Wind turbine blade monitoring method and device, wind turbine tower and electronic equipment

Abstract

The application discloses a wind turbine blade monitoring method and device, a wind turbine tower and electronic equipment. The method comprises the following steps: identifying a blade contour in each frame of a target image sequence; determining a target equivalent line of each wind turbine blade in the wind turbine according to the blade contour; calculating a state parameter of the wind turbine blade according to the blade contour and the target equivalent line, wherein the state parameter is used to indicate the blade rotating speed of the wind turbine blade and whether the wind turbine blade is broken; and sending a first target instruction to the wind turbine in the case that the blade rotating speed is greater than a preset rotating speed threshold and the wind turbine blade is broken, wherein the first target instruction is used to control the wind turbine to perform a separation operation of separating the wind turbine blade from the wind turbine. The application solves the technical problem of poor accuracy of blade state monitoring due to the fact that the related art relies on internal communication and measuring points of the wind turbine to monitor the state of the blade, and the communication problem often occurs when the blade is in an overspeed state.

Description

Technical Field

[0001] This application relates to the field of wind power generation technology, and more specifically, to a method, device, wind turbine tower, and electronic equipment for monitoring wind turbine blades. Background Technology

[0002] Tower collapse is one of the most serious accidents that can occur with wind turbine generators. In actual wind turbine generator tower collapse accidents, those caused by overspeed account for a large proportion. When a wind turbine generator experiences overspeed and the overspeed protection fails to operate, as the turbine speed continues to increase, the centrifugal force on the turbine blades becomes greater and greater. When the centrifugal force on a certain blade exceeds its material bearing limit, that blade will break first. After a blade breaks, the unit will experience an imbalance of forces, and the tower will be subjected to a huge lateral force, leading to a tower collapse accident.

[0003] Related technologies rely on internal communication and measurement points within the wind turbine generator to determine the blade status. However, since communication problems often occur simultaneously when the blades are overspeeding, the accuracy and reliability of monitoring the blade status of the wind turbine generator are not high, resulting in the inability to effectively prevent tower collapse accidents.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This application provides a method, device, wind turbine tower, and electronic equipment for monitoring wind turbine blades, in order to at least solve the technical problem that the monitoring of blade status relies on internal communication and measuring points of the wind turbine to monitor the blade status, but communication problems often occur when the blades are overspeeding, resulting in poor accuracy of blade status monitoring.

[0006] According to one aspect of the embodiments of this application, a method for monitoring wind turbine blades is provided, comprising: identifying blade contours in each frame of a target image sequence, wherein the target image sequence includes multiple frames of target images containing wind turbine blades of a wind turbine; determining a target equivalent line for each wind turbine blade in the wind turbine based on the blade contours; calculating state parameters of the wind turbine blade based on the blade contours and the target equivalent lines, wherein the state parameters are used to indicate the blade rotation speed of the wind turbine blade and whether the wind turbine blade has broken; and sending a first target command to the wind turbine when the blade rotation speed is greater than a preset speed threshold and the wind turbine blade has broken, wherein the first target command is used to control the wind turbine to perform a separation operation to separate the wind turbine blade from the wind turbine.

[0007] Optionally, the state parameters include: blade rotation speed and blade integrity. Calculating the state parameters of the wind turbine blade based on the blade profile and target equivalent lines includes: calculating the blade rotation speed based on the target equivalent lines in the first and second images, where the first image is the latest acquired target image, and the second image is the target image immediately preceding the first image; when the number of wind turbine blades is detected to be equal to a preset number, determining the length of the target equivalent line for each wind turbine blade in the first image, and determining the maximum value of the length as the standard length; calculating the ratio of the length of the target equivalent line of each wind turbine blade to the standard length to obtain the blade integrity of each wind turbine blade, and determining that the wind turbine blade has broken if the blade integrity is less than a preset integrity threshold.

[0008] Optionally, the state parameters also include: the number of contours within the circle; calculating the state parameters of the wind turbine blades based on the blade contours and the target equivalent lines also includes: determining the position of the wind turbine hub in the target image when the number of detected wind turbine blades is less than a preset number; counting the number of blade contours located within the reference circle to obtain the number of contours within the circle, wherein the reference circle is a circle generated with the center point of the wind turbine hub as the center and the distance between the point on the blade contour farthest from the center point of the wind turbine hub and the center point of the wind turbine hub as the radius; determining that the wind turbine blade has broken when the number of contours within the circle is greater than the preset number of contours.

[0009] Optionally, calculating the blade rotation speed based on the target equivalent line in the first image and the second image includes: determining the target time difference between the first image and the second image, wherein the target time difference is the time interval between the time of acquiring the first image and the time of acquiring the second image; determining the rotation angle of the target equivalent line by comparing the position of the target equivalent line in the first image and the position of the target equivalent line in the second image; and calculating the blade rotation speed based on the target time difference and the rotation angle.

[0010] Optionally, before identifying the blade outline in each frame of the target image sequence, the method further includes: acquiring images of the wind turbine blades of the wind turbine unit through an image acquisition device, and monitoring the viewfinder of the image acquisition device, wherein at the initial moment of image acquisition, the wind turbine hub of the wind turbine unit is located at the center of the viewfinder; if the wind turbine hub is detected to be deviating from the center of the viewfinder, a second target command is sent, wherein the second target command is used to control the mobile device to adjust the position of the image acquisition device so that the wind turbine hub is located at the center of the viewfinder.

[0011] Optionally, determining the target equivalent line for each wind turbine blade based on the blade profile includes: traversing any two points on the blade profile and determining the line connecting the two points with the largest distance as the target equivalent line.

[0012] Optionally, each wind turbine blade of the wind turbine is provided with a blasting device at its root; sending a first target command to the wind turbine includes instructing the wind turbine to control the blasting device to blast, so as to complete the separation operation of separating the wind turbine blade from the wind turbine.

[0013] Optionally, after sending the first target instruction to the wind turbine, the method further includes: upon receiving a blasting completion signal returned by the wind turbine, sending a third target instruction to the fire protection system, wherein the third target instruction is used to instruct the fire protection system to perform fire protection operations.

[0014] According to another aspect of the embodiments of this application, a wind turbine blade monitoring device is also provided, comprising: a contour recognition module, used to recognize the blade contour in each frame of a target image sequence, wherein the target image sequence includes multiple frames of target images containing wind turbine blades of a wind turbine; an equivalent line determination module, used to determine the target equivalent line of each wind turbine blade in the wind turbine based on the blade contour; a parameter calculation module, used to calculate the state parameters of the wind turbine blade based on the blade contour and the target equivalent line, wherein the state parameters are used to indicate the blade rotation speed of the wind turbine blade and whether the wind turbine blade has broken; and a state detection module, used to send a first target command to the wind turbine when the blade rotation speed is greater than a preset rotation speed threshold and the wind turbine blade has broken, wherein the first target command is used to control the wind turbine to perform a separation operation to separate the wind turbine blade from the wind turbine.

[0015] According to another aspect of the embodiments of this application, a wind turbine tower is also provided, including: a wind turbine tower casing, a wind turbine generator set, a circular track, an image acquisition device, and a controller. The wind turbine generator set is fixed on the wind turbine tower casing, and the wind turbine generator set includes a wind turbine hub with multiple wind turbine blades fixed on the wind turbine hub. A circular track surrounds the lower part of the wind turbine tower casing. The image acquisition device is located on the circular track and moves using the circular track to center the wind turbine hub in the viewfinder of the image acquisition device. The controller is connected to each device in the wind turbine tower and is used to identify the blades in each frame of a target image sequence. The process involves defining the profile, where the target image sequence includes multiple target images containing wind turbine blades of a wind turbine unit; determining the target equivalent line for each wind turbine blade in the wind turbine unit based on the blade profile; calculating the state parameters of the wind turbine blade based on the blade profile and the target equivalent line, where the state parameters indicate the blade speed and whether the wind turbine blade has broken; and sending a first target command to the wind turbine unit when the blade speed is greater than a preset speed threshold and the wind turbine blade has broken, where the first target command controls the wind turbine unit to perform a separation operation to separate the wind turbine blade from the wind turbine unit.

[0016] According to another aspect of the embodiments of this application, an electronic device is also provided, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute instructions to perform a wind turbine blade monitoring method.

[0017] In this embodiment, the blade contours in each frame of a target image sequence are identified, wherein the target image sequence includes multiple frames of target images containing wind turbine blades of a wind turbine unit; based on the blade contours, the target equivalent line of each wind turbine blade in the wind turbine unit is determined; based on the blade contours and the target equivalent lines, the state parameters of the wind turbine blade are calculated, wherein the state parameters are used to indicate the blade rotation speed and whether the wind turbine blade has broken; if the blade rotation speed is greater than a preset speed threshold and the wind turbine blade has broken, a first target command is sent to the wind turbine unit, wherein the first target command is used to control the wind turbine unit to perform a separation operation to detach the wind turbine blade from the wind turbine unit. The operation method calculates the wind turbine's rotational speed and blade integrity through external video monitoring, and determines whether a blade is broken. This achieves the goal of monitoring the blade status without relying on internal communication and measuring points within the wind turbine. This solves the technical problem that related technologies rely on internal communication and measuring points to monitor the blade status, but communication problems often occur when the blade is overspeeding, resulting in poor accuracy in monitoring the blade status. When overspeeding and blade breakage are detected, explosives pre-embedded at the root of the wind turbine blades are detonated, causing all wind turbine blades to detach from the hub, reducing the stress on the wind turbine tower, preventing tower collapse accidents, and minimizing accident losses. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0019] Figure 1 This is a hardware structure block diagram of a computer terminal (or electronic device) for implementing a method for monitoring wind turbine blades, according to an embodiment of this application.

[0020] Figure 2 This is a schematic diagram of a method for monitoring wind turbine blades according to an embodiment of this application;

[0021] Figure 3 This is a schematic diagram of a method for preventing tower collapse of a wind turbine generator set according to an embodiment of this application;

[0022] Figure 4 This is a schematic diagram of the structure of a wind turbine blade monitoring device according to an embodiment of this application;

[0023] Figure 5 This is a structural schematic diagram of a wind turbine tower provided according to an embodiment of this application. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] In related technologies, the condition of wind turbine blades is determined by relying on internal communication and measuring points within the wind turbine generator set. However, since communication problems often occur simultaneously when blades are overspeeding, the accuracy and reliability of wind turbine blade condition monitoring are low. To address this issue, this application provides a related solution, which is described in detail below.

[0027] According to an embodiment of this application, a method for monitoring wind turbine blades is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0028] The methods and embodiments provided in this application can be executed on mobile terminals, computer terminals, or similar computing devices. Figure 1 A hardware block diagram of a computer terminal (or electronic device) for implementing a method for monitoring wind turbine blades is shown. Figure 1As shown, the computer terminal 10 (or electronic device 10) may include one or more processors 102 (shown as 102a, 102b, ..., 102n in the figure) 102 (processor 102 may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 104 for storing data, and a transmission module 106 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of a BUS bus), a network interface, a power supply, and / or a camera. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, computer terminal 10 may also include... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0029] It should be noted that the aforementioned one or more processors 102 and / or other data processing circuits are generally referred to herein as "data processing circuits". These data processing circuits may be embodied, in whole or in part, in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuits may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the computer terminal 10 (or electronic device). As involved in the embodiments of this application, the data processing circuits serve as a processor control mechanism (e.g., selection of a variable resistor termination path connected to an interface).

[0030] The memory 104 can be used to store software programs and modules for application software, such as the program instructions / data storage device corresponding to the wind turbine blade monitoring method in this embodiment. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby realizing the aforementioned wind turbine blade monitoring method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0031] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the computer terminal 10. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0032] The display can be, for example, a touchscreen liquid crystal display (LCD) that allows the user to interact with the user interface of the computer terminal 10 (or electronic device).

[0033] Under the above operating environment, this application provides a method for monitoring wind turbine blades. Figure 2 This is a schematic diagram of a method for monitoring wind turbine blades according to an embodiment of this application, as shown below. Figure 2 As shown, the method includes the following steps:

[0034] Step S202: Identify the blade outline in each frame of the target image sequence, wherein the target image sequence includes multiple frames of target images containing wind turbine blades;

[0035] To ensure more accurate detection of wind turbine blades, the image acquisition device must always be directly facing the wind turbine. Therefore, before identifying the blade outline in each frame of the target image sequence, the following steps are included: acquiring images of the wind turbine blades of the wind turbine unit using the image acquisition device and monitoring the viewfinder of the image acquisition device. At the initial moment of image acquisition, the wind turbine hub of the wind turbine unit is located in the center of the viewfinder. If the wind turbine hub is detected to be deviating from the center of the viewfinder, a second target command is sent. The second target command is used to control the mobile device to adjust the position of the image acquisition device so that the wind turbine hub is located in the center of the viewfinder.

[0036] Specifically, the camera (i.e., the image acquisition device mentioned above) is initially positioned to face the wind turbine hub, so that the wind turbine hub is in the center of the image and all the wind turbine blades are in the image (i.e., the viewfinder mentioned above). After image acquisition begins, images are extracted from the video frame by frame. The instance segmentation algorithm is used to detect the wind turbine hub in the image. When the detected wind turbine hub is located to the left of the image center, a command (i.e., the second target command mentioned above) is issued to make the camera move clockwise until the wind turbine hub is back in the center of the image. When the detected wind turbine hub is located to the right of the image center, a command is issued to make the camera move counterclockwise until the wind turbine hub is back in the center of the image.

[0037] The instance segmentation algorithms mentioned above include, but are not limited to, deep learning algorithms such as Mask R-CNN and SOLO.

[0038] Step S204: Based on the blade profile, determine the target equivalent line of each wind turbine blade in the wind turbine unit;

[0039] In some embodiments of this application, determining the target equivalent line of each wind turbine blade based on the blade profile includes the following steps: traversing any two points on the blade profile and determining the line connecting the two points with the largest distance as the target equivalent line.

[0040] Step S206: Based on the blade profile, determine the target equivalent line of each wind turbine blade in the wind turbine unit; based on the blade profile and the target equivalent line, calculate the state parameters of the wind turbine blade, wherein the state parameters are used to indicate the blade rotation speed of the wind turbine blade and whether the wind turbine blade has broken.

[0041] In some embodiments of this application, the state parameters include: blade rotation speed and blade integrity; the calculation of the state parameters of the wind turbine blade based on the blade profile and the target equivalent line includes the following steps: calculating the blade rotation speed based on the target equivalent line in the first image and the second image, wherein the first image is the latest frame of the target image acquired, and the second image is the previous frame of the target image adjacent to the first image;

[0042] If the number of wind turbine blades is equal to the preset number, the length of the target equivalent line of each wind turbine blade in the first image is determined, and the maximum value of the length is determined as the standard length. The ratio of the length of the target equivalent line of each wind turbine blade to the standard length is calculated to obtain the blade integrity of each wind turbine blade. If the blade integrity is less than the preset integrity threshold, it is determined that the wind turbine blade has broken.

[0043] Specifically, taking a hub with three wind turbine blades as an example, the equivalent line length of the three blades in each frame of the target image is calculated, and the integrity of each blade d = the equivalent line length of the blade / the maximum value of the equivalent line lengths of the three blades (i.e., the standard length mentioned above).

[0044] As an optional implementation, the state parameters also include: the number of contours within the circle; calculating the state parameters of the wind turbine blades based on the blade contours and the target equivalent line further includes the following steps: when the number of wind turbine blades detected is less than a preset number, determining the position of the wind turbine hub in the target image; counting the number of blade contours located within the reference circle to obtain the number of contours within the circle, wherein the reference circle is a circle generated with the center point of the wind turbine hub as the center and the distance between the point on the blade contour farthest from the center point of the wind turbine hub and the center point of the wind turbine hub as the radius; when the number of contours within the circle is greater than the preset number of contours, determining that the wind turbine blade has broken.

[0045] As an optional implementation, an instance segmentation algorithm is used to detect wind turbine blades in the target image, and a contour detection algorithm is used to obtain the blade contours. When the number of blades is equal to a preset number (the following explanation is based on a preset number of 3), all contours in the image are detected, and the number of contours within the circle with the hub center as the center and the point on the blade contour that is farthest from the hub center as a point on the circle is calculated.

[0046] When the number of detected wind turbine blades is not equal to the preset number (for example, greater than 0 and less than 3), detect all contours in the image and calculate the number of contours within the circle with the hub center as the center and the point on the blade contour farthest from the hub center as the point on the circle, which is n; record the last time the number of blades was equal to 3, and the number of contours within the circle with the hub center as the center and the point on the blade contour farthest from the hub center as the point on the circle, which is m; when nm > k (k is a fixed value greater than 0), it is determined that at least one wind turbine blade has broken.

[0047] The shape of a broken wind turbine blade is random, and it is usually impossible to obtain enough broken blade samples for training. Therefore, the instance segmentation algorithm may fail to detect broken blades. Due to the material properties of wind turbine blades, a large number of fragments will be generated after the blade breaks. In this embodiment, the blade breakage is determined by comparing the number of contours in the case of 3 blades and less than 3 blades.

[0048] The contour detection algorithms mentioned above include, but are not limited to, various general-purpose algorithms in OpenCV and Halcon;

[0049] In some embodiments of this application, calculating the blade rotation speed based on the target equivalent line in the first image and the second image includes the following steps: determining the target time difference between the first image and the second image, wherein the target time difference is the time interval between the time of acquiring the first image and the time of acquiring the second image; determining the rotation angle of the target equivalent line by comparing the position of the target equivalent line in the first image with the position of the target equivalent line in the second image; and calculating the blade rotation speed based on the target time difference and the rotation angle.

[0050] Specifically, the rotation angle α of the blade equivalent line in the two most recent frames (i.e., the first and second images mentioned above) is calculated, and the fan speed ω = α / Δt, where Δt is the time difference between the two most recent frames (i.e., the target time difference mentioned above).

[0051] As an alternative implementation, the internal communication status of the wind turbine can be detected before calculating the blade rotation speed from the target image. If the internal communication status parameter is greater than a preset threshold, the blade rotation speed collected by the measuring points inside the wind turbine can be directly obtained.

[0052] The aforementioned communication status parameters may include, but are not limited to, signal transmission rate and signal transmission quality parameters.

[0053] As an optional implementation, the blade rotation speed obtained from the measuring points inside the wind turbine generator can be acquired at a preset period and compared with the blade rotation speed calculated from the target image. If the error between the rotation speeds obtained by the two methods is less than a preset error threshold, the blade rotation speed calculated from the target image is determined to be reliable. The preset period is at least greater than the time difference between the acquisition of two target images by the image acquisition device.

[0054] Step S208: When the blade rotation speed is greater than a preset rotation speed threshold and the blade integrity is less than a preset integrity threshold, a first target instruction is sent to the wind turbine. The first target instruction is used to control the wind turbine to perform a separation operation to separate the wind turbine blade from the wind turbine.

[0055] In some embodiments of this application, a blasting device is provided at the root of each wind turbine blade of the wind turbine unit; sending a first target instruction to the wind turbine unit includes the following steps: instructing the wind turbine unit to control the blasting device to blast, so as to complete the separation operation of separating the wind turbine blade from the wind turbine unit.

[0056] To ensure safety at the site after the blasting separation, the following steps are included after sending the first target instruction to the wind turbine: upon receiving the blasting completion signal returned by the wind turbine, a third target instruction is sent to the fire protection system, wherein the third target instruction is used to instruct the fire protection system to perform fire protection operations.

[0057] Specifically, a detonation command (i.e., the first target command mentioned above) is issued to remotely detonate the explosives embedded at the root of the wind turbine blades. The embedded surface of the explosives is at an angle to the blade cross-section, slightly facing the wind direction of the wind turbine, so that the blades fly in front of the wind turbine when they leave the hub, avoiding collision with the wind turbine tower. After the explosives are detonated, the automatic fire-fighting system (i.e., the fire-fighting system mentioned above) installed inside the nacelle is activated in an interlocking manner to prevent a fire accident.

[0058] The method for monitoring wind turbine blades in steps S202 to S208 of the embodiments of this application will be further described below.

[0059] Figure 3 This is a schematic diagram of a method for preventing tower collapse of a wind turbine generator according to an embodiment of this application, as shown below. Figure 3 As shown, the method includes the following steps:

[0060] Step S302: Capture video monitoring footage of the wind turbine using a camera;

[0061] Specifically, a circular track is installed around the wind turbine tower as the center. A camera that can move along the track is installed on the track. The camera can automatically track the wind direction of the wind turbine, ensuring that the camera is always facing the wind turbine and can capture all the blades of the wind turbine, thus obtaining the video monitoring image of the wind turbine captured by the camera (i.e. the above target image sequence).

[0062] Step S304: Detect the wind turbine blades in the image and obtain the blade outline;

[0063] Specifically, images (i.e., the target images mentioned above) are extracted from the video frame by frame, and the wind turbine blades in the target images are detected by the target detection algorithm. The instance segmentation algorithm mentioned above includes, but is not limited to, deep learning algorithms such as Mask R-CNN and SOLO, and the blade contours are obtained through the contour detection algorithm.

[0064] Step S306: Calculate the wind turbine generator speed and blade integrity, and determine whether the blade is broken;

[0065] Specifically, the distance between any two points on the blade profile is traversed, and the line connecting the two points with the greatest distance on the blade profile is taken as the equivalent line of the blade; the rotation angle α of the blade equivalent line in the two most recent frames (i.e., the first and second images mentioned above) is calculated, and the wind turbine speed ω = α / Δt, where Δt is the time difference between the two most recent frames (i.e., the target time difference mentioned above); taking a hub with 3 wind turbine blades fixed as an example, when 3 blade profiles are detected, the equivalent line length of the 3 blades in each frame of the target image is calculated, and the integrity d of each blade is equal to the equivalent line length of the blade / the maximum value of the equivalent line lengths of the 3 blades (i.e., the standard length mentioned above).

[0066] As an optional implementation, when the number of blade contours is greater than 0 but less than 3, the blade breakage can be determined by comparing the number of contours in the case of 3 blades and less than 3 blades. Specifically, when the number of blades is equal to a preset number (the preset number is 3 as an example below), all contours in the image are detected, and the number of contours inside the circle with the hub center as the center and the point on the blade contour that is farthest from the hub center as a point on the circle is calculated.

[0067] When the number of detected wind turbine blades is not equal to the preset number (for example, greater than 0 and less than 3), detect all contours in the image and calculate the number of contours within the circle with the hub center as the center and the point on the blade contour farthest from the hub center as the point on the circle, which is n; record the last time the number of blades was equal to 3, and the number of contours within the circle with the hub center as the center and the point on the blade contour farthest from the hub center as the point on the circle, which is m; when nm > k (k is a fixed value greater than 0), it is determined that at least one wind turbine blade has broken.

[0068] Step S308: If the preset conditions are not met, issue a detonation command.

[0069] Specifically, when ω exceeds the overspeed protection setting of the wind turbine and it is determined that the blade has broken, a detonation command (i.e., the first target command mentioned above) is issued to remotely detonate the explosives embedded in the root of the wind turbine blade. The embedded surface of the explosives forms an angle with the blade cross-section and is slightly facing the wind direction of the wind turbine, so that the blades fly in front of the wind turbine when they detach from the hub, avoiding collision with the wind turbine tower. After the explosives are detonated, the automatic fire-fighting system (i.e., the fire-fighting system mentioned above) installed inside the nacelle is activated in an interlock to prevent a fire accident.

[0070] This solution uses video monitoring to check the wind turbine speed and blade integrity. When overspeeding and blade breakage are detected, explosives pre-embedded at the root of the wind turbine blades are detonated, causing all wind turbine blades to detach from the hub, reducing the stress on the wind turbine tower, preventing tower collapse accidents, and minimizing accident losses.

[0071] Through the above steps, the wind turbine's rotational speed and blade integrity are calculated using external video monitoring, and whether a blade is broken is determined. This achieves the goal of monitoring the blade status without relying on internal communication and measuring points within the wind turbine. It also solves the technical problem of poor accuracy in blade status monitoring caused by communication issues that often arise when blades are overspeeding, which is a problem in related technologies that rely on internal communication and measuring points. When overspeeding and blade breakage are detected, explosives pre-embedded at the root of the wind turbine blades are detonated, causing all wind turbine blades to detach from the hub, reducing the stress on the wind turbine tower, preventing tower collapse, and minimizing accident losses.

[0072] According to an embodiment of this application, an embodiment of a wind turbine blade monitoring device is also provided. Figure 4 This is a schematic diagram of a wind turbine blade monitoring device provided according to an embodiment of this application. Figure 4 As shown, the device includes:

[0073] The contour recognition module 40 is used to recognize the blade contours in each frame of the target image sequence, wherein the target image sequence includes multiple frames of target images containing wind turbine blades of wind turbine units.

[0074] The equivalent line determination module 42 is used to determine the target equivalent line of each wind turbine blade in the wind turbine unit based on the blade profile.

[0075] The parameter calculation module 44 is used to calculate the state parameters of the wind turbine blade based on the blade profile and the target equivalent line. The state parameters are used to indicate the blade speed of the wind turbine blade and whether the wind turbine blade has broken.

[0076] The status detection module 46 is used to send a first target command to the wind turbine when the blade speed is greater than a preset speed threshold and the wind turbine blade breaks. The first target command is used to control the wind turbine to perform a separation operation to separate the wind turbine blade from the wind turbine.

[0077] It should be noted that each module in the aforementioned wind turbine blade monitoring device can be a program module (e.g., a set of program instructions to implement a specific function) or a hardware module. For the latter, it can take the following forms, but is not limited to them: each of the above modules is represented by a processor, or the functions of each of the above modules are implemented by a processor.

[0078] It should be noted that the wind turbine blade monitoring device provided in this embodiment can be used to perform... Figure 2 The wind turbine blade monitoring method shown above is also applicable to the embodiments of this application, and will not be repeated here.

[0079] According to an embodiment of this application, an embodiment of a wind turbine tower is also provided. Figure 5 This is a structural schematic diagram of a wind turbine tower according to an embodiment of this application. Figure 5 As shown, the wind turbine tower includes: a wind turbine tower 50, a wind turbine generator 52, a circular track 54, an image acquisition device 56, and a controller.

[0080] A wind turbine unit 52 is fixed on the wind turbine tower 50. The wind turbine unit 52 includes a wind turbine hub 522. Multiple wind turbine blades 524 are fixed on the wind turbine hub 522. A ring track 54 surrounds the bottom of the wind turbine tower 50.

[0081] The image acquisition device 56 is located on the circular track 54 and moves using the circular track 54 so that the wind turbine hub 522 is located in the center of the viewfinder of the image acquisition device 56.

[0082] The controller is connected to various devices in the wind turbine tower and is used to identify the blade outline in each frame of the target image sequence. The target image sequence includes multiple frames of target images containing the wind turbine blades 524 of the wind turbine unit 52. Based on the blade outline, the controller determines the target equivalent line of each wind turbine blade 524 in the wind turbine unit 52. Based on the blade outline and the target equivalent line, the controller calculates the state parameters of the wind turbine blade 524. The state parameters are used to indicate the blade speed of the wind turbine blade 524 and whether the wind turbine blade has broken. If the blade speed is greater than a preset speed threshold and the wind turbine blade has broken, the controller sends a first target command to the wind turbine unit 52. The first target command is used to control the wind turbine unit 52 to perform a separation operation to separate the wind turbine blades 524 from the wind turbine tower 50.

[0083] This application calculates the wind turbine's rotational speed and blade integrity using external video monitoring, and determines whether a blade is broken. It does not rely on internal communication and measuring points within the wind turbine. Since communication problems may occur simultaneously under overspeed conditions, this solution has higher reliability. When the wind turbine is overspeeding and one blade breaks, tower collapse is inevitable. This solution prevents tower collapse by actively breaking all blades, preserving the tower and equipment inside the nacelle (this part accounts for about 80% of the total cost of the wind turbine), reducing accident losses and lowering the difficulty of repair.

[0084] This application embodiment also provides a non-volatile storage medium, which includes a stored computer program. The device containing the non-volatile storage medium executes the following wind turbine blade monitoring method by running the computer program: identifying blade contours in each frame of a target image sequence, wherein the target image sequence includes multiple frames of target images containing wind turbine blades; determining the target equivalent line for each wind turbine blade in the wind turbine based on the blade contours; calculating the state parameters of the wind turbine blade based on the blade contours and the target equivalent lines, wherein the state parameters indicate the blade rotation speed and whether the wind turbine blade has broken; and sending a first target command to the wind turbine when the blade rotation speed exceeds a preset speed threshold and the wind turbine blade has broken, wherein the first target command controls the wind turbine to perform a separation operation to detach the wind turbine blade from the wind turbine.

[0085] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0086] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0087] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0088] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0089] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0090] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0091] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for monitoring wind turbine blades, characterized in that, include: Identify the blade outline in each frame of the target image sequence, wherein the target image sequence includes multiple frames of target images containing wind turbine blades; Based on the blade profile, the target equivalent line of each wind turbine blade in the wind turbine unit is determined; Based on the blade profile and the target equivalent line, the state parameters of the wind turbine blade are calculated, wherein the state parameters are used to indicate the blade rotation speed of the wind turbine blade and whether the wind turbine blade has broken. The state parameters include: blade integrity; calculating the state parameters of the wind turbine blade based on the blade outline and the target equivalent line includes: when the number of wind turbine blades is equal to a preset number, determining the length of the target equivalent line of each wind turbine blade in the first image, and determining the maximum value of the length as the standard length; calculating the ratio of the length of the target equivalent line of each wind turbine blade to the standard length to obtain the blade integrity of each wind turbine blade, and determining that the wind turbine blade is broken when the blade integrity is less than a preset integrity threshold, wherein the first image is the latest frame of the target image acquired; When the blade rotation speed exceeds a preset speed threshold and the wind turbine blade breaks, a first target instruction is sent to the wind turbine unit, wherein the first target instruction is used to control the wind turbine unit to perform a separation operation to separate the wind turbine blade from the wind turbine unit.

2. The wind turbine blade monitoring method according to claim 1, characterized in that, The state parameters include: blade rotational speed; the calculation of the state parameters of the wind turbine blade based on the blade profile and the target equivalent line includes: The blade rotation speed is calculated based on the target equivalent line in the first image and the second image, wherein the second image is the target image in the frame immediately preceding the first image.

3. The wind turbine blade monitoring method according to claim 2, characterized in that, The state parameters also include: the number of inner contours; calculating the state parameters of the wind turbine blade based on the blade profile and the target equivalent line also includes: If the number of blades of the wind turbine is less than the preset number, the position of the wind turbine hub of the wind turbine unit in the target image is determined; The number of blade profiles located within the reference circle is counted to obtain the number of profiles within the circle. The reference circle is a circle with the center point of the wind turbine hub as the center and the distance between the point on the blade profile farthest from the center point of the wind turbine hub and the center point of the wind turbine hub as the radius. If the number of contours within the circle is greater than the preset number of contours, it is determined that the wind turbine blade has broken.

4. The wind turbine blade monitoring method according to claim 2, characterized in that, The calculation of the blade rotation speed based on the target equivalent line in the first and second images includes: Determine a target time difference between the first image and the second image, wherein the target time difference is the time interval between the time when the first image is acquired and the time when the second image is acquired; The rotation angle of the target equivalent line is determined by comparing the position of the target equivalent line in the first image with the position of the target equivalent line in the second image. The blade rotation speed is calculated based on the target time difference and the rotation angle.

5. The wind turbine blade monitoring method according to claim 1, characterized in that, Before identifying the leaf contours in each frame of the target image sequence, the following steps are also included: The wind turbine blades of the wind turbine are captured by an image acquisition device, and the view of the image acquisition device is monitored. At the initial moment of image acquisition, the wind turbine hub of the wind turbine is located in the center of the view. If the wind turbine hub is detected to be deviating from the center of the viewfinder, a second target command is sent, wherein the second target command is used to control the mobile device to adjust the position of the image acquisition device so that the wind turbine hub is located in the center of the viewfinder.

6. The wind turbine blade monitoring method according to claim 1, characterized in that, Based on the blade profile, determining the target equivalent line for each wind turbine blade includes: Traverse any two points on the blade profile and determine the line connecting the two points with the largest distance as the target equivalent line.

7. The wind turbine blade monitoring method according to claim 1, characterized in that, A blasting device is provided at the root of each of the wind turbine blades of the wind turbine unit. Sending the first target command to the wind turbine includes: The wind turbine is instructed to control the blasting device to blast, thereby completing the separation operation of separating the wind turbine blades from the wind turbine.

8. The wind turbine blade monitoring method according to claim 7, characterized in that, After sending the first target command to the wind turbine, the process also includes: Upon receiving the blasting completion signal returned by the wind turbine, a third target instruction is sent to the fire protection system, wherein the third target instruction is used to instruct the fire protection system to perform fire protection operations.

9. A wind turbine blade monitoring device, characterized in that, include: A contour recognition module is used to identify the blade contours in each frame of a target image sequence, wherein the target image sequence includes multiple frames of target images containing wind turbine blades; The equivalent line determination module is used to determine the target equivalent line of each wind turbine blade in the wind turbine unit based on the blade profile. The parameter calculation module is used to calculate the state parameters of the wind turbine blade based on the blade profile and the target equivalent line, wherein the state parameters are used to indicate the blade rotation speed of the wind turbine blade and whether the wind turbine blade has broken. The state parameters include: blade integrity; calculating the state parameters of the wind turbine blade based on the blade outline and the target equivalent line includes: when the number of wind turbine blades is equal to a preset number, determining the length of the target equivalent line of each wind turbine blade in the first image, and determining the maximum value of the length as the standard length; calculating the ratio of the length of the target equivalent line of each wind turbine blade to the standard length to obtain the blade integrity of each wind turbine blade, and determining that the wind turbine blade is broken when the blade integrity is less than a preset integrity threshold, wherein the first image is the latest frame of the target image acquired; The status detection module is used to send a first target command to the wind turbine when the blade speed is greater than a preset speed threshold and the wind turbine blade breaks. The first target command is used to control the wind turbine to perform a separation operation to separate the wind turbine blade from the wind turbine.

10. A wind turbine tower, characterized in that, include: Wind turbine tower, wind turbine unit, circular track, image acquisition equipment and controller, among which, The wind turbine unit is fixed on the wind turbine tower, and the wind turbine unit includes a wind turbine hub with multiple wind turbine blades fixed on the wind turbine hub; the annular track surrounds the bottom of the wind turbine tower. The image acquisition device is located on the circular track and moves using the circular track so that the wind turbine hub is located in the center of the viewfinder of the image acquisition device; The controller is connected to each device in the wind turbine tower and is used to identify the blade outline in each frame of the target image sequence, wherein the target image sequence includes multiple frames of target images containing wind turbine blades of the wind turbine unit; based on the blade outline, the controller determines the target equivalent line of each wind turbine blade in the wind turbine unit; based on the blade outline and the target equivalent line, the controller calculates the state parameters of the wind turbine blade, wherein the state parameters are used to indicate the blade rotation speed of the wind turbine blade and whether the wind turbine blade has broken; wherein the state parameters include: blade integrity; the calculation of the state parameters of the wind turbine blade based on the blade outline and the target equivalent line includes: when the number of wind turbine blades detected is equal to a preset number. The process involves determining the length of the target equivalent line for each wind turbine blade in the first image, and setting the maximum value of the lengths as the standard length. The ratio of the length of the target equivalent line to the standard length is calculated to obtain the blade integrity of each wind turbine blade. If the blade integrity is less than a preset integrity threshold, the wind turbine blade is determined to be broken. The first image is the latest captured frame of the target image. If the blade rotation speed is greater than a preset rotation speed threshold and the wind turbine blade is broken, a first target command is sent to the wind turbine generator set. This first target command controls the wind turbine generator set to perform a separation operation to detach the wind turbine blade from the wind turbine generator set.

11. An electronic device, the electronic device comprising a processor, characterized in that, The processor is used to run a program, wherein the program executes the wind turbine blade monitoring method according to any one of claims 1 to 8.

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