Method and device for adjusting cabin position of wind driven generator and computer program product

Abstract

The invention discloses a method and device for adjusting the position of a cabin of a wind driven generator and a computer program product, and relates to the field of wind power generation, the method for adjusting the position of the cabin of the wind driven generator comprises the steps that the current distance between a distance measuring point and the head of the cabin of the wind driven generator is obtained, and the cabin of the wind driven generator is located at the current position; according to the comparison result of the current distance and a preset distance, the cabin is controlled to horizontally rotate around the tower so as to adjust the current position, and the preset distance represents the distance between the distance measuring point and the head of the cabin when the cabin is located at the preset position. By adopting the technical scheme, the problem of how to adjust the position of the cabin of the wind driven generator is solved.

Description

Technical Field

[0001] The present application relates to the field of wind power generation, and in particular, to a method, device and computer program product for adjusting the position of a nacelle of a wind turbine. Background Art

[0002] When the axis of the wind turbine nacelle is offset from the north, it will cause static yaw error of the wind turbine, which will reduce the power generation efficiency, increase the load of the unit, and affect the safety and stability of the wind turbine operation. At present, there are still a large number of wind farms with nacelle positions that are not aligned with the north, so many monitoring data are measured based on the error of the north deviation, so the nacelle position needs to be corrected and adjusted.

[0003] Therefore, in the related art, there is a problem of how to adjust the position of the nacelle of the wind turbine.

[0004] With regard to the problem of how to adjust the position of the nacelle of a wind turbine in the related art, no effective solution has been proposed yet.

[0005] Therefore, it is necessary to improve the related technology to overcome the above-mentioned defects in the related technology. Summary of the invention

[0006] The embodiments of the present application provide a method, device and computer program product for adjusting the position of a nacelle of a wind turbine generator, so as to at least solve the problem of how to adjust the position of the nacelle of a wind turbine generator in the related art.

[0007] According to one aspect of an embodiment of the present application, a method for adjusting the position of a nacelle of a wind turbine is provided, comprising: obtaining a current distance between a ranging point and a head of the nacelle of the wind turbine, wherein the nacelle of the wind turbine is located at a current position; and controlling the nacelle to rotate horizontally around a tower to adjust the current position based on a comparison result between the current distance and a preset distance, wherein the preset distance represents the distance between the ranging point and the head of the nacelle when the nacelle is located at a preset position.

[0008] In an exemplary embodiment, the preset distance includes a first preset distance and a second preset distance. Before controlling the nacelle to rotate horizontally around the tower to adjust the current position according to a comparison result between the current distance and the preset distance, the method further includes: when it is determined that the deviation angle between the position of the nacelle and the preset direction is a first angle, obtaining the first preset distance between the ranging point and the nacelle head of the wind turbine; when it is determined that the deviation angle between the position of the nacelle and the preset direction is a second angle, obtaining the second preset distance between the ranging point and the nacelle head of the wind turbine, wherein the second angle is greater than the first angle.

[0009] In an exemplary embodiment, the nacelle is controlled to rotate horizontally around the tower to adjust the current position based on a comparison result between the current distance and the preset distance, including: when it is determined that the current distance is greater than the first preset distance and less than the second preset distance, the adjustment angle of the nacelle is calculated, and according to the adjustment angle of the nacelle, the nacelle is controlled to rotate horizontally around the tower to adjust the current position; when it is determined that the current distance is greater than the second preset distance, the wind turbine is shut down for inspection; when it is determined that the current distance is less than the first preset distance, it is determined that the nacelle position is in a normal state.

[0010] In an exemplary embodiment, when it is determined that the current distance is greater than the first preset distance and less than the second preset distance, the adjustment angle of the cabin is calculated, including: after obtaining the current distance, determining the projection point of the laser emitted by the ranging device on the cabin head of the wind turbine; obtaining a first coordinate point corresponding to the projection point in a three-dimensional coordinate system, a second coordinate point corresponding to the ranging point in the three-dimensional coordinate system, and a third coordinate point corresponding to the target projection point in the three-dimensional coordinate system, the target projection point representing the projection point of the projection point on the ground; and calculating the adjustment angle of the cabin according to the first coordinate point, the second coordinate point, and the third coordinate point.

[0011] In an exemplary embodiment, a first coordinate point corresponding to the projection point in a three-dimensional coordinate system, a second coordinate point corresponding to the ranging point in the three-dimensional coordinate system, and a third coordinate point corresponding to the target projection point in the three-dimensional coordinate system are obtained, and the method further includes: establishing the three-dimensional coordinate system, wherein the origin of the three-dimensional coordinate system is the projection point of the center point of the cabin head on the ground when the position of the cabin is consistent with the preset direction, the direction of the first coordinate axis of the three-dimensional coordinate axis is perpendicular to the ground, the direction of the second coordinate axis of the three-dimensional coordinate system is the direction of the ranging point relative to the origin, and the direction of the third coordinate axis of the three-dimensional coordinate system is perpendicular to the directions of the first coordinate axis and the second coordinate axis.

[0012] In an exemplary embodiment, the adjustment angle of the cabin is calculated based on the first coordinate point, the second coordinate point, and the third coordinate point, including: determining a first plane based on the first coordinate point, the second coordinate point, and the third coordinate point; calculating the basis vector corresponding to the second coordinate axis and the normal vector corresponding to the first plane according to the angle calculation formula between the vector and the plane to obtain a target angle; and determining the target angle as the adjustment angle of the cabin.

[0013] According to another aspect of an embodiment of the present application, a device for adjusting the position of a nacelle of a wind turbine is further provided, comprising: an acquisition module for acquiring a current distance between a ranging point and a head of the nacelle of the wind turbine, wherein the nacelle of the wind turbine is located at a current position; and an adjustment module for controlling the horizontal rotation of the nacelle around a tower to adjust the current position based on a comparison result between the current distance and a preset distance, wherein the preset distance represents the distance between the ranging point and the head of the nacelle when the nacelle is located at a preset position.

[0014] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned method for adjusting the position of the nacelle of the wind turbine when running.

[0015] According to another aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the method for adjusting the position of the nacelle of the wind turbine through the computer program.

[0016] According to another aspect of the embodiments of the present application, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of the method described in each embodiment of the present application are implemented.

[0017] Through the present application, the current distance between the distance measuring point and the head of the nacelle of the wind turbine generator can be obtained, wherein the nacelle of the wind turbine generator is located at the current position; according to the comparison result between the current distance and the preset distance, the nacelle is controlled to rotate horizontally around the tower to adjust the current position, wherein the preset distance represents the distance between the distance measuring point and the head of the nacelle when the nacelle is located at the preset position. Thus, the problem of how to adjust the position of the nacelle of the wind turbine generator in the related art is solved, and the effect of adjusting the position of the nacelle of the wind turbine generator is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0020] Figure 1It is a hardware structure block diagram of a computer terminal of a method for adjusting the position of a nacelle of a wind turbine according to an embodiment of the present application;

[0021] Figure 2 is a flow chart of a method for adjusting the position of a nacelle of a wind turbine according to an embodiment of the present application;

[0022] Figure 3 is a schematic diagram of a method for adjusting the position of a nacelle of a wind turbine according to an embodiment of the present application (I);

[0023] Figure 4 is a schematic diagram of a method for adjusting the position of a nacelle of a wind turbine according to an embodiment of the present application (II);

[0024] Figure 5 It is a structural block diagram of a device for adjusting the position of a nacelle of a wind turbine according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] The method embodiments provided in the embodiments of the present application can be executed in a computer terminal or a similar computing device. Taking running on a computer terminal as an example, Figure 1 FIG. 1 is a hardware structure block diagram of a computer terminal for a method for adjusting the position of a nacelle of a wind turbine according to an embodiment of the present application. Figure 1 As shown, the computer terminal may include one or more ( Figure 1Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor (Central Processing Unit, MCU) or a programmable logic device (Field Programmable Gate Array, FPGA)) and a memory 104 for storing data, wherein the above-mentioned computer terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above-mentioned computer terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0028] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the method for adjusting the position of the nacelle of the wind turbine in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the computer terminal 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.

[0029] A wireless network provided by a communication provider of a computer terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0030] In this embodiment, a method for adjusting the position of a nacelle of a wind turbine is provided. Figure 2 is a flow chart of a method for adjusting the position of a nacelle of a wind turbine according to an embodiment of the present application, such as Figure 2 As shown, the process includes the following steps:

[0031] Step S202, obtaining a current distance between a distance measurement point and a head of a nacelle of the wind turbine, wherein the nacelle of the wind turbine is located at a current position;

[0032] Step S204, controlling the nacelle to rotate horizontally around the tower to adjust the current position according to the comparison result between the current distance and the preset distance, wherein the preset distance represents the distance between the ranging point and the nacelle head when the nacelle is at a preset position.

[0033] Through the above steps, the current distance between the distance measuring point and the head of the nacelle of the wind turbine generator can be obtained, wherein the nacelle of the wind turbine generator is located at the current position; according to the comparison result between the current distance and the preset distance, the nacelle is controlled to rotate horizontally around the tower to adjust the current position, wherein the preset distance represents the distance between the distance measuring point and the head of the nacelle when the nacelle is located at the preset position. Thus, the problem of how to adjust the position of the nacelle of the wind turbine generator in the related art is solved, and the effect of adjusting the position of the nacelle of the wind turbine generator is achieved.

[0034] In an exemplary embodiment, the preset distance includes a first preset distance and a second preset distance. Before controlling the nacelle to rotate horizontally around the tower to adjust the current position according to a comparison result between the current distance and the preset distance, the method further includes: when it is determined that the deviation angle between the position of the nacelle and the preset direction is a first angle, obtaining the first preset distance between the ranging point and the nacelle head of the wind turbine; when it is determined that the deviation angle between the position of the nacelle and the preset direction is a second angle, obtaining the second preset distance between the ranging point and the nacelle head of the wind turbine, wherein the second angle is greater than the first angle.

[0035] In an optional embodiment, if Figure 3 As shown, the ranging device emits a laser from the ranging point to the head of the nacelle to achieve laser ranging. The ranging device is located due north of the wind turbine. When the nacelle faces north, the projection point is exactly at the center point of the head of the nacelle. When the nacelle rotates around the tower, the laser emitted by the ranging device will be aimed at the nearest place in the curve of the head of the nacelle. The curve here refers to the horizontal central axis of the curved surface of the head of the nacelle.

[0036] In an optional embodiment, for example, the preset direction is the north direction, the first preset distance is the distance measured by the ranging device when the cabin deviates from the north direction by 3°, and the second preset distance is the distance measured by the ranging device when the cabin deviates from the north direction by 9°.

[0037] In an exemplary embodiment, the nacelle is controlled to rotate horizontally around the tower to adjust the current position based on a comparison result between the current distance and the preset distance, including: when it is determined that the current distance is greater than the first preset distance and less than the second preset distance, the adjustment angle of the nacelle is calculated, and according to the adjustment angle of the nacelle, the nacelle is controlled to rotate horizontally around the tower to adjust the current position; when it is determined that the current distance is greater than the second preset distance, the wind turbine is shut down for inspection; when it is determined that the current distance is less than the first preset distance, it is determined that the nacelle position is in a normal state.

[0038] Optionally, in the above embodiment, if the current distance is greater than the first preset distance and less than the second preset distance, it means that the current cabin's deviation angle to the north is between 3-9°, and the cabin position is judged to be in an abnormal state, and the deviation angle needs to be adjusted. If the current distance is greater than the second preset distance, it means that the current cabin's deviation angle to the north is above 9°, and a serious deviation has occurred. At this time, it is necessary to shut down and check to confirm the fault and the cause of the fault. If the current distance is less than the first preset distance, it means that the current cabin's deviation angle to the north is less than 3°, which is within the normal range, and it is invalid to adjust it.

[0039] In an exemplary embodiment, when it is determined that the current distance is greater than the first preset distance and less than the second preset distance, the adjustment angle of the cabin is calculated, including: after obtaining the current distance, determining the projection point of the laser emitted by the ranging device on the cabin head of the wind turbine; obtaining a first coordinate point corresponding to the projection point in a three-dimensional coordinate system, a second coordinate point corresponding to the ranging point in the three-dimensional coordinate system, and a third coordinate point corresponding to the target projection point in the three-dimensional coordinate system, the target projection point representing the projection point of the projection point on the ground; and calculating the adjustment angle of the cabin according to the first coordinate point, the second coordinate point, and the third coordinate point.

[0040] In an exemplary embodiment, a first coordinate point corresponding to the projection point in a three-dimensional coordinate system, a second coordinate point corresponding to the ranging point in the three-dimensional coordinate system, and a third coordinate point corresponding to the target projection point in the three-dimensional coordinate system are obtained, and the method further includes: establishing the three-dimensional coordinate system, wherein the origin of the three-dimensional coordinate system is the projection point of the center point of the cabin head on the ground when the position of the cabin is consistent with the preset direction, the direction of the first coordinate axis of the three-dimensional coordinate axis is perpendicular to the ground, the direction of the second coordinate axis of the three-dimensional coordinate system is the direction of the ranging point relative to the origin, and the direction of the third coordinate axis of the three-dimensional coordinate system is perpendicular to the directions of the first coordinate axis and the second coordinate axis.

[0041] Optionally, in the above embodiment, for example, the ranging device is placed in the due north position, when the cabin of the wind turbine faces north, the point where the center point of the cabin head is projected to the ground is the origin (0, 0, 0), the due north direction (equivalent to the direction of the ranging point relative to the origin) is the x-axis (equivalent to the second coordinate axis), the due east direction is the y-axis (equivalent to the third coordinate axis), and the direction perpendicular to the ground is the z-axis (equivalent to the first coordinate axis).

[0042] In an exemplary embodiment, the adjustment angle of the cabin is calculated based on the first coordinate point, the second coordinate point, and the third coordinate point, including: determining a first plane based on the first coordinate point, the second coordinate point, and the third coordinate point; calculating the basis vector corresponding to the second coordinate axis and the normal vector corresponding to the first plane according to the angle calculation formula between the vector and the plane to obtain a target angle; and determining the target angle as the adjustment angle of the cabin.

[0043] Optionally, in the above embodiment, the angle between the vector and the plane is calculated as follows:

[0044]

[0045] Among them, θ represents the angle between the vector and the plane, v represents the normal vector of the plane to be calculated, and n represents the vector to be calculated.

[0046] Obviously, the above-described embodiments are only a part of the embodiments of the present application, not all of the embodiments. In order to better understand the above-mentioned method for determining the power generation area, the above-mentioned process is described below in conjunction with the embodiments, but it is not intended to limit the technical solutions of the embodiments of the present application, specifically:

[0047] In an optional embodiment, in combination Figure 4 The method for adjusting the position of the nacelle of the wind turbine generator of the present application is further described. Figure 4 As shown, including:

[0048] 1. Place the laser ranging device in the due north of the wind turbine. The distance from the projection point of the center point of the cabin head on the ground to the laser ranging device is D.

[0049] 2. Establish a coordinate system. When the wind turbine faces north, the projection point of the center point of the cabin head on the ground is the origin (0, 0, 0), the north direction is the x-axis, the east direction is the y-axis, the direction perpendicular to the ground is the z-axis, and the position of the laser ranging equipment is the ranging point A (D, 0, 0). Calculate the shortest distance from point A to curve J (the horizontal center axis of the cabin head surface) as a0.

[0050] 3. Adjust the position of the cabin so that the laser ranging distance is a0. At this time, the cabin is in the due north state.

[0051] 4. Monitor the measured distance a (equivalent to the current distance) of the laser ranging device in real time, combine it with curve J to obtain the coordinates of the projection point of the current laser at the head of the nacelle, and obtain the angle of the nacelle relative to true north through the vector method.

[0052] 5. If the measured distance a < m or a = m, it is determined that the nacelle is in a normal state facing north. Among them, the distance m (equivalent to the first preset distance) corresponds to a deviation angle M° (equivalent to the first angle), and the M° angle is relatively small. For example, M° = 3°.

[0053] 6. If the measured distance m < a < n, it is determined that the nacelle is in an abnormal state facing north, and the information is transmitted to the control platform to adjust the position of the nacelle. Among them, the distance n (equivalent to the second preset distance) corresponds to a deviation angle N° (equivalent to the second angle), and the N° angle is relatively large. For example, N° = 9°.

[0054] 7. If the measured distance a > n or a = n, it is determined that the yaw angle of the nacelle is severely deviated, and it is necessary to stop the machine for inspection, confirm the fault and the cause of the fault. After the maintenance of the wind turbine is completed, the position of the nacelle is adjusted through the control platform.

[0055] 8. Monitor the laser ranging length a in real time to determine whether the nacelle is in a normal state.

[0056] Through the above embodiments, the yaw angle of the wind turbine can be monitored, the abnormal situation of the yaw angle can be detected in time, and the position of the nacelle of the wind turbine can be corrected.

[0057] Through the description of the above implementation manners, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation manner. Based on such an understanding, the technical solution of the present application, in essence, or the part that makes a contribution to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disc), and includes several instructions to enable a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of the present application.

[0058] In this embodiment, a device for adjusting the position of the nacelle of a wind turbine is also provided. This device is used to implement the above embodiments and preferred implementation manners, and those that have been described will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0059] Figure 5: is a structural block diagram of a device for adjusting the position of a nacelle of a wind turbine according to an embodiment of the present application, the device comprising:

[0060] An acquisition module 52 is used to acquire a current distance between a distance measurement point and a head of a nacelle of the wind turbine, wherein the nacelle of the wind turbine is located at a current position;

[0061] The adjustment module 54 is used to control the horizontal rotation of the cabin around the tower to adjust the current position according to the comparison result between the current distance and the preset distance, wherein the preset distance represents the distance between the ranging point and the cabin head when the cabin is at the preset position.

[0062] Through the above device, the current distance between the distance measuring point and the head of the nacelle of the wind turbine generator can be obtained, wherein the nacelle of the wind turbine generator is located at the current position; according to the comparison result between the current distance and the preset distance, the nacelle is controlled to rotate horizontally around the tower to adjust the current position, wherein the preset distance represents the distance between the distance measuring point and the head of the nacelle when the nacelle is located at the preset position. Thus, the problem of how to adjust the position of the nacelle of the wind turbine generator in the related art is solved, and the effect of adjusting the position of the nacelle of the wind turbine generator is achieved.

[0063] In an exemplary embodiment, the acquisition module 52 is further used to: when it is determined that the deviation angle between the position of the nacelle and the preset direction is a first angle, obtain a first preset distance between the ranging point and the nacelle head of the wind turbine; when it is determined that the deviation angle between the position of the nacelle and the preset direction is a second angle, obtain a second preset distance between the ranging point and the nacelle head of the wind turbine, wherein the second angle is greater than the first angle.

[0064] In an exemplary embodiment, the adjustment module 54 is further used to: when it is determined that the current distance is greater than the first preset distance and less than the second preset distance, calculate the adjustment angle of the nacelle, and control the nacelle to rotate horizontally around the tower according to the adjustment angle of the nacelle to adjust the current position; when it is determined that the current distance is greater than the second preset distance, shut down the wind turbine for inspection; when it is determined that the current distance is less than the first preset distance, determine that the nacelle position is in a normal state.

[0065] In an exemplary embodiment, the adjustment module 54 is also used to: after obtaining the current distance, determine the projection point of the laser emitted by the ranging device on the head of the cabin of the wind turbine; obtain a first coordinate point corresponding to the projection point in the three-dimensional coordinate system, a second coordinate point corresponding to the ranging point in the three-dimensional coordinate system, and a third coordinate point corresponding to the target projection point in the three-dimensional coordinate system, the target projection point representing the projection point of the projection point on the ground; calculate the adjustment angle of the cabin according to the first coordinate point, the second coordinate point, and the third coordinate point.

[0066] In an exemplary embodiment, the adjustment module 54 is also used to: establish the three-dimensional coordinate system, wherein the origin of the three-dimensional coordinate system is the projection point of the center point of the cabin head on the ground when the position of the cabin is consistent with the preset direction, the direction of the first coordinate axis of the three-dimensional coordinate axis is perpendicular to the ground, the direction of the second coordinate axis of the three-dimensional coordinate system is the direction of the ranging point relative to the origin, and the direction of the third coordinate axis of the three-dimensional coordinate system is perpendicular to the direction of the first coordinate axis and the direction of the second coordinate axis.

[0067] In an exemplary embodiment, the adjustment module 54 is also used to: determine the first plane according to the first coordinate point, the second coordinate point, and the third coordinate point; calculate the basis vector corresponding to the second coordinate axis and the normal vector corresponding to the first plane according to the angle calculation formula between the vector and the plane to obtain a target angle; and determine the target angle as the adjustment angle of the cabin.

[0068] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when running.

[0069] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0070] S1, obtaining a current distance between a distance measurement point and a head of a nacelle of the wind turbine, wherein the nacelle of the wind turbine is located at a current position;

[0071] S2. Controlling the horizontal rotation of the cabin around the tower to adjust the current position according to the comparison result between the current distance and the preset distance, wherein the preset distance represents the distance between the ranging point and the cabin head when the cabin is located at the preset position.

[0072] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0073] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0074] An embodiment of the present application further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0075] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0076] S1, obtaining a current distance between a distance measurement point and a head of a nacelle of the wind turbine, wherein the nacelle of the wind turbine is located at a current position;

[0077] S2. Controlling the horizontal rotation of the cabin around the tower to adjust the current position according to the comparison result between the current distance and the preset distance, wherein the preset distance represents the distance between the ranging point and the cabin head when the cabin is located at the preset position.

[0078] In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0079] An embodiment of the present application further provides a computer program product, comprising a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program product, and when the computer program is executed by a processor, the steps of the method described in each embodiment of the present application are implemented.

[0080] Optionally, in this embodiment, the above computer program may be configured to implement the following steps when executed by a processor:

[0081] S1, obtaining a current distance between a distance measurement point and a head of a nacelle of the wind turbine, wherein the nacelle of the wind turbine is located at a current position;

[0082] S2. Controlling the horizontal rotation of the cabin around the tower to adjust the current position according to the comparison result between the current distance and the preset distance, wherein the preset distance represents the distance between the ranging point and the cabin head when the cabin is located at the preset position.

[0083] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0084] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0085] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for adjusting the position of a nacelle of a wind turbine, characterized in that: Applied to wind turbines, including: Acquire a current distance between a distance measurement point and a head of a nacelle of the wind turbine, wherein the nacelle of the wind turbine is located at a current position; The nacelle is controlled to rotate horizontally around the tower to adjust the current position according to a comparison result between the current distance and a preset distance, wherein the preset distance represents the distance between the distance measuring point and the nacelle head when the nacelle is located at a preset position.

2. The method according to claim 1, characterized in that The preset distance includes a first preset distance and a second preset distance. Before controlling the nacelle to rotate horizontally around the tower to adjust the current position according to a comparison result between the current distance and the preset distances, the method further includes: When it is determined that the deviation angle between the position of the nacelle and the preset direction is a first angle, obtaining a first preset distance between the distance measuring point and the nacelle head of the wind turbine; When it is determined that the deviation angle between the position of the nacelle and the preset direction is a second angle, a second preset distance between the distance measuring point and the nacelle head of the wind turbine is obtained, wherein the second angle is greater than the first angle.

3. The method according to claim 2, characterized in that Controlling the nacelle to rotate horizontally around the tower according to a comparison result between the current distance and the preset distance to adjust the current position includes: When it is determined that the current distance is greater than the first preset distance and less than the second preset distance, calculating an adjustment angle of the nacelle, and controlling the nacelle to rotate horizontally around the tower according to the adjustment angle of the nacelle to adjust the current position; When it is determined that the current distance is greater than the second preset distance, shutting down the wind turbine for inspection; In the case where it is determined that the current distance is less than the first preset distance, it is determined that the cabin position is in a normal state.

4. The method according to claim 3, characterized in that When it is determined that the current distance is greater than the first preset distance and less than the second preset distance, calculating the adjustment angle of the cabin includes: After acquiring the current distance, determining a projection point of the laser emitted by the distance measuring device on the head of the nacelle of the wind turbine; Acquire a first coordinate point corresponding to the projection point in the three-dimensional coordinate system, a second coordinate point corresponding to the distance measuring point in the three-dimensional coordinate system, and a third coordinate point corresponding to the target projection point in the three-dimensional coordinate system, wherein the target projection point represents the projection point of the projection point on the ground; An adjustment angle of the nacelle is calculated according to the first coordinate point, the second coordinate point, and the third coordinate point.

5. The method according to claim 4, characterized in that Acquire a first coordinate point corresponding to the projection point in the three-dimensional coordinate system, a second coordinate point corresponding to the distance measuring point in the three-dimensional coordinate system, and the target projection point is before a third coordinate point corresponding to the three-dimensional coordinate system, the method further comprising: The three-dimensional coordinate system is established, wherein the origin of the three-dimensional coordinate system is the projection point of the center point of the cabin head on the ground when the position of the cabin is consistent with the preset direction, the direction of the first coordinate axis of the three-dimensional coordinate axis is the direction perpendicular to the ground, the direction of the second coordinate axis of the three-dimensional coordinate system is the direction of the ranging point relative to the origin, and the direction of the third coordinate axis of the three-dimensional coordinate system is perpendicular to the directions of the first coordinate axis and the second coordinate axis.

6. The method according to claim 4, characterized in that Calculating the adjustment angle of the cabin according to the first coordinate point, the second coordinate point, and the third coordinate point includes: Determine a first plane according to the first coordinate point, the second coordinate point, and the third coordinate point; Calculate the basis vector corresponding to the second coordinate axis and the normal vector corresponding to the first plane according to the angle calculation formula between the vector and the plane to obtain a target angle; The target angle is determined as the adjustment angle of the nacelle.

7. A device for adjusting the position of a nacelle of a wind turbine, characterized in that: include: An acquisition module, used for acquiring a current distance between a distance measurement point and a head of a nacelle of the wind turbine, wherein the nacelle of the wind turbine is located at a current position; An adjustment module is used to control the horizontal rotation of the cabin around the tower to adjust the current position according to the comparison result of the current distance and the preset distance, wherein the preset distance represents the distance between the ranging point and the head of the cabin when the cabin is at a preset position.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 6 when executed.

9. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 6 through the computer program.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

Images