Hub Projection Positioning System and Method

Abstract

Provided are a hub projection positioning system and method. The hub projection positioning system includes: an imaging calibration tool disposed at a predetermined position on the tower barrel of a wind turbine for capturing an image of a hub-related device of the wind turbine; and an image processor for identifying the position of the hub-related device from the image captured by the imaging calibration tool and determining whether the hub-related device meets the installation requirements based on a plurality of preset calibration lines. By using the hub projection positioning system and method of the exemplary embodiment of the present invention, the installation deviation of the hub-related device of the wind turbine can be accurately identified.

Description

Technical Field

[0001] The present invention generally relates to the technical field of wind power generation, and more specifically, to a hub projection positioning system and method. Background Art

[0002] Currently, the installed fan nacelle equipment can be tested at the bottom of the tower barrel of a wind turbine through manual identification to determine whether its installation position meets the standards. For example, whether there are deviations in the installation of laser measurement clearance equipment, whether there are deviations in the blade installation, etc. The above method often requires determining whether the position where the observer stands is directly below the hub, and there will be large deviations through human eye observation. Figure 1 Shown is the hub projection position found through observation. It is difficult to distinguish whether there are deviations through human eye observation, but after magnification, it will be found that there are still relatively large deviations in the fan nacelle equipment. Summary of the Invention

[0003] The purpose of the exemplary embodiments of the present invention is to provide a hub projection positioning system and method to overcome at least one of the above defects.

[0004] In a general aspect, a hub projection positioning system is provided. The hub projection positioning system includes: an imaging calibration tool arranged at a predetermined position on the tower barrel of a wind turbine for capturing an image of a hub-related device of the wind turbine; an image processor for identifying the position where the hub-related device is located from the image captured by the imaging calibration tool and determining whether the hub-related device meets the installation requirements based on a plurality of preset calibration lines.

[0005] Optionally, the imaging calibration tool may include a spirit level and a camera. Among them, the first surface of the spirit level is adsorbed at the predetermined position on the tower barrel, the camera is arranged on the second surface of the spirit level, the optical axis of the camera is perpendicular to the second surface of the spirit level, and the hub-related device of the wind turbine is within the shooting range of the camera so that the camera can capture an image of the hub-related device of the wind turbine.

[0006] Optionally, the camera may be attached to the center position of the second surface of the spirit level, and / or the first surface and the second surface of the spirit level are perpendicular to each other, and / or the second surface of the spirit level is perpendicular to the axis of the tower barrel.

[0007] Optionally, the hub-related device may include at least one of the following items: a hub, a blade, and a tower clearance monitoring device, and / or the plurality of preset calibration lines may be calibration lines preset for calibrating the correct installation position of the hub-related device.

[0008] Optionally, the preset multiple calibration lines may include at least one of the following items: a calibration horizontal center line, a calibration vertical center line, a left hub line, a right hub line, a bottom hub line, and at least one blade profile calibration line.

[0009] Optionally, the preset multiple calibration lines may further include a first side line and a second side line. Among them, the first side line refers to the connection line from the left hub corner point to the center point of the bottom hub line, and the left hub corner point is the intersection point of the left hub line and the calibration horizontal center line. The second side line refers to the connection line from the right hub corner point to the center point of the bottom hub line, and the right hub corner point is the intersection point of the right hub line and the calibration horizontal center line.

[0010] Optionally, the image processor may identify the hub area from the captured image, detect whether the hub area coincides with a preset area. If the hub area coincides with the preset area, it is determined that the hub-related device meets the installation requirements. If the hub area does not coincide with the preset area, it is determined that the hub-related device does not meet the installation requirements. Among them, the hub area covers the location where the hub-related device is located, and the preset area is formed by the preset multiple calibration lines.

[0011] Optionally, the image processor may determine at least one detection line based on the identified hub area, and determine whether the hub area coincides with the preset area by detecting whether the at least one detection line coincides with the corresponding calibration line. Among them, the at least one detection line may include at least one of the following items: the left contour line of the hub, the right contour line of the hub, the bottom contour line of the hub, the horizontal center line of the hub-related device, the vertical center line of the hub-related device, and at least one blade contour line.

[0012] In another general aspect, a hub projection positioning method is provided. The hub projection positioning method includes: obtaining an image of a hub-related device of a wind turbine; identifying the location where the hub-related device is located from the obtained image; and determining whether the hub-related device meets the installation requirements based on a preset multiple calibration lines.

[0013] Optionally, the hub-related device may include at least one of the following items: a hub, a blade, and a tower clearance monitoring device, and / or, the preset multiple calibration lines may be calibration lines preset for calibrating the correct installation position of the hub-related device.

[0014] Optionally, the preset multiple calibration lines may include at least one of the following items: a calibration horizontal center line, a calibration vertical center line, a left hub line, a right hub line, a bottom hub line, and at least one blade profile calibration line.

[0015] Optionally, the step of determining whether the hub-related device meets the installation requirements based on a plurality of preset calibration lines may include: detecting whether the hub area coincides with a preset area. If the hub area coincides with the preset area, it is determined that the hub-related device meets the installation requirements; if the hub area does not coincide with the preset area, it is determined that the hub-related device does not meet the installation requirements. Wherein, the hub area covers the location where the hub-related device is located, and the preset area is formed by the plurality of preset calibration lines.

[0016] Optionally, the step of detecting whether the hub area coincides with the preset area may include: determining at least one detection line based on the hub area, and determining whether the hub area coincides with the preset area by detecting whether the at least one detection line coincides with the corresponding calibration line. Wherein, the at least one detection line includes at least one of the following items: the left contour line of the hub, the right contour line of the hub, the bottom contour line of the hub, the horizontal center line of the hub-related device, the vertical center line of the hub-related device, and at least one blade contour line.

[0017] In another general aspect, a controller is provided, including: a processor; a memory for storing a computer program, and the computer program, when executed by the processor, implements the above-mentioned hub projection positioning method.

[0018] In another general aspect, a computer-readable storage medium storing a computer program is provided, and when the computer program is executed by a processor, the above-mentioned hub projection positioning method is implemented.

[0019] By using the hub projection positioning system and method of the exemplary embodiment of the present invention, the installation deviation of the hub-related device of the wind turbine can be accurately identified. Description of the Drawings

[0020] Through the following detailed description in conjunction with the drawings showing exemplary embodiments, the above and other objects, features, and advantages of the exemplary embodiments of the present invention will become clearer.

[0021] Figure 1 Schematic diagram showing the existing manual identification of the hub projection position;

[0022] Figure 2 Block diagram showing the hub projection positioning system according to an exemplary embodiment of the present invention;

[0023] Figure 3 Schematic diagram showing the installation of the imaging calibration tool on the wind turbine according to an exemplary embodiment of the present invention;

[0024] Figure 4 Schematic diagram showing the installation of the camera and the level according to an exemplary embodiment of the present invention;

[0025] Figure 5 Shows the installation schematic diagram of a spirit level and a tower barrel of a wind turbine according to an exemplary embodiment of the present invention;

[0026] Figure 6 Shows the schematic diagram of a plurality of preset calibration lines according to an exemplary embodiment of the present invention;

[0027] Figure 7 Shows the measured effect diagram based on a plurality of preset calibration lines according to an exemplary embodiment of the present invention;

[0028] Figure 8 Shows the flowchart of the hub projection positioning method according to an exemplary embodiment of the present invention;

[0029] Figure 9 Shows the block diagram of a controller according to an exemplary embodiment of the present invention. Detailed implementation manners

[0030] Now, different exemplary embodiments will be described more fully with reference to the accompanying drawings, and some exemplary embodiments are shown in the drawings.

[0031] Figure 2 Shows the block diagram of a hub projection positioning system according to an exemplary embodiment of the present invention.

[0032] As Figure 2 shown, the hub projection positioning system 100 according to an exemplary embodiment of the present invention includes: an imaging calibration tool 101 and an image processor 102.

[0033] Specifically, the imaging calibration tool 101 is arranged at a predetermined position on the tower barrel of the wind turbine for capturing images of the hub-related devices of the wind turbine.

[0034] In one example, the hub-related devices may include but are not limited to at least one of the following items: a hub, blades, and a tower clearance monitoring device.

[0035] Here, the hub is the main support structure of the wind turbine, and the hub-related devices of the wind turbine are devices associated with the hub, and each device is a main component of the wind turbine. Hub projection positioning may refer to the projection of the hub in the direction perpendicular to the tower barrel on the ground with the ground as the standard plane. That is to say, the image captured by the imaging calibration tool 101 is the projection image of the hub in the direction perpendicular to the tower barrel on the standard plane. In the exemplary embodiment of the present invention, the installation positions of the hub-related devices are calibrated based on this projection image.

[0036] The image processor 102 identifies the positions of the hub-related devices from the images captured by the imaging calibration tool and determines whether the hub-related devices meet the installation requirements based on a plurality of preset calibration lines.

[0037] That is to say, the image processor 102 can use a plurality of preset calibration lines to test whether the blade installation is balanced, whether the tower clearance installation position is correct, and whether the hub installation position is correct.

[0038] The following will refer to Figures 3 to 5 to introduce the composition of the imaging calibration tool 101 and the installation method of the imaging calibration tool 101 on the tower barrel of the wind turbine.

[0039] As Figure 3 shown, the wind turbine may include a tower barrel 1, a nacelle 2, blades 3, a hub 4, and a tower clearance monitoring device 5 arranged at the bottom of the nacelle for real-time monitoring of the tower clearance. The imaging calibration tool 101 is arranged at a predetermined position on the tower barrel 1 of the wind turbine so that the hub-related device of the wind turbine is within the image capture range of the imaging calibration tool 101.

[0040] In a preferred example, the imaging calibration tool 101 may include, but is not limited to, a spirit level 11 and a camera 22.

[0041] As Figure 4 shown, the camera 22 may be arranged on the second surface of the spirit level 11, and the optical axis of the camera 22 is perpendicular to the second surface of the spirit level 11. In an example, the camera 22 may be attached to the center position of the second surface of the spirit level 11. For example, the camera 22 and the spirit level 11 may be orthogonally pasted together to ensure that the imaging of the hub-related device in the camera 22 is vertical.

[0042] As Figure 5 shown, when hub projection positioning is required, the first surface of the spirit level 11 can be adsorbed at a predetermined position on the tower barrel 1 so that the hub-related device of the wind turbine is within the shooting range of the camera 22, so that the camera 22 can capture an image of the hub-related device of the wind turbine (as Figure 3 shown).

[0043] Here, the first surface and the second surface of the spirit level 11 are perpendicular to each other, and the second surface of the spirit level 11 is perpendicular to the axis of the tower barrel 1 (as Figure 5 shown).

[0044] As an example, the second surface of the spirit level 11 may be the upper surface (the side with scales) of the spirit level 11, and the first surface of the spirit level 11 may be the side surface with the largest surface area among the side surfaces perpendicular to the second surface of the spirit level 11, so that the connection between the spirit level 11 and the tower barrel 1 is more firm.

[0045] In an exemplary embodiment of the present invention, a leveling instrument and a camera are combined to form an imaging calibration tool 101 for capturing an image at the hub, providing a feasible tool for realizing ground calibration. In addition, by using the leveling instrument in this way, an accurate projection standard plane can be obtained, so as to find the accurate hub projection position, making the subsequent identification of the installation position of the hub-related device more accurate.

[0046] In an exemplary embodiment of the present invention, the preset multiple calibration lines can be calibration lines preset for calibrating the correct installation position of the hub-related device. For example, the preset multiple calibration lines are calibration lines preset for calibrating the correct installation position of the hub-related device at the same depth of field as the hub-related device. Here, when the hub-related device is the hub, the preset multiple calibration lines can be calibration lines for calibrating the correct installation position of the hub; when the hub-related device is the blade, the preset multiple calibration lines can be calibration lines for calibrating the correct installation position of the blade; when the hub-related device is the tower clearance monitoring device, the preset multiple calibration lines can be calibration lines for calibrating the correct installation position of the tower clearance monitoring device.

[0047] Figure 6 A schematic diagram showing the preset multiple calibration lines according to an exemplary embodiment of the present invention.

[0048] As Figure 6 shown, by way of example, the preset multiple calibration lines can include but are not limited to at least one of the following items: calibration horizontal center line S1, calibration vertical center line S2, hub left side line S3, hub bottom side line S4, hub right side line S5, and at least one blade contour calibration line (not shown in the figure).

[0049] In an alternative example, the preset multiple calibration lines can further include a first side line S6 and a second side line S7.

[0050] For example, the first side line S6 can refer to the connection line from the left corner point of the hub to the center point of the hub bottom side line S4, and the left corner point of the hub is the intersection point of the hub left side line S3 and the calibration horizontal center line S2; the second side line S7 can refer to the connection line from the right corner point of the hub to the center point of the hub bottom side line S4, and the right corner point of the hub is the intersection point of the hub right side line S5 and the calibration horizontal center line S2.

[0051] In this example, the calibration horizontal center line S1 vertically traverses the entire image and can calibrate the horizontal line; the calibration vertical center line S2 horizontally traverses the entire image and can calibrate the vertical line; the hub left side line S3, the hub bottom side line S4, the hub right side line S5, the first side line S6, and the second side line S7 can indicate left-right symmetry.

[0052] The image processor 102 can identify whether the installation position of the hub-related device is correct based on the above preset multiple calibration lines.

[0053] For example, the image processor 102 can identify the hub area from the captured image, detect whether the hub area coincides with a preset area. If the hub area coincides with the preset area, it is determined that the hub-related device meets the installation requirements. If the hub area does not coincide with the preset area, it is determined that the hub-related device does not meet the installation requirements.

[0054] Here, the hub area covers the location where the hub-related device is located, and the preset area can be formed by a plurality of preset calibration lines. That is to say, the preset area formed by the plurality of preset calibration lines calibrates the correct installation position of the hub-related device, and the hub area encloses the actual installation position of the hub-related device. By judging the consistency between the hub area and the preset area, it is determined whether the installation position of the hub-related device is correct.

[0055] Specifically, the image processor 102 can determine at least one detection line based on the identified hub area, and determine whether the hub area coincides with the preset area by detecting whether the determined at least one detection line coincides with the corresponding calibration line.

[0056] As an example, the at least one detection line can include but is not limited to at least one of the following items: the left contour line of the hub, the right contour line of the hub, the bottom contour line of the hub, the horizontal center line of the hub-related device, the vertical center line of the hub-related device, and at least one blade contour line.

[0057] The at least one detection line corresponds to the plurality of preset calibration lines. For example, if the plurality of preset calibration lines are the calibration horizontal center line S1, the horizontal center line of the hub-related device can be identified based on the hub area to compare the calibration horizontal center line S1 with the horizontal center line of the hub-related device. If the plurality of preset calibration lines are the left line S3 of the hub, the left contour line of the hub of the hub-related device can be identified based on the hub area to compare the left line S3 of the hub with the left contour line of the hub (as Figure 7 shown), and the present invention will not list them one by one.

[0058] Figure 8 Shows a flowchart of a hub projection positioning method according to an exemplary embodiment of the present invention. Here, Figure 8 the shown hub projection positioning method can be executed in Figure 2 the image processor 102 shown.

[0059] Referring to Figure 8 , in step S10, an image of the hub-related device of the wind turbine is acquired.

[0060] As an example, the hub-related device can include but is not limited to at least one of the following items: a hub, a blade, and a tower clearance monitoring device.

[0061] For example, an image of the hub-related device of a wind turbine can be obtained from an imaging calibration tool. The imaging calibration tool can be arranged at a predetermined position on the tower barrel of the wind turbine for capturing an image of the hub-related device of the wind turbine.

[0062] In a preferred example, the imaging calibration tool can include, but is not limited to, a level and a camera. For example, the first surface of the level is adsorbed at a predetermined position on the tower barrel, and the camera can be arranged on the second surface of the level, and the optical axis of the camera is perpendicular to the second surface of the level.

[0063] In step S20, the position where the hub-related device is located is identified from the acquired image.

[0064] In step S30, based on a plurality of preset calibration lines, it is determined whether the hub-related device meets the installation requirements.

[0065] In an exemplary embodiment of the present invention, the plurality of preset calibration lines can be calibration lines preset for calibrating the correct installation position of the hub-related device.

[0066] As an example, the plurality of preset calibration lines can include, but is not limited to, at least one of the following items: a calibration horizontal center line, a calibration vertical center line, a left hub line, a right hub line, a bottom hub line, and at least one blade profile calibration line.

[0067] In an alternative example, the plurality of preset calibration lines can further include a first side line and a second side line. For example, the first side line can refer to a line connecting the left hub corner point to the center point of the bottom hub line, where the left hub corner point is the intersection of the left hub line and the calibration horizontal center line, and the second side line can refer to a line connecting the right hub corner point to the center point of the bottom hub line, where the right hub corner point is the intersection of the right hub line and the calibration horizontal center line.

[0068] In an example, the step of determining whether the hub-related device meets the installation requirements based on the plurality of preset calibration lines can include: detecting whether the hub area coincides with a preset area. If the hub area coincides with the preset area, it is determined that the hub-related device meets the installation requirements. If the hub area does not coincide with the preset area, it is determined that the hub-related device does not meet the installation requirements.

[0069] Here, the hub area covers the position where the hub-related device is located, and the preset area is formed by the plurality of preset calibration lines. That is to say, the preset area formed by the plurality of preset calibration lines calibrates the correct installation position of the hub-related device, and the hub area encloses the actual installation position of the hub-related device. By judging the consistency between the hub area and the preset area, it is determined whether the installation position of the hub-related device is correct.

[0070] In a preferred example, the step of detecting whether the hub area coincides with the preset area may include: determining at least one detection line based on the hub area, and determining whether the hub area coincides with the preset area by detecting whether at least one detection line coincides with the corresponding calibration line.

[0071] As an example, the at least one detection line may include but is not limited to at least one of the following: the left contour line of the hub, the right contour line of the hub, the bottom contour line of the hub, the horizontal center line of the hub-related device, the vertical center line of the hub-related device, and at least one blade contour line.

[0072] Figure 9 The block diagram of a controller according to an exemplary embodiment of the present invention is shown.

[0073] As Figure 9 shown, the controller 200 according to an exemplary embodiment of the present invention includes: a processor 201 and a memory 202.

[0074] Specifically, the memory 202 is used to store a computer program, and the computer program, when executed by the processor 201, implements the above-mentioned hub projection positioning method.

[0075] Here, Figure 8 the hub projection positioning method shown can be executed in Figure 9 the processor 201 shown. Figure 9 The controller in Figure 2 can be implemented as the image processor 102 shown in

[0076] and applied to the hub projection positioning system 100. As an example, the controller 200 can be implemented as the controller of a desktop computing device or a portable device (such as a laptop computer, a tablet computer, a smart phone).

[0077] According to the hub projection positioning system and method of the exemplary embodiment of the present invention, through the combination of the imaging calibration tool and the calibration line, the mapping position of the hub on the ground is accurately located, so that the measurement is more accurate, and at the same time, the recall rate of the tower clearance can be improved.

[0078] It should be understood that, in the exemplary embodiments of the present invention, for clarity and conciseness, descriptions of unnecessary components or elements may be omitted, and the same reference numerals always denote the same elements. In the drawings, for clarity, the dimensions and relative dimensions of layers and regions may be exaggerated, and the distances and relative distances between elements may also be exaggerated. Therefore, the drawings are only schematic illustrations of the relative positional relationships between the elements of the present invention, rather than being restrictive.

[0079] It should be understood that when an element or layer is referred to as "on" another element or layer, or is referred to as "connected to" another element or layer, the element or layer can be directly on the other element or layer or directly connected to the other element or layer, or there may also be intermediate elements or intermediate layers. In contrast, when an element is referred to as "directly on" another element or "directly connected to" another element or layer, there are no intermediate elements or intermediate layers. As used herein, the term "and / or" includes any combination and all combinations of one or more of the related listed items.

[0080] It should be understood that although the terms first, second, etc. may be used herein to describe different elements, components, regions, layers, and / or parts, these elements, components, regions, layers, and / or parts are not limited by these terms. These terms are only used to distinguish one element, component, region, layer, and / or part from another element, component, region, layer, and / or part. Therefore, without departing from the teachings of the present invention, the first element, component, region, layer, or part discussed below may be named the second element, component, region, layer, or part.

[0081] Although the present invention has been specifically shown and described with reference to its exemplary embodiments, those skilled in the art should understand that various changes in form and detail can be made thereto without departing from the spirit and scope of the present invention as defined by the claims.

Claims

1. A hub projection positioning system, characterized in that, The hub projection positioning system includes: An imaging calibration tool, arranged at a predetermined position on the tower barrel of the wind turbine, for capturing images of the hub-related equipment of the wind turbine; An image processor, which identifies the position of the hub-related equipment from the images captured by the imaging calibration tool, and determines whether the hub-related equipment meets the installation requirements based on a plurality of preset calibration lines; Wherein, the image processor identifies the hub area from the captured images, and detects whether the hub area coincides with a preset area. If the hub area coincides with the preset area, it is determined that the hub-related equipment meets the installation requirements. If the hub area does not coincide with the preset area, it is determined that the hub-related equipment does not meet the installation requirements. Wherein, the hub area covers the position where the hub-related equipment is located, and the preset area is formed by the plurality of preset calibration lines.

2. The hub projection positioning system according to claim 1, wherein The imaging calibration tool includes a spirit level and a camera. Wherein, the first surface of the spirit level is adsorbed at the predetermined position on the tower barrel. The camera is arranged on the second surface of the spirit level, and the optical axis of the camera is perpendicular to the second surface of the spirit level. The hub-related equipment of the wind turbine is within the shooting range of the camera, so that the camera can capture the images of the hub-related equipment of the wind turbine.

3. The hub projection positioning system according to claim 2, characterized in that, The camera is attached to the center position of the second surface of the spirit level. And / or, the first surface and the second surface of the spirit level are perpendicular to each other. And / or, the second surface of the spirit level is perpendicular to the axis of the tower barrel.

4. The hub projection positioning system according to claim 1, wherein The hub-related equipment includes at least one of the following: a hub, blades, and a tower clearance monitoring device. And / or, the plurality of preset calibration lines are calibration lines preset for calibrating the correct installation position of the hub-related equipment.

5. The hub projection positioning system according to claim 1 or 4, characterized in that, The plurality of preset calibration lines include at least one of the following: a calibration horizontal center line, a calibration vertical center line, a left hub line, a right hub line, a bottom hub line, and at least one blade profile calibration line.

6. The hub projection positioning system according to claim 5, characterized in that, The plurality of preset calibration lines further include a first side line and a second side line. Wherein, the first side line refers to the connection line from the left hub corner point to the center point of the bottom hub line. The left hub corner point is the intersection point of the left hub line and the calibration horizontal center line. The second side line refers to the connection line from the right hub corner point to the center point of the bottom hub line. The right hub corner point is the intersection point of the right hub line and the calibration horizontal center line.

7. The hub projection positioning system according to claim 1, wherein The image processor determines at least one detection line based on the identified hub area, and determines whether the hub area coincides with the preset area by detecting whether the at least one detection line coincides with the corresponding calibration line. Wherein, the at least one detection line includes at least one of the following: the left contour line of the hub, the right contour line of the hub, the bottom contour line of the hub, the horizontal center line of the hub-related equipment, the vertical center line of the hub-related equipment, and at least one blade contour line.

8. A hub projection positioning method, characterized in that The hub projection positioning method includes: Obtaining images of the hub-related equipment of the wind turbine; Identifying the position of the hub-related equipment from the obtained images; Determining whether the hub-related equipment meets the installation requirements based on a plurality of preset calibration lines; Wherein, the step of determining whether the hub-related equipment meets the installation requirements based on a plurality of preset calibration lines includes: Detect whether the hub area coincides with the preset area. If the hub area coincides with the preset area, it is determined that the hub-related device meets the installation requirements. If the hub area does not coincide with the preset area, it is determined that the hub-related device does not meet the installation requirements. Wherein, the hub area covers the location where the hub-related device is located, and the preset area is formed by the preset multiple calibration lines.

9. The hub projection positioning method according to claim 8, wherein, The hub-related device includes at least one of the following items: a hub, a blade, and a tower clearance monitoring device. And / or, the preset multiple calibration lines are calibration lines preset for calibrating the correct installation position of the hub-related device.

10. The hub projection positioning method according to claim 9, characterized in that, The preset multiple calibration lines include at least one of the following items: a calibration horizontal center line, a calibration vertical center line, a left hub line, a right hub line, a bottom hub line, and at least one blade contour calibration line.

11. The hub projection positioning method according to claim 8, wherein The steps of detecting whether the hub area coincides with the preset area include: Determine at least one detection line based on the hub area, and determine whether the hub area coincides with the preset area by detecting whether the at least one detection line coincides with the corresponding calibration line. Wherein, the at least one detection line includes at least one of the following items: the left contour line of the hub, the right contour line of the hub, the bottom contour line of the hub, the horizontal center line of the hub-related device, the vertical center line of the hub-related device, and at least one blade contour line.

12. A controller, characterized in that, Comprising: A processor; A memory for storing a computer program, and the computer program, when executed by the processor, implements the hub projection positioning method according to any one of claims 8 to 11.

13. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the hub projection positioning method according to any one of claims 8 to 11.

Images