blades, each blade corresponds to at least one acquisition device, and the acquisition device corresponding to each blade is configured to acquire first point cloud data corresponding to the leading edge surface of the blade.

17. The wind turbine generator set according to claim 16, characterized in that: The blade detection system further includes three blade position proximity switches, the three blade position proximity switches corresponding to the three blades of the wind turbine generator set one by one, and each blade position proximity switch is configured to output a trigger signal when the tip of the corresponding blade is downward and perpendicular to the ground; The acquisition device is specifically configured to acquire first point cloud data of the leading edge surface of the blade when receiving the trigger signal sent by the blade position proximity switch.

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the blade detection method for a wind turbine generator set according to any one of claims 1 to 10 are implemented.

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