Tower drum health assessment system and assessment method of wind driven generator

Abstract

The invention discloses a tower drum health assessment system of a wind driven generator, which comprises a tower drum, a plurality of detection nodes are distributed on the outer wall of the tower drum at intervals of one section in a linear array manner, and a controller is fixedly mounted in the tower drum, and relates to the technical field of health assessment of wind driven generators. The plurality of detection nodes are distributed on the outer wall of the tower at intervals in a linear array manner, the controller is fixedly mounted in the tower, the detection nodes are in signal connection with the controller, and the single detection node is used for detecting the offset of the tower of the sections and the plurality of detection nodes are used for detecting the offset of the whole tower. Specifically, a multidirectional vibration sensor in a detection node can detect the offset of a tower drum section, optical detection is carried out through a forward IPC camera and a lateral IPC camera, and the offset of the multidirectional vibration sensor can be approved, so that the correct offset of the multidirectional vibration sensor is confirmed, the amplitude of the tower drum is ensured to be in a correct measurement range, and the detection accuracy is improved. The measurement evaluation result is accurate.

Description

Technical Field

[0001] The present invention relates to the technical field of health assessment of wind turbines, and in particular to a tower health assessment system and method for a wind turbine. Background Art

[0002] A wind turbine is an electrical device that converts wind energy into mechanical work, which drives the rotor to rotate and finally outputs alternating current. A wind turbine generally consists of a wind rotor, a generator (including a device), a stabiliser (tail), a tower, a speed limit safety mechanism and an energy storage device. The working principle of a wind turbine is relatively simple. The wind rotor rotates under the action of wind force, and it converts the kinetic energy of the wind into the mechanical energy of the wind rotor shaft. The generator rotates and generates electricity under the drive of the wind rotor shaft. In a broad sense, wind energy is also solar energy, so it can also be said that a wind turbine is a heat energy generator that uses the sun as a heat source and the atmosphere as a working medium.

[0003] The patent with publication number CN107829884B discloses a method for monitoring the health status of a wind turbine tower and a dedicated detection system. The patent specifically discloses "a method for monitoring the health status of a wind turbine tower, the steps of which are: 1) a dual-axis acceleration sensor collects vibration data of the tower; 2) a dual-axis inclination sensor collects inclination data of the tower base; 3) an acquisition unit extracts acceleration data of the tower and inclination data of the tower base; 4) the acquisition unit is connected to a ring network switch, and the collected vibration, inclination data and SCADA operating condition parameters are transmitted to an online monitoring server; 5) the online monitoring server obtains the healthy state and unhealthy state of the tower, and automatically alarms when the tower is abnormal; 6) the abnormal data is transmitted from the external network server to the remote diagnosis center for analysis, and a diagnosis report is submitted; the dedicated system includes a dual-axis acceleration sensor, an inclination sensor on the tower base plane, and an acquisition unit, and the acquisition unit is connected to the online monitoring server through a ring network switch" The technical solution achieves the technical effect of "remote online monitoring of structural damage, uneven settlement and loose foundation of the wind turbine tower, and real-time and efficient evaluation of the health status of the tower".

[0004] However, the device does not propose a solution for detecting the amplitude of the tower as a whole, or detecting abnormal vibration or damage of the tower locally, so there is room for improvement. Summary of the invention

[0005] The object of the present invention is to provide a tower health assessment system and method for a wind turbine generator to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a tower health assessment system for a wind turbine, comprising a tower, wherein a plurality of detection nodes are distributed in a linear array at intervals on the outer wall of the tower, a controller is fixedly installed inside the tower, the detection nodes are connected to the controller signal, a single detection node is used for segmental tower offset detection, and a plurality of detection nodes are used for overall tower offset detection.

[0007] A wind turbine tower health assessment system and method, comprising:

[0008] Step S1: The multi-directional vibration sensor transmits the electrical signal of the tower node vibration to the controller following the vibration of the tower and generates a mechanical wave;

[0009] Step S2: the stable band detection unit or the unstable band detection unit tracks the abnormal vibration band and locates the abnormal vibration position to determine the regional amplitude abnormality;

[0010] Step S3: the forward IPC camera and the lateral IPC camera calculate the offset of the tower definition section according to the point cloud position offset and evaluate the overall amplitude of the tower;

[0011] Step S4: The forward IPC camera and the side IPC camera evaluate the appearance integrity of the tower according to the cloud density of the point cloud.

[0012] As a further solution of the present invention: a tower health assessment system for a wind turbine, the detection node includes a mounting shell, a mounting base, a multi-directional vibration sensor, a forward IPC camera and a side IPC camera, the multi-directional vibration sensor is fixedly installed inside the mounting shell, the mounting base is fixedly installed on one side of the tower, the forward IPC camera is fixedly installed on a side of the mounting shell away from the mounting base, two groups of side IPC cameras are fixedly installed on the sides of the multi-directional vibration sensor, the multi-directional vibration sensor is used for tower position offset detection, and the forward IPC camera and the side IPC camera are used for tower position offset detection.

[0013] As a further solution of the present invention: a tower health assessment system for a wind turbine, the controller includes a signal transmission module and a waveform generation module, the signal transmission module receives the electrical signal generated by the vibration of the multi-directional vibration sensor through a remote protocol, and the waveform generation module generates a waveform graph through the electrical signal.

[0014] As a further solution of the present invention: a tower health assessment system for a wind turbine also includes a tower definition section, which is a structural section of the tower equidistantly designed and capable of being clearly imaged by a forward IPC camera and a side IPC camera.

[0015] As a further solution of the present invention: a tower health assessment system for a wind turbine, the waveform generation module includes a stable band detection unit and an unstable band detection unit, and the stable band detection unit or the unstable band detection unit both judge the vibration state of the tower through the mechanical wave waveform state and trend.

[0016] As a further solution of the present invention: a tower health assessment system for a wind turbine, wherein a rotating shaft is fixedly connected to one side of the mounting shell, and the rotating shaft is rotatably connected to the mounting seat.

[0017] As a further solution of the present invention: a tower health assessment system for a wind turbine, wherein a remote control motor is fixedly installed inside the mounting seat, an output end of the remote control motor is fixedly connected to a driving gear, one end of the rotating shaft that penetrates into the mounting seat is fixedly connected to a driven gear, and the driving gear is meshed with the driven gear.

[0018] As a further solution of the present invention: a tower health assessment system for a wind turbine, the forward IPC camera and the side IPC camera both include an image detection unit, a point cloud conversion unit and an analysis report unit, the forward IPC camera detects the offset of the fixedly installed tower at the side wall, and the side IPC camera detects the offset of the upper and lower side walls of the fixedly installed tower.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. Since there are several detection nodes distributed in a linear array at intervals on the outer wall of the tower, a controller is fixedly installed inside the tower. The detection nodes are connected to the controller signal. A single detection node is used for segmental tower offset detection, and several detection nodes are used for overall tower offset detection. Specifically, the multi-directional vibration sensor in the detection node can detect the offset of the tower segment. Optical detection through the forward IPC camera and the side IPC camera can be verified with the offset of the multi-directional vibration sensor, thereby confirming the correct offset of the multi-directional vibration sensor, ensuring that the tower amplitude is in the correct measurement range, and the measurement and evaluation results are accurate.

[0021] 2. The driving gear drives the driven gear, the driven gear drives the rotating shaft, and the rotating shaft drives the multi-directional vibration sensor. The lateral IPC camera around the installation shell can perform measurements without blind spots, thereby improving the evaluation accuracy of the tower.

[0022] 3. As time goes by, the waveform electrical signals generated by each detection node can be intuitively displayed in the waveform. If the gap between the peak and the trough is too large and the waveform is not a uniform and increasing image, it indicates that the vibration of the tower is abnormal. If this kind of problem occurs for a long time, personnel will need to locate the waveform transmitted to help with the maintenance of the tower.

[0023] 4. Since blurred areas with poor detection will be formed at places too far away from the forward IPC camera and the side IPC camera, the forward IPC camera and the side IPC camera will superimpose a part of the clear areas of other tower definition nodes. Then, in the process of generating the mechanical wave image, the overlapping clear areas will be compared through the two tower definition nodes to determine the detection sequence of the forward IPC camera and the side IPC camera, thereby generating a mechanical wave icon that can also correspond to the detection position, helping personnel to quickly locate the abnormal vibration position.

[0024] 5. Both the forward IPC camera and the side IPC camera can record the image of the tower through the image detection unit, and then convert the pixels in the image into a dense point cloud through the point cloud conversion unit. The dense point cloud includes point cloud clusters for the color saturation of the point cloud and the three-dimensional spatial position information of the point cloud. Among them, the point cloud clusters of the point cloud saturation will analyze the point clouds with abnormal color values ​​and the three-dimensional spatial position information point cloud clusters in the shape of strips and holes, judge that this place may be a crack or corrosion hole, and make a report in time.

[0025] 6. The forward IPC camera and the side IPC camera will track the displacement of the point cloud of the same color at different time points to determine the offset position of the tower. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of the overall structure of a tower health assessment system and assessment method for a wind turbine according to the present invention;

[0027] Figure 2 A schematic diagram of mechanical waves in a tower health assessment system and assessment method for a wind turbine according to the present invention;

[0028] Figure 3 It is a structural schematic diagram of a Z-axis coordinate system in a tower health assessment system and assessment method of a wind turbine according to the present invention;

[0029] Figure 4 It is a structural schematic diagram of an XY coordinate system in a tower health assessment system and assessment method of a wind turbine according to the present invention;

[0030] Figure 5 This is one of the structural schematic diagrams of detection nodes in a tower health assessment system and assessment method for a wind turbine according to the present invention;

[0031] Figure 6 This is a second structural schematic diagram of a detection node in a tower health assessment system and assessment method for a wind turbine according to the present invention;

[0032] In the figure: 1. tower; 2. controller; 3. detection node; 31. mounting shell; 32. mounting base; 33. multi-directional vibration sensor; 34. forward IPC camera; 35. side IPC camera; 36. rotating shaft; 37. driven gear; 38. driving gear; 39. remote control motor; 4. tower definition node. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal connection of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The following is an explanation of an embodiment of the present invention based on the overall structure of the present invention.

[0035] See also Figures 1 to 6 In an embodiment of the present invention, a tower health assessment system for a wind turbine includes a tower 1, wherein a plurality of detection nodes 3 are distributed in a linear array on the outer wall of the tower 1 at intervals, a controller 2 is fixedly installed inside the tower 1, and the detection nodes 3 are connected to the controller 2 by signal. A single detection node 3 is used for offset detection of a segment of the tower 1, and a plurality of detection nodes 3 are used for offset detection of the entire tower 1.

[0036] Since a plurality of detection nodes 3 are distributed in a linear array at every section of the outer wall of the tower 1, a controller 2 is fixedly installed inside the tower 1, and the detection nodes 3 are connected to the controller 2 by signal. A single detection node 3 is used for segmental tower 1 offset detection, and a plurality of detection nodes 3 are used for overall tower 1 offset detection. Specifically, the multi-directional vibration sensor 33 in the detection node 3 can detect the offset of the tower 1 segment, and optical detection through the forward IPC camera 34 and the side IPC camera 35 can be verified with the offset of the multi-directional vibration sensor 33, thereby confirming the correct offset of the multi-directional vibration sensor 33, ensuring that the amplitude of the tower 1 is in the correct measurement range, and the measurement and evaluation results are accurate.

[0037] As a further solution of the present invention: a tower health assessment system for a wind turbine, the detection node 3 includes a mounting shell 31, a mounting seat 32, a multi-directional vibration sensor 33, a forward IPC camera 34 and a lateral IPC camera 35, the multi-directional vibration sensor 33 is fixedly installed inside the mounting shell 31, the mounting seat 32 is fixedly installed on one side of the tower 1, the forward IPC camera 34 is fixedly installed on the side of the mounting shell 31 away from the mounting seat 32, and two groups of lateral IPC cameras 35 are fixedly installed on the lateral sides of the multi-directional vibration sensor 33. A rotating shaft 36 is fixedly connected to one side of the mounting shell 31, and the rotating shaft 36 is rotatably connected to the mounting seat 32. The multi-directional vibration sensor 33 is used for detecting the position offset of the tower 1. A remote control motor 39 is fixedly installed inside the mounting seat 32, and a driving gear 38 is fixedly connected to the output end of the remote control motor 39. One end of the rotating shaft 36 that penetrates into the mounting seat 32 is fixedly connected to a driven gear 37, and the driving gear 38 is meshed with the driven gear 37. The forward IPC camera 34 and the side IPC camera 35 are used for detecting the position offset of the tower 1.

[0038] By rotating the driving gear 38 to drive the driven gear 37 , the driven gear 37 drives the rotating shaft 36 , and the rotating shaft 36 drives the multi-directional vibration sensor 33 , the lateral IPC camera 35 around the mounting shell 31 can perform measurement without blind spots, thereby improving the evaluation accuracy of the tower 1 .

[0039] As a further solution of the present invention: a tower health assessment system for a wind turbine, the controller 2 includes a signal transmission module and a waveform generation module, the signal transmission module receives the electrical signal generated by the vibration of the multi-directional vibration sensor 33 through a remote protocol, and the waveform generation module generates a waveform graph through the electrical signal.

[0040] See also Figure 2As time goes by, the waveform electrical signal generated by each detection node 3 can be intuitively displayed in the waveform. If the difference between the peak and the trough is too large and the waveform is not a uniform and increasing image, it indicates that the vibration of the tower 1 is abnormal. If this kind of problem occurs for a long time, personnel are required to locate the 13 transmitted to this section of the waveform to help repair the tower 1.

[0041] As a further solution of the present invention: a tower health assessment system for a wind turbine also includes a tower definition section 4, which is a structural section designed to be equidistant from the tower 1 and can provide clear imaging for the forward IPC camera 34 and the side IPC camera 35.

[0042] See also Figure 3 Among the three tower definition nodes 4, the forward IPC camera 34 and the side IPC camera 35 in the tower definition node 4 in the middle layer will simultaneously project detection light to the upper tower definition node 4, the lower tower definition node 4 and the opposite side. Since a blurred area with poor detection will be formed at a distance too far from the forward IPC camera 34 and the side IPC camera 35, the forward IPC camera 34 and the side IPC camera 35 will overlap a part of the clear area of ​​other tower definition nodes 4. Then, in the process of generating the mechanical wave image, the overlapping clear areas are compared by the two tower definition nodes 4 to determine the detection sequence of the forward IPC camera 34 and the side IPC camera 35, thereby generating a mechanical wave icon (i.e. Figure 2 The time coordinate axis can be equivalently replaced by the height / position coordinate axis) to help personnel quickly locate the abnormal vibration position.

[0043] As a further solution of the present invention: a tower health assessment system for a wind turbine, the waveform generation module includes a stable band detection unit and an unstable band detection unit, and the stable band detection unit or the unstable band detection unit both judge the vibration state of the tower 1 through the mechanical wave waveform state and trend.

[0044] As a further solution of the present invention: a tower health assessment system for a wind turbine, a rotating shaft 36 is fixedly connected to one side of the mounting shell 31 , and the rotating shaft 36 is rotatably connected to the mounting seat 32 .

[0045] As a further solution of the present invention: a tower health assessment system for a wind turbine, wherein a remote control motor 39 is fixedly installed inside the mounting seat 32, an output end of the remote control motor 39 is fixedly connected to a driving gear 38, one end of the rotating shaft 36 that penetrates into the mounting seat 32 is fixedly connected to a driven gear 37, and the driving gear 38 is meshed with the driven gear 37.

[0046] As a further solution of the present invention: a tower health assessment system for a wind turbine, the forward IPC camera 34 and the side IPC camera 35 both include an image detection unit, a point cloud conversion unit and an analysis report unit, the forward IPC camera 34 detects the offset of the fixedly installed tower 1 at the side wall, and the side IPC camera 35 detects the offset of the upper and lower side walls of the fixedly installed tower 1;

[0047] In this embodiment, both the forward IPC camera 34 and the side IPC camera 35 can record the image of the tower 1 through the image detection unit, and then convert the pixels in the image into a dense point cloud through the point cloud conversion unit. The dense point cloud includes point cloud clusters for the color saturation of the point cloud and the three-dimensional spatial position information of the point cloud, respectively. Among the point cloud clusters of the point cloud saturation, point clouds with abnormal color values ​​and point cloud clusters of three-dimensional spatial position information in the shape of strips or holes are analyzed to determine that this place may be a crack or a pit, and a report is made in a timely manner;

[0048] See also Figure 4 In addition, the forward IPC camera 34 and the side IPC camera 35 will track the displacement of the point cloud of the same color at different time points, so as to determine the offset position of the tower 1.

[0049] The working principle of the present invention is: since a number of detection nodes 3 are distributed in a linear array at intervals on the outer wall of the tower 1, a controller 2 is fixedly installed inside the tower 1, and the detection node 3 is connected to the controller 2 by signal, a single detection node 3 is used for segmental tower 1 offset detection and a number of detection nodes 3 are used for overall tower 1 offset detection, specifically, the multi-directional vibration sensor 33 in the detection node 3 can detect the offset of the tower 1 segment, and optical detection through the forward IPC camera 34 and the side IPC camera 35 can be verified with the offset of the multi-directional vibration sensor 33, thereby confirming the correct offset of the multi-directional vibration sensor 33, ensuring that the amplitude of the tower 1 is in the correct measurement range, and the measurement and evaluation results are accurate.

[0050] By rotating the driving gear 38 to drive the driven gear 37 , the driven gear 37 drives the rotating shaft 36 , and the rotating shaft 36 drives the multi-directional vibration sensor 33 , the lateral IPC camera 35 around the mounting shell 31 can perform measurement without blind spots, thereby improving the evaluation accuracy of the tower 1 .

[0051] As time goes by, the waveform electrical signal generated by each detection node 3 can be intuitively displayed in the waveform. If the difference between the peak and the trough is too large and the waveform is not a uniform and increasing image, it indicates that the vibration of the tower 1 is abnormal. If this kind of problem occurs for a long time, personnel are required to locate the 13 transmitted to this section of the waveform to help with the maintenance of the tower 1.

[0052] Since a blurred area with poor detection will be formed at a distance from the forward IPC camera 34 and the side IPC camera 35, the forward IPC camera 34 and the side IPC camera 35 will overlap a part of the clear area of ​​other tower definition nodes 4, and then compare the overlapping clear areas through the two tower definition nodes 4 in the process of generating the mechanical wave image to determine the detection sequence of the forward IPC camera 34 and the side IPC camera 35, thereby generating a mechanical wave icon (i.e. Figure 2 The time coordinate axis can be equivalently replaced by the height / position coordinate axis) to help personnel quickly locate the abnormal vibration position.

[0053] Both the forward IPC camera 34 and the side IPC camera 35 can record the image of the tower 1 through the image detection unit, and then convert the pixels in the image into a dense point cloud through the point cloud conversion unit. The dense point cloud includes point cloud clusters for the color saturation of the point cloud and the three-dimensional spatial position information of the point cloud. Among them, the point cloud clusters of the point cloud saturation will analyze the point clouds with abnormal color values ​​and the three-dimensional spatial position information point cloud clusters in the shape of strips and holes, judge that this place may be a crack or a corrosion hole, and make a report in time.

[0054] The forward IPC camera 34 and the side IPC camera 35 will track the displacement of the point cloud of the same color at different time points, so as to determine the offset position of the tower 1.

[0055] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A wind turbine tower health assessment system, characterized in that: The invention comprises a tower (1), wherein a plurality of detection nodes (3) are distributed in a linear array at intervals on the outer wall of the tower (1), a controller (2) is fixedly installed inside the tower (1), the detection nodes (3) are connected to the controller (2) by signal, a single detection node (3) is used for offset detection of a segment of the tower (1), and a plurality of detection nodes (3) are used for offset detection of the entire tower (1).

2. A wind turbine tower health assessment system according to claim 1, characterized in that: The detection node (3) comprises a mounting shell (31), a mounting seat (32), a multi-directional vibration sensor (33), a forward IPC camera (34) and a lateral IPC camera (35); the multi-directional vibration sensor (33) is fixedly mounted inside the mounting shell (31); the mounting seat (32) is fixedly mounted on one side of the tower (1); the forward IPC camera (34) is fixedly mounted on a side of the mounting shell (31) away from the mounting seat (32); two groups of lateral IPC cameras (35) are fixedly mounted on the side of the multi-directional vibration sensor (33); the multi-directional vibration sensor (33) is used for detecting the position offset of the tower (1); and the forward IPC camera (34) and the lateral IPC camera (35) are used for detecting the position offset of the tower (1).

3. A wind turbine tower health assessment system according to claim 2, characterized in that: The controller (2) comprises a signal transmission module and a waveform generation module. The signal transmission module receives the electrical signal generated by the vibration of the multi-directional vibration sensor (33) through a remote protocol, and the waveform generation module generates a waveform diagram through the electrical signal.

4. A wind turbine tower health assessment system according to claim 3, characterized in that: It also includes a tower definition section (4), which is a structural section that is equidistantly designed for the tower tube (1) and can be clearly imaged by a forward IPC camera (34) and a side IPC camera (35).

5. A wind turbine tower health assessment system according to claim 4, characterized in that: The waveform generation module comprises a stable band detection unit and an unstable band detection unit, and the stable band detection unit or the unstable band detection unit both judge the vibration state of the tower (1) through the state and trend of the mechanical wave waveform.

6. A wind turbine tower health assessment system according to claim 5, characterized in that: A rotating shaft (36) is fixedly connected to one side of the mounting shell (31), and the rotating shaft (36) is rotatably connected to the mounting seat (32).

7. A wind turbine tower health assessment system according to claim 6, characterized in that: A remote control motor (39) is fixedly installed inside the mounting seat (32), and an output end of the remote control motor (39) is fixedly connected to a driving gear (38). One end of the rotating shaft (36) that penetrates into the mounting seat (32) is fixedly connected to a driven gear (37), and the driving gear (38) is meshed with the driven gear (37).

8. A wind turbine tower health assessment system according to claim 7, characterized in that: The forward IPC camera (34) and the lateral IPC camera (35) both include an image detection unit, a point cloud conversion unit, and an analysis report unit. The forward IPC camera (34) detects the offset of the fixedly installed tower (1) at the side wall, and the lateral IPC camera (35) detects the offset of the fixedly installed tower (1) at the upper and lower side walls.

9. A wind turbine tower health assessment system and assessment method according to claim 8, characterized in that: include Step S1: The multi-directional vibration sensor (33) transmits the electrical signal of the vibration of the tower definition section (4) to the controller (2) following the vibration of the tower (1) and generates a mechanical wave; Step S2: the stable band detection unit or the unstable band detection unit tracks the abnormal vibration band and locates the abnormal vibration position to determine the regional amplitude abnormality; Step S3: the forward IPC camera (34) and the side IPC camera (35) calculate the offset of the tower definition section (4) according to the point cloud position offset, and evaluate the overall amplitude of the tower (1); Step S4: the forward IPC camera (34) and the side IPC camera (35) evaluate the appearance integrity of the tower (1) based on the point cloud density.

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