A measuring device and method for measuring the cutting seam of wind turbine blade molds.

Abstract

A wind turbine blade mold seam cutting measurement device and method are disclosed, comprising a cutting mechanism and a line structured light vision sensor mounted on the cutting mechanism. The line structured light vision sensor is connected to a computer via a data cable. This invention achieves automated measurement of blade mold seam data using a line structured light vision sensor. The measurement process is performed synchronously with the blade flash cutting process, without occupying additional production time. Compared to manual measurement, the data is more accurate and reliable, significantly reducing the workload of manual measurement. Based on the measurement results, improvements can be made to the mold closing process to increase flash cutting efficiency.

Description

Technical Field

[0001] This invention belongs to the technical field of wind turbine blade edge treatment equipment, specifically relating to a wind turbine blade mold seam cutting measurement device and measurement method. Background Technology

[0002] Currently, wind turbine blades are manufactured using a vacuum infusion curing process. After the PS and SS surfaces of the wind turbine blade are infused and cured separately, the PS surface mold is flipped over for mold closing. Due to the influence of mold making and the production process, a mold gap exists at the parting line, resulting in flash (non-blade body) and misalignment of the blade body after molding. The flash needs to be removed, currently done manually or using a cutting device; a large mold gap leads to a large flash thickness and low cutting efficiency; additionally, misalignment of the blade body needs to be repaired. To reduce the workload of cutting flash and repairing misalignment, the mold gap of the blade mold needs to be adjusted, reducing the workload for subsequent blade manufacturing. Currently, the mold spacing at the parting line and the chordal dimension of the mold gap between the two molds are measured manually or visually, and then the mold gap is adjusted based on the measured dimensions. While measuring these dimensions, workers also need to record the corresponding blade position, resulting in discrete and large-error measurement data, making mold adjustment difficult and cumbersome. Summary of the Invention

[0003] To address the current issues of low efficiency in cutting blade flash and the large workload, difficulty, and significant deviation in measuring the mold spacing and chordal dimensions of the mold seam between two molds at the mold parting line, this invention provides a wind turbine blade mold seam cutting measurement device and method. This device meets the process requirements for cutting flash on demolded blades. By measuring the contour dimensions of the blade mold seam in real time during flash cutting, the device determines the mold seam data, providing accurate and reliable data support for mold adjustment. This reduces the workload of measuring the mold seam data, ensures the accuracy of the measurement data, and thus improves the mold adjustment efficiency.

[0004] The objective of this invention is achieved through the following technical solution. A wind turbine blade die-cutting and measuring device according to this invention includes a cutting mechanism, on which a line-structured light vision sensor is mounted. The line-structured light vision sensor is connected to a computer via a data cable.

[0005] Furthermore, the line structured light vision sensor is fixedly connected to the cutting mechanism via a fixed bracket.

[0006] Furthermore, the cutting mechanism travels along the mold seam, and in the cutting travel direction, the line structured light vision sensor is located on the rear side of the cutting mechanism.

[0007] Furthermore, the line structured light vision sensor includes a line structured light generator, a line structured light projection device for projecting a line structured light pattern onto the contour of the mold seam, and an optical camera for capturing the deformed line structured light pattern.

[0008] A method for measuring the gap between the mold and the blade of a wind turbine includes the following steps:

[0009] After fixing the cutting mechanism onto the blade, the initial position is recorded in the computer customization software, and the walking speed of the cutting mechanism and the scanning frequency of the line structured light vision sensor are set at the same time.

[0010] The cutting mechanism is activated and moves along the mold seam to cut the blade flash. At the same time as the cutting mechanism is activated, the line structured light vision sensor is activated and projects a line structured light pattern onto the working area after the blade flash is cut. As the cutting mechanism moves, line structured light patterns are projected onto various positions of the mold seam.

[0011] The line structured light pattern is projected onto the contour of the mold seam and deforms. The optical camera in the line structured light vision sensor collects the deformed line structured light pattern projected onto the contour of the blade mold seam at a set frequency and transmits it to the computer for storage via a data cable.

[0012] The computer transforms the deformed two-dimensional line structured light pattern into a three-dimensional contour line segment in the world coordinate system, and calculates the thickness of the mold joint and the mold alignment at each shooting position of the mold joint.

[0013] Furthermore, the traveling speed of the cutting mechanism is set to 30 mm / s, and the scanning frequency of the line structured light vision sensor is set to 10 times / s.

[0014] Furthermore, the specific steps for transforming the deformed two-dimensional line structured light pattern into a three-dimensional contour line segment in the world coordinate system are as follows:

[0015] Establish a world coordinate system OW-XWYWZW with an external reference point, and denote the coordinates of the object point in space as P = [XW, YW, Zw]. Establish a camera coordinate system OC-XCYCZC with the optical center of the optical camera, with its z-axis pointing in the positive direction of the camera, and denote the coordinates of the object point in the camera coordinate system as P = [XC, YC, ZC]. Establish an image coordinate system with the projection of the optical center onto the imaging plane as the origin, and establish a pixel coordinate system on the image, using u and v to represent the column and row of the image pixel.

[0016] Based on the transformation relationships of the four coordinate systems, the transformation relationship between pixel coordinates and world coordinates can be obtained as follows:

[0017]

[0018] The mold seam contour line in the world coordinate system is fitted based on the world coordinates obtained by pixel coordinate transformation. The spatial line segments of the mold seam contour line are FF, HI, and LM.

[0019] Furthermore, the calculation steps for the thickness and alignment of the mold joint at various shooting positions include: calculating the value of 'a' using the world coordinates of point H and point I, where 'a' is the actual measured thickness of the mold joint; calculating the value of 'b' using the world coordinates of point F and point H; calculating the value of 'c' using the world coordinates of point L and point I; and indirectly obtaining the alignment as 'cb' from the values ​​of 'b' and 'c'.

[0020] Let the coordinates of point H be (X) H Y H W H The coordinates of point I are (X) I Y I W I If ), then the value of a is:

[0021]

[0022] Let the coordinates of point F be (X) F Y F W F The coordinates of point L are (X) L Y L W L ), we can get

[0023]

[0024]

[0025] Furthermore, the values ​​of mold gap thickness and mold alignment obtained from each scanning position are compared with the values ​​of mold gap thickness and mold alignment required by the process. An alarm is given for positions that exceed the required values, and the data is stored in the computer.

[0026] Compared with the prior art, the advantages of the present invention are:

[0027] This invention uses a line structured light vision sensor to automatically measure the blade mold seam data (including the mold spacing dimension at the mold line position and the chord dimension of the mold seam between the two molds, i.e., the mold seam thickness and mold alignment). The measurement process is carried out simultaneously with the blade flash cutting process, without occupying additional production time. Compared with manual measurement, the data is more accurate and reliable, greatly reducing the workload of manual measurement. After improving the mold closing process based on the measurement results, the flash cutting efficiency can be improved.

[0028] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the cutting measuring device in this invention;

[0030] Figure 2 This is a schematic diagram showing the thickness of the blade mold gap and the mold alignment.

[0031] Figure 3 A schematic diagram of line structured light projection onto the profile of the blade mold joint;

[0032] Figure 4 A schematic diagram of a line structured light pattern projected onto the profile of the blade mold joint, causing deformation.

[0033] Figure 5 This is a schematic diagram for calculating the thickness of the mold gap and the alignment of the mold.

[0034] [Attached image labels]

[0035] 1-Line structured light vision sensor, 101-Line structured light, 2-Fixed bracket, 3-Cutting mechanism, 4-Blade body, 401-PS surface, 402-SS surface, 5-Blade flash, A-Mold gap thickness, B-Mold alignment. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] An embodiment of the wind turbine blade die-cutting measuring device of the present invention, such as... Figures 1 to 3As shown, hereinafter referred to as the cutting measurement device, this device includes a cutting mechanism 3, a line structured light vision sensor 1, and a fixed bracket 2. The line structured light vision sensor 1 is fixedly connected to the cutting mechanism 3 via the fixed bracket 2. In the cutting direction of the cutting measurement device, the line structured light vision sensor 1 is located behind the cutting mechanism 3. While the cutting mechanism 3 travels along the blade mold seam, it cuts the blade flash. After flash cutting, the line structured light vision sensor 1 scans the mold seam contour of the blade and transmits the scanned mold seam contour information to a computer in real time via a data cable. Customized software in the computer analyzes and processes the information to obtain the mold seam thickness and mold alignment at the corresponding position. The cutting of the blade flash by the cutting mechanism is existing technology and will not be described further here.

[0038] The line structured light vision sensor 1 includes a line structured light generator, a line structured light projection device, and an optical camera. The line structured light vision sensor is communicatively connected to a computer. While the cutting mechanism 3 is working, the line structured light vision sensor 1 at the rear simultaneously measures the root of the blade flash. First, a line structured light pattern is projected onto the blade mold seam contour through the line structured light projection device. Then, the optical camera acquires the image of the deformed line structured light pattern projected onto the mold seam contour and transmits it to the computer for analysis, calculation, and processing using customized software.

[0039] To measure the mold seam thickness and mold alignment of the blade after flash cutting, a line structured light vision sensor 1 was used to optically scan the mold seam contour. The measurement process of the line structured light vision sensor 1 is as follows: the line structured light vision sensor 1 projects a line structured light pattern onto the mold seam contour through a line structured light projection device. After the line structured light pattern is projected onto the surface of the blade mold seam contour, it deforms due to the shape of the blade and the presence of the mold seam. Then, an optical camera acquires an image of the deformed line structured light pattern projected onto the mold seam contour. The acquired image is transmitted to a computer via a data cable. Custom software in the computer analyzes, calculates, and processes the image, transforming the deformed two-dimensional line structured light pattern into a three-dimensional contour line segment in the world coordinate system. The actual values ​​of the mold seam thickness A and the mold alignment B are then calculated.

[0040] During measurement, the shooting frequency of the optical camera is set. As the line structured light vision sensor 1 moves, the contour dimension data of the mold seam at various positions along the mold seam are continuously collected, thus obtaining the three-dimensional contour line of the mold seam at different positions. Furthermore, the mold seam thickness and mold alignment at the corresponding shooting positions are obtained and compared with the process given values ​​of the mold seam thickness and mold alignment at the corresponding positions. If the position exceeds the process given value, an alarm will be issued on the computer screen. The measured data is stored in the computer and displayed on the computer screen, which facilitates the improvement of the mold closing process in the later stage.

[0041] An embodiment of the wind turbine blade mold gap measurement method of the present invention includes the following steps:

[0042] Step 1: Set the initial value of the cutting scan. After fixing the cutting mechanism 3 on the blade, record the initial position of the cutting measurement device in the customized software. At the same time, set the walking speed of the cutting mechanism 3 and the scanning frequency of the line structured light vision sensor 1. The higher the scanning frequency of the structured light vision sensor 1, the denser the measurement points; the lower the scanning frequency, the sparser the measurement points.

[0043] In this embodiment, the traveling speed of the cutting mechanism 3 is set to 30 mm / s, and the scanning frequency of the line structured light vision sensor 1 is set to 10 times / s. Under these settings, the cutting measuring device scans the blade mold seam contour once every 3 mm. The scanning frequency is the projection frequency of the line structured light pattern and the corresponding shooting frequency of the optical camera. In other embodiments, the line structured light vision sensor 1 can continuously project the line structured light pattern, and the optical camera collects the deformed line structured light pattern according to the shooting frequency.

[0044] Step 2: The cutting mechanism 3 is activated. The cutting mechanism 3 cuts the flash of the blade. It moves along the mold seam, cutting the flash during its movement. Simultaneously with the activation of the cutting mechanism 3, the line structured light vision sensor 1 is activated, projecting a line structured light pattern onto the working area after flash cutting. As the cutting mechanism 3 moves, it projects various positions along the contour of the entire mold seam, such as... Figure 3 As shown.

[0045] Step 3: A line structured light pattern is projected onto the area where the mold seam is located by the line structured light projection device in the line structured light vision sensor 1. Due to the irregular shape of the blade and the presence of the mold seam, the line structured light pattern will be deformed.

[0046] Step 4: The optical camera in the line structured light vision sensor 1 collects the deformed line structured light pattern projected onto the contour of the blade mold gap at a set frequency and transmits it to the computer for storage via a data cable.

[0047] Step 5: Process the acquired line structured light pattern using customized software on the computer, extract the deformed line structured light pattern from the image, analyze, calculate, and process the deformed line structured light pattern, and transform the two-dimensional coordinates of the line structured light pattern into three-dimensional world coordinates through coordinate system transformation, transforming the deformed two-dimensional line structured light pattern into three-dimensional contour line segments in the world coordinate system. Further calculate the values ​​of the mold gap thickness and mold alignment at the corresponding shooting position. The specific steps are as follows:

[0048] ① Establish a world coordinate system OW-XWYWZW with an external reference point, and denote the coordinates of the object point in space as P = [XW, YW, ZW]. Establish a camera coordinate system OC-XCYCZC with the optical center of the optical camera, so that its z-axis points in the positive direction of the camera. Denote the coordinates of the object point in the camera coordinate system as P = [XC, YC, ZC]. Establish an image coordinate system with the projection of the optical center onto the imaging plane as the origin, and establish a pixel coordinate system on the image. Use u and v to represent the column and row of the image pixel.

[0049] ②Based on the transformation relationships of the four major coordinate systems, the transformation relationship between pixel coordinates and world coordinates can be obtained as follows:

[0050]

[0051] ③ Fit the world coordinates obtained from pixel coordinate transformation to obtain the mold seam contour line in the world coordinate system, such as... Figures 4 to 5 As shown, the spatial line segments of the mold seam outline are FF, HI, and LM;

[0052] ④ Analyze and calculate the deformed line structured light pattern after image processing to obtain the values ​​of the mold gap thickness and mold alignment at the corresponding shooting position, such as... Figure 5 As shown, the value of 'a' can be calculated using the world coordinates of point H and point I. The value of 'a' is the actual measured value of the mold gap thickness. The value of 'b' can be calculated using the world coordinates of point F and point H, and the value of 'c' can be calculated using the world coordinates of point L and point I. From the values ​​of 'b' and 'c', the mold alignment degree can be indirectly derived as (cb).

[0053] Let the coordinates of point H be (X) H Y H W H The coordinates of point I are (X) I Y I W I If ), then the value of a is:

[0054]

[0055] Let the coordinates of point F be (X) F Y F W FThe coordinates of point L are (X) L Y L W L ), we can get

[0056]

[0057]

[0058] Step 6: Compare the actual values ​​of the mold gap thickness and mold alignment obtained from each scanning position with the values ​​required by the process. An alarm will be triggered for any positions exceeding the required values, and the data will be stored in the computer and displayed on the computer screen for later improvement of the mold closing process. Adjust the blade mold based on the actual measured values ​​and position information of the mold gap thickness and mold alignment.

[0059] During the automatic cutting of blade flash, the line structured light vision sensor 1 can perform real-time optical scanning of the mold seam contour. The customized software in the calculation can directly obtain the mold seam thickness and mold alignment values ​​at the scanned position, which is more efficient, more accurate, and provides richer measurement information compared to manual measurement. At the same time, it can be compared with the mold seam thickness and mold alignment values ​​required by the process. When the actual measured values ​​exceed the process requirements, an alarm can be issued, and the data can be stored in the computer and displayed on the computer screen, which is convenient for improving the mold closing process based on the actual measured values ​​later.

[0060] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for measuring the mold gap of a wind turbine blade, based on a cutting and measuring device for the mold gap of a wind turbine blade, the device comprising a cutting mechanism, wherein a line structured light vision sensor is mounted on the cutting mechanism, and the line structured light vision sensor is connected to a computer via a data cable, characterized in that: Includes the following steps: After fixing the cutting mechanism onto the blade, the initial position is recorded in the computer customization software, and the walking speed of the cutting mechanism and the scanning frequency of the line structured light vision sensor are set at the same time. The cutting mechanism is activated and moves along the mold seam to cut the blade flash. At the same time as the cutting mechanism is activated, the line structured light vision sensor is activated and projects a line structured light pattern onto the working area after the blade flash is cut. As the cutting mechanism moves, line structured light patterns are projected onto various positions of the mold seam. The line structured light pattern is projected onto the contour of the mold seam and deforms. The optical camera in the line structured light vision sensor collects the deformed line structured light pattern projected onto the contour of the blade mold seam at a set frequency and transmits it to the computer for storage via a data cable. The computer transforms the deformed two-dimensional line structured light pattern into a three-dimensional contour line segment in the world coordinate system, and calculates the thickness of the mold joint and the mold alignment at each shooting position of the mold joint. The specific steps for converting a deformed two-dimensional line structured light pattern into a three-dimensional contour line segment in the world coordinate system are as follows: Establish a world coordinate system OW-XWYWZW with an external reference point, and denote the coordinates of the object point in space as P=[XW,YW,ZW]. Establish a camera coordinate system OC-XCYCZC with the optical center of the optical camera, with its z-axis pointing in the positive direction of the camera, and denote the coordinates of the object point in the camera coordinate system as P=[XC,YC,ZC]. Establish an image coordinate system with the projection of the optical center onto the imaging plane as the origin, and establish a pixel coordinate system on the image, using u and v to represent the column and row of the image pixel. Based on the transformation relationships of the four coordinate systems, the transformation relationship between pixel coordinates and world coordinates is as follows: ； The world coordinates obtained by pixel coordinate transformation are used to fit the mold seam contour line in the world coordinate system. The spatial line segments of the mold seam contour line are EF, HI, and LM. The calculation steps for the thickness and alignment of the mold joint at various shooting positions include: calculating the value of 'a' using the world coordinates of point H and point I; the value of 'a' is the actual measured value of the mold joint thickness; calculating the value of 'b' using the world coordinates of point F and point H; calculating the value of 'c' using the world coordinates of point L and point I; and indirectly obtaining the mold joint alignment as 'cb' using the values ​​of 'b' and 'c'. Let the coordinates of point H be (X) H， Y H， W H The coordinates of point I are (X...) I， Y I， W I Then the value of a is: Let the coordinates of point F be (X) F， Y F， W F The coordinates of point L are (X) L， Y L， W L ),have to 。 2. The method for measuring the mold gap of a wind turbine blade according to claim 1, characterized in that: The line structured light vision sensor is fixedly connected to the cutting mechanism via a fixed bracket.

3. The method for measuring the mold gap of a wind turbine blade according to claim 1, characterized in that: The cutting mechanism travels along the mold seam, and the line structured light vision sensor is located on the rear side of the cutting mechanism in the cutting direction.

4. The method for measuring the mold gap of a wind turbine blade according to claim 1, characterized in that: The line structured light vision sensor includes a line structured light generator, a line structured light projection device that projects a line structured light pattern onto the contour of the mold seam, and an optical camera that captures the deformed line structured light pattern.

5. The method for measuring the mold gap of a wind turbine blade according to claim 1, characterized in that: The cutting mechanism's travel speed is set to 30 mm / s, and the scanning frequency of the line structured light vision sensor is set to 10 times / s.

6. The method for measuring the mold gap of a wind turbine blade according to claim 1, characterized in that: The values ​​of mold gap thickness and mold alignment obtained from each scanning position are compared with the values ​​of mold gap thickness and mold alignment required by the process. An alarm is given for positions that exceed the required values, and the data is stored in the computer.

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