A positioning and adjustment system for a large wind turbine blade transport vehicle

Abstract

The present invention relates to the field of wind power transportation equipment, and in particular to a positioning and adjustment system for a large-scale wind power blade transport vehicle, comprising: a load-bearing platform; a first adjustment part consisting of a fixed flange for adjusting the angle of the blade along a vertical plane and a base for adjusting the angle of the blade along a horizontal plane; a second adjustment part for adjusting the height of the load-bearing platform; a collection module for collecting the path information of the transport vehicle, the obstacle information in the driving direction of the vehicle body and the distance between each bottom edge of the load-bearing platform and the driving road surface; a rotation adjustment of the fixed flange according to the curvature of the path within a preset driving distance, a rotation adjustment of the base according to the azimuth and distance difference of the obstacle, and a posture determination module for determining whether the transportation of the wind power blade meets the preset standard according to the offset angle; a positioning and adjustment module for adjusting the operation of the system according to the information determined by the posture determination module. The present invention improves the efficiency of wind power blade transportation.

Description

Technical Field

[0001] The invention relates to the field of wind power transportation equipment, and in particular to a positioning and adjustment system for a large wind power blade transport vehicle. Background Art

[0002] Wind turbine blades are the core components of wind turbines, and their function is to convert natural wind energy into electrical energy for wind turbines. The transportation of wind turbine blades is an important link in the wind power industry chain, which involves multiple factors, including the size and weight of the blades. In particular, with the advancement of wind power technology, the length and weight of the blades are increasing. This requires special vehicles and lifting equipment during transportation to ensure the safe transportation of the blades. Wind turbines are often located on top of mountains or at higher levels, so mountain roads and roadside obstacles pose greater challenges to the transportation of longer wind turbine blades.

[0003] Chinese Patent Publication No.: CN113276949A discloses a hydraulic suspension large-diameter wind turbine blade transport vehicle, including a main beam and a vehicle plate, one end of the main beam is fixedly connected to the second horizontal section of the main beam, and the other end of the main beam is fixedly connected to the inclined section of the main beam, one end of the inclined section of the main beam is fixedly connected to the first horizontal section of the main beam, and a lifting cylinder is arranged on the inner side of the inclined section of the main beam, an L-beam flap is arranged at the upper end of the first horizontal section of the main beam, a hinge is arranged on the side of the first horizontal section of the main beam, and the hinge and the L-beam flap are fixedly connected, the lower end face of the second horizontal section of the main beam is fixedly connected to a lower mounted slewing support, and the lower end face of the second horizontal section of the main beam is fixedly connected to a lower mounted slewing support. It can be seen that this technical solution can ensure that the blades are in a balanced position when the car is bumpy through hydraulic suspension and a frame cargo platform, but it cannot guarantee the efficiency of blade transportation. Summary of the invention

[0004] To this end, the present invention provides a positioning and adjustment system for a large wind turbine blade transport vehicle, which is used to overcome the problem in the prior art that the safety of wind turbine blades cannot be guaranteed and increase the blade transport curve passing rate and obstacle avoidance rate.

[0005] To achieve the above-mentioned purpose, the present invention provides a positioning and adjustment system for a large wind turbine blade transport vehicle, comprising:

[0006] Loading platform;

[0007] A first adjusting part is arranged on the top of the load-bearing platform, comprising a base arranged on the load-bearing platform, a first transmission unit for adjusting the rotation of the base, a first motor for driving the first transmission unit, a fixing flange for fixing the end of a wind turbine blade is arranged on the base, the base is rotationally connected to the fixing flange through a pin shaft, a second transmission unit for adjusting the rotation of the fixing flange along the pin shaft, and a second motor for driving the second transmission unit;

[0008] A second adjusting part is arranged at the bottom of the load-carrying platform, comprising a first hydraulic cylinder for driving the load-carrying platform to move in a vertical direction and a plurality of guide columns for guiding the load-carrying platform, wherein the first hydraulic cylinder and the guide columns are arranged on the body of the transport vehicle;

[0009] A collection module, which includes a path collection unit for collecting the path information of the transport vehicle, an environment collection unit for collecting the obstacle information in the driving direction of the vehicle body, and a distance collection unit for collecting the distance between each bottom edge of the load platform and the driving road surface;

[0010] The posture determination module is connected to the acquisition module and is used to rotationally adjust the fixed flange according to the curvature of the path within a preset driving distance, to rotationally adjust the base according to the orientation and distance difference of the obstacle, and to determine whether the transportation of the wind turbine blade meets the preset standard according to the offset angle.

[0011] A positioning adjustment module is connected to the posture determination module, the first adjustment unit and the second adjustment unit respectively, and is used to adjust the operation of the system according to the information determined by the posture determination module.

[0012] Furthermore, a support portion is provided on the load-bearing platform, and the support portion includes a slide seat provided on the load-bearing platform, a second hydraulic cylinder is connected to the slide seat, and a fixing frame for fixing and lifting the wind turbine blade is provided at one end of the second hydraulic cylinder away from the slide seat.

[0013] Furthermore, the posture determination module rotates and adjusts the fixed flange in response to the curvature of the path within the preset driving distance of the transport vehicle being greater than or equal to a preset curvature threshold, and the adjustment angle of the fixed flange is positively correlated with the curvature difference, and the curvature difference is the difference between the curvature of the path within the preset driving distance and the preset curvature threshold.

[0014] Furthermore, the posture determination module sets several correction methods for rotational adjustment of the fixed flange under a first preset condition, and each correction method has a different degree of correction for the adjustment angle; the first preset condition is that the instability evaluation value of the load platform is greater than a preset instability evaluation threshold.

[0015] Furthermore, the load-carrying platform instability evaluation value is calculated using the following formula:

[0016]

[0017] Wherein: L is the instability evaluation value of the loading platform, Li is the distance between each bottom edge of the loading platform and the driving road surface, i=1,2,3,4, L1 represents the distance between the front bottom edge of the loading platform and the driving road surface, L2 represents the distance between the rear bottom edge of the loading platform and the driving road surface, L3 represents the distance between the left bottom edge of the loading platform and the driving road surface, L4 represents the distance between the front bottom edge of the loading platform and the driving road surface, and L0 is the preset distance.

[0018] Furthermore, the posture determination module rotationally adjusts the base based on the position and distance difference of the obstacle in response to the distance between the obstacle and the transport vehicle being less than a preset distance threshold, and the distance difference is the difference between the preset distance threshold and the distance from the obstacle to the transport vehicle.

[0019] Furthermore, when the posture determination module determines that the transportation of the wind turbine blade does not meet the preset standard based on the offset angle, it makes a secondary determination based on the load platform instability evaluation value to determine the reason for not meeting the preset standard, or determines to stop the transportation and determines a corresponding adjustment strategy based on the position state of the wind turbine blade.

[0020] Furthermore, the offset angle is the angle between the Z axis of the offset coordinate system and the vertical direction. The offset coordinate system is constructed with the load-bearing platform as the reference plane, the connection between the load-bearing platform and the base as the origin, the travel direction of the transport vehicle as the X-axis, the vertical direction of the travel direction of the transport vehicle as the Y-axis, and the direction perpendicular to the reference plane as the Z-axis.

[0021] Furthermore, the posture determination module secondarily determines that the reasons why the transportation of the wind turbine blade does not meet the preset standards include the tilt caused by the terrain of the transport vehicle's driving path and the reduction of the adjustment angle of the fixed flange, or the tilt caused by the horizontal rotation of the wind turbine blade and the correction of the adjustment angle of the base.

[0022] Furthermore, the adjustment strategy determined by the posture determination module based on the position state of the wind turbine blade is to lower the height of the load-carrying platform, or to correct the adjustment angle of the base.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention provides a first adjustment part consisting of a fixed flange for adjusting the angle of the blade along a vertical plane and a base for adjusting the angle of the blade along a horizontal plane, and a second adjustment part for adjusting the height of the load platform, a collection module for collecting the path information of the transport vehicle, the obstacle information in the driving direction of the vehicle body and the distance between the bottom edges of the load platform and the driving road surface, a rotation adjustment of the fixed flange according to the curvature of the path within a preset driving distance, a rotation adjustment of the base according to the azimuth and distance difference of the obstacle, and a posture determination module for determining whether the transportation of the wind turbine blade meets the preset standard according to the offset angle, thereby ensuring the safety and efficiency of the vehicle passing through curves and avoiding obstacles.

[0024] Furthermore, the present invention also provides a support portion to ensure the stability of the blade during the angle adjustment process.

[0025] Furthermore, the present invention performs rotational adjustment on the fixing flange based on the curvature of the path within a preset driving distance, thereby raising one end of the wind turbine blade, thereby shortening the horizontal length of the blade, thereby facilitating the transport vehicle to pass through the curve smoothly.

[0026] Furthermore, when raising one end of the wind turbine blade, if the load platform becomes unstable, the rotation adjustment of the fixing flange is quickly corrected to ensure that the transport vehicle can pass through the curve.

[0027] Furthermore, the present invention determines an instability evaluation value of the load-carrying platform based on the distance between each bottom edge of the load-carrying platform and the driving road surface, thereby quickly and accurately evaluating the stability of the load-carrying platform.

[0028] Furthermore, the present invention performs rotation adjustment on the base based on the determination of the distance between the obstacle and the transport vehicle, thereby allowing the wind blades to avoid the obstacle smoothly.

[0029] Furthermore, the present invention determines whether the transportation of the wind turbine blades meets the preset standards through the offset angle. The offset angle is quickly determined through the constructed spatial coordinates. At the same time, when it does not meet the preset standards, the reasons for not meeting the preset standards and the corresponding adjustment strategies are determined, thereby achieving safe and efficient passing of curves and obstacles while ensuring the stability of the vehicle body. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic structural diagram of a positioning and adjusting system for a large wind turbine blade transport vehicle according to an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the pin structure of the positioning and adjustment system of a large wind turbine blade transport vehicle according to an embodiment of the present invention;

[0032] Figure 3A flow chart of an embodiment of the present invention for determining whether the transportation of the wind turbine blades meets the preset standard;

[0033] Figure 4 A schematic diagram of adjusting the angle according to an embodiment of the present invention;

[0034] In the figure: 1. load-bearing platform; 2. first adjusting part; 201. base; 202. first transmission unit; 203. first motor; 204. fixing flange; 205. pin; 206. second transmission unit; 207. second motor; 3. second adjusting part; 301. first hydraulic cylinder; 302. guide column; 4. supporting part; 401. slide seat; 402. second hydraulic cylinder; 403. fixing frame. DETAILED DESCRIPTION

[0035] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0036] It should be pointed out that the data in this embodiment are obtained by comprehensive analysis and evaluation of the historical detection data of the system of the present invention in the three months before this operation and the corresponding historical operation results. It can be understood by those skilled in the art that the determination method of the system of the present invention for the above-mentioned single parameter can be to select the value with the highest proportion as the preset standard parameter according to the data distribution, use weighted summation to use the obtained value as the preset standard parameter, substitute each historical data into a specific formula and use the value obtained by the formula as the preset standard parameter or other selection methods, as long as the system of the present invention can clearly define the different specific situations in the single determination process through the obtained values.

[0037] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0038] See also Figure 1 , Figure 2 , Figure 3 as well as Figure 4 As shown, they are respectively a schematic diagram of the structure of the positioning and adjustment system of a large wind turbine blade transport vehicle according to an embodiment of the present invention; a schematic diagram of the pin shaft structure of the positioning and adjustment system of a large wind turbine blade transport vehicle according to an embodiment of the present invention; a flow chart of determining whether the transportation of the wind turbine blades meets the preset standards according to an embodiment of the present invention; and a schematic diagram of the adjustment angle according to an embodiment of the present invention.

[0039] The embodiment of the present invention provides a positioning and adjustment system for a large wind turbine blade transport vehicle, comprising:

[0040] Loading platform 1;

[0041] The first adjusting part 2 is arranged on the top of the load-carrying platform 1, and includes a base 201 arranged on the load-carrying platform 1, a first transmission unit 202 for adjusting the rotation of the base 201, a first motor 203 for driving the first transmission unit 202, a fixing flange 204 for fixing the end of a wind turbine blade is arranged on the base 201, the base 201 is rotatably connected to the fixing flange 204 through a pin shaft 205, a second transmission unit 206 for adjusting the rotation of the fixing flange 204 along the pin shaft 205, and a second motor 207 for driving the second transmission unit 206;

[0042] The second adjusting part 3 is arranged at the bottom of the load-carrying platform 1, and comprises a first hydraulic cylinder 301 for driving the load-carrying platform 1 to move in a vertical direction and a plurality of guide columns 302 for guiding the load-carrying platform 1, wherein the first hydraulic cylinder 301 and the guide columns 302 are arranged on the body of the transport vehicle;

[0043] The collection module includes a path collection unit for collecting the path information of the transport vehicle, an environment collection unit for collecting the obstacle information in the driving direction of the vehicle body, and a distance collection unit for collecting the distance between each bottom edge of the load platform 1 and the driving road surface;

[0044] The posture determination module is connected to the acquisition module and is used to rotationally adjust the fixed flange 204 according to the curvature of the path within a preset driving distance, to rotationally adjust the base 201 according to the orientation and distance difference of the obstacle, and to determine whether the transportation of the wind turbine blade meets the preset standard according to the offset angle.

[0045] The positioning adjustment module is respectively connected to the posture determination module, the first adjustment unit 2 and the second adjustment unit 3, and is used to adjust the operation of the system according to the information determined by the posture determination module.

[0046] Specifically, the path collection unit, such as a vehicle-mounted GPS map, is used to calculate the curvature of a path of a preset length along which the vehicle travels, without limitation.

[0047] Specifically, the environment collection unit is such as a laser radar. The specific collection method and collection equipment are not limited here. It only needs to be able to implement the present invention to collect obstacle information in the driving direction of the vehicle body.

[0048] Specifically, the distance acquisition unit is, for example, an infrared distance sensor. The specific acquisition method and acquisition equipment are not limited herein. It is sufficient that the present invention can be implemented to collect the distance between each bottom edge of the load-carrying platform 1 and the driving road surface.

[0049] Specifically, the posture determination module is, for example, an industrial computer. The specific collection method and collection device are not limited herein. The implementation of the present invention only requires outputting corresponding determination results according to the input parameters.

[0050] Please continue reading Figure 1 As shown, a support part 4 is provided on the load-bearing platform 1, and the support part 4 includes a slide 401 provided on the load-bearing platform 1, a second hydraulic cylinder 402 is connected to the slide 401, and a fixing frame 403 for fixing and lifting the wind turbine blade is provided at one end of the second hydraulic cylinder 402 away from the slide 401.

[0051] Specifically, the posture determination module rotates and adjusts the fixed flange in response to the curvature of the path within the preset driving distance of the transport vehicle being greater than or equal to the preset curvature threshold, and the adjustment angle of the fixed flange is positively correlated with the curvature difference, and the curvature difference is the difference between the curvature of the path within the preset driving distance and the preset curvature threshold. Preferably, the preset curvature threshold is set to 0.0025. The adjustment angle of the fixed flange is positively correlated with the curvature difference, that is, the larger the curvature difference, the larger the lifting angle of the wind turbine blade, so that the large wind turbine blade transport vehicle can smoothly pass through the curved section.

[0052] See also Figure 4 As shown, specifically, the adjustment angle of the fixed flange is the angle θ1 in the figure.

[0053] Specifically, the posture determination module sets a correction method for rotation adjustment of the fixed flange under a first preset condition, wherein:

[0054] If the instability evaluation value difference is less than the first preset instability evaluation value difference of 0.00003, the low-amplitude correction coefficient of 0.98 is used to determine the corrected adjustment angle of the fixed flange in a multiplication form;

[0055] If the instability evaluation value difference is greater than or equal to the first preset instability evaluation value difference and less than the second preset instability evaluation value difference of 0.00007, the mid-amplitude correction coefficient of 0.94 is used to determine the corrected adjustment angle of the fixed flange in a product form;

[0056] If the instability evaluation value difference is greater than or equal to the first preset instability evaluation value difference, the high amplitude correction coefficient 0.85 is used to determine the corrected adjustment angle of the fixed flange in a product form;

[0057] The first preset condition is that the load platform instability evaluation value is greater than a preset instability evaluation threshold, and the preset instability evaluation threshold is set to 0.00015.

[0058] Specifically, the load platform instability evaluation value is set to L. In the formula, Li is the distance between each bottom edge of the loading platform and the driving surface, i=1,2,3,4, i=1 represents the distance between the front bottom edge of the loading platform and the driving surface, i=2 represents the distance between the rear bottom edge of the loading platform and the driving surface, i=3 represents the distance between the left bottom edge of the loading platform and the driving surface, i=4 represents the distance between the front bottom edge of the loading platform and the driving surface, L0 is the preset distance, and L0 is set to 1.2m.

[0059] Specifically, in response to the distance between the obstacle and the transport vehicle being less than a preset distance threshold, the posture determination module rotates and adjusts the base based on the position and distance difference of the obstacle, and the distance difference is the difference between the preset distance threshold and the distance between the obstacle and the transport vehicle. Preferably, the preset distance threshold is set to 30m.

[0060] Please continue reading Figure 4 As shown, an obstacle rectangular coordinate system is constructed with the connection between the load-carrying platform and the base as the origin, the driving direction of the transport vehicle as the X-axis, and the vertical direction of the driving direction of the transport vehicle as the Y-axis. The rotation adjustment of the base takes the connection between the load-carrying platform and the base as the center of the circle, and rotates with the obstacle rectangular coordinate system as the plane. The rotation adjustment angle of the base is set to θ2, clockwise rotation is recorded as positive, counterclockwise rotation is recorded as negative, and the initial angle of the base is recorded as 0°. If the position of the obstacle is located in the second quadrant of the obstacle coordinate system, the rotation adjustment angle of the base is θ2 for clockwise rotation; if the position of the obstacle is located in the first quadrant of the obstacle coordinate system, the rotation adjustment angle of the base is θ2 for counterclockwise rotation.

[0061] Please continue reading Figure 4 As shown, specifically, the posture determination module determines whether the transportation of the wind turbine blade meets the preset standard based on the offset angle θ3, wherein:

[0062] The first judgment is that the posture determination module determines that the transportation of the wind turbine blade meets the preset standard and continues to be transported according to the current parameters; the first judgment satisfies that the offset angle is less than the first preset offset angle of 2.12°;

[0063] The second judgment is that the posture determination module determines that the transportation of the wind turbine blade does not meet the preset standard, and secondarily determines the reason for not meeting the preset standard based on the load platform instability evaluation value; the second judgment satisfies that the offset angle is greater than or equal to the first preset offset angle and less than the second preset offset angle of 5.54°;

[0064] The third judgment is that the posture determination module determines that the transportation of the wind turbine blade does not meet the preset standard, the posture determination module determines to stop the transportation and determines the corresponding adjustment strategy based on the position state of the wind turbine blade; the third judgment satisfies that the offset angle is greater than or equal to the second preset offset angle.

[0065] Specifically, the offset angle θ3 is the angle between the Z axis of the offset coordinate system and the vertical direction. The offset coordinate system is constructed with the load platform as the reference plane, the connection between the load platform and the base as the origin, the travel direction of the transport vehicle as the X axis, the vertical direction of the travel direction of the transport vehicle as the Y axis, and the vertical direction of the reference plane as the Z axis.

[0066] Specifically, the posture determination module determines whether the transportation of the wind turbine blade meets the preset standard based on the instability evaluation value of the load platform.

[0067] If the load platform instability evaluation value is less than the first preset load platform instability evaluation value of 0.00013, it is determined that the transportation of the wind turbine blades meets the preset standard and the transportation continues according to the current parameters;

[0068] If the load platform instability evaluation value is greater than or equal to the first preset load platform instability evaluation value and less than 0.005 of the second preset load platform instability evaluation value, it is secondarily determined that the transportation of the wind turbine blade does not meet the preset standard and the reason for not meeting the preset standard is the inclination caused by the terrain of the transport vehicle's driving path, and the posture determination module reduces the adjustment angle of the fixing flange;

[0069] If the load platform instability evaluation value is greater than or equal to the second preset load platform instability evaluation value, it is secondarily determined that the transportation of the wind turbine blade does not meet the preset standard and the reason for not meeting the preset standard is the inclination caused by the horizontal rotation of the wind turbine blade and the adjustment angle of the base is corrected.

[0070] Specifically, the attitude determination module determines the adjustment strategy based on the position state of the wind turbine blade, wherein

[0071] If the wind turbine blades are in the initial position, lower the height of the load platform;

[0072] If the wind turbine blade is in a non-initial position, correct the adjustment angle of the base;

[0073] The initial positions of the wind turbine blades are θ1=0° and θ2=0°.

[0074] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0075] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A positioning and adjustment system for a large wind turbine blade transport vehicle, characterized in that: include: Loading platform; A first adjusting part is arranged on the top of the load-bearing platform, comprising a base arranged on the load-bearing platform, a first transmission unit for adjusting the rotation of the base, a first motor for driving the first transmission unit, a fixing flange for fixing the end of a wind turbine blade is arranged on the base, the base is rotationally connected to the fixing flange through a pin shaft, a second transmission unit for adjusting the rotation of the fixing flange along the pin shaft, and a second motor for driving the second transmission unit; A second adjusting part is arranged at the bottom of the load-carrying platform, comprising a first hydraulic cylinder for driving the load-carrying platform to move in a vertical direction and a plurality of guide columns for guiding the load-carrying platform, wherein the first hydraulic cylinder and the guide columns are arranged on the body of the transport vehicle; A collection module, which includes a path collection unit for collecting the path information of the transport vehicle, an environment collection unit for collecting the obstacle information in the driving direction of the vehicle body, and a distance collection unit for collecting the distance between each bottom edge of the load platform and the driving road surface; an attitude determination module connected to the acquisition module, for rotationally adjusting the fixing flange according to the curvature of the path within a preset driving distance, rotationally adjusting the base according to the position and distance difference of the obstacle, and determining whether the transportation of the wind turbine blade meets the preset standard according to the offset angle; a positioning adjustment module, which is connected to the posture determination module, the first adjustment unit and the second adjustment unit respectively, and is used to adjust the operation of the system according to the information determined by the posture determination module; The posture determination module sets several correction methods for rotation adjustment of the fixed flange under a first preset condition, and each correction method has a different degree of correction for the adjustment angle; the first preset condition is that the load platform instability evaluation value is greater than a preset instability evaluation threshold; The load platform instability evaluation value is calculated using the following formula: ， Where: L is the instability evaluation value of the loading platform, Li is the distance between each bottom edge of the loading platform and the driving road surface, i=1,2,3,4, L1 represents the distance between the front bottom edge of the loading platform and the driving road surface, L2 represents the distance between the rear bottom edge of the loading platform and the driving road surface, L3 represents the distance between the left bottom edge of the loading platform and the driving road surface, L4 represents the distance between the front bottom edge of the loading platform and the driving road surface, and L0 is the preset distance; The attitude determination module performs rotational adjustment on the base based on the position and distance difference of the obstacle when the distance between the obstacle and the transport vehicle is less than a preset distance threshold, wherein the distance difference is the difference between the preset distance threshold and the distance between the obstacle and the transport vehicle; When the posture determination module determines that the transportation of the wind turbine blade does not meet the preset standard based on the offset angle, it re-determines the reason for not meeting the preset standard based on the load platform instability evaluation value, or determines to stop the transportation and determines the corresponding adjustment strategy based on the position state of the wind turbine blade; The adjustment strategy determined by the posture determination module based on the position state of the wind turbine blade is to lower the height of the load-carrying platform, or to correct the adjustment angle of the base.

2. The large wind turbine blade transport vehicle positioning and adjustment system according to claim 1 is characterized in that: The load-bearing platform is provided with a support part, and the support part includes a slide seat provided on the load-bearing platform, the slide seat is connected with a second hydraulic cylinder, and an end of the second hydraulic cylinder away from the slide seat is provided with a fixing frame for fixing and lifting the wind turbine blade.

3. The large wind turbine blade transport vehicle positioning and adjustment system according to claim 2 is characterized in that: The posture determination module rotates and adjusts the fixed flange in response to the curvature of the path within a preset driving distance of the transport vehicle being greater than or equal to a preset curvature threshold, and the adjustment angle of the fixed flange is positively correlated with the curvature difference, and the curvature difference is the difference between the curvature of the path within the preset driving distance and the preset curvature threshold.

4. The large wind turbine blade transport vehicle positioning and adjustment system according to claim 1, characterized in that: The offset angle is the angle between the Z axis of the offset coordinate system and the vertical direction. The offset coordinate system is constructed with the load platform as the reference plane, the connection between the load platform and the base as the origin, the travel direction of the transport vehicle as the X axis, the vertical direction of the travel direction of the transport vehicle as the Y axis, and the direction perpendicular to the reference plane as the Z axis.

5. The large wind turbine blade transport vehicle positioning and adjustment system according to claim 1 is characterized in that: The posture determination module secondarily determines that the reasons why the transportation of the wind turbine blade does not meet the preset standards include the tilt caused by the terrain of the transport vehicle's driving path and reducing the adjustment angle of the fixed flange, or the tilt caused by the horizontal rotation of the wind turbine blade and correcting the adjustment angle of the base.

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