Method and device for monitoring tower clearance, and electronic equipment

Abstract

The application discloses a tower clearance monitoring method and device and electronic equipment. The tower clearance monitoring method comprises the following steps: obtaining the distance between the laser ranging device and the shelter; wherein the laser ranging device is used to emit N laser beams at different fixed angles towards the blade tip plane, and the distance between the laser ranging device and the shelter is measured by laser measurement, and the first distance measured by each laser beam is obtained, N is a positive integer greater than 1; according to the first distance of each laser beam, the measured clearance value of the corresponding laser beam is calculated; the measured clearance value of each laser beam is compensated by a preset compensation formula to obtain a compensated clearance value; the smallest compensated clearance value in the N laser beams is compared with the preset clearance threshold; and the wind turbine is protected according to the comparison result. According to the embodiment of the application, the technical problem that the clearance value measured by laser monitoring clearance is not accurate in the related art can be solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of monitoring, and particularly relates to a tower head clearance monitoring method and device and electronic equipment. BACKGROUND

[0002] The current tower head clearance monitoring technology mainly monitors the clearance through a camera, a laser sensor, etc. When monitoring through the camera, image processing technology needs to be used, and the image processing operation time is relatively long, and the monitoring is not timely enough. In the existing technical solutions for monitoring through the laser, the clearance value measured by the laser is not accurate enough due to the directionality of the laser, which affects the monitoring effect. SUMMARY

[0003] The application embodiment provides a tower head clearance monitoring method, device and electronic equipment, which can solve the technical problem that the clearance value measured by the laser in the related art is not accurate enough.

[0004] In a first aspect, the application embodiment provides a tower head clearance monitoring method, which comprises the following steps.

[0005] obtaining a distance between the laser ranging device and the shelter measured by the laser ranging device; wherein the laser ranging device is eccentrically installed at the bottom of the nacelle of the wind turbine generator set, the laser ranging device is used to emit N laser beams at different fixed angles towards the blade tip plane, and the distance between the laser ranging device and the shelter is measured by the laser to obtain a first distance measured by each laser, and N is a positive integer greater than 1;

[0006] According to the first distance of each laser, the measured clearance value of the corresponding laser is calculated;

[0007] The measured clearance value of each laser is compensated by a preset compensation formula to obtain a compensated clearance value;

[0008] The compensated clearance value with the smallest value in the N laser beams is compared with a preset clearance threshold;

[0009] According to the comparison result, the wind turbine generator set is protected.

[0010] Optionally, before the measured clearance value of each laser is compensated by the preset compensation formula to obtain the compensated clearance value, the method further comprises the following steps.

[0011] A dynamic model of the wind turbine generator set is established;

[0012] According to the dynamic model, the blade state of the blade of the wind turbine generator set under different wind conditions is simulated;

[0013] The tip clearance value under different blade states is calculated, and the measured clearance value measured when the laser is emitted at different angles to different positions of the blade under the corresponding blade state is calculated.

[0014] According to the measured clearance value and the tip clearance value, a preset compensation formula corresponding to the laser at different angles is established, wherein the preset compensation formula is used to calculate the tip clearance value of the laser at the corresponding angle according to the measured clearance value, and the tip clearance value is used as the compensation clearance value.

[0015] Optionally, the N lasers include a first laser and a second laser, the first laser and the second laser are emitted in a vertical direction on the front face of the wind turbine generator set and are emitted in an inclined direction on the side face, and the first laser and the second laser have different inclined angles on the side face.

[0016] Optionally, the measured clearance value of the corresponding laser is calculated according to the first distance of each laser, including:

[0017] The uncorrected clearance value of the corresponding laser is calculated according to the first distance of each laser and the inclined angle of the corresponding laser on the side face, wherein the uncorrected clearance value refers to the distance difference between the installation position of the laser ranging device and the position of the laser blocking on the projection of the tip plane.

[0018] The measured clearance value is obtained by subtracting the second distance and adding the third distance from the uncorrected clearance value, wherein the second distance is the distance between the installation position of the laser ranging device on the tip plane and the center of the tower drum, and the third distance is the radius of the cross section of the tower drum on the tip plane.

[0019] Optionally, for the first laser, the uncorrected clearance value of the corresponding laser is calculated according to the first distance of each laser and the inclined angle of the corresponding laser on the side face, including:

[0020] The first distance of the first laser is multiplied by the sine value of the inclined angle of the first laser on the side face to obtain the uncorrected clearance value of the first laser.

[0021] Optionally, the N lasers further include a third laser, the third laser is emitted in an inclined direction on the front face and has the same inclined angle as the first laser on the side face.

[0022] Optionally, for the third laser, the uncorrected clearance value of the corresponding laser is calculated according to the first distance of each laser and the inclined angle of the corresponding laser on the side face, including:

[0023] The uncorrected clearance value of the third laser is calculated according to the first distance of the third laser, the length of the blade, the inclined angle of the third laser on the side face, and the projection included angle between the first laser and the third laser on the front face of the wind turbine generator set.

[0024] Optionally, the blade rotates in the direction from the third laser to the first laser, and after the measured clearance value of each laser is compensated by the preset compensation formula to obtain the compensation clearance value, the method further includes:

[0025] determining whether a difference between the compensated clearance value of the third laser and the compensated clearance value of the first laser is less than a preset error;

[0026] In a case where the difference between the compensated clearance value of the third laser and the compensated clearance value of the first laser is greater than the preset error, determining that the compensated clearance value of the first laser is an invalid measurement result.

[0027] Optionally, the preset clearance threshold includes a shutdown threshold and a pitch threshold, the shutdown threshold being less than the pitch threshold, and the safety protection of the wind turbine generator set according to the comparison result includes:

[0028] In a case where the minimum compensated clearance value is less than the shutdown threshold, controlling the wind turbine generator set to shut down;

[0029] In a case where the minimum compensated clearance value is less than the pitch threshold and greater than the shutdown threshold, controlling the wind turbine generator set to pitch to increase a pitch angle of a blade of the wind turbine generator set.

[0030] Optionally, in a case where the minimum compensated clearance value is less than the pitch threshold, before the safety protection of the wind turbine generator set according to the comparison result, the method further includes:

[0031] obtaining an azimuth angle collected by an azimuth angle sensor configured to the impeller of the wind turbine generator set;

[0032] In a case where the azimuth angle is in a preset azimuth angle range, determining that the comparison result is valid; otherwise, determining that the comparison result is invalid.

[0033] In a second aspect, an embodiment of the present application provides a tower clearance monitoring device, which includes:

[0034] a first obtaining unit, configured to obtain distances between the laser ranging device and the shelter; wherein the laser ranging device is eccentrically installed at a bottom of a nacelle of the wind turbine generator set, the laser ranging device is configured to emit N laser beams at different fixed angles towards a tip plane, and the laser ranging device is configured to measure the distances between the laser ranging device and the shelter to obtain first distances measured by each laser beam, N being a positive integer greater than 1;

[0035] a first calculating unit, configured to calculate a measurement clearance value of each laser beam according to the first distance of each laser beam;

[0036] a compensation unit, configured to compensate the measurement clearance value of each laser beam by a preset compensation formula to obtain a compensated clearance value;

[0037] a comparison unit, configured to compare the compensated clearance value with a preset clearance threshold, the compensated clearance value being the minimum value in the N laser beams;

[0038] a safety protection unit, configured to perform safety protection of the wind turbine generator set according to the comparison result.

[0039] Optionally, the apparatus further comprises:

[0040] a modeling unit configured to establish a dynamic model of the wind turbine before compensating the measured clearance value of each laser by a preset compensation formula to obtain a compensated clearance value;

[0041] a simulation unit configured to simulate a blade state of the blade of the wind turbine under different wind conditions according to the dynamic model;

[0042] a second calculation unit configured to calculate a tip clearance value under different blade states, and a measured clearance value obtained by the laser under a corresponding blade state when the laser is emitted at different angles to different positions of the blade;

[0043] a establishing unit configured to establish a preset compensation formula corresponding to the laser at different angles according to the measured clearance value and the tip clearance value, wherein the preset compensation formula is used to calculate the tip clearance value corresponding to the measured clearance value for the laser at different angles, and the tip clearance value is used as the compensated clearance value.

[0044] Optionally, the N lasers include a first laser and a second laser, the first laser and the second laser are emitted in a vertical direction on the front face of the wind turbine and are emitted in an inclined direction on the side face, and the first laser and the second laser have different inclined angles on the side face.

[0045] Optionally, the first calculation unit comprises:

[0046] a first calculation sub-unit configured to calculate an uncorrected clearance value of the corresponding laser according to the first distance of each laser and the inclined angle of the corresponding laser on the side face; wherein the uncorrected clearance value refers to a distance difference between the installation position of the laser ranging device and the position of the blocked laser projected on the tip plane;

[0047] a second calculation sub-unit configured to subtract the uncorrected clearance value from a second distance and add a third distance to obtain the measured clearance value; wherein the second distance is a distance between the installation position of the laser ranging device and the center of the tower on the tip plane, and the third distance is a radius of the cross section of the tower on the tip plane.

[0048] Optionally, for the first laser, the first calculation sub-unit comprises:

[0049] a third calculation sub-unit configured to multiply the first distance of the first laser by a sine value of the inclined angle of the first laser on the side face to obtain the uncorrected clearance value of the first laser.

[0050] Optionally, the N lasers further include a third laser, the third laser is emitted in an inclined direction on the front face and has the same inclined angle as the first laser on the side face.

[0051] Optionally, the first calculation subunit comprises, for the third laser:

[0052] The fourth calculation subunit is configured to calculate an uncorrected clearance value of the third laser according to the first distance of the third laser, the length of the blade, the inclination angle of the third laser at the side surface, and the projection angle between the first laser and the third laser at the front of the wind turbine generator set.

[0053] Optionally, the blade rotates in a direction from the third laser towards the first laser, and the device further comprises:

[0054] The judgment unit is configured to, after compensating the measured clearance value of each laser by using the preset compensation formula to obtain a compensated clearance value, judge whether the difference between the compensated clearance value of the third laser and the compensated clearance value of the first laser is less than a preset error.

[0055] The first determination unit is configured to, in the case that the difference between the compensated clearance value of the third laser and the compensated clearance value of the first laser is greater than the preset error, determine that the compensated clearance value of the first laser is an invalid measurement result.

[0056] Optionally, the preset clearance threshold comprises a shutdown threshold and a pitch threshold, the shutdown threshold is less than the pitch threshold, and the safety protection unit comprises:

[0057] The first control subunit is configured to, in the case that the minimum compensated clearance value is less than the shutdown threshold, control the wind turbine generator set to shut down.

[0058] The second control subunit is configured to, in the case that the minimum compensated clearance value is less than the pitch threshold and greater than the shutdown threshold, control the wind turbine generator set to pitch to increase the pitch angle of the blade of the wind turbine generator set.

[0059] Optionally, in the case that the minimum compensated clearance value is less than the pitch threshold, the device further comprises:

[0060] The second acquisition unit is configured to, before performing safety protection on the wind turbine generator set according to the comparison result, acquire the azimuth angle collected by the azimuth angle sensor configured to the blade wheel of the wind turbine generator set.

[0061] The second determination unit is configured to, in the case that the azimuth angle is in a preset azimuth angle interval, determine that the comparison result is valid; otherwise, determine that the comparison result is invalid.

[0062] In a third aspect, an electronic device is provided, which comprises a processor and a memory storing program instructions; the processor implements the tower clearance monitoring method according to the first aspect when executing the program instructions.

[0063] In a fourth aspect, a tower clearance monitoring system is provided, which comprises:

[0064] The laser ranging device is eccentrically installed at the bottom of the nacelle of the wind turbine generator system, and is configured to emit N laser beams at different fixed angles towards the tip plane, and obtain a first distance measured by each laser beam by measuring the distance between the laser beam and the shelter, where N is a positive integer greater than 1.

[0065] The electronic device comprises the tower clearance monitoring device provided in the second aspect of the present application.

[0066] Optionally, the N laser beams comprise a first laser beam and a second laser beam, the first laser beam and the second laser beam are emitted in a vertical direction on the front side of the wind turbine generator system and are emitted in an inclined direction on the side surface, and the first laser beam and the second laser beam have different inclined angles on the side surface.

[0067] Optionally, the N laser beams further comprise a third laser beam, the third laser beam is emitted in an inclined direction on the front side and has the same inclined angle as the first laser beam on the side surface.

[0068] In the fifth aspect, the present application provides a readable storage medium, and the readable storage medium stores program instructions, and the program instructions are executed by a processor to implement the tower clearance monitoring method in the first aspect.

[0069] In the sixth aspect, the present application provides a program product, and instructions in the program product are executed by a processor of an electronic device to enable the electronic device to execute the tower clearance monitoring method in the first aspect.

[0070] The tower clearance monitoring method, device, system, electronic device, readable storage medium and program product provided in the present application can emit N laser beams at different fixed angles towards the tip plane, measure the distance between the laser beams and the shelter, calculate the measurement clearance value of the corresponding laser beam according to the obtained first distance measured by each laser beam, compensate the measurement clearance value of each laser beam by using a preset compensation formula to obtain a compensated clearance value, and then compare the compensated clearance value with the preset clearance threshold, and perform safety protection on the wind turbine generator system according to the comparison result. The measurement clearance value can be compensated based on the preset compensation formula to obtain a more accurate clearance value, thereby improving the accuracy of the clearance value and solving the technical problem that the clearance value measured by the laser monitoring is not accurate in the related art. BRIEF DESCRIPTION OF DRAWINGS

[0071] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed to be used in the present application. For those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0072] Figure 1 is a flowchart of a monitoring method of tower clearance provided by an embodiment of the present application;

[0073] Figure 2 is a principle diagram of a monitoring method of tower clearance provided by an embodiment of the present application Figure 1 ;

[0074] Figure 3 is a principle diagram of a monitoring method of tower clearance provided by an embodiment of the present application Figure 2 ;

[0075] Figure 4 is a principle diagram of a monitoring method of tower clearance provided by an embodiment of the present application Figure 3 ;

[0076] Figure 5 is a principle diagram of a monitoring method of tower clearance provided by an embodiment of the present application Figure 4 ;

[0077] Figure 6 is a principle diagram of a monitoring method of tower clearance provided by an embodiment of the present application Figure 5 ;

[0078] Figure 7 is a principle diagram of a monitoring method of tower clearance provided by an embodiment of the present application Figure 6 ;

[0079] Figure 8 is a principle diagram of a monitoring method of tower clearance provided by an embodiment of the present application Figure 7 ;

[0080] Figure 9 is a flowchart of establishing a preset compensation formula in a monitoring method of tower clearance provided by an embodiment of the present application;

[0081] Figure 10 is a data distribution diagram of measuring a clearance value and a compensated clearance value in a monitoring method of tower clearance provided by an embodiment of the present application Figure 1 ;

[0082] Figure 11 is a data distribution diagram of measuring a clearance value and a compensated clearance value in a monitoring method of tower clearance provided by an embodiment of the present application Figure 2 ;

[0083] Figure 12 is a data distribution diagram of measuring a clearance value and a compensated clearance value in a monitoring method of tower clearance provided by an embodiment of the present application Figure 3 ;

[0084] Figure 13is a data distribution diagram for measuring the clearance value and compensating the clearance value in the method for monitoring the tower clearance provided by an embodiment of the present application Figure 4 ;

[0085] Figure 14 is a schematic diagram of an application scenario of the method for monitoring the tower clearance provided by an embodiment of the present application

[0086] Figure 15 is a structural schematic diagram of the monitoring device for the tower clearance provided by another embodiment of the present application

[0087] Figure 16 is a structural schematic diagram of the electronic device provided by yet another embodiment of the present application

[0088] The following is a description of the reference numerals:

[0089] E-A: top view; E-B: left view; E-C: front view; 201: generator; 202: nacelle; 203: laser radar; 204: 1st laser beam; 205: 2nd laser beam; 206: 3rd laser beam; 207: 4th laser beam; 208: tip plane; 209: tip cross plane; 210: tower top section circle; 211: tip plane tower section circle; 212: tower bottom section circle; 213: blade; 214: hub; 215: blade model; 216: actual blade; Ln-1: n-1th laser beam; Ln: nth laser beam. DETAILED DESCRIPTION

[0090] The features and exemplary embodiments of various aspects of the present application will be described in detail below, in order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in combination with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. For those skilled in the art, the present application can be implemented without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0091] It is to be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0092] To solve the problems in the prior art, the embodiments of the present application provide a tower clearance monitoring method, device, equipment and readable storage medium. First, the tower clearance monitoring method provided by the embodiments of the present application is introduced.

[0093] Figure 1 The flowchart of the tower clearance monitoring method provided by one embodiment of the present application is shown. As shown in Figure 1 , the method can include the following steps 101-105.

[0094] Step 101, obtaining the distance between the laser ranging device and the shelter measured by the laser ranging device.

[0095] The laser ranging device can be eccentrically installed at the bottom of the nacelle 202 of the wind turbine generator set, and N lasers can be emitted at different fixed angles towards the tip plane 208, where N is a positive integer greater than 1. The tip plane 208 refers to a plane that passes through the tip of any blade and is parallel to the ground when the blade is vertically pointing to the ground.

[0096] In one example, as shown in Figure 2 , the laser radar 203 of the laser ranging device can be eccentrically installed at the bottom of the nacelle 202 and close to the generator 201 position, the level of the laser radar 203 surface is adjusted, and the installation position (x_lidar, y_lidar) of the laser radar 203 is measured. Through calibration, the laser beam can be emitted at a fixed angle with the parallel direction of the blade (i.e. the vertical direction of the left view or front view in Figure 2 ). To ensure the stability and reliability of the overall operation, a pre-embedded flange mounting interface can be reserved in advance at the bottom of the nacelle 202, the laser radar 203 can be connected with the nacelle 202 through a nacelle 202 support, the support can satisfy the functions of supporting and adjusting the angle, and a hand hole is attached to satisfy the field operation requirements.

[0097] Optionally, the N lasers can include first and second lasers, the first and second lasers are emitted in a vertical direction in the front (i.e. the front view) of the wind turbine generator set, and are emitted in an inclined direction in the side (e.g. the left view), and the first and second lasers have different inclined angles in the side. In this way, by emitting multiple lasers with different angles in the side, the clearances obtained when the lasers hit different positions of the blade or do not hit the blade can be obtained. In this way, taking the minimum value of the clearances measured by the lasers with different angles as the final result can prevent the case that the measurement result is inaccurate due to the laser not hitting the tip.

[0098] Optionally, the N lasers can further include a third laser, the third laser is emitted in an inclined direction in the front, and has the same inclined angle as the first laser in the side. By emitting the third laser with the same inclined angle as the first laser in the side and different from the first laser in the front, the clearance result measured by the third laser can be referenced with the clearance result measured by the first laser. Since the two lasers have the same inclined angle in the side, the clearance results measured by the two lasers should be the same or similar, and if the difference is too large, it indicates that the measurement data may be abnormal, and the effectiveness and authenticity of the measurement result can be improved.

[0099] An example of the laser emission mode is shown in Figure 3 , four lasers are emitted, wherein the included angle between the first laser 204 (i.e. the third laser) and the tower drum is the same as the included angle θ2 between the second laser 205 (i.e. the first laser) and the tower drum in the projection of the left view, and the third laser 206 (i.e. the second laser) and the fourth laser 207 are emitted at angles θ3 and θ4 with the tower drum respectively. From Figure 3 the front view, it can be seen that the projections of the second, third and fourth lasers on the front view are vertically downward, and the first laser 204 is inclined to the left at an angle θ5 from the vertical direction. As shown in Figure 3 , an example of the laser emission mode is shown, and the emission angles and number of the N lasers can be set as needed, which is not limited in the embodiments of the application.

[0100] After the laser emission to the blade, if the laser is blocked by the blade, the distance between the laser (emission position) and the blocking object (position point where the laser is blocked) can be measured to obtain the first distance measured by each laser.

[0101] In step 102, the measurement clearance of the corresponding laser is calculated according to the first distance of each laser.

[0102] Laser ranging equipment can measure the initial distance of each laser beam. Based on the initial distance of each laser beam and geometric relationships, the measurement clearance value of each laser beam can be calculated. The measurement clearance value refers to the distance calculated based on the initial distance between the point on the blade that blocks the laser beam and the projection of the tower wall of the wind turbine tower onto the blade tip plane 208.

[0103] Optionally, for Figure 3 The calculation method for the second to fourth laser beams shown can be the same, since they are emitted vertically in the front view. Specifically, taking the first laser as an example, the first distance of the first laser can be multiplied by the sine of the tilt angle of the first laser on the side (left view) to obtain the uncorrected clearance value of the first laser.

[0104] Uncorrected clearance refers to the difference in distance projected onto the blade tip plane between the installation location of the laser rangefinder and the location blocking the laser. (Reference) Figure 2 The projection coordinates of the installation location of the laser rangefinder on the top view are (x_lidar, y_lidar). (Reference) Figure 4 The uncorrected clearance value in the top view refers to the distance between the installation position of the laser ranging device (LiDAR 203) and the projection of the blade tip across the plane 209 (equivalent to the position where the blade blocks the laser) onto the top view (which is parallel to the blade tip plane 208).

[0105] Based on the first distance of each laser, the measurement clearance value of the corresponding laser can be calculated. Specifically, the uncorrected clearance value of the corresponding laser can be calculated first based on the first distance of each laser and the tilt angle of the corresponding laser on the side. Then, the uncorrected clearance value is subtracted from the second distance and added to the third distance to obtain the measurement clearance value. The second distance is the distance between the installation position of the laser rangefinder on the blade tip plane and the center of the tower, as referenced. Figure 5 Distance from LiDAR 203 to the x-axis in the top-middle view. (Reference) Figure 5 The third distance is the radius of the cross-sectional circle 211 of the tower tip plane on the cross-section of the tower tip plane 208.

[0106] The measured clearance value is the distance between the location where the laser is blocked by the blade and the tower wall on the blade tip plane, while the uncorrected clearance value is the distance between the location where the laser is blocked by the blade and the installation location of the laser rangefinder on the blade tip plane. There is a certain distance error between the two. This is because the tower is a cylinder with a relatively small top diameter and a relatively large bottom diameter; its cross-section in the left and front views is trapezoidal. Furthermore, the laser rangefinder is not installed on the tower wall. There is a certain distance error between the tower wall and the installation location of the laser rangefinder on the blade tip plane. By subtracting the uncorrected clearance value from the second distance and adding it to the third distance, the aforementioned distance error can be eliminated, improving the accuracy of the measured clearance value.

[0107] For the first laser, the uncorrected clearance value can be the distance along the direction of the y-axis (see Figure 5 ) in the left view in FIG. 10 to the straight line passing through the laser emission position (i.e. the installation position of the laser ranging device) in the vertical direction. See the distance b in the left view in Figure 5

[0108] Then, the uncorrected clearance value b is added to the third distance, which is Figure 5 the distance from the blade tip in the top view in FIG. 11 to the x-axis, and then the second distance is subtracted, resulting in the measured clearance value c shown in Figure 5 real The difference between the third distance and the second distance is the distance Δclearance shown in FIG. 12. Figure 5

[0109] The above is the calculation principle of the measured clearance value. Based on the above principle, different specific embodiments can be evolved according to the transformation of the trigonometric formula, etc. in actual application. Based on the above calculation principle, one optional specific embodiment for calculating the first laser (the calculation method of the second laser 205 to the fourth laser 207 is the same) is further described as follows:

[0110] The following size information of the wind turbine generator is known: the diameter of the tower top section circle 210 is φ top , the diameter of the tower bottom section circle 212 is φ bottom , the tower height is H tower , the blade length is L blade , the yaw center of the laser ranging device installation is X lidar distance from the radar center origin on the x-axis, and the yaw center is Y lidar distance from the radar center on the y-axis.

[0111] Referring to Figure 4 , in one example embodiment, among the four emitted lasers, the second laser 205 is a preset fixed value such as 4 meters from the tower on the blade tip plane, the third laser 206 is a preset fixed value such as 6 meters from the tower on the blade tip plane, the fourth laser 207 is a preset fixed value such as 8 meters from the tower on the blade tip plane, and the distance d between the first laser 204 and the second laser 205 on the main view of the blade tip plane is a preset fixed value such as 5 meters.

[0112] If the influence of the laser clearance installation position and the tower shape is ignored, the angle value of each laser can be calculated according to the trigonometric relationship, and the formula is as follows:

[0113]

[0114] ​​​From the above relationships, the angle values ​​θ1, θ2, θ3, θ4, and θ5 can be obtained. Here, θ5 is the angle projected onto the front view by the angle between the first and second laser beams. Furthermore, the angle θ6 projected onto the top view by the angle between the first and second laser beams can also be calculated. Note that the angles between the first and second laser beams and the vertical direction are the same in the left view.

[0115] When installing the laser rangefinder on-site, the installation angle can be adjusted using the attitude adjustment knob on the laser rangefinder to ensure the accurate position of each laser beam. Specifically, based on the fixed distance between the four laser beams and the tower on the blade tip plane, the angle between each laser beam and the vertical direction can be calculated using the formula mentioned above. Then, the attitude adjustment knob can be used to adjust each laser beam to the corresponding angle to ensure that the distance between each laser beam and the tower is the corresponding preset fixed distance.

[0116] Considering the influence of the installation location of the lidar 203 and the shape of the tower, the tower is equivalent to a frustum.

[0117] The lidar 203 is installed on the bottom of the nacelle 202, on the nacelle cover. The lidar 203 needs to be adjusted to be installed on a horizontal plane, with the center of the cross-section 210 at the top of the tower as the origin, the left side facing the impeller as the x-axis, the impeller direction as the y-axis, and the direction of gravity as the z-axis. Simultaneously, the installation position of the lidar 203 is measured as (x...). lidar ,y lidar ,0). The blade length is known to be l. blade Define z = l blade The blade tip plane is considered. The tower is equivalent to a frustum of a cone, with a diameter of φ at the top cross-section of the tower (circle 210). top The diameter of the circular cross-section at the bottom of the tower is φ bottom The tower height is H tower .

[0118] The distance x from the installation location of LiDAR 203 to the yz plane lidar It is very small, and the blade rotation speed is relatively fast. It is assumed that the plane through which the blade tip and the minimum clearance point at point 203 of the lidar pass is parallel to the xz plane. Figure 5 As can be seen from the left view, for the 2nd to 4th laser beams, the calculated value b (i.e., the uncorrected clearance value) can be obtained from the first distance a returned by the nth laser beam. n (That is, the distance measured when the laser beam hits the blade) and the laser angle θ of the nth laser beam. n The calculation is as shown in the formula below.

[0119] b = a n ·sinθ n Formula 2

[0120] refer to Figure 5Figure 2 is a top view of the wind turbine, point A has coordinates (0, b+y lidar , 0), and point B is the point where the y value of the intersection of the tower section and the tip plane 208 is the largest on the xy plane, and has coordinates (0, y b , 0). The radius y b of the tower section circle 211 on the tip plane 208 is calculated according to the following formula.

[0121]

[0122] Further, the measured clearance value c real-n (n = 2, 3, 4) of the second to fourth beams can be calculated according to the following formula (refer to Figure 4 ).

[0123]

[0124] Here, is the diameter of the tower section circle 211 on the tip plane in Figure 4 , i.e., twice the third distance, and is calculated according to the following formula:

[0125] φ tip = (φ top + (H tower / L blade ) * (φ bottom -φ top )) / 2 Formula 5

[0126] In calculating the uncorrected clearance value of the third laser (the first beam laser 204), the uncorrected clearance value of the third laser can be calculated according to the first distance a1 of the third laser, the length L blade of the blade, the inclination angle θ1 / θ2 of the third laser on the side surface, and the projection angle θ5 of the included angle between the first laser and the third laser on the front of the wind turbine group.

[0127] An alternative embodiment for calculating the measured clearance value of the third laser can include the following steps:

[0128] Reference Figure 6A space rectangular coordinate system is established with the projection point O of the laser radar 203 installation position in the blade tip plane as the origin, the direction away from the impeller as the X axis, and the direction of the laser radar 203 as the Z axis. Among them, CA is the second laser 205, CB is the first laser 204, OA = 4 m and AB = 5 m are preset values. Among them, B’C = a1, ∠ACO = θ1, and ∠OCD = θ5. The O’A’D’ plane is parallel to the blade tip plane OAD and intersects BC at the B’ point. O’A’ is the clearance value without considering the installation position of the laser radar 203 and the shape of the tower drum. The formula 6 can be obtained from the trigonometric relationship. The OA can be obtained from the formula 7, and the BC can be obtained from the formula 8. Then, the uncorrected clearance distance O’A’ can be obtained based on the formula 9 using CB’. Finally, the measurement clearance value c real-1 of the first laser 204 (the third laser) is obtained.

[0129]

[0130] OA = OC tan ∠ACO formula 7

[0131]

[0132] Step 103, compensate the measurement clearance value of each laser by a preset compensation formula to obtain a compensated clearance value.

[0133] Since the above calculation obtains the measurement clearance value by equivalent the blade as a straight line, but in the actual operation process of the unit, due to the influence of different wind conditions, blade materials, blade airfoils, and blade lengths, the blade (blade tip) can be deformed to different degrees. For example, referring to Figure 7 and Figure 8 , the shape of the actual blade 216 is different from that of the simulated blade model 215, so that the laser beam hitting different positions of the blade will cause certain errors. Referring to Figure 7 and Figure 8 , the measurement clearance value c measure and the tip clearance value c real have a certain length error. Therefore, the measurement clearance value can be compensated for accuracy by a preset compensation formula for the bending of the blade to obtain a more accurate compensated clearance value and improve the accuracy of the clearance value.

[0134] In one example, before compensating the measured clearance value of each laser by the preset compensation formula to obtain a compensated clearance value, a dynamic model of the wind turbine generator set can be established, and the blade state of the wind turbine generator set under different wind conditions can be simulated according to the dynamic model, and then the tip clearance value (i.e. the distance between the simulated tip of the blade and the tower wall) under different blade states can be calculated, and the measured clearance value measured when the laser is emitted at different angles to different positions of the blade under the corresponding blade state can be calculated. In this way, according to the measured clearance value and the tip clearance value, the preset compensation formula corresponding to the laser at different angles can be established. The established preset compensation formula can calculate the tip clearance value of the laser at the corresponding angle according to the measured clearance value, and the tip clearance value here is the above-mentioned compensated clearance value.

[0135] For each angle of laser, according to the different blade bending states, there is a certain difference between the measured clearance value measured when the laser is irradiated to different positions of the blade and the tip clearance value. By establishing the simulation model, the relationship between the measured clearance value and the tip clearance value can be found, and the preset step formula can be obtained. Therefore, the preset compensation formula can represent the relationship between the measured clearance value measured by the laser and the tip clearance value. By compensating the measured clearance value by the preset compensation formula, the final measurement result can be more accurate, and the safety protection strategy based on the clearance value can be prevented from producing actions inconsistent with the actual situation.

[0136] Specifically, one optional specific implementation of modeling to establish the preset compensation formula can refer to the following flow:

[0137] Firstly, a dynamic model of the wind turbine generator set with the laser ranging device can be constructed based on the principle of dynamics, and a digital simulation wind turbine generator set model corresponding to the field can be constructed based on the concept of digital twinning.

[0138] Through analysis and testing of the digital simulation wind turbine generator set model, the limitations of incomplete field wind conditions and limited laser measurement range can be compensated, and the optimal compensation for the clearance value algorithm suitable for the field can be made.

[0139] The digital simulation wind turbine generator set model with the laser ranging device mapped with the real wind turbine can not only simulate the real unit operating state response and the measured clearance (simulation) value measured by the laser ranging device, but also can measure the tip clearance (simulation) value between the tip of the model and the tower wall. Through the corresponding relationship between the measured clearance value and the tip clearance value, the accuracy of the measured clearance value can be compensated in combination with the actual measured clearance value in the field to obtain a compensated clearance value, improve the accuracy of the clearance value, and make the control based on the clearance for safety protection in actual application more safe and reliable.

[0140] Reference Figure 9The input parameters of the digital simulation wind turbine model can include different wind conditions and installation parameters of the laser ranging device. According to the input parameters, modeling is performed, and finally the operating state of the unit is simulated based on the dynamics principle. Based on the relative coordinate system, the laser emitted to the measurement clearance value at different positions of the blade under various vibration responses of the unit in different wind conditions can be output. The tip clearance value obtained by simulation calculation is compared, and the relationship f (measurement clearance value, tip clearance value) between the tip clearance value and the measurement clearance value is established according to the comparison result, and the final preset compensation formula is obtained.

[0141] Figure 10 The abscissa of the figure is the tip clearance value, and the ordinate is the measurement clearance value. Figure 11 The abscissa of the figure is the measurement clearance value, and the ordinate is the difference between the measurement clearance value and the tip clearance value. The three point cloud data from left to right represent the differences between the measurement clearance values and the tip clearance values of different light beams. Figure 12 As can be seen from the figure, the difference between the measurement clearance value and the tip clearance value of each laser has a strong linear relationship with the measurement clearance value / tip clearance value. Linear fitting is performed on the above data to obtain the relationship.

[0142] According to the measurement clearance value-tip clearance value=K*tip clearance value+B, the following can be obtained:

[0143] The tip clearance value=(measurement clearance value-B) / (K+1).

[0144] The relationship obtained by fitting is the preset compensation formula corresponding to the laser.

[0145] The preset compensation formula is verified, the measurement clearance value is compensated to obtain the compensated clearance value, and the minimum value of the compensated clearance values of the three light beams can be compared with the actual clearance value actually measured. Referring to Figure 13 The abscissa of the figure is the minimum value of the compensated clearance value, and the ordinate is the actual clearance value. The slope of the fitting straight line is 1.0000000043734565, and the intercept is-5.217980585392468e-07: the formula real_Clearance_m(actual clearance value)=1.0000000043734565*Clearance_laser_m_modify(minimum value of compensated clearance value)+-5.217980585392468e-07 is obtained, and the fitting degree R 2 factor reaches 0.955, and the linear correlation coefficient is 0.977. As can be seen from the above results, after the measurement clearance value is compensated by using the algorithm, good results are shown.

[0146] Step 104, comparing the minimum compensated clearance value in the N lasers with the preset clearance threshold.

[0147] Since the compensation clearances obtained by the N lasers are different, the compensation clearance with the minimum value is compared with the preset clearance threshold.

[0148] At step 105, the wind turbine is protected according to the comparison result.

[0149] If the value is greater than the preset clearance threshold, it means that the clearance between the blade tip and the tower wall is still a certain distance, which is safe. Otherwise, if the value is less than the preset clearance threshold, it means that the blade tip is too close to the tower wall, and the safety protection process needs to be performed.

[0150] Optionally, in an example embodiment, when the minimum compensation clearance is less than the shutdown threshold, the wind turbine is controlled to shut down; and when the minimum compensation clearance is less than the pitch threshold and greater than the shutdown threshold, the wind turbine is controlled to pitch to increase the pitch angle of the wind turbine blades.

[0151] Since there may be errors in the measurement results, in order to prevent inaccurate comparison results from causing the wind turbine to frequently pitch and shut down, it is possible to verify whether the comparison result is valid. Since the angle of laser emission is fixed, the impeller needs to be rotated to a fixed angle range, and the blade can only block the laser. Therefore, based on the angle range in which the azimuth angle of the impeller is located, it can be determined whether the blade actually blocks the laser, so as to determine whether the measurement clearance value measured by the laser is valid. If it is determined based on the angle range in which the azimuth angle of the impeller is located that the blade cannot block the laser at this time, the measurement clearance value is considered to be an invalid value, and the safety protection process is not performed.

[0152] Specifically, in an example embodiment, when the minimum compensation clearance is less than the pitch threshold, before the wind turbine is protected according to the comparison result, the azimuth angle collected by the azimuth angle sensor configured to the impeller of the wind turbine can also be obtained, and the comparison result is verified according to the azimuth angle of the impeller. If the azimuth angle is in the preset azimuth angle range, it is determined that the comparison result is valid; otherwise, it is determined that the comparison result is invalid.

[0153] In this way, the validity of the measurement clearance value is verified by the azimuth angle of the impeller, which can exclude inaccurate monitoring results caused by abnormal data and improve the accuracy of the clearance value.

[0154] Optionally, in addition to verifying the validity of the measurement clearance value by the azimuth angle of the impeller, the logical verification can also be performed by the relative position relationship between the third laser (first laser) and the first laser on the side.

[0155] In the case that the blade rotates along the direction from the third laser to the first laser, if the clearance value is too low to trigger the first laser, the third laser will be triggered in advance, because the included angle between the first laser and the third laser and the tower is the same, and the blade will pass the third laser first and then pass the first laser when rotating.

[0156] Alternatively, the above verification can be performed again in the case that it is determined that the safety protection is triggered based on the minimum value of the compensated clearance value, or the comparison result can be directly judged to be valid or invalid according to whether the error between the measured clearance value of the first laser and the measured clearance value of the third laser is too large after the measured clearance value of each laser (or the compensated clearance value) is obtained, and whether the safety protection is started.

[0157] In an optional specific embodiment, after the measured clearance value of each laser is compensated by the preset compensation formula to obtain the compensated clearance value, it can be judged whether the difference between the compensated clearance value of the third laser and the compensated clearance value of the first laser is less than a preset error. If the difference between the compensated clearance value of the third laser and the compensated clearance value of the first laser is greater than the preset error, it can be determined that the compensated clearance value of the first laser is an invalid measurement result, otherwise, it is considered that the compensated clearance value of the first laser is valid.

[0158] The validity of the measured clearance value is verified by the error between the third laser and the first laser, which can exclude inaccurate monitoring results caused by abnormal data and improve the accuracy of the clearance value.

[0159] The tower clearance monitoring method of the embodiment of the application can emit N lasers at different fixed angles towards the blade tip plane, measure the distance from the lasers to the shielding object, calculate the measured clearance value of the corresponding laser according to the first distance measured by each laser, compensate the measured clearance value of each laser by the preset compensation formula to obtain the compensated clearance value, and then compare the compensated clearance value with the minimum value in the N lasers with the preset clearance threshold, and perform safety protection on the wind turbine generator set according to the comparison result. The measured clearance value can be compensated based on the preset compensation formula to obtain a more accurate clearance value, thereby improving the accuracy of the clearance value and solving the technical problem that the measured clearance value is not accurate enough when the clearance is monitored by the laser in the related art.

[0160] Figure 14 is a schematic diagram of an application scenario of the tower clearance monitoring method provided by the embodiment of the application, referring to Figure 14 The laser ranging device and the master control PLC can perform data transmission, and the communication mode can use real-time field bus communication, such as Profibus DP (exemplarily, the frequency can use 50HZ), and the specific communication mode can be consistent with the refresh period of the unit program. In theFigure 14 In the application scenario of the tower clearance monitoring method, the functions of the tower clearance monitoring method can be divided into three modules, which are:

[0161] (1) The data processing module arranged in the laser ranging device. The data processing module can execute the following main functions of data processing by running a program, including: providing device heartbeat signals, data validity signals, beam ranging values, etc., and can be sent to the main control PLC in a fixed format.

[0162] (2) The clearance value calculation module arranged in the main control PLC. The main function of the clearance value calculation module is to calculate the ranging data returned by the laser clearance to the blade into a tower clearance value, which is provided to the clearance value participating control strategy module.

[0163] (3) The clearance value participating control strategy module arranged in the main control PLC. The main function of the clearance value participating control strategy module is to take the unit clearance value returned by the clearance value calculation module as a reference quantity, and when the clearance value is lower than a certain threshold, make corresponding control to improve the clearance value or stop the machine to protect the safe and stable operation of the unit.

[0164] Figure 15 A structure diagram of a tower clearance monitoring device provided by an embodiment of the present application is shown. The tower clearance monitoring device provided by the embodiment of the present application can be used to execute the tower clearance monitoring method provided by the embodiment of the present application. The parts not described in detail in the embodiment of the tower clearance monitoring device provided by the embodiment of the present application can refer to the description in the embodiment of the tower clearance monitoring method provided by the embodiment of the present application.

[0165] As shown in Figure 15 , the tower clearance monitoring device provided by the embodiment of the present application includes a first acquisition unit 11, a first calculation unit 12, a compensation unit 13, a comparison unit 14 and a safety protection unit 15.

[0166] The first acquisition unit 11 is configured to acquire the distance between the laser ranging device and the obstruction measured by the laser ranging device; wherein the laser ranging device is eccentrically installed at the bottom of the nacelle of the wind turbine generator unit, the laser ranging device is configured to emit N laser beams at different fixed angles towards the blade tip plane, and the distance between the laser ranging device and the obstruction is measured by the laser to obtain the first distance measured by each laser, N is a positive integer greater than 1;

[0167] The first calculation unit 12 is configured to calculate the measured clearance value of each laser according to the first distance of each laser;

[0168] The compensation unit 13 is configured to compensate the measured clearance value of each laser by a preset compensation formula to obtain a compensated clearance value;

[0169] The comparison unit 14 is configured to compare the compensation clearance value of the laser with the smallest value among the N lasers with the preset clearance threshold value.

[0170] The safety protection unit 15 is configured to perform safety protection on the wind turbine generator set according to the comparison result.

[0171] Optionally, the device can further include:

[0172] The modeling unit is configured to establish a dynamic model of the wind turbine generator set before compensating the measured clearance value of each laser by the preset compensation formula to obtain the compensation clearance value.

[0173] The simulation unit is configured to simulate the blade state of the blade of the wind turbine generator set under different wind conditions according to the dynamic model.

[0174] The second calculation unit is configured to calculate the tip clearance value under different blade states, and the measured clearance value obtained by measurement when the laser is emitted at different angles to different positions of the blade under the corresponding blade state.

[0175] The establishment unit is configured to establish the preset compensation formula corresponding to the laser at different angles according to the measured clearance value and the tip clearance value, wherein the preset compensation formula is used to calculate the tip clearance value corresponding to the measured clearance value for the laser at different angles, and the tip clearance value is used as the compensation clearance value.

[0176] Optionally, the N lasers can include a first laser and a second laser, the first laser and the second laser can be emitted in a vertical direction on the front face of the wind turbine generator set and emitted in an inclined direction on the side face, and the first laser and the second laser have different inclined angles on the side face.

[0177] Optionally, the first calculation unit 12 can include:

[0178] The first calculation sub-unit is configured to calculate the uncorrected clearance value of the corresponding laser according to the first distance of each laser and the inclined angle of the corresponding laser on the side face; wherein the uncorrected clearance value refers to the distance difference between the installation position of the laser ranging device and the position of the blocked laser projected on the tip plane.

[0179] The second calculation sub-unit is configured to subtract the uncorrected clearance value from the second distance and add the third distance to obtain the measured clearance value; wherein the second distance is the distance between the installation position of the laser ranging device and the center of the tower on the tip plane, and the third distance is the radius of the cross section of the tower on the tip plane.

[0180] Optionally, for the first laser, the first calculation sub-unit can include:

[0181] The third calculating subunit is configured to multiply the first distance of the first laser and a sine value of the tilt angle of the first laser on the side surface to obtain an uncorrected clearance value of the first laser.

[0182] Optionally, the N lasers further include a third laser, the third laser emits along a tilt direction on the front surface, and the tilt angle of the third laser on the side surface is the same as that of the first laser.

[0183] Optionally, for the third laser, the first calculating subunit can include:

[0184] The fourth calculating subunit is configured to calculate an uncorrected clearance value of the third laser according to the first distance of the third laser, the length of the blade, the tilt angle of the third laser on the side surface, and a projection angle between the first laser and the third laser on the front surface of the wind turbine generator set.

[0185] Optionally, the blade can rotate in a direction from the third laser toward the first laser, and correspondingly, the device can further include:

[0186] The judging unit is configured to, after compensating the measured clearance value of each laser by using a preset compensation formula to obtain a compensated clearance value, judge whether a difference between the compensated clearance value of the third laser and the compensated clearance value of the first laser is less than a preset error.

[0187] The first determining unit is configured to, in a case where the difference between the compensated clearance value of the third laser and the compensated clearance value of the first laser is greater than the preset error, determine that the compensated clearance value of the first laser is an invalid measurement result.

[0188] Optionally, the preset clearance threshold can include a shutdown threshold and a pitch threshold, the shutdown threshold is less than the pitch threshold, and correspondingly, the safety protection unit 15 can include:

[0189] The first control subunit is configured to, in a case where the minimum compensated clearance value is less than the shutdown threshold, control the wind turbine generator set to shut down.

[0190] The second control subunit is configured to, in a case where the minimum compensated clearance value is less than the pitch threshold and greater than the shutdown threshold, control the wind turbine generator set to pitch to increase the pitch angle of the blade of the wind turbine generator set.

[0191] Optionally, in a case where the minimum compensated clearance value is less than the pitch threshold, the device further includes:

[0192] The second acquiring unit is configured to, before performing safety protection on the wind turbine generator set according to the comparison result, acquire an azimuth angle collected by an azimuth angle sensor configured to the blade wheel of the wind turbine generator set.

[0193] The second determining unit is configured to, in a case where the azimuth angle is in a preset azimuth angle range, determine that the comparison result is valid; otherwise, determine that the comparison result is invalid.

[0194] The monitoring device for tower clearance of the embodiment of the application can emit N laser beams at different fixed angles towards the blade tip plane, measure the distance between the laser beams and the shelter, calculate the measured clearance value of the corresponding laser beam according to the first distance measured by each laser beam, compensate the measured clearance value of each laser beam by using a preset compensation formula to obtain a compensated clearance value, and then compare the compensated clearance value with the smallest value in the N laser beams with the preset clearance threshold, and perform safety protection on the wind turbine generator set according to the comparison result. The measured clearance value can be compensated based on the preset compensation formula to obtain a more accurate clearance value, thereby improving the accuracy of the clearance value and solving the technical problem that the measured clearance value is not accurate enough when the clearance is monitored by using laser.

[0195] The embodiment of the application further provides a monitoring system for tower clearance, which comprises:

[0196] The laser ranging device is eccentrically installed at the bottom of the nacelle of the wind turbine generator set, and is used for emitting N laser beams at different fixed angles towards the blade tip plane, and measuring the distance between the laser beams and the shelter by using laser to obtain the first distance measured by each laser beam, wherein N is a positive integer greater than 1; and the electronic device comprises the monitoring device for tower clearance provided by the embodiment of the application.

[0197] Optionally, the N laser beams can include a first laser beam and a second laser beam, the first laser beam and the second laser beam can be emitted in a vertical direction on the front surface of the wind turbine generator set and in an inclined direction on the side surface, and the first laser beam and the second laser beam have different inclined angles on the side surface.

[0198] Optionally, the N laser beams can further include a third laser beam, the third laser beam is emitted in an inclined direction on the front surface and has the same inclined angle as the first laser beam on the side surface.

[0199] Figure 16 A hardware structure schematic diagram of the electronic device provided by the embodiment of the application is shown.

[0200] The electronic device can include a processor 301 and a memory 302 storing program instructions.

[0201] Specifically, the processor 301 can include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or can be configured as one or more integrated circuits that implement the embodiment of the application.

[0202] The memory 302 can include mass storage for data or instructions. As an example and not by way of limitation, the memory 302 can include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disc (e.g., a compact disc (CD) or a digital versatile disc (DVD)), a solid-state drive (SSD), a USB drive, or a combination of two or more of these. Where appropriate, the memory 302 can include removable or non-removable (or fixed) media. Where appropriate, the memory 302 can be internal or external to the integrated gateway disaster recovery appliance. In particular embodiments, the memory 302 is non-volatile, solid-state memory.

[0203] In particular embodiments, the memory 302 includes read-only memory (ROM). Where appropriate, this ROM can be mask programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), electrically alterable ROM (EAROM), or flash memory or a combination of two or more of these.

[0204] The memory can include read-only memory (ROM), random-access memory (RAM), magnetic disk storage mediums, optical storage mediums, flash memory devices, electrical, optical, or other physical / tangible memory storage devices. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software that, when executed (by one or more processors), is operable to perform operations described with reference to the methods according to aspects of the present application.

[0205] The processor 301 implements the monitoring method of the tower clearance in any of the above embodiments by reading and executing program instructions stored in the memory 302.

[0206] In one example, the electronic device can further include a communication interface 303 and a bus 310. As shown, the processor 301, the memory 302, and the communication interface 303 are connected through the bus 310 and complete communication with each other. Figure 16

[0207] The communication interface 303 is mainly used to realize the communication between the modules, devices, units and / or equipment in the embodiments of the present application.

[0208] ​Bus 310 includes a hardware, software, or both that couples components of electronic device to each other. As an example and not by way of limitation, bus can include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand (IB) interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or another suitable bus or a combination of two or more of these. Where appropriate, bus 310 can include one or more buses. Although this application describes and shows a particular bus, this application contemplates any suitable bus or interconnect.

[0209] In combination with the tower clearance monitoring method in the above embodiments, the embodiments of the present application can provide a readable storage medium for implementation. The readable storage medium has program instructions stored thereon; the program instructions are executed by a processor to implement any of the tower clearance monitoring methods in the above embodiments.

[0210] It needs to be made clear that the present application is not limited to the specific configurations and processes described above and shown in the drawings. For the sake of brevity, detailed descriptions of well-known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between steps, after understanding the spirit of the present application.

[0211] The functional blocks shown in the structural block diagrams described above can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a functional card, etc. When implemented in software, the elements of the present application are program or code segments used to perform the required tasks. The program or code segments can be stored in a machine-readable medium or transmitted through a data signal carried in a carrier wave over a transmission medium or communication link. The "machine-readable medium" can include any medium capable of storing or transmitting information. Examples of the machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. The code segments can be downloaded via a computer network such as the Internet, an intranet, etc.

[0212] It should also be noted that the example embodiments mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in an order different from the embodiments, or several steps can be performed simultaneously.

[0213] The aspects of the present application are described above with reference to flowcharts and / or block diagrams of methods, apparatus (systems) and program products according to embodiments of the present application. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by program instructions. These program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / acts specified in the flowcharts and / or block diagrams of the flowcharts and / or block diagrams. Such a processor can be, but not limited to, a general-purpose processor, a special-purpose processor, a special-purpose application processor, or a field programmable logic circuit. It should also be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can also be implemented by dedicated hardware, or a combination of computer instructions and dedicated hardware.

[0214] The above is merely specific implementation of the present application, and those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, module and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described herein. It should be understood that the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. A method for monitoring tower clearance, characterized in that, include: The distance between the object and the obstruction is obtained by a laser ranging device; wherein the laser ranging device is eccentrically installed at the bottom of the nacelle of the wind turbine generator set, and the laser ranging device is used to emit N lasers at different fixed angles toward the blade tip plane, and obtain the first distance measured by each laser by measuring the distance between the object and the obstruction, where N is a positive integer greater than 1; Calculate the measured clearance value of the corresponding laser based on the first distance of each laser; The measured clearance value of each laser is compensated by a preset compensation formula to obtain the compensated clearance value; Compare the smallest compensation clearance value among the N laser beams with the preset clearance threshold; Based on the comparison results, safety protection measures are implemented for the wind turbine generator set. Before compensating the measured clearance value of each laser line using a preset compensation formula to obtain the compensated clearance value, the following steps are also included: Establish a dynamic model of the wind turbine generator set; The dynamic model is used to simulate the blade state of the wind turbine generator under different wind conditions. Calculate the tip clearance value under different blade conditions, and measure the clearance value when the laser is emitted at different angles to different positions on the blade under the corresponding blade conditions. Based on the measured clearance value and the blade tip clearance value, a preset compensation formula is established for lasers at different angles. The preset compensation formula is used to calculate the blade tip clearance value of the laser at the corresponding angle based on the measured clearance value, and the blade tip clearance value is used as the compensation clearance value.

2. The method according to claim 1, characterized in that, The N lasers include a first laser and a second laser. The first laser and the second laser are emitted vertically from the front of the wind turbine generator and inclined from the side, and the first laser and the second laser are inclined at different angles from the side.

3. The method according to claim 2, characterized in that, The step of calculating the measured clearance value of the corresponding laser based on the first distance of each laser includes: Based on the first distance of each laser and the tilt angle of the corresponding laser on the side, the uncorrected clearance value of the corresponding laser is calculated; wherein, the uncorrected clearance value refers to the distance difference between the installation position of the laser ranging device and the position that blocks the laser projected on the blade tip plane; The measured clearance value is obtained by subtracting the uncorrected clearance value from the second distance and adding it to the third distance; wherein, the second distance is the distance between the installation position of the laser ranging device on the blade tip plane and the center of the tower, and the third distance is the radius of the tower on the cross-section of the blade tip plane.

4. The method according to claim 3, characterized in that, For the first laser, the step of calculating the uncorrected clearance value of the corresponding laser based on the first distance of each laser and the tilt angle of the corresponding laser on the side includes: Multiply the first distance of the first laser by the sine of the tilt angle of the first laser on the side to obtain the uncorrected headroom value of the first laser.

5. The method according to claim 3, characterized in that, The N lasers also include a third laser, which is emitted in an inclined direction on the front side and at the same inclination angle as the first laser on the side side.

6. The method according to claim 5, characterized in that, For the third laser, the step of calculating the uncorrected clearance value of the corresponding laser based on the first distance of each laser and the tilt angle of the corresponding laser on the side includes: The uncorrected headroom value of the third laser is calculated based on the first distance of the third laser, the length of the blade, the tilt angle of the third laser on the side, and the projection angle of the angle between the first laser and the third laser onto the front of the wind turbine.

7. The method according to claim 5, characterized in that, The blade rotates in a direction from the third laser toward the first laser. After compensating the measured clearance value of each laser using a preset compensation formula to obtain the compensated clearance value, the method further includes: Determine whether the difference between the compensation net clearance value of the third laser and the compensation net clearance value of the first laser is less than a preset error; If the difference between the compensated clearance value of the third laser and the compensated clearance value of the first laser is greater than the preset error, the compensated clearance value of the first laser is determined to be an invalid measurement result.

8. The method according to claim 1, characterized in that, The preset airspace threshold includes a shutdown threshold and a pitch threshold, wherein the shutdown threshold is less than the pitch threshold. The step of providing safety protection for the wind turbine generator based on the comparison result includes: If the minimum compensation clearance value is less than the shutdown threshold, the wind turbine generator set is shut down. If the minimum compensation clearance value is less than the pitch threshold and greater than the shutdown threshold, the wind turbine generator is controlled to pitch, thereby increasing the pitch angle of the wind turbine generator blades.

9. The method according to claim 8, characterized in that, If the minimum compensation clearance value is less than the pitch threshold, before implementing safety protection for the wind turbine generator set based on the comparison result, the following steps are also included: Acquire the azimuth angle collected by the azimuth angle sensor configured on the rotor of the wind turbine generator set; If the azimuth angle is within a preset azimuth angle range, the comparison result is determined to be valid; otherwise, the comparison result is determined to be invalid.

10. A monitoring device for tower clearance, characterized in that, The device includes: The first acquisition unit is used to acquire the distance between the object and the laser ranging device as measured by the laser ranging device; wherein, the laser ranging device is eccentrically installed at the bottom of the nacelle of the wind turbine generator set, and the laser ranging device is used to emit N lasers toward the blade tip plane at different fixed angles, and obtain the first distance measured by each laser by measuring the distance between the laser and the object, where N is a positive integer greater than 1; The first calculation unit is used to calculate the measured clearance value of the corresponding laser based on the first distance of each laser. The compensation unit is used to compensate the measured clearance value of each laser line using a preset compensation formula to obtain the compensated clearance value. The comparison unit is used to compare the smallest compensation clearance value among the N laser beams with a preset clearance threshold. A safety protection unit is used to provide safety protection for the wind turbine generator set based on the comparison results. The device further includes: The modeling unit is used to establish a dynamic model of the wind turbine generator before compensating the measured clearance value of each laser by a preset compensation formula to obtain the compensated clearance value. The simulation unit is used to simulate the blade state of the wind turbine generator under different wind conditions based on the dynamic model. The second calculation unit is used to calculate the tip clearance value under different blade conditions, and the measured clearance value when the laser is emitted at different angles to different positions of the blade under the corresponding blade conditions. A unit is established to establish a preset compensation formula corresponding to lasers at different angles based on the measured clearance value and the blade tip clearance value. The preset compensation formula is used to calculate the blade tip clearance value of the laser at the corresponding angle based on the measured clearance value, and the blade tip clearance value is used as the compensation clearance value.

11. An electronic device, characterized in that, The electronic device includes: a processor and a memory storing program instructions; When the processor executes the program instructions, it implements the tower clearance monitoring method as described in any one of claims 1-9.

12. A tower clearance monitoring system, characterized in that, The system includes: A laser ranging device is eccentrically installed at the bottom of the nacelle of a wind turbine generator. The laser ranging device is used to emit N lasers at different fixed angles toward the blade tip plane, and obtain the first distance measured by each laser by measuring the distance between the laser and the obstruction. N is a positive integer greater than 1. Electronic equipment, including the tower clearance monitoring device as described in claim 10.

13. The system according to claim 12, characterized in that, The N lasers include a first laser and a second laser. The first laser and the second laser are emitted vertically from the front of the wind turbine generator and inclined from the side, and the first laser and the second laser are inclined at different angles from the side.

14. The system according to claim 13, characterized in that, The N lasers also include a third laser, which is emitted in an inclined direction on the front side and at the same inclination angle as the first laser on the side side.

15. A readable storage medium, characterized in that, The readable storage medium stores program instructions, which, when executed by a processor, implement the tower clearance monitoring method as described in any one of claims 1-9.

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