A component full-scale test deflection measuring device and measuring method
By combining a parallel worktable and a laser ranging array, the problems of large measurement error, high cost, complex installation and slow response speed in full-size static load deflection testing of wind turbine blades have been solved, achieving high-precision and fast deflection measurement.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- TONGJI UNIV
- Filing Date
- 2023-07-19
- Publication Date
- 2026-07-03
AI Technical Summary
Existing methods for testing the full-size static load deflection of wind turbine blades suffer from problems such as large measurement errors, high costs, complex installation, and slow response speed.
By employing a combination of a parallel worktable, a laser ranging array, a laser receiving array, an inertial sensor, and a controller, high-precision deflection measurement is achieved by measuring distance information at multiple points using a laser rangefinder and detecting the motion posture of components using an inertial sensor.
It improved measurement accuracy, simplified the installation process, increased response speed, and reduced costs.
Smart Images
Figure CN116878788B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of industrial measuring devices, and in particular to a device and method for measuring the deflection of a component in a full-size test. Background Technology
[0002] There are two main categories of methods for testing the full-scale static deflection of wind turbine blades. The first is contact-based, such as wire-coupled sensors and strain sensors. Wire-coupled displacement sensors can only measure displacement data in a single direction, resulting in large measurement errors and a single dimension. The deformation trajectory of the blade during testing is a spatial curve, with deformation in the X, Y, and Z directions. The second is non-contact-based, such as UWB ranging, laser rangefinders, total stations, and multiple sets of binocular vision. UWB ranging requires at least four base stations for accurate positioning, similar to satellite positioning, but is costly. Laser rangefinders measure distance at a single point, while blade motion is not one-dimensional. Laser trackers work by installing reflectors at the target point; the laser emitted by the tracking head hits the reflector and returns to the tracking head. As the target moves, the tracking head adjusts the beam direction to align with the target. However, laser trackers are expensive. Existing visual measurement methods use multiple sets of binocular vision, requiring a large number of cameras, and their placement cannot cover the entire process of static deflection changes; all these methods have room for improvement. Summary of the Invention
[0003] The purpose of this invention is to overcome the defects of the prior art by providing a device and method for measuring the deflection of a component in a full-size test.
[0004] The objective of this invention can be achieved through the following technical solutions:
[0005] A device and method for measuring the deflection of a component in a full-size test, comprising a parallel worktable, a laser ranging array, a laser receiving array, an inertial sensor, and a controller;
[0006] The parallel worktable includes a base, an electric push rod, and a work platform. The electric push rod is disposed between the base and the work platform, and the upper end of the electric push rod is connected to the work platform via a ball joint, while the lower end is connected to the base via a universal joint. This connection method ensures that the work platform can move in all directions without dead points. The parallel worktable can have three degrees of freedom of movement, and while ensuring the movement of the components themselves, the parallel worktable can also control the direction of the laser ranging array.
[0007] The laser ranging array includes three laser rangefinders, and each laser rangefinder is connected to the upper surface of the working platform through an angle adjuster. The angle between the angle adjusters can be freely adjusted to meet the testing needs of components of different sizes.
[0008] The laser receiver array includes three laser receivers, and each laser receiver includes a fixed plate and a photoresistor. The photoresistors are arranged in an array on the fixed plate, and a processor is also provided on the fixed plate and connected to the photoresistors. The laser receiver can receive laser signals through the photoresistors, and after receiving the signal, it can feed back to the controller through the processor.
[0009] The inertial sensor is mounted on the working platform to detect the pose of the laser ranging array; the inertial sensor can detect the pose of the laser ranging array, calculate the stroke of the parallel worktable electric push rod, and control the laser landing point of the laser ranging array to fall on the laser receiving array.
[0010] The controller is communicatively connected to the laser ranging array, the inertial sensor, the electric actuator, and the processor. The controller can control the movement of the electric actuator, record the measurement data of the laser ranging array, calculate the deflection, and communicate back to the host computer.
[0011] In some embodiments, the electric linear actuator includes a servo motor and an actuator body, and the controller is communicatively connected to the servo motor.
[0012] In some embodiments, both the controller and the processor are microcontrollers.
[0013] In some of these embodiments, the component is a wind turbine blade.
[0014] In some embodiments, the base is mounted on the test fixture of the wind turbine blade, and the three laser receivers are distributed near the test point of the wind turbine blade and are perpendicular to each other.
[0015] In addition, the present invention also discloses a method for measuring the deflection of a component in a full-size test. Based on the above-mentioned device for measuring the deflection of a component in a full-size test, the method includes the following steps:
[0016] The base of the full-size test deflection measuring device for the component is installed on the component, and the three laser receivers are distributed near the test points of the component;
[0017] Adjust the angle adjusters of the three laser rangefinders, and stop adjusting when the controller determines that the laser points of the three laser rangefinders are all located on the same laser receiver;
[0018] The deflection of the measured point of the component at the current position is measured;
[0019] The step of measuring the deflection of the measured point of the component at the current position specifically includes:
[0020] The data measured by the three laser rangefinders when each laser receiver simultaneously receives lasers emitted by the three laser rangefinders are obtained respectively. The distance between the measured point of the component and the three laser receivers is obtained based on the measured data and the angle between the three laser rangefinders.
[0021] The deflection of the measured point of the component at its current position is obtained based on the distance between the measured point of the component and the three laser receivers.
[0022] In some embodiments, the method further includes:
[0023] The component is controlled to start moving, and the motion pose of the measured point of the component is detected by the inertial sensor;
[0024] The controller controls the electric push rod to perform compensating motion based on the motion posture of the measured point of the component detected by the inertial sensor, so as to maintain the laser landing point of the three laser rangefinders on the same laser receiver.
[0025] The step of measuring the deflection of the measured point of the component at the current position is performed once at predetermined time intervals to obtain the dynamic deflection of the measured point of the component.
[0026] In some of these embodiments, the predetermined time is greater than 3 seconds.
[0027] In some embodiments, the three laser receivers are configured as a first laser receiver, a second laser receiver, and a third laser receiver, and the laser landing point of the three laser rangefinders is located on the first laser receiver.
[0028] The step of acquiring data measured by the three laser rangefinders when each laser receiver simultaneously receives lasers emitted by the three laser rangefinders, and obtaining the distance between the measured point of the component and the three laser rangefinders based on the data, specifically includes:
[0029] Step a: After the controller determines that the laser detection signal sent by the processor of the first laser receiver is that the first laser receiver simultaneously receives lasers emitted by the three laser rangefinders, the controller controls the three laser rangefinders to record the measured first data, and obtains the distance between the measured point of the component and the first laser receiver based on the first data and the angle between the three laser rangefinders.
[0030] Step b: The controller controls the movement of the electric push rod. After the controller determines that the laser detection signal sent by the processor of the second laser receiver is the same as the laser emitted by the three laser rangefinders simultaneously received by the first laser receiver, the controller controls the three laser rangefinders to record the measured second data. The distance between the measured point of the component and the second laser receiver is obtained based on the angle between the second data and the three laser rangefinders.
[0031] Step c: Continue to control the movement of the electric push rod using the controller. After the controller determines that the laser detection signal sent by the processor of the third laser receiver is that the third laser receiver simultaneously receives lasers emitted by the three laser rangefinders, the controller controls the three laser rangefinders to record the measured third data. Based on the third data and the angle between the three laser rangefinders, the distance between the measured point of the component and the third laser receiver is obtained.
[0032] In some embodiments, in steps b and c, if the controller determines that the laser detection signal sent by the processor of the laser receiver indicates that the laser receiver has not simultaneously received lasers emitted by the three laser rangefinders, then the controller runs a traversal algorithm to control the movement of the electric push rod until the controller determines that the laser detection signal sent by the processor of the laser receiver indicates that the laser receiver has simultaneously received lasers emitted by the three laser rangefinders.
[0033] Compared with the prior art, the present invention has at least one of the following beneficial effects:
[0034] 1. High measurement accuracy: This invention uses a laser rangefinder to measure distance information at multiple points and calculate the deflection of the measured points on the component, resulting in high measurement accuracy.
[0035] 2. Easy to install; This invention only needs to be installed once before component testing, while traditional wire sensors and fixed laser rangefinders require multiple installations at multiple points.
[0036] 3. Fast response speed: This invention uses multiple laser rangefinders working simultaneously, resulting in high measurement efficiency and fast response speed. Attached Figure Description
[0037] The invention, its features, shape, and advantages will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings. Like reference numerals denote like parts throughout the drawings. The drawings are not drawn to scale; their focus is on illustrating the gist of the invention.
[0038] Figure 1This is a schematic diagram of the structure of the component full-size test deflection measuring device in an embodiment of the present invention;
[0039] Figure 2 This is a schematic diagram of the structure of the laser receiver in an embodiment of the present invention;
[0040] Figure 3 This is a schematic diagram illustrating the application of the component full-size test deflection measuring device in an embodiment of the present invention;
[0041] Figure 4 This is a schematic diagram showing the relationship between the three laser rangefinders in an embodiment of the present invention;
[0042] In the diagram: 1 is the base, 2 is the universal joint, 3 is the electric push rod, 4 is the ball joint, 5 is the working platform, 6 is the processor, 7 is the angle adjuster, 8 is the laser rangefinder, 9 is the inertial sensor; 10 is the fixing plate, 11 is the photoresistor, 12 is the controller, 13 is the test base, 14 is the test fixture, and 15 is the wind turbine blade. Detailed Implementation
[0043] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but these are not intended to limit the scope of the invention.
[0044] Example 1
[0045] like Figures 1-4 As shown, the present invention discloses a full-size test deflection measuring device for components, such as wind turbine blades and beams. The present invention will be further described below with reference to wind turbine blades as the component.
[0046] Specifically, the aforementioned deflection measurement device includes a parallel test bench, a laser ranging array, a laser receiving array, an inertial sensor 9, and a controller 6. The parallel test bench includes a base 1, an electric push rod 3, and a working platform 5. The electric push rod 3 is positioned between the base 1 and the working platform 5, with its upper end connected to the working platform 5 via a ball joint 4 and its lower end connected to the base 1 via a universal joint 2. This connection method ensures that the working platform 5 can move in all directions without dead points. The parallel test bench has three degrees of freedom of movement, and its center point remains unchanged during movement. Therefore, when the wind turbine blade 15 itself moves, the parallel test bench can control the direction of the laser ranging array. The laser ranging array includes three laser rangefinders 8, and each laser rangefinder 8 is connected to the central area of the upper surface of the working platform 5 via an angle adjuster 7. The angle between the three angle adjusters 7 can be freely adjusted to meet the testing needs of wind turbine blades 15 of different sizes. The laser receiving array includes three laser receivers, each of which includes a fixed plate 10 and a photoresistor 11. The photoresistors 11 are arranged in an array on the fixed plate 10. A processor 12 is also installed on the fixed plate 10 and is connected to the photoresistors 11. The laser receiver can receive laser signals through the photoresistors 11. After receiving the signal, the processor 12 can feed back the laser detection signal to the controller 6. The inertial sensor 9 is installed on the working platform 5 to detect the pose of the laser ranging array. The inertial sensor 9 can detect the pose of the laser ranging array, calculate the stroke of the parallel worktable electric push rod 3, and control the laser ranging array to fall on the same laser receiver. The controller 6 is communicatively connected to the laser ranging array, the inertial sensor 9, the electric push rod 3, and the processor 12. The controller 6 can control the movement of the electric push rod 3 and keep the spatial position of the center point of the working platform unchanged during the movement. It records the measurement data of the laser ranging array based on the feedback from the processor 12, calculates the deflection, and communicates back to the host computer.
[0047] Specifically, the aforementioned electric actuator 3 includes a servo motor and an actuator body, and the controller 6 is communicatively connected to the servo motor.
[0048] In a specific embodiment of the present invention, both the controller 6 and the processor 12 are microcontrollers.
[0049] The measuring device of the present invention can provide deflection information when the wind turbine blade 15 is measured in its full dimensions. In use, before the wind turbine blade 15 is tested, the base 1 of the parallel workbench is installed on the static test fixture 14 of the wind turbine blade 15 (this is because the wind turbine blade is a nonlinear heterogeneous material, so the base 1 is installed on the static test fixture of the wind turbine blade for easy fixation. If it is a component with a relatively hard material, the base 1 can be directly installed on the component). The three laser receivers are distributed close to the test point of the wind turbine blade 15. Specifically, the laser receiver array is set up in a safe area next to the test point of the wind turbine blade 15, and the three laser receivers are perpendicular to each other.
[0050] In use, the aforementioned measuring device adjusts the angle adjuster 7 of the parallel worktable to ensure that the laser points of the three laser rangefinders 8 are all located on the same laser receiver. When the photoresistor 11 of the laser receiver detects the laser signals from the three laser rangefinders 8, the processor 12 of the laser receiver feeds back a laser detection signal to the controller 6. This laser detection signal indicates that the laser receiver has simultaneously received laser signals from the three laser rangefinders 8. The controller 6 then controls the laser ranging array to start working and record the measurement data from the three laser rangefinders 8. Next, the electric push rod 3 of the parallel worktable is controlled to move, causing the laser ranging array to rotate. When another laser receiver receives laser signals from the three laser rangefinders 8, the processor 12 feeds back a laser detection signal indicating that the laser receiver has simultaneously received laser signals from the three laser rangefinders 8 to the controller 6. The controller 6 then controls the laser ranging array to record the data from the three laser rangefinders 8. Similarly, the parallel worktable then rotates to the third laser receiver for a third measurement, thus obtaining the deflection of the wind turbine blade at the current position. When the wind turbine blade 15 begins to move, the inertial sensor 9 analyzes the approximate relative motion of the wind turbine blade 15 to detect the motion posture of the measured point of the wind turbine blade 15. Based on the motion posture of the measured point of the wind turbine blade 15 detected by the inertial sensor 9, the controller 6 controls the electric push rod 3 to adjust the posture of the parallel worktable to maintain the landing points of the three laser rangefinders 8 on the same laser receiver. Then, at predetermined intervals, the deflection of the measured point of the wind turbine blade 15 at its current position is measured to obtain the dynamic deflection of the measured point of the wind turbine blade 15. Specifically, this predetermined interval is greater than 3 seconds.
[0051] This invention utilizes motor control technology and laser ranging technology. By rotating a parallel worktable to emit lasers in different directions, and using a photoresistor 11 to receive the laser signals, the world coordinates of the marked point are calculated. The position of the laser rangefinder 8 itself is calculated using the trilateration principle, thereby indirectly obtaining the deflection of the wind turbine blade 15.
[0052] Example 2
[0053] like Figures 1-4 As shown, this invention discloses a method for measuring the deflection of a component in a full-size test. Based on the component full-size test deflection measuring device in Embodiment 1 above, specifically, the method includes the following steps:
[0054] Step S1: Install the base 1 of the full-size test deflection measuring device of the component in the above embodiment 1 on the static test fixture 14 of the wind turbine blade 15 (this is because the wind turbine blade is a nonlinear heterogeneous material, so the base 1 is installed on the static test fixture of the wind turbine blade for easy fixation. If it is a component with a relatively hard material, the base 1 can be directly installed on the component), and set the three laser receivers close to the test point of the wind turbine blade 15.
[0055] Specifically, the deflection measuring device for the full-size component test, excluding the laser receiving array, is mounted on the static testing fixture 14 of the wind turbine blade 15. That is, the base 1 of the full-size component deflection measuring device is mounted on the testing fixture 14 of the wind turbine blade 15. A blade coordinate system is defined, with the origin located at the root of the blade axis (i.e., the position of the test base 13). The positive x-axis points from the pressure surface to the suction surface, the positive y-axis points from the leading edge to the tail (not shown in the figure), and the positive z-axis points from the root center to the blade tip. The three laser receivers in the laser receiving array are perpendicular to each other. The normal direction of the first laser receiver A is the positive y-axis direction, and its distance from the XOZ plane is yA; the normal direction of the second laser receiver B is the positive x-axis direction, and its distance from the YOZ plane is xB; the normal direction of the third laser receiver C is the negative z-axis direction, and its distance from the XOY plane is zC. Figure 3 As shown.
[0056] Step S2: Adjust the angle adjusters of the three laser rangefinders, and stop adjusting when the controller determines that the laser points of the three laser rangefinders are all located on the same laser receiver, and measure the angle between the three laser rangefinders at this time. Specifically, control the three laser rangefinders 8 to emit lasers to the first laser receiver A. The processor 12 of the first laser receiver A detects whether the photoresistor 11 receives the laser signals from the three laser rangefinders 8. If no laser signals are received from the three laser rangefinders 8, continue to adjust the angle adjusters 7 of the three laser rangefinders 8 until the controller 6 determines that the laser detection signal received by the processor 12 of the first laser receiver A is the laser emitted by the three laser rangefinders 8 simultaneously. Then stop adjusting and fix the angle adjusters 7 (the angle adjusters 7 will not be adjusted again during subsequent tests). At this time, the angles between the three laser rangefinders 8 are θ1, θ2, and θ3, respectively.
[0057] Step S3: Measure the deflection of the wind turbine blade at the current position of the test point.
[0058] Specifically, the steps for measuring the deflection of the wind turbine blade at its current location include:
[0059] Step S31: Obtain the data measured by the three laser rangefinders 8 when each laser receiver simultaneously receives lasers emitted by the three laser rangefinders 8, and obtain the distance between the measured point of the wind turbine blade 15 and the three laser receivers based on the measured data and the angle between the three laser rangefinders 8; the three laser rangefinders 8 are defined as a, b, and c respectively.
[0060] Step S31 specifically includes:
[0061] Step a: After the controller 6 determines that the laser detection signal received by the processor of the first laser receiver A is that the first laser receiver A simultaneously receives lasers emitted by the three laser rangefinders, the controller 6 controls the three laser rangefinders a, b, and c to record the first data L11, L12, and L13 respectively. The distance H1 between the measured point of the wind turbine blade 15 and the first laser receiver A can be obtained based on the first data L11, L12, L13 and the angles between the three laser rangefinders a, b, and c. Figure 4 As shown.
[0062] Step b: The controller 6 controls the movement of the electric push rod 3 of the parallel worktable, and keeps the spatial position of the center point of the worktable unchanged during the movement, so that the laser ranging array rotates to the position of the second laser receiver B, and controls the three laser rangefinders 8 to emit lasers to the second laser receiver B. The processor 12 of the second laser receiver B detects whether the photoresistor 11 receives the lasers emitted by the three laser rangefinders 8 at the same time. If no signal is received, the processor 12 of the second laser receiver B sends a feedback to the controller 6 indicating that the second laser receiver B has not simultaneously received laser detection signals from the three laser rangefinders 8. The controller 6 runs a traversal algorithm to control the electric push rod 3 to move within a small range until the photoresistor 11 simultaneously receives laser signals from the three laser rangefinders 8. When the second laser receiver B detects the laser signals from the three laser rangefinders 8, the processor 12 of the second laser receiver B sends a feedback to the controller 6 indicating that the second laser receiver B has simultaneously received laser detection signals from the three laser rangefinders 8. The controller 6 controls the three laser rangefinders a, b, and c to record the second data L21, L22, and L23. Based on the second data L21, L22, and L23 and the angles between the three laser rangefinders a, b, and c, the distance H2 between the measured point of the wind turbine blade 15 and the second laser receiver B is obtained.
[0063] Step c: Continue to use controller 6 to control the movement of electric push rod 3, and keep the spatial position of the center point of the work platform unchanged during the movement. The parallel worktable then turns to the third laser receiver C to perform the third measurement. After controller 6 determines that the laser detection signal sent by the processor 12 of the third laser receiver C is received by the third laser receiver C, which simultaneously receives the laser emitted by the three laser rangefinders 8a, b, and c, controller 6 controls the three laser rangefinders a, b, and c to record the measured third data L31, L32, and L33. Based on the third data L31, L32, and L33 and the angle between the three laser rangefinders a, b, and c, the distance H3 between the measured point of the wind turbine blade 15 and the third laser receiver C is obtained.
[0064] In steps b and c, if the controller 6 determines that the laser detection signal sent by the processor 12 of the laser receiver indicates that the laser receiver has not simultaneously received lasers emitted by the three laser rangefinders 8, then the controller 6 runs the traversal algorithm to control the movement of the electric push rod 3 until the controller 6 determines that the laser detection signal sent by the processor 12 of the laser receiver indicates that the laser receiver has simultaneously received lasers emitted by the three laser rangefinders 8.
[0065] Step S32: Obtain the deflection of the measured point of the wind turbine blade 15 at the current position based on the distance between the measured point of the wind turbine blade 15 and the three laser receivers.
[0066] Specifically, depending on the installation, the coordinates of the measured point can be obtained as (H1-xB, H2-yA, H3-zC).
[0067] If the original coordinates of the measured point are (x0, y0, z0), then the deflections of the wind turbine blade 15 in the three directions are as follows:
[0068] △x=x t -x0
[0069] △y=y t -y0
[0070] △z=z t -z0
[0071] Where, x t =xB-H1;y t =yA-H2; z t =zC-H3.
[0072] The deflection data of the measured point will then be obtained and transmitted to the host computer.
[0073] In the above technical solution, it is only necessary to capture three planes in three separate steps, and obtain the distances of the measured point from the three non-collinear distances of the same plane in each step, so that the deflection data of the measured point can be calculated.
[0074] Step S4: Control the wind turbine blade 15 to start moving, and detect the motion posture of the measured point of the wind turbine blade 15 through the inertial sensor 9.
[0075] In step S5, the controller 6 controls the electric push rod 3 to perform compensating motion based on the motion posture of the measured point of the wind turbine blade 15 detected by the inertial sensor 9, so as to maintain the laser landing point of the three laser rangefinders 8 on the same laser receiver.
[0076] Step S6 involves measuring the deflection of the measured point of the wind turbine blade 15 at the current position every predetermined time interval to obtain the dynamic deflection of the measured point of the wind turbine blade 15; wherein the predetermined time interval is greater than 3 seconds.
[0077] Specifically, when the wind turbine blade 15 begins to move, the inertial sensor 9 analyzes the approximate relative motion of the blade 15 and adjusts the position of the parallel worktable to keep the landing points of the three laser rangefinders 8 on the laser receiver. If a light signal is received, the data from the laser rangefinders 8 is recorded. If no light signal is received, the controller 6 adjusts the parallel worktable to traverse a small area. This process is repeated at predetermined intervals to measure the deflection of the measured point of the wind turbine blade 15 at the current position, thus achieving dynamic deflection measurement.
[0078] Error Analysis: The main error in testing the full-size deflection of wind turbine blades using this device originates from the laser rangefinder. Visual recognition error is a position estimation error within a unit precision grid. Other testing devices do not affect the results. Furthermore, the testing process requires no human intervention, eliminating human error, and the influence of environmental errors is approximately zero. Therefore, this testing device significantly improves the accuracy of full-size wind turbine blade deflection testing.
[0079] It is not difficult to see that this second embodiment is a method embodiment corresponding to the embodiment of the full-size component deflection measurement device in the first embodiment above. This embodiment can be implemented in conjunction with the embodiment of the full-size component deflection measurement device described above. The relevant technical details mentioned in the embodiment of the full-size component deflection measurement device described above are still valid in this embodiment, and will not be repeated here to reduce repetition. Accordingly, the relevant technical details mentioned in this embodiment can also be applied to the embodiment of the full-size component deflection measurement device described above.
[0080] Those skilled in the art should understand that variations can be implemented by combining existing technology with the above embodiments, which will not be elaborated here. Such variations do not affect the essence of the present invention, and will not be elaborated here either.
[0081] The preferred embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and the devices and structures not described in detail should be understood as being implemented in a conventional manner in the art. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention using the methods and techniques disclosed above, or modify them into equivalent embodiments with equivalent changes, without departing from the scope of the present invention. This does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the present invention's technical solutions still fall within the protection scope of the present invention.
Claims
1. A device for measuring the deflection of a component in a full-size test, characterized in that, It includes a parallel worktable, a laser ranging array, a laser receiving array, an inertial sensor, and a controller; The parallel worktable includes a base, an electric push rod, and a work platform. The electric push rod is disposed between the base and the work platform, and the upper end of the electric push rod is connected to the work platform via a ball joint, and the lower end is connected to the base via a universal joint. The laser ranging array includes three laser rangefinders, and each of the laser rangefinders is connected to the upper surface of the working platform via an angle adjuster. The laser receiving array includes three laser receivers, all of which are distributed near the test point of the wind turbine blade and are perpendicular to each other. Each laser receiver includes a fixed plate and a photoresistor, which are arranged in an array on the fixed plate. A processor is also provided on the fixed plate and connected to the photoresistor. The inertial sensor is mounted on the working platform to detect the pose of the laser ranging array; The controller is communicatively connected to the laser ranging array, the inertial sensor, the electric actuator, and the processor, respectively. The steps for measuring the deflection of the component at the current position using the aforementioned device specifically include: The data measured by the three laser rangefinders when each laser receiver simultaneously receives lasers emitted by the three laser rangefinders are obtained respectively. The distance between the measured point of the component and the three laser receivers is obtained based on the measured data and the angle between the three laser rangefinders. The deflection of the measured point of the component at its current position is obtained based on the distance between the measured point of the component and the three laser receivers.
2. The component full-size test deflection measuring device according to claim 1, characterized in that, The electric linear actuator includes a servo motor and an actuator body, and the controller is communicatively connected to the servo motor.
3. The component full-size test deflection measuring device according to claim 1, characterized in that, Both the controller and the processor are microcontrollers.
4. The component full-size test deflection measuring device according to claim 1, characterized in that, The component is a wind turbine blade.
5. The component full-size test deflection measuring device according to claim 4, characterized in that, The base is mounted on the static test fixture of the wind turbine blade.
6. A method for measuring the deflection of a component in a full-size test, characterized in that, Based on the component full-size test deflection measuring device as described in any one of claims 1 to 5, the method includes the following steps: The base of the full-size test deflection measuring device for the component is installed on the component, and the three laser receivers are distributed near the test points of the component; Adjust the angle adjusters of the three laser rangefinders, and stop adjusting when the controller determines that the laser points of the three laser rangefinders are all located on the same laser receiver; The deflection of the measured point of the component at the current position is measured; The step of measuring the deflection of the measured point of the component at the current position specifically includes: The data measured by the three laser rangefinders when each laser receiver simultaneously receives lasers emitted by the three laser rangefinders are obtained respectively. The distance between the measured point of the component and the three laser receivers is obtained based on the measured data and the angle between the three laser rangefinders. The deflection of the measured point of the component at its current position is obtained based on the distance between the measured point of the component and the three laser receivers.
7. The method for measuring the full-size deflection of a component as described in claim 6, characterized in that, The method further includes: The component is controlled to start moving, and the motion pose of the measured point of the component is detected by the inertial sensor; The controller controls the electric push rod to perform compensating motion based on the motion posture of the measured point of the component detected by the inertial sensor, so as to maintain the laser landing point of the three laser rangefinders on the same laser receiver. The step of measuring the deflection of the measured point of the component at the current position is performed once at predetermined time intervals to obtain the dynamic deflection of the measured point of the component.
8. The method for measuring the full-size deflection of a component as described in claim 7, characterized in that, The predetermined time is greater than 3 seconds.
9. The method for measuring the full-size deflection of a component as described in claim 6, characterized in that, The three laser receivers are designated as a first laser receiver, a second laser receiver, and a third laser receiver, and the laser landing point of each of the three laser rangefinders is located on the first laser receiver. The step of acquiring data measured by the three laser rangefinders when each laser receiver simultaneously receives lasers emitted by the three laser rangefinders, and obtaining the distance between the measured point of the component and the three laser rangefinders based on the data, specifically includes: Step a: After the controller determines that the laser detection signal sent by the processor of the first laser receiver is that the first laser receiver simultaneously receives lasers emitted by the three laser rangefinders, the controller controls the three laser rangefinders to record the measured first data, and obtains the distance between the measured point of the component and the first laser receiver based on the first data and the angle between the three laser rangefinders. Step b: The controller controls the movement of the electric push rod. After the controller determines that the laser detection signal sent by the processor of the second laser receiver is that the second laser receiver simultaneously receives lasers emitted by the three laser rangefinders, the controller controls the three laser rangefinders to record the measured second data. Based on the second data and the angle between the three laser rangefinders, the distance between the measured point of the component and the second laser receiver is obtained. Step c: Continue to control the movement of the electric push rod using the controller. After the controller determines that the laser detection signal sent by the processor of the third laser receiver is that the third laser receiver simultaneously receives lasers emitted by the three laser rangefinders, the controller controls the three laser rangefinders to record the measured third data. Based on the third data and the angle between the three laser rangefinders, the distance between the measured point of the component and the third laser receiver is obtained.
10. The method for measuring the full-size deflection of a component as described in claim 9, characterized in that, In steps b and c, if the controller determines that the laser detection signal sent by the processor of the laser receiver indicates that the laser receiver has not simultaneously received lasers emitted by the three laser rangefinders, then the controller runs a traversal algorithm to control the movement of the electric push rod until the controller determines that the laser detection signal sent by the processor of the laser receiver indicates that the laser receiver has simultaneously received lasers emitted by the three laser rangefinders.