A fan tower cylinder weld defect detection system, method, equipment and medium

Abstract

The present invention relates to the technical field of defect detection, and discloses a system, method, equipment and medium for detecting weld defects of a wind turbine tower barrel. The present invention controls a retractable winch through a ground main control end so that the retractable winch realizes the up and down movement of a barrel detection end on the wind turbine tower barrel by retracting and releasing a cable, and performs weld defect detection through a non-destructive testing module during the movement of the barrel detection end. The method of traditional wall-climbing robots that only rely on permanent magnetic wheels or vacuum adsorption is abandoned, and cables and retractable winches are used as the power source and safety guarantee for the lifting and lowering of the barrel detection end on the wind turbine tower barrel, making the weld defect detection of the wind turbine tower barrel simpler, safer and more reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of defect detection, and in particular to a system, method, equipment and medium for detecting defects in a weld of a wind turbine tower cylinder. Background Art

[0002] As the main load-bearing component of a wind turbine, the tower is the main component where risks are concentrated. The main reasons are as follows: From the perspective of function and force, the mechanical components and power generation system (gravity load) supporting the wind turbine bear the force of the blades and the force of wind on the tower (bending moment, thrust and torsion on the tower). At the same time, the tower must have sufficient fatigue strength to withstand the vibration load caused by the wind turbine, including the periodic impact of startup and shutdown, sudden wind changes, tower shadow effect, etc. From a structural point of view, stress concentration often exists at welds and flange necks. If there are defects in these places, it will cause devastating damage to the tower. From the perspective of the installation area, due to the distribution characteristics of wind energy in nature, wind turbines are mostly installed in harsh environmental areas such as deserts, Gobi, plateau hills and coastal shallows. The main structure of the tower is subjected to natural damage such as sand and dust erosion, rain, snow, frost and seawater rust all year round. At the least, the paint film is damaged and corroded and falls off. At the worst, weld cracks and uneven stress lead to tower collapse, which seriously affects the main structural strength of the tower and the safe operation of the wind turbine.

[0003] At present, the operation and maintenance of wind turbine towers can only be done manually, that is, through high-altitude hanging baskets or spider-man methods, operators carry equipment to complete high-altitude maintenance operations. Due to the height of wind turbine towers of nearly 100 meters and the limitation of internal transportation space of the towers, the preliminary preparation work is extremely time-consuming. At the same time, the maintenance equipment and raw materials carried are limited. For key problems such as weld defects, simple identification methods such as visual inspection are often used, resulting in low operation efficiency, insufficient defect identification depth, and inability to guarantee worker safety. Summary of the invention

[0004] In view of this, the present invention provides a wind turbine tower body weld defect detection system, method, equipment and medium to solve the problems of low operating efficiency, insufficient defect recognition depth, and inability to ensure worker safety in existing wind turbine tower weld defect detection methods using simple visual inspection methods.

[0005] In a first aspect, the present invention provides a wind turbine tower cylinder weld defect detection system, the system comprising:

[0006] The cylinder detection end, the ground main control end and the cable, the cylinder detection end and the ground main control end are connected through wireless communication; the cylinder detection end includes a retractable winch and a non-destructive flaw detection module, one end of the cable is fixed to a preset fixed point at the top of the wind turbine tower barrel, and the other end is connected to the retractable winch; the ground main control end is used to send a first control instruction to the retractable winch; the retractable winch is used to control the cable to be retracted and released based on the first control instruction so that the cylinder detection end moves up and down on the wind turbine tower barrel; the ground main control end is also used to send a second control instruction to the non-destructive flaw detection module; the non-destructive flaw detection module is used to perform defect detection on the weld of the wind turbine tower barrel based on the second control instruction when the cylinder detection end moves up and down on the wind turbine tower barrel, obtain target detection information, and send the target detection information to the ground main control end so that the ground main control end processes the target detection information.

[0007] The wind turbine tower barrel weld defect detection system provided by the present invention controls the retractable winch through the ground main control end so that the retractable winch realizes the up and down movement of the barrel detection end on the wind turbine tower barrel by retracting and releasing the cable, and performs weld defect detection through the non-destructive testing module during the movement of the barrel detection end. It abandons the traditional wall-climbing robot that relies only on permanent magnetic wheels or vacuum adsorption, and adopts cables and retractable winches as the power source and safety guarantee for the lifting and lowering of the barrel detection end on the wind turbine tower barrel, making the wind turbine tower barrel weld defect detection simpler, safer and more reliable.

[0008] In an optional embodiment, the cylinder detection end also includes: a camera, a steering module, two front wheels and two rear wheels, the steering module is connected to the two front wheels, and the two front wheels and the two rear wheels are permanent magnet wheels; the camera is used to obtain a moving image data set of the cylinder detection end and send the moving image data set to the ground main control end; the ground main control end is also used to send a third control instruction to the steering module according to the moving image data set; the steering module is used to control the steering of the two front wheels based on the third control instruction so that the cylinder detection end can be vertically lifted and lowered along the weld direction of the cylinder of the wind turbine tower.

[0009] The wind turbine tower barrel weld defect detection system provided by the present invention obtains a moving image data set through a camera and controls a steering module according to the moving image data set when the barrel detection end moves up and down, thereby enabling the steering module to control the steering of the two front wheels of the barrel detection end. Furthermore, the barrel detection end can be vertically raised and lowered along the weld direction of the wind turbine tower barrel by changing the steering of the two front wheels. Therefore, by implementing the present invention, the driving route of the barrel detection end can be less likely to deviate, thereby providing support for subsequently improving the reliability and accuracy of the wind turbine tower barrel weld defect detection results.

[0010] In an optional embodiment, the cylinder detection end also includes: the cylinder detection end also includes: a rangefinder, which is used to measure the distance between the cylinder detection end and the ground, and the distance value is used to locate the weld defect position of the wind turbine tower cylinder.

[0011] The wind turbine tower barrel weld defect detection system provided by the present invention can locate the weld defect position of the wind turbine tower barrel through a rangefinder, making subsequent defect processing more convenient.

[0012] In an optional embodiment, the cylinder detection end also includes a first wireless transmission module and a main controller, and the ground main control end includes a second wireless transmission module and a main control terminal; the main controller is communicatively connected to the main control terminal through the first wireless transmission module and the second wireless transmission module; the main controller is used to control the retractable winch, non-destructive flaw detection module, camera, steering module and rangefinder; the main control terminal is used to process target detection information.

[0013] The wind turbine tower barrel weld defect detection system provided by the present invention can enable communication between the barrel detection end and the ground main control end through a first wireless transmission module in the barrel detection end and a second wireless transmission module in the ground main control end. Furthermore, on the basis of achieving communication, combined with the main control terminal in the barrel detection end and the main control terminal in the ground main control end, the wind turbine tower barrel weld defect detection can be realized, solving the problem that the safety of workers cannot be guaranteed.

[0014] In an optional embodiment, the nondestructive flaw detection module integrates an ultrasonic flaw detector and a portable flat-panel X-ray inspector; the ultrasonic flaw detector is used to perform defect detection on the weld of the wind turbine tower barrel to obtain initial detection information; the portable flat-panel X-ray inspector is used to confirm the defect position corresponding to the initial detection information and determine the target detection information.

[0015] The wind turbine tower barrel weld defect detection system provided by the present invention adopts a modular design for the non-destructive flaw detection module and integrates an ultrasonic flaw detector and a portable flat-panel X-ray inspector. Furthermore, the ultrasonic flaw detector can be used to perform defect detection on the weld of the wind turbine tower barrel. Furthermore, the portable flat-panel X-ray inspector can be used to confirm the detected defect position and obtain final target detection information, thereby improving the reliability and accuracy of the wind turbine tower barrel weld defect detection results.

[0016] In a second aspect, the present invention provides a method for detecting weld defects of a wind turbine tower barrel, which is used in a main controller in a wind turbine tower barrel weld defect detection system of the first aspect or any corresponding embodiment thereof, and the method comprises:

[0017] The main controller is used to receive the cable-winding control instruction sent by the main control terminal; based on the cable-winding control instruction, the main controller is used to control the retracting and releasing winch to perform the cable-winding operation until the cylinder detection end is at the bottom of the wind turbine tower cylinder, and the main control terminal is used to send the pan-tilt adjustment instruction to the main controller; based on the pan-tilt adjustment instruction, the main controller is used to control the camera until the position of the cable in the camera's field of view meets the preset requirements, and the main control terminal is used to send the first detection instruction to the main controller; based on the cable-winding control instruction and the first detection instruction, the main controller is used to control the nondestructive detection module to perform defect detection on the weld of the wind turbine tower cylinder to obtain target detection information; the target detection information is sent to the main control terminal.

[0018] The method for detecting defects in the weld seam of the wind turbine tower barrel provided by the present invention firstly controls the main controller to control the retracting winch to retract the cable until the barrel detection end is at the bottom of the wind turbine tower under the control of the cable retracting control instruction sent by the main control terminal, and then continues to adjust the camera under the control of the pan / tilt adjustment instruction sent by the main control terminal until the position of the cable in the camera viewing angle meets the preset requirements, receives the first detection instruction sent by the main control terminal, and controls the nondestructive flaw detection module to perform defect detection on the weld seam of the wind turbine tower barrel under the control of the first detection instruction to obtain the final target detection information and send it to the ground main control terminal. Therefore, by implementing the present invention, the automation of the weld seam defect detection of the wind turbine tower barrel is realized through the interaction between the main controller and the main control terminal, making the weld seam defect detection of the wind turbine tower barrel simpler, safer and more reliable.

[0019] In an optional implementation, based on the cable collection control instruction and the first detection instruction, the main controller is used to control the nondestructive testing module to perform defect detection on the weld of the wind turbine tower barrel to obtain target detection information, including:

[0020] Based on the cable winding control instruction, the main controller is used to control the retractable winch to perform the cable winding operation so that the cylinder detection end moves upward along the cylinder of the wind turbine tower; when the cylinder detection end moves upward along the cylinder of the wind turbine tower, based on the first detection instruction, the main controller is used to control the nondestructive testing module to perform defect detection on the weld of the wind turbine tower cylinder to obtain target detection information.

[0021] The method for detecting defects in the weld seams of a wind turbine tower barrel provided by the present invention firstly controls the barrel detection end to move upward along the barrel of the wind turbine tower under the control of a cable reeling control instruction. Furthermore, in the process of the barrel detection end moving upward along the barrel of the wind turbine tower, the nondestructive testing module is simultaneously controlled to perform defect detection on the weld seams of the wind turbine tower barrel, thereby realizing the automation of the weld seam defect detection of the wind turbine tower barrel, making the weld seam defect detection of the wind turbine tower barrel simpler, safer and more reliable.

[0022] In an optional implementation, when the barrel detection end moves upward along the barrel of the wind turbine tower, based on the first detection instruction, the main controller is used to control the nondestructive testing module to perform defect detection on the weld of the wind turbine tower barrel to obtain target detection information, including:

[0023] When the cylinder detection end moves upward along the cylinder of the wind turbine tower, the camera is used to obtain a moving image data set of the cylinder detection end, and the moving image data set is sent to the main control terminal; based on the moving image data set, the main control terminal is used to determine whether the position of the cable in the camera's field of view meets the preset requirements; when the position of the cable in the camera's field of view does not meet the preset requirements, the main control terminal is used to send a steering control instruction to the main controller; based on the steering control instruction, the main controller is used to control the steering of the two front wheels of the cylinder detection end by controlling the steering module, and the moving image data set is repeatedly obtained and sent to the main control terminal for iterative judgment until the position of the cable in the camera's field of view meets the preset requirements; when the position of the cable in the camera's field of view meets the preset requirements, based on the first detection instruction, the main controller is used to control the ultrasonic flaw detector in the non-destructive flaw detection module to The method comprises the steps of performing defect detection on the weld of the cylinder body by using a camera when the cylinder body detection end moves upward along the cylinder body of the wind turbine tower, and sending the moving image data set to the main control terminal by using a camera, until the position of the cable in the camera field of view meets the preset requirements, and based on the first detection instruction, using the main controller to control the ultrasonic flaw detector in the nondestructive flaw detection module to perform defect detection on the weld of the wind turbine tower body, until the cylinder body detection end moves to the top of the wind turbine tower body, and initial detection information is obtained; using the main control terminal to send a second detection instruction to the main controller; based on the second detection instruction, using the main controller to control the portable flat-panel X-ray inspection instrument in the nondestructive flaw detection module to confirm the defect position corresponding to the initial detection information, and determine the target detection information, wherein the defect position is determined by the rangefinder in the cylinder body detection end.

[0024] The method for detecting weld defects of a wind turbine tower cylinder provided by the present invention uses whether the position of the cable in the camera's field of view meets the preset requirements as a reference during the lifting process of the cylinder detection end, and uses the steering module to control the steering of the two front wheels of the cylinder detection end under the control of the steering control command, thereby controlling the direction of the cylinder detection end during the lifting process, and then when the position of the cable in the camera's field of view meets the preset requirements, controls the non-destructive flaw detection module to perform weld defect detection. This makes it difficult for the driving route of the cylinder detection end to deviate. Furthermore, when controlling the non-destructive flaw detection module to perform weld defect detection, firstly, an ultrasonic flaw detector is used to perform defect detection on the weld of the wind turbine tower cylinder, and then a portable flat-panel x-ray inspection instrument is used to confirm the defect position corresponding to the initial detection information detected by the ultrasonic flaw detector, and then the final target detection information is obtained, thereby improving the accuracy of weld defect detection.

[0025] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the wind turbine tower barrel weld defect detection method of the second aspect or any corresponding embodiment thereof by executing the computer instructions.

[0026] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the method for detecting weld defects of a wind turbine tower body according to the second aspect or any corresponding embodiment thereof.

[0027] In a fifth aspect, the present invention provides a computer program product, comprising computer instructions for causing a computer to execute the method for detecting weld defects of a wind turbine tower body according to the second aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 is a structural schematic diagram of a wind turbine tower cylinder weld defect detection system according to an embodiment of the present invention;

[0030] Figure 2 is a schematic structural diagram of a cylinder detection end according to an embodiment of the present invention;

[0031] Figure 3A is a schematic diagram of a cable in the camera viewing angle according to an embodiment of the present invention;

[0032] Figure 3B is another schematic diagram of a cable in the camera's viewing angle according to an embodiment of the present invention;

[0033] Figure 3C is another schematic diagram of a cable in the camera viewing angle according to an embodiment of the present invention;

[0034] Figure 4 is a structural block diagram of a nondestructive flaw detection module according to an embodiment of the present invention;

[0035] Figure 5 is a structural block diagram of a ground master control terminal according to an embodiment of the present invention;

[0036] Figure 61 is a schematic flow chart of a method for detecting weld defects of a wind turbine tower cylinder according to an embodiment of the present invention;

[0037] Figure 7 is a schematic flow chart of another method for detecting weld defects of a wind turbine tower barrel according to an embodiment of the present invention;

[0038] Figure 8 It is a schematic flow chart of a method for rapid intelligent detection of weld defects of a wind turbine tower cylinder according to an embodiment of the present invention;

[0039] Fig. 9 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0041] An embodiment of the present invention provides a wind turbine tower barrel weld defect detection system, which uses cables and retractable winches as the power source and safety guarantee for the lifting and lowering of the barrel detection end on the wind turbine tower barrel, so as to achieve a simpler, safer and more reliable effect of wind turbine tower barrel weld defect detection.

[0042] In this embodiment, a wind turbine tower cylinder weld defect detection system is provided. Figure 1 As shown, the wind turbine tower cylinder weld defect detection system 1 includes a cylinder detection terminal 11, a ground main control terminal 12 and a cable 13. The cylinder detection terminal 11 and the ground main control terminal 12 are connected via wireless communication.

[0043] Optional, such as Figure 2 As shown, the cylinder detection end 11 includes: a retractable winch 111 and a non-destructive flaw detection module 112.

[0044] Specifically, one end of the cable 13 is fixed to a preset fixing point at the top of the wind turbine tower barrel 2, and the other end is connected to the retracting winch 111. The preset fixing point is an automatic cable fixing point at the top of the wind turbine tower barrel 2 that can withstand the barrel detection end 11, and basically coincides with the longitudinal seam position of the wind turbine tower barrel 2.

[0045] In an optional implementation, the ground main control terminal 12 is used to send a first control instruction to the cylinder detection terminal 11 .

[0046] Furthermore, after receiving the first control instruction, the drum detection end 11 controls the retractable winch 111 to retract and release the cable 13 under the control of the first control instruction. The drum detection end can be controlled to move up and down on the wind turbine tower barrel 2 by retracting and releasing the cable 13, abandoning the traditional wall climbing robot that only relies on permanent magnetic wheels or vacuum adsorption, and using cables and retractable winches as the power source and safety guarantee for the drum detection end to rise and fall on the wind turbine tower barrel, making the wind turbine tower barrel weld defect detection simpler, safer and more reliable.

[0047] In an optional implementation, the ground main control terminal 12 is used to send a second control instruction to the non-destructive flaw detection module 112 .

[0048] Further, when the cylinder detection end 11 moves up and down on the wind turbine tower cylinder 2, under the control of the second control instruction, the non-destructive testing module 112 performs defect detection on the weld of the wind turbine tower cylinder 2 and obtains corresponding target detection information.

[0049] Furthermore, the cylinder detection terminal 11 sends the obtained target detection information to the ground main control terminal 12 for processing.

[0050] Optional, such as Figure 2 As shown, the cylinder detection end 11 also includes: a camera 113 , a steering module 114 , two front wheels 115 , and two rear wheels 116 .

[0051] Among them, in order to prevent the cylinder detection end 11 from being affected by external interference factors such as wind blowing and vibration in the normal lifting route, the two front wheels 115 and the two rear wheels 116 are permanent magnet wheels, which have certain magnetism and can be adsorbed on the wind turbine tower cylinder 2, but do not require strong driving friction, and do not have high requirements for magnetism, thereby reducing the cost and complexity of wind turbine tower cylinder weld defect detection.

[0052] In an optional implementation, the moving image data set of the cylinder detection end 11 can be collected by the camera 113 and sent to the ground main control end 12 .

[0053] Further, the ground master terminal 12 can determine whether the position of the cable 13 in the viewing angle of the camera 113 is as follows based on the received moving image data set. Figure 3A As shown, it indicates whether the current cylinder detection end 11 is vertically lifted or lowered along the weld direction of the cylinder 2 of the wind turbine tower.

[0054] Further, if the position of the cable 13 in the viewing angle of the camera 113 is as follows Figure 3B and Figure 3CAs shown, at this time, the cylinder detection end 11 is not vertically lifted or lowered along the weld direction of the wind turbine tower cylinder 2 . At this time, the ground main control end 12 sends a third control instruction to the cylinder detection end 11 .

[0055] Furthermore, after the cylinder detection end 11 receives the third control instruction, under the control of the third control instruction, the steering module 114 is controlled to operate. Further, the steering module 114 drives the two front wheels 115 through the steering motor, so that the two front wheels 115 turn left and right according to the third control instruction, thereby controlling the moving direction of the cylinder detection end 11, and thereby making the cylinder detection end 11 vertically rise and fall along the weld direction of the wind turbine tower cylinder 2.

[0056] Optional, such as Figure 2 As shown, the cylinder detection end 11 also includes: a rangefinder 117 , a first wireless transmission module 118 , and a main controller 119 .

[0057] Among them, the first wireless transmission module 118 is used for two-way communication with the ground main control end 12; the main controller 119 is used to control the operation of the retracting winch 111, the non-destructive detection module 112, the camera 113, the steering module 114 and the rangefinder 117 in the cylinder detection end 11.

[0058] In an optional embodiment, the cylinder detection end 11 is used to measure the distance between the cylinder detection end and the ground. This distance value can be used to locate suspected defects in the cylinder weld of the wind turbine tower on the one hand, and on the other hand, it can be used to calculate the distance between the detection end and the top of the tower.

[0059] Optional, such as Figure 4 As shown, the nondestructive flaw detection module 112 integrates an ultrasonic flaw detector 1121 and a portable flat-panel X-ray inspection device 1122 .

[0060] Among them, the ultrasonic flaw detector 1121 is a portable industrial non-destructive flaw detection instrument that can quickly, conveniently, non-destructively and accurately detect, locate, evaluate and diagnose various defects (cracks, looseness, pores, inclusions, etc.) inside the workpiece.

[0061] In an optional implementation, the ultrasonic flaw detector 1121 can be used to perform defect detection on the weld of the wind turbine tower body and obtain corresponding initial detection information.

[0062] Specifically, the high-frequency ultrasonic signal emitted by the ultrasonic flaw detector 1121 will propagate into the object being measured, and will be reflected, refracted, scattered, and the like by the defects or interfaces inside the object. The echo signal carries the internal structure information and possible defect information of the object being measured. The ultrasonic flaw detector will amplify, filter, and digitize the received signal to improve the signal-to-noise ratio and resolution. After analyzing and processing the echo signal, it can be determined whether there are defects (such as cracks, pores, slag inclusions, depressions, etc.) by comparing the echo signal characteristics.

[0063] Further, the obtained initial detection information is sent to the ground master control terminal 12 in the form of a byte stream for processing, and when a defect is analyzed, an alarm message is displayed in the ground master control terminal 12 and the location information at this time is recorded (l N ,h). Among them, l N represents the Nth fixed hanging cable 13, and h represents the height of the cylinder detection end 11 at this time, which can be obtained by the distance meter 117.

[0064] Furthermore, the defect position corresponding to the initial detection information can be confirmed by the portable flat-panel x-ray inspection device 1122, and the target detection information can be determined.

[0065] Specifically, the ground main control terminal 12 sends the corresponding control instruction to the main controller 119. Further, under the control of the control instruction, the main controller 119 controls the cylinder detection terminal 11 to move the defect position (l i ,h i ), and control the portable flat-panel X-ray inspection device 1122 to take photos of the location for confirmation, and send the confirmed target detection information to the ground main control terminal 12.

[0066] Furthermore, the nondestructive flaw detection module 112 adopts a modular design, so the nondestructive flaw detection module 112 can be replaced manually, that is, before defect detection, the nondestructive flaw detection module 112 is replaced manually with an ultrasonic flaw detector 1121. Furthermore, after the defect detection is completed, the ultrasonic flaw detector 1121 is replaced with a portable flat-panel x-ray detector 1122 for defect confirmation. At this time, the ultrasonic flaw detector 1121 and the portable flat-panel x-ray detector 1122 may not be integrated in the nondestructive flaw detection module 112 at the same time.

[0067] Optional, such as Figure 5 As shown, the ground master control terminal 12 includes a second wireless transmission module 121 and a master control terminal 122 .

[0068] The second wireless transmission module 121 is used to communicate with the first wireless transmission module 118 to achieve two-way communication between the cylinder detection terminal 11 and the ground main control terminal 12 .

[0069] Furthermore, the main control terminal 122 is used to send different control instructions to the cylinder detection terminal 11.

[0070] Furthermore, the main control terminal 122 is also used to process, display and other operations on the received defect detection information.

[0071] The wind turbine tower barrel weld defect detection system provided in this embodiment controls the retractable winch through the ground main control end so that the retractable winch realizes the up and down movement of the barrel detection end on the wind turbine tower barrel by retracting and releasing the cable. At the same time, when the barrel detection end moves up and down, the mobile image data set is obtained through the camera and the steering module is controlled according to the mobile image data set, so that the steering module controls the steering of the two front wheels of the barrel detection end. Further, the barrel detection end can be vertically lifted and lowered along the weld direction of the wind turbine tower barrel through the change of the steering of the two front wheels, which can make the driving route of the barrel detection end less likely to deviate. Furthermore, during the movement of the barrel detection end, the weld defect detection is performed through the non-destructive flaw detection module, abandoning the traditional wall-climbing robot that only relies on permanent magnetic wheels or vacuum adsorption. Cables and retractable winches are used as the power source and safety guarantee for the lifting of the barrel detection end on the wind turbine tower barrel, making the wind turbine tower barrel weld defect detection simpler, safer and more reliable. At the same time, when detecting weld defects, the non-destructive flaw detection module adopts a modular design and integrates an ultrasonic flaw detector and a portable flat-panel X-ray inspector. Furthermore, the ultrasonic flaw detector can be used to detect defects in the welds of the wind turbine tower barrel. Furthermore, the portable flat-panel X-ray inspector can be used to confirm the detected defect positions and obtain the final target detection information, thereby improving the reliability and accuracy of the wind turbine tower barrel weld defect detection results.

[0072] In one example, a rapid intelligent detection system for weld defects of a wind turbine tower cylinder is provided, comprising a cylinder detection terminal and a ground main control terminal.

[0073] Optionally, the cylinder detection end includes a wireless transmission module, a retractable winch, a high-strength cable, a non-destructive flaw detection module, a high-definition camera, a rangefinder, a permanent magnet wheel, a steering module, a main controller and attached embedded control software.

[0074] Optionally, the wireless transmission module at the cylinder detection end is responsible for two-way communication with the ground main control end, transmitting video image information, detection information of the non-destructive detection module, angle information of the steering module, and distance information of the rangefinder to the ground main control end, and receiving control instructions of the retracting and extending winch, steering instructions, and control instructions of high-definition cameras, non-destructive detection modules and other modules from the ground main control end.

[0075] Optionally, the retractable winch can control the cylinder detection end to move up and down under the action of its own weight and the winch torque by releasing and retracting the cable, and the high-strength cable is used for suspension and traction of the detection end.

[0076] Optionally, the non-destructive testing module is modularly designed and can be replaced with an ultrasonic flaw detector and a portable flat-panel X-ray inspector. The ultrasonic flaw detector performs a rapid initial inspection of the tower weld, and the portable flat-panel X-ray inspector performs a final confirmation of the suspected defect information of the initially inspected weld, thereby performing a more accurate inspection of the tower weld than manual visual inspection.

[0077] Optionally, the high-definition camera always places the winch cable within the viewing angle, and the normal vertical position of the cable is 90°. The winch direction can be corrected according to the deviation of the cable in the viewing angle, so that the detection end can always be lifted and lowered vertically along the weld direction.

[0078] Optionally, the rangefinder is responsible for measuring the distance between the detection end and the ground. On the one hand, it can be used to locate suspected defects and on the other hand, it can be used to calculate the distance between the detection end and the top of the tower.

[0079] Optionally, a permanent magnetic wheel is responsible for the vertical lifting and lowering of the cylinder detection end on the tower. The wheel has a certain magnetism and can be adsorbed on the cylinder.

[0080] Optionally, the steering module drives the steering wheel through the steering motor, so that the front wheels turn left and right according to the steering control command, thereby controlling the driving direction of the detection end.

[0081] Optionally, the main controller mainly receives control instructions from the ground main control end by connecting to the wireless transmission module, and at the same time transmits the detection end's own working condition information such as video image information, non-destructive testing module detection information, etc. back to the ground main control end.

[0082] Optionally, the ground master control terminal includes a wireless transmission module, a master control terminal and its associated display software, data processing software and control software, etc.

[0083] Optionally, the wireless transmission module of the ground main control end is responsible for two-way communication with the cylinder detection end, sending control instructions for the retracting and extending winch, steering instructions, and control instructions for the high-definition camera and non-destructive testing module to the cylinder detection end, and receiving image video information, detection information from the non-destructive testing module, angle information of the steering module, and distance information of the rangefinder.

[0084] Optionally, the main control terminal can be composed of an industrial control computer or an ordinary computer, running the display software, data processing software and control software of the detection system, connected to the wireless transmission module through a local area network, and then communicated with the cylinder detection terminal to complete the detection function of the system.

[0085] According to an embodiment of the present invention, an embodiment of a method for detecting defects in welds of a wind turbine tower barrel is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown here.

[0086] In this embodiment, a method for detecting weld defects of a wind turbine tower barrel is provided, which can be used in the wind turbine tower barrel weld defect detection system 1 provided in the above embodiment of the present invention. Figure 6 is a flow chart of a method for detecting weld defects of a wind turbine tower cylinder according to an embodiment of the present invention. Figure 6 As shown, the process includes the following steps:

[0087] Step S601: using the main controller to receive the cable receiving control instruction sent by the main control terminal.

[0088] The main control terminal 122 communicates with the main controller 119 through the second wireless transmission module 121 and the first wireless transmission module 118 .

[0089] First, the main controller 119 receives the cable release control instruction sent by the main control terminal 122 .

[0090] Secondly, under the control of the cable release control instruction, the main controller 119 controls the operation of the retractable winch 111, and then the cable 13 is released by the retractable winch 111 until the length is greater than the height H of the wind turbine tower barrel 2, and then one end of the cable 13 is firmly connected to a pre-selected fixed point.

[0091] Finally, the main controller 119 receives the cable receiving control instruction sent by the main control terminal 122 .

[0092] Step S602, based on the cable retracting control instruction, use the main controller to control the retracting winch to retract the cable until the cylinder detection end is at the bottom of the wind turbine tower cylinder, and use the main control terminal to send the pan / tilt adjustment instruction to the main controller.

[0093] Specifically, under the control of the received cable winding control instruction, the main controller 119 controls the operation of the winding winch 111, and then performs a cable winding operation on the cable 13 through the winding winch 111, so that the cylinder detection end 11 moves upward along the wind turbine tower cylinder 2.

[0094] Further, when the cylinder detection end 11 is at the bottom of the wind turbine tower, the main controller 119 receives a winch stop command sent by the main control terminal 122, and controls the retracting and releasing winch to stop running under the control of the winch stop command.

[0095] At the same time, the main control terminal 122 sends a pan / tilt adjustment instruction to the main controller 119 .

[0096] Step S603, based on the pan / tilt adjustment instruction, use the main controller to control the camera until the position of the cable in the camera viewing angle meets the preset requirements, and use the main control terminal to send a first detection instruction to the main controller.

[0097] Specifically, under the control of the received pan / tilt adjustment instruction, the main controller 119 controls the steering of the camera 113 until the position of the cable 13 in the viewing angle of the camera 113 is as follows: Figure 3A When the control of the direction of the camera 113 is stopped, the cylinder detection end 11 is in the following state:

[0098] 1) The cable 13 is under stress, and the cylinder detection end 11 relies on its own gravity, and its lifting direction should be parallel to the cable 13;

[0099] 2) The two front wheels 115 and the two rear wheels 116 of the cylinder detection end 11 are tightly attached to the cylinder by magnetism, and the directions of the wheels are in an initial state, parallel to the direction of the cable 13 .

[0100] 3) The distance (ie, height from the ground) measured by the rangefinder 117 is 0.

[0101] Further, when the position of the cable 13 in the viewing angle of the camera 113 is as follows Figure 3A As shown, the main control terminal 122 sends a first detection instruction to the main controller 119.

[0102] Step S604: Based on the cable winding control instruction and the first detection instruction, the main controller is used to control the nondestructive detection module to perform defect detection on the weld of the wind turbine tower body to obtain target detection information.

[0103] Specifically, under the control of the received cable collection control instruction and the first detection instruction, the main controller 119 controls the non-destructive testing module 112 to perform defect detection on the weld of the wind turbine tower body and obtain corresponding target detection information.

[0104] In an optional embodiment, if Figure 7 As shown, the above step S604 includes:

[0105] Step S6041, based on the cable retracting control instruction, the main controller is used to control the retracting winch to perform the cable retracting operation on the cable so that the cylinder detection end moves upward along the cylinder of the wind turbine tower.

[0106] Specifically, when the main controller 119 receives the cable winding control instruction sent by the main control terminal 122, under the control of the cable winding control instruction, the main controller 119 controls the operation of the winding winch 111, and then performs the cable winding operation on the cable 13 through the winding winch 111, so that the cylinder detection end 11 moves upward along the wind turbine tower cylinder 2.

[0107] Step S6042, when the cylinder detection end moves upward along the cylinder of the wind turbine tower, based on the first detection instruction, the main controller is used to control the non-destructive testing module to perform defect detection on the weld of the wind turbine tower cylinder to obtain target detection information.

[0108] Specifically, in the process of the barrel detection end 11 moving upward along the wind turbine tower barrel 2, the main controller 119, under the control of the received first detection instruction, controls the non-destructive detection module 112 to perform defect detection on the weld of the wind turbine tower barrel 2 and obtains corresponding target detection information.

[0109] In an optional implementation, the above step S6042 includes:

[0110] Step a1: when the cylinder detection end moves upward along the cylinder of the wind turbine tower, the main controller is used to obtain a moving image data set of the cylinder detection end, and the moving image data set is sent to the main control terminal.

[0111] Step a2: Based on the moving image data set, use the main control terminal to determine whether the position of the cable in the camera's viewing angle meets the preset requirements.

[0112] Step a3: When the position of the cable in the camera viewing angle does not meet the preset requirements, the main control terminal sends a steering control instruction to the main controller.

[0113] Step a4, based on the steering control instruction, using the main controller, controls the steering of the two front wheels of the cylinder detection end by controlling the steering module, repeatedly acquires the moving image data set and sends it to the main control terminal for iterative judgment until the position of the cable in the camera's field of view meets the preset requirements.

[0114] Step a5: When the position of the cable in the camera's field of view meets the preset requirements, based on the first detection instruction, the main controller is used to control the ultrasonic flaw detector in the nondestructive flaw detection module to perform defect detection on the weld of the wind turbine tower body.

[0115] Step a6, repeating the step of using the main controller to obtain the moving image data set of the cylinder detection end when the cylinder detection end moves upward along the cylinder of the wind turbine tower, and sending the moving image data set to the main control terminal until the position of the cable in the camera field of view meets the preset requirements, based on the first detection instruction, using the main controller to control the ultrasonic flaw detector in the nondestructive testing module to perform defect detection on the weld of the wind turbine tower cylinder, until the cylinder detection end moves to the top of the wind turbine tower cylinder to obtain initial detection information.

[0116] Step a7: Use the main control terminal to send a second detection instruction to the main controller.

[0117] Step a8, based on the second detection instruction, using the main controller, controls the portable flat-panel X-ray inspection instrument in the nondestructive testing module to confirm the defect position corresponding to the initial detection information and determine the target detection information, wherein the defect position is determined by the rangefinder in the cylinder detection end.

[0118] Specifically, in the process of performing defect detection on the weld of the wind turbine tower barrel 2 while the barrel detection end 11 moves upward along the wind turbine tower barrel 2, there may be a problem that the moving direction of the barrel detection end 11 exceeds the deviation threshold when moving on the wind turbine tower barrel 2, such as Figure 3B and Figure 3C shown.

[0119] Therefore, when the cylinder detection end 11 moves upward along the wind turbine tower cylinder 2, it is necessary to continuously judge the position of the cable in the camera's field of view.

[0120] Specifically, when the cylinder detection end 11 moves upward along the wind turbine tower cylinder 2, the camera 113 is used to collect a moving image data set of the cylinder detection end 11, and the obtained moving image data set is sent to the main control terminal 122 through the main controller 119.

[0121] Furthermore, the main control terminal 122 can determine whether the current position of the cable 13 in the viewing angle of the camera 113 meets the preset requirements based on the received moving image data set.

[0122] If the current position of the cable 13 in the viewing angle of the camera 113 appears Figure 3B and 3C If the position of the cable 13 in the camera 113 field of view does not meet the preset requirements, a steering control instruction is sent to the main controller 119 based on the fact that the position of the cable in the camera field of view does not meet the preset requirements.

[0123] Further, under the control of the received steering control instruction, the main controller 119 controls the operation of the steering module 114. Further, the steering module 114 drives the two front wheels 115 through the steering motor, so that the two front wheels 115 turn left and right according to the third control instruction, thereby controlling the moving direction of the cylinder detection end 11.

[0124] Further, in the process of controlling the moving direction of the cylinder detection end 11, step a1 is repeated until the current position of the cable 13 in the viewing angle of the camera 113 is as follows: Figure 3A As shown, when the current position of the cable 13 in the viewing angle of the camera 113 meets the preset requirement, the control of the steering module 114 is stopped.

[0125] Further, when the position of the cable 13 in the viewing angle of the camera 113 meets the preset requirements, under the control of the received first detection instruction, the main controller 119 controls the ultrasonic flaw detector 1121 in the non-destructive flaw detection module 112 to perform defect detection on the weld of the wind turbine tower barrel 2. The detection process can refer to the functional description of the ultrasonic flaw detector 1121 in the above embodiment of the present invention, which will not be repeated here.

[0126] Further, steps a1 to a5 are repeated until the cylinder detection end 11 moves to the top of the wind turbine tower cylinder 2 and corresponding initial detection information is obtained.

[0127] Furthermore, the main control terminal 122 continues to send the second detection instruction to the main controller 119 .

[0128] Further, under the control of the received second detection instruction, the main controller 119 is used to control the portable flat-panel X-ray detector 1122 in the nondestructive testing module 112 to confirm the defect position corresponding to the initial detection information and determine the final target detection information. The defect position can be obtained by the rangefinder 117 in the cylinder detection end 11; the detection process can refer to the functional description of the portable flat-panel X-ray detector 1122 in the above embodiment of the present invention, which will not be repeated here.

[0129] Step S605: Send the target detection information to the main control terminal.

[0130] Specifically, the main controller 119 sends the received target detection information to the main control terminal 122 .

[0131] Furthermore, after receiving the target detection information, the main control terminal 122 can display the target detection information and corresponding alarm information so that the operation and maintenance personnel can perform the final defect processing.

[0132] The method for detecting defects in the weld seam of the wind turbine tower barrel provided in this embodiment firstly controls the main controller to control the retracting winch to retract the cable until the barrel detection end is at the bottom of the wind turbine tower under the control of the cable retracting control instruction sent by the ground main control end, and then continues to adjust the camera under the control of the pan / tilt adjustment instruction sent by the ground main control end until the position of the cable in the camera viewing angle meets the preset requirements, receives the first detection instruction sent by the ground main control end, and controls the nondestructive flaw detection module to perform defect detection on the weld seam of the wind turbine tower barrel under the control of the first detection instruction to obtain the final target detection information and send it to the ground main control end. Therefore, by implementing the present invention, the automation of the weld seam defect detection of the wind turbine tower barrel is realized through the interaction between the main controller and the ground main control end, making the weld seam defect detection of the wind turbine tower barrel simpler, safer and more reliable.

[0133] In one example, based on the fast intelligent detection system for wind turbine tower barrel weld defects provided in the above example, a fast intelligent detection method for wind turbine tower barrel weld defects is provided, such as Figure 8 As shown, the specific steps include:

[0134] Step S101: Select a cable fixing point on the top of the tower that can bear the deadweight of the tower detection end. The fixing point basically coincides with the longitudinal seam position of the tower. The main control terminal remotely controls the retractable winch to release the cable. The length should be greater than the tower height H. Then, one end of the cable is firmly connected to the pre-selected fixing point. At the same time, the non-destructive testing module is manually replaced with an ultrasonic flaw detector in advance to ensure that all connecting mechanisms are connected in place.

[0135] Step S102: Control the main control terminal to send a cable retracting command to the retracting winch. As the high-strength cable is tightened, until the detection terminal is just at the bottom of the tower, the main control terminal sends a winch stop command, and then sends a high-definition camera pan / tilt adjustment command to the detection end main controller, so that the vertically falling high-strength cable is in the camera's view. Figure 3A After this step, the fast intelligent detection system for fan tower cylinder weld defects should be in the following state:

[0136] 1) The high-strength cable is under stress, and the detection terminal relies on its own gravity, and its lifting direction should be parallel to the cable;

[0137] 2) The wheel at the detection end is tightly attached to the cylinder by magnetism, and the direction of the wheel is in the initial state, parallel to the direction of the cable.

[0138] 3) The distance measured by the rangefinder is 0.

[0139] Step S103: The main control terminal remotely controls the winch to continue to reel in the cable, so that the detection end moves upward along the tower barrel, and at the same time, the ultrasonic flaw detector performs flaw detection on the weld, and sends the detection data to the main control terminal in real time through the wireless transmission module for analysis and processing. Generally, this step includes another routine: 3-1) Processing of the detection end's travel direction exceeding the deviation threshold.

[0140] Step 3-1: When the direction of the cable appears in the HD camera Figure 3B Left or Figure 3C When the vehicle deviates to the right and exceeds the threshold α (this threshold can be initialized and set in the control software of the main control terminal, and the software will alarm when it is reached), two methods can be used to return the direction of travel of the detection end to below the threshold: one is to remotely control the steering module manually based on experience to return it to its normal position and orientation; the other is to identify the deviation angle through the camera image, which is used as the input of the adjustment module, and the PID adjustment function module in the control software automatically adjusts the steering module to return to the normal track.

[0141] Step S104: The high-frequency ultrasonic signal emitted by the ultrasonic flaw detector will propagate into the object to be tested, and will be reflected, refracted, scattered, etc. by the defects or interfaces inside the object. The echo signal carries the internal structure information and possible defect information of the object to be tested. The ultrasonic flaw detector will amplify, filter, and digitally process the received signal to improve the signal-to-noise ratio and resolution. After analyzing and processing the echo signal, it will be determined whether there are defects (such as cracks, pores, slag inclusions, depressions, etc.) by comparing the echo signal characteristics. The judgment result will be transmitted to the data processing module in the main control terminal in the form of a byte stream. When a defect is analyzed, an alarm message will be displayed in the display software, and the location information at this time will be recorded accordingly (l N ,h), where l N represents the Nth fixed hanging cable 13, and h represents the height of the cylinder detection end 11 at this time. The suspected defect position information is used for reconfirmation after the detection is completed.

[0142] Step S105: When the difference between the tower height H and the distance h of the detection end measured by the rangefinder is less than the threshold value L (this threshold can be initialized and set in the control software, and the software will alarm when it is reached), the control software in the main control terminal automatically sends a stop command for the retracting and releasing winch, and releases the cable to make the detection end slowly descend to the initial position, and then repeat steps 1-5 until all the welds of the tower are detected. Then reconfirm the suspected defect information detected: at this time, the non-destructive testing module is manually replaced by a portable flat-panel x-ray inspection instrument from an ultrasonic flaw detector, and the detection end is controlled to the defect position (l i ,h i ), the same on the inner wall of the tower (l i ,h i) location, the operation and maintenance personnel deploy and fix the portable flat-panel X-ray inspection instrument, evacuate the operation and maintenance personnel, and then operate the main control terminal software to take photos for confirmation. Use the same method to complete the confirmation of all suspected defect information, and hand over the confirmed results to the operation and maintenance personnel for final defect processing.

[0143] The rapid intelligent detection system and method for fan tower cylinder weld defects provided in the above example have the following beneficial effects:

[0144] 1. Abandoning the traditional wall-climbing robot that relies solely on permanent magnetic wheels or vacuum adsorption, this method uses high-strength cables and a large-load winch at the detection end as the power source and safety guarantee for lifting during the inspection process. The overall system solution is simpler, safer and more reliable.

[0145] 2. To prevent the detection end from being affected by external interference factors such as wind and vibration and affecting the normal lifting route, the permanent magnetic wheel used can be adsorbed closely to the tower cylinder, but does not require strong driving friction and does not require high magnetic properties, thereby reducing costs and complexity.

[0146] 3. During the lifting process of the detection end, the viewing angle of the vertically hanging high-strength cable in the high-definition camera is used as a reference. Since the cable is always in a stress state, the detection end can achieve vertical lifting and lowering by relying on its own weight. For the slight swing of the cable in the camera, it can be directly adjusted remotely manually, or the deviation angle can be recognized according to the image and adjusted autonomously by PID. This method makes it difficult for the driving route to deviate and easier to adjust after deviation.

[0147] 4. The non-destructive flaw detection module adopts a modular design and a unified design of the data interaction interface with the main controller. It can be equipped with different types of detection instruments. An ultrasonic flaw detector is installed during the initial inspection, which can transmit the weld detection information in real time for data analysis and processing. For suspected defect information, after all tests are completed, a portable flat-panel X-ray inspection instrument can be installed for further inspection and confirmation. This detection method not only ensures the detection efficiency, but also improves the detection accuracy.

[0148] An embodiment of the present invention further provides a computer device for executing the above-mentioned method for detecting weld defects of a wind turbine tower body.

[0149] See also Fig. 9 , Fig. 9 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Fig. 9As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Fig. 9 A processor 10 is taken as an example.

[0150] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0151] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0152] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0153] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0154] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0155] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0156] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0157] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A fan tower cylinder weld defect detection system, characterized in that: The system comprises: a cylinder detection end, a ground main control end and a cable, wherein the cylinder detection end and the ground main control end are connected via wireless communication; The cylinder detection end includes a retractable winch and a non-destructive flaw detection module. One end of the cable is fixed to a preset fixed point at the top of the wind turbine tower cylinder, and the other end is connected to the retractable winch. The preset fixed point is a cable fixing point at the top of the wind turbine tower cylinder that can bear the deadweight of the cylinder detection end, and is substantially coincident with the longitudinal seam position of the wind turbine tower cylinder. The ground master control terminal is used to send a first control instruction to the retractable winch; The retractable winch is used to control the cable to be retracted and released based on the first control instruction so that the cylinder detection end moves up and down on the cylinder of the wind turbine tower; The ground master control terminal is also used to send a second control instruction to the non-destructive flaw detection module; The nondestructive flaw detection module adopts a modular design and integrates an ultrasonic flaw detector and a portable flat-panel X-ray inspector. It is used to perform defect detection on the weld of the wind turbine tower barrel based on the second control instruction when the barrel detection end moves up and down on the barrel of the wind turbine tower, obtain target detection information, and send the target detection information to the ground main control end so that the ground main control end processes the target detection information. The nondestructive flaw detection module is replaced with the ultrasonic flaw detector before defect detection, and is replaced with the portable flat-panel X-ray inspector after defect detection.

2. The system according to claim 1, characterized in that The cylinder detection end also includes: a camera, a steering module, two front wheels and two rear wheels, the steering module is connected to the two front wheels, and the two front wheels and the two rear wheels are permanent magnet wheels; The camera is used to obtain a moving image data set of the cylinder detection end and send the moving image data set to the ground main control end; The ground master control terminal is further used to send a third control instruction to the steering module according to the moving image data set; The steering module is used to control the steering of the two front wheels based on the third control instruction so that the cylinder detection end can be vertically lifted and lowered along the weld direction of the wind turbine tower cylinder.

3. The system according to claim 2, characterized in that The cylinder detection end also includes: The cylinder detection end also includes: A distance meter is used to measure the distance between the cylinder detection end and the ground, and the distance value is used to locate the weld defect position of the wind turbine tower cylinder.

4. The system according to claim 3, characterized in that The cylinder detection end also includes a first wireless transmission module and a main controller, and the ground main control end includes a second wireless transmission module and a main control terminal; The main controller is connected to the main control terminal through the first wireless transmission module and the second wireless transmission module; The main controller is used to control the retractable winch, the non-destructive flaw detection module, the camera, the steering module and the rangefinder; The main control terminal is used to process the target detection information.

5. The system according to claim 1, characterized in that The nondestructive flaw detection module integrates an ultrasonic flaw detector and a portable flat-panel X-ray inspection instrument; The ultrasonic flaw detector is used to detect defects in the weld of the wind turbine tower body to obtain initial detection information; The portable flat panel X-ray inspection instrument is used to confirm the defect position corresponding to the initial detection information and determine the target detection information.

6. A method for detecting defects in a fan tower cylinder weld, characterized in that: A wind turbine tower body weld defect detection system according to any one of claims 1 to 4; the method comprising: Using the main controller to receive the cable receiving control instruction sent by the main control terminal; Based on the cable retracting control instruction, the main controller is used to control the retracting winch to perform the cable retracting operation until the cylinder detection end is at the bottom of the wind turbine tower cylinder, and the main control terminal is used to send a pan / tilt adjustment instruction to the main controller; Based on the pan / tilt adjustment instruction, the main controller is used to control the camera until the position of the cable in the camera viewing angle meets the preset requirement, and the main control terminal is used to send a first detection instruction to the main controller; Based on the cable collection control instruction and the first detection instruction, the main controller is used to control the nondestructive testing module to perform defect detection on the weld of the wind turbine tower body to obtain target detection information; The target detection information is sent to the main control terminal using the main controller.

7. The method according to claim 6, characterized in that Based on the cable collection control instruction and the first detection instruction, the main controller is used to control the nondestructive testing module to perform defect detection on the weld of the wind turbine tower body to obtain target detection information, including: Based on the cable retracting control instruction, the main controller is used to control the retracting winch to perform a cable retracting operation on the cable so that the cylinder detection end moves upward along the cylinder of the wind turbine tower; When the barrel detection end moves upward along the wind turbine tower barrel, based on the first detection instruction, the main controller is used to control the nondestructive testing module to perform defect detection on the weld of the wind turbine tower barrel to obtain the target detection information.

8. The method according to claim 7, characterized in that When the cylinder detection end moves upward along the cylinder of the wind turbine tower, based on the first detection instruction, the main controller is used to control the nondestructive testing module to perform defect detection on the weld of the wind turbine tower cylinder to obtain the target detection information, including: When the cylinder detection end moves upward along the cylinder of the wind turbine tower, a moving image data set of the cylinder detection end is acquired by using a camera, and the moving image data set is sent to the main control terminal; Based on the moving image data set, using the main control terminal to determine whether the position of the cable in the camera viewing angle meets the preset requirement; When the position of the cable in the camera viewing angle does not meet the preset requirement, using the main control terminal to send a steering control instruction to the main controller; Based on the steering control instruction, the main controller is used to control the steering of the two front wheels of the cylinder detection end by controlling the steering module, and the moving image data set is repeatedly acquired and sent to the main control terminal for iterative judgment until the position of the cable in the camera viewing angle meets the preset requirement; When the position in the camera viewing angle meets the preset requirement, based on the first detection instruction, the main controller is used to control the ultrasonic flaw detector in the nondestructive flaw detection module to perform defect detection on the weld of the wind turbine tower barrel; Repeat the steps of obtaining a moving image data set of the cylinder detection end by using a camera when the cylinder detection end moves upward along the cylinder of the wind turbine tower, and sending the moving image data set to the main control terminal until the position in the camera viewing angle meets the preset requirement, based on the first detection instruction, using the main controller to control the ultrasonic flaw detector in the nondestructive flaw detection module to perform defect detection on the weld of the wind turbine tower cylinder, until the cylinder detection end moves to the top of the wind turbine tower cylinder to obtain initial detection information; Using the main control terminal to send a second detection instruction to the main controller; Based on the second detection instruction, the main controller is used to control the portable flat-panel X-ray inspection instrument in the non-destructive testing module to confirm the defect position corresponding to the initial detection information and determine the target detection information, wherein the defect position is determined by the rangefinder in the cylinder detection end.

9. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the wind turbine tower barrel weld defect detection method according to any one of claims 6 to 8 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the wind turbine tower barrel weld defect detection method according to any one of claims 6 to 8.

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