A blade clearance distance early warning method, device, equipment and medium

Abstract

This invention belongs to the field of airspace clearance detection technology, and specifically discloses a blade airspace clearance early warning method, device, equipment, and medium. The method includes the following steps: acquiring basic blade data and wind turbine airspace standards; obtaining the minimum distance based on the basic blade data and wind turbine airspace standards; generating a danger profile based on the minimum distance; acquiring actual images of each blade at a first preset time interval; performing image recognition on the actual images of each blade using a sliding window to obtain the actual profile of each blade; calculating the overlap between the actual profile and the danger profile of each blade; issuing an early warning based on the overlap; and adjusting the blade angle based on the early warning result.

Description

Technical Field

[0001] This invention belongs to the field of clearance distance detection technology, specifically relating to a method, device, equipment, and medium for early warning of blade clearance distance. Background Technology

[0002] Over the past decade or so, the wind power industry has developed rapidly. With this development, construction costs have also decreased. To reduce costs, the stiffness of wind turbine blades has gradually declined, leading to increased blade deformation. Simultaneously, as the power output of wind turbine generators increases, the size of the blades also increases. During operation, excessive blade deformation can cause blades to collide with the tower, a phenomenon known as "tower sweep." The decreasing blade stiffness and increasing blade size exacerbate this problem, leading to frequent tower sweep accidents. In recent years, wind turbine collapses have been frequent, with most incidents caused by wind turbine blades sweeping against the tower.

[0003] How to avoid wind turbine blades swiping the tower as much as possible without significantly increasing costs is an important issue in the wind power industry. Summary of the Invention

[0004] The purpose of this invention is to provide a method, device, equipment and medium for early warning of blade clearance distance, so as to solve the technical problem of frequent accidents caused by existing wind turbine blades sweeping the tower.

[0005] To achieve the above objectives, the present invention employs the following technical solution:

[0006] Firstly, a method for early warning of blade clearance distance includes the following steps:

[0007] Obtain basic blade data and wind turbine clearance standards, and determine the minimum distance based on the basic blade data and wind turbine clearance standards;

[0008] Generate a hazard profile based on the minimum distance;

[0009] The actual image of each blade is acquired at a first preset time interval, and the actual image of each blade is recognized by a sliding window to obtain the actual outline of each blade.

[0010] Calculate the degree of overlap between the actual profile and the critical profile for each blade;

[0011] Early warnings are issued based on the degree of overlap, and the blade angle is adjusted based on the warning results.

[0012] A further improvement of the present invention is that the danger profile is the blade image profile when the distance between the blade tip and the tower is equal to the minimum distance.

[0013] A further improvement of the present invention is that the step of acquiring the actual image of each blade at a first preset time interval, and performing image recognition on the actual image of each blade using a sliding window to obtain the actual contour of each blade specifically includes:

[0014] Identify the leaf root edge in each actual image;

[0015] The sliding window starts from the leaf root edge of each actual image and slides along the leaf edge to obtain the actual outline of each leaf.

[0016] A further improvement of the present invention is that the step of calculating the overlap between the actual profile and the critical profile of each blade specifically includes:

[0017] Calculate the area of ​​the hazard profile based on the hazard profile.

[0018] Calculate the actual outline area of ​​each blade based on its actual outline.

[0019] Calculate the ratio of the actual contour area to the dangerous contour area, and record it as the overlap ratio.

[0020] A further improvement of the present invention is that the steps specifically include:

[0021] If there is an overlap of 1, an A-level warning signal is issued, and the blades are controlled to follow the pitch to the minimum value, and the fan is shut down.

[0022] If the overlap is between 0.9 and 0.95, a Class C warning signal is issued, and the blades are controlled to perform a single adjustment.

[0023] Calculate the overlap after slurry conditioning. If the overlap is still 0.9 to 0.95 after slurry conditioning, then control the blades to perform secondary slurry conditioning.

[0024] If the overlap is between 0.95 and 0.98, a Class B warning signal is issued, and the blades are controlled to perform three adjustments.

[0025] Calculate the overlap after slurry conditioning. If the overlap is still 0.95 to 0.98 after slurry conditioning, issue a Class A warning signal, control the blades to follow the slurry to the minimum value, and shut down the fan.

[0026] No warning will be issued if all overlap rates are less than 0.9.

[0027] A further improvement of the present invention is that the primary, secondary, and tertiary slurry conditioning processes satisfy the following relationship:

[0028] The angle of the first mixing of the slurry is less than the angle of the second mixing of the slurry, which is less than the angle of the third mixing of the slurry.

[0029] Secondly, a blade clearance distance early warning device includes:

[0030] Minimum distance calculation module: used to obtain basic blade data and wind turbine clearance standards, and to obtain the minimum distance based on the basic blade data and wind turbine clearance standards;

[0031] Hazard profile generation module: used to generate hazard profiles based on minimum distance;

[0032] Several infrared cameras: used to acquire actual images of each blade at a first preset time interval;

[0033] Actual contour extraction module: used to perform image recognition on the actual image of each blade using a sliding window to obtain the actual contour of each blade;

[0034] Overlap Calculation Module: Used to calculate the overlap between the actual profile and the critical profile of each blade;

[0035] Early warning module: Used to issue early warnings based on the degree of overlap and adjust the blade angle based on the early warning results.

[0036] A further improvement of the present invention is that the number of infrared cameras is the same as the number of blades, and an infrared camera is provided on the wind turbine hub between each blade and the tower.

[0037] Thirdly, a computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the aforementioned method for early warning of blade clearance distance.

[0038] Fourthly, a computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned method for early warning of blade clearance distance.

[0039] Compared with the prior art, the present invention has at least the following beneficial effects:

[0040] 1. This invention obtains the danger profile by minimizing the distance, and then provides an early warning and adjusts the blade angle based on the degree of overlap between the danger profile and the actual profile. The process is concise and the judgment is accurate, which can effectively reduce the probability of tower sweeping accidents.

[0041] 2. This invention uses graded early warning and pitch adjustment to select different pitch angles according to different overlap degrees, ensuring the safe operation of the wind turbine;

[0042] 3. This invention uses an infrared camera to acquire actual images, allowing it to work normally even at night. Attached Figure Description

[0043] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0044] In the attached diagram:

[0045] Figure 1 This is a flowchart of a blade clearance distance early warning method according to the present invention;

[0046] Figure 2 This is a structural block diagram of a blade clearance distance early warning device according to the present invention;

[0047] Figure 3 This is a schematic diagram of a blade clearance distance early warning device according to the present invention.

[0048] In the picture: 1. Infrared camera; 2. Blade; 3. Wind turbine hub. Detailed Implementation

[0049] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0050] The following detailed description is exemplary and intended to provide further detailed explanation of the invention. Unless otherwise specified, all technical terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this invention is for describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention.

[0051] Example 1

[0052] A method for early warning of blade clearance distance, such as Figure 1 As shown, it includes the following steps:

[0053] S1. Obtain basic blade data and wind turbine clearance standards, and determine the minimum distance based on the basic blade data and wind turbine clearance standards.

[0054] Specifically, the minimum distance satisfies the following formula:

[0055] D = (ST) × 1.1 × PSF × 1

[0056] In the formula, D represents the maximum deformation of the blade; S represents the minimum distance between the blade tip and the tower when the blade is stationary; T represents the minimum distance from the blade tip to the tower obtained from the simulation; and PSF represents the local safety factor.

[0057] Specifically, the basic data for blades includes data such as blade size, mass, and material.

[0058] Specifically, the clearance standard for wind turbine units is determined based on actual conditions;

[0059] Specifically, the minimum distance is the distance from the tip of the blade to the tower.

[0060] S2. Generate a danger profile based on the minimum distance;

[0061] Specifically, the danger profile is the blade image profile corresponding to the minimum distance between the blade tip and the tower.

[0062] S3. Acquire the actual image of each blade at the first preset time interval, and use a sliding window to perform image recognition on the actual image of each blade to obtain the actual outline of each blade.

[0063] Specifically, the step of performing image recognition on the actual image of each blade using a sliding window includes:

[0064] S31. Identify the leaf root edge of each actual image;

[0065] S32. The sliding window starts from the leaf root edge of each actual image and slides along the leaf edge to obtain the actual outline of each leaf;

[0066] S4. Calculate the degree of overlap between the actual profile and the critical profile of each blade;

[0067] S4 specifically includes the following steps:

[0068] S41. Calculate the area of ​​the hazardous contour based on the hazardous contour.

[0069] S42. Calculate the actual outline area of ​​each blade based on its actual outline.

[0070] S43. Calculate the ratio of the actual contour area to the dangerous contour area, and record it as the overlap ratio.

[0071] S5. Issue early warnings based on the degree of overlap and adjust the blade angle based on the warning results;

[0072] Specifically, S5 includes the following steps:

[0073] If there is an overlap of 1, an A-level warning signal is issued, and the blades are controlled to follow the pitch to the minimum value, and the fan is shut down.

[0074] If the overlap is between 0.9 and 0.95, a Class C warning signal is issued, and the blades are controlled to perform a single adjustment.

[0075] Specifically, the first slurry preparation involves a 2° parallel slurry preparation;

[0076] Calculate the overlap after slurry conditioning. If the overlap is still 0.9 to 0.95 after slurry conditioning, then control the blades to perform secondary slurry conditioning.

[0077] Specifically, the secondary slurry preparation involves a 5° parallel slurry preparation.

[0078] If the overlap is between 0.95 and 0.98, a Class B warning signal is issued, and the blades are controlled to perform three adjustments.

[0079] Specifically, the adjustment was made three times to achieve a 10° parallel stroke.

[0080] Calculate the overlap after slurry conditioning. If the overlap is still 0.95 to 0.98 after slurry conditioning, issue a Class A warning signal, control the blades to follow the slurry to the minimum value, and shut down the fan.

[0081] If all overlap rates are less than 0.9, no warning will be issued;

[0082] Specifically, the angle of the first mixing step < the angle of the second mixing step < the angle of the third mixing step.

[0083] Example 2

[0084] A blade clearance distance early warning device, such as Figure 2 As shown, it includes:

[0085] Minimum distance calculation module: used to obtain basic blade data and wind turbine clearance standards, and to obtain the minimum distance based on the basic blade data and wind turbine clearance standards;

[0086] Specifically, the minimum distance in the minimum distance calculation module satisfies the following formula:

[0087] D = (ST) × 1.1 × PSF × 1

[0088] In the formula, D represents the maximum deformation of the blade; S represents the minimum distance between the blade tip and the tower when the blade is stationary; T represents the minimum distance from the blade tip to the tower obtained from the simulation; and PSF represents the local safety factor.

[0089] Specifically, the basic data for the blades in the minimum distance calculation module includes data such as the blade's size, mass, and material.

[0090] The minimum distance is the distance from the tip of the blade to the tower.

[0091] Hazard profile generation module: used to generate hazard profiles based on minimum distance;

[0092] Specifically, in the hazard profile generation module, the hazard profile is the blade image profile corresponding to the minimum distance between the blade tip and the tower.

[0093] Several infrared cameras: used to acquire actual images of each blade at a first preset time interval;

[0094] Actual contour extraction module: used to perform image recognition on the actual image of each blade using a sliding window to obtain the actual contour of each blade;

[0095] Specifically, the actual contour extraction module operates according to the following process:

[0096] Identify the leaf root edge in each actual image;

[0097] The sliding window starts from the leaf root edge of each actual image and slides along the leaf edge to obtain the actual outline of each leaf.

[0098] Overlap Calculation Module: Used to calculate the overlap between the actual profile and the critical profile of each blade;

[0099] Specifically, the overlap calculation module operates according to the following process:

[0100] Calculate the area of ​​the hazard profile based on the hazard profile.

[0101] Calculate the actual outline area of ​​each blade based on its actual outline.

[0102] Calculate the ratio of the actual contour area to the dangerous contour area, and record it as the overlap ratio.

[0103] Early warning module: Used to issue early warnings based on overlap and adjust the blade angle based on the early warning results;

[0104] Specifically, the early warning module issues warnings according to the following rules:

[0105] If there is an overlap of 1, an A-level warning signal is issued, and the blades are controlled to follow the pitch to the minimum value, and the fan is shut down.

[0106] If the overlap is between 0.9 and 0.95, a Class C warning signal is issued, and the blades are controlled to perform a single adjustment.

[0107] The first slurry preparation involves a 2° parallel slurry application;

[0108] Calculate the overlap after slurry conditioning. If the overlap is still 0.9 to 0.95 after slurry conditioning, then control the blades to perform secondary slurry conditioning.

[0109] The second slurry preparation involves a 5° parallel slurry application.

[0110] If the overlap is between 0.95 and 0.98, a Class B warning signal is issued, and the blades are controlled to perform three adjustments.

[0111] The three adjustments were made to achieve a 10° parallel stroke.

[0112] Calculate the overlap after slurry conditioning. If the overlap is still 0.95 to 0.98 after slurry conditioning, issue a Class A warning signal, control the blades to follow the slurry to the minimum value, and shut down the fan.

[0113] If all overlap rates are less than 0.9, no warning will be issued;

[0114] The angle of the first mixing of the slurry is less than the angle of the second mixing of the slurry, which is less than the angle of the third mixing of the slurry.

[0115] Specifically, the number of infrared cameras is the same as the number of leaves;

[0116] Specifically, such as Figure 3 As shown, the infrared camera 1 is fixedly mounted on the wind turbine hub 3 between the blade 2 and the tower, and the lens of each infrared camera 1 is oriented in the same direction as the extension of the blade 2.

[0117] Example 3

[0118] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the aforementioned blade clearance distance early warning method, comprising the following steps:

[0119] Obtain basic blade data and wind turbine clearance standards, and determine the minimum distance based on the basic blade data and wind turbine clearance standards;

[0120] Generate a hazard profile based on the minimum distance;

[0121] The actual image of each blade is acquired at a first preset time interval, and the actual image of each blade is recognized by a sliding window to obtain the actual outline of each blade.

[0122] Calculate the degree of overlap between the actual profile and the critical profile for each blade;

[0123] Early warnings are issued based on the degree of overlap, and the blade angle is adjusted based on the warning results.

[0124] Example 4

[0125] A computer-readable storage medium storing a computer program, which, when executed by a processor, implements the aforementioned blade clearance distance early warning method, comprising the following steps:

[0126] Obtain basic blade data and wind turbine clearance standards, and determine the minimum distance based on the basic blade data and wind turbine clearance standards;

[0127] Generate a hazard profile based on the minimum distance;

[0128] The actual image of each blade is acquired at a first preset time interval, and the actual image of each blade is recognized by a sliding window to obtain the actual outline of each blade.

[0129] Calculate the degree of overlap between the actual profile and the critical profile for each blade;

[0130] Early warnings are issued based on the degree of overlap, and the blade angle is adjusted based on the warning results.

[0131] As is known from common technical knowledge, this invention can be implemented through other embodiments that do not depart from its spirit or essential characteristics. Therefore, the disclosed embodiments described above are merely illustrative in all respects and are not the only ones. All modifications within the scope of this invention or its equivalents are included in this invention.

[0132] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0133] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, 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, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0134] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0135] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0136] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for early warning of blade clearance distance, characterized in that, Includes the following steps: Obtain basic blade data and wind turbine clearance standards, and determine the minimum distance based on the basic blade data and wind turbine clearance standards; Generate a hazard profile based on the minimum distance; The actual image of each blade is acquired at a first preset time interval, and the actual image of each blade is recognized by a sliding window to obtain the actual outline of each blade. Calculate the degree of overlap between the actual profile and the critical profile for each blade; Early warnings are issued based on the degree of overlap, and the blade angle is adjusted based on the warning results; The step of acquiring the actual image of each leaf at a first preset time interval and performing image recognition on the actual image of each leaf using a sliding window to obtain the actual contour of each leaf specifically includes: identifying the leaf root edge of each actual image; and sliding the sliding window from the leaf root edge of each actual image along the leaf edge to obtain the actual contour of each leaf. The step of calculating the overlap between the actual profile and the dangerous profile of each blade specifically includes: calculating the area of ​​the dangerous profile based on the dangerous profile; calculating the actual profile area of ​​each blade based on the actual profile of each blade; and calculating the ratio between the actual profile area and the dangerous profile area, which is recorded as the overlap. The step of issuing a warning based on the degree of overlap specifically includes: If there is an overlap of 1, an A-level warning signal is issued, and the blades are controlled to follow the pitch to the minimum value, and the fan is shut down. If the overlap is between 0.9 and 0.95, a Class C warning signal is issued, and the blades are controlled to perform a single adjustment. Calculate the overlap after slurry conditioning. If the overlap is still 0.9~0.95 after slurry conditioning, control the blades to perform secondary slurry conditioning. If the overlap is between 0.95 and 0.98, a Class B warning signal is issued, and the blades are controlled to perform three adjustments. Calculate the overlap after slurry conditioning. If the overlap is still 0.95~0.98 after slurry conditioning, issue a Class A warning signal, control the blades to follow the slurry to the minimum value, and shut down the fan. No warning will be issued if all overlap rates are less than 0.

9.

2. The blade clearance distance early warning method according to claim 1, characterized in that, The danger profile is the blade image profile when the distance between the blade tip and the tower is equal to the minimum distance.

3. The blade clearance distance early warning method according to claim 1, characterized in that, The primary, secondary, and tertiary slurry conditioning processes satisfy the following relationship: The angle of the first mixing of the slurry is less than the angle of the second mixing of the slurry, which is less than the angle of the third mixing of the slurry.

4. A blade clearance distance early warning device, used to implement the blade clearance distance early warning method of claim 1, characterized in that, include: Minimum distance calculation module: used to obtain basic blade data and wind turbine clearance standards, and to obtain the minimum distance based on the basic blade data and wind turbine clearance standards; Hazard profile generation module: used to generate hazard profiles based on minimum distance; Several infrared cameras: used to acquire actual images of each blade at a first preset time interval; Actual contour extraction module: used to perform image recognition on the actual image of each blade using a sliding window to obtain the actual contour of each blade; Overlap Calculation Module: Used to calculate the overlap between the actual profile and the critical profile of each blade; Early warning module: Used to issue early warnings based on the degree of overlap and adjust the blade angle based on the early warning results.

5. A blade clearance distance early warning device according to claim 4, characterized in that, The number of infrared cameras (1) is the same as the number of blades, and each blade (2) is provided with an infrared camera (1) on the wind turbine hub (3) between the wind turbine hub (3) and the tower.

6. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes a computer program, it implements a blade clearance distance early warning method according to any one of claims 1-3.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the blade clearance distance early warning method according to any one of claims 1-3.

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