A method for monitoring the operating status of wind turbine blades based on 3D modeling

Abstract

The present invention provides a method for monitoring the operating status of a wind turbine blade based on three-dimensional modeling, and relates to the technical field of monitoring the operating status of a wind turbine blade. The method comprises: obtaining a standard point cloud data list A of a target blade without deformation collected by a ground laser radar at a first preset position, obtaining a current point cloud data list B of a target blade at the first preset position collected by the ground laser radar, obtaining the minimum distance between each standard point cloud data in A and each current point cloud data in B, so as to obtain a minimum distance list LA corresponding to A; if the number NUM1 of the minimum distances greater than a preset distance L' in LA is less than a preset minimum distance number threshold, it is determined that the target blade has no deformation; otherwise, according to C and the current point cloud data of the target blade at a second preset position collected by an aerial laser radar, the deformation area of ​​the target blade is determined; the present invention can realize the overall deformation monitoring of the wind turbine blade.

Description

Technical Field

[0001] The invention relates to the technical field of wind turbine blade operating status monitoring, and in particular to a wind turbine blade operating status monitoring method based on three-dimensional modeling. Background Art

[0002] In the field of wind power generation, the blades of wind turbines may fail during their long-term operation. At present, strain, displacement and vibration sensors are generally placed inside the blades of wind turbines to detect the deformation and vibration of the blades during the operation of the wind turbines, and alarm information is given when the blades are significantly deformed. The sensors used in this method are all point sensors, that is, they can only detect the deformation value of local parts. Compared with the huge blades, their detection range is very small, and they cannot accurately detect the failure of the overall deformation of the blades. Therefore, how to detect the failure when the overall deformation of the blades of wind turbines occurs has become a technical problem that needs to be solved urgently. Summary of the invention

[0003] In view of the above technical problems, the technical solution adopted by the present invention is:

[0004] According to a first aspect of the present application, a method for monitoring the operating status of a wind turbine blade based on three-dimensional modeling is provided, the method comprising the following steps:

[0005] S100, obtaining a standard point cloud data list A=(A1, A2, ..., A1) of a target blade without deformation at a first preset position collected by a ground laser radar. i , …, A n ), i=1, 2,...,n; among them, A i is the point cloud data of the i-th preset point on the target blade when the target blade is at the first preset position, and n is the number of preset points on the target blade; the ground laser radar is installed on the back side of the wind turbine blade; the target blade is any blade in the wind turbine blade; A is obtained through the ground laser radar coordinate system;

[0006] S200, obtaining a current point cloud data list B=(B1, B2, ..., B j , …, B m ), j = 1, 2, …, m; where B j is the jth current point cloud data collected by the ground laser radar when the target blade is at the first preset position, and m is the number of current point cloud data collected by the ground laser radar when the target blade is at the first preset position;

[0007] S300, obtaining the minimum distance between each standard point cloud data in A and each current point cloud data in B, so as to obtain the minimum distance list LA corresponding to A = (LA1, LA2, ..., LA i , …, LA n ); where LA i A i The minimum distance to each current point cloud data in B;

[0008] S400, obtaining the number NUM1 of the minimum distances in LA that are greater than a preset distance L';

[0009] S500, if NUM1<NUM', it is determined that the target blade has no deformation; otherwise, enter S600; wherein NUM' is a preset minimum distance quantity threshold;

[0010] S600, obtaining a standard point cloud data list C=(C1, C2, ..., C i , …, C n ); where C i is the point cloud data of the i-th preset point on the target blade when the target blade is at the second preset position; the aerial laser radar is installed at the top of the main engine of the wind turbine; C is obtained through the aerial laser radar coordinate system;

[0011] S700, determining a deformation area of ​​the target blade according to C and current point cloud data of the target blade at a second preset position collected by the aerial laser radar.

[0012] According to another aspect of the present application, a non-transitory computer-readable storage medium is also provided, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the above-mentioned wind turbine blade operating status monitoring method based on three-dimensional modeling.

[0013] According to another aspect of the present application, an electronic device is provided, including a processor and the above-mentioned non-transitory computer-readable storage medium.

[0014] The present invention has at least the following beneficial effects:

[0015] The method for monitoring the operating status of wind turbine blades based on three-dimensional modeling of the present invention obtains a list A of standard point cloud data of a target blade without deformation collected by a ground laser radar at a first preset position, obtains a list B of current point cloud data of a target blade at the first preset position collected by a ground laser radar, obtains the minimum distance between each standard point cloud data in A and each current point cloud data in B, so as to obtain a minimum distance list LA corresponding to A; if the number NUM1 of minimum distances greater than a preset distance L' in LA is less than a preset threshold value of the number of minimum distances, it is determined that the target blade has no deformation; otherwise, the deformation area of ​​the target blade is determined according to C and the current point cloud data of the target blade at a second preset position collected by an aerial laser radar; thereby realizing overall deformation monitoring of the wind turbine blade.

[0016] Furthermore, the present invention simultaneously sets up a ground-based laser radar and an aerial laser radar, and uses the point cloud data of the target blade acquired by the laser radars at different positions to monitor the deformation of the target blade. Since the probability of the laser radars in different spatial dimensions being moved at the same time is extremely small, the monitoring accuracy can be further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 A flow chart of a method for monitoring the operating status of wind turbine blades based on three-dimensional modeling provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0019] 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0020] It should be noted that, based on the present disclosure, those skilled in the art should understand that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement a device and / or practice a method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0021] The following will refer to Figure 1 The flowchart of the method for monitoring the operating status of wind turbine blades based on three-dimensional modeling is shown, which introduces a method for monitoring the operating status of wind turbine blades based on three-dimensional modeling.

[0022] The wind turbine blade operating status monitoring method based on three-dimensional modeling may include the following steps:

[0023] S100, obtaining a standard point cloud data list A=(A1, A2, ..., A1) of a target blade without deformation at a first preset position collected by a ground laser radar. i , …, A n ), i=1, 2,...,n; among them, A i is the point cloud data of the i-th preset point on the target blade when the target blade is in the first preset position, and n is the number of preset points on the target blade; the ground laser radar is installed on the back side of the wind turbine blade; the target blade is any blade in the wind turbine blade; A is obtained through the ground laser radar coordinate system.

[0024] In this embodiment, when the target blade is not deformed, the target blade can be placed in a first preset position, for example: the target blade is placed in a vertical downward position; the point cloud data of the target blade when it is in the first preset position is obtained by installing a ground laser radar on the ground on the back side of the wind turbine blade to obtain A; it should be noted that when obtaining each point cloud data corresponding to the target blade, each point on the target blade will be marked according to the position relationship, and a total of n points will be marked; each point cloud data includes the coordinates of the point corresponding to each point cloud data in the ground laser radar coordinate system.

[0025] Furthermore, since the wind speed will affect the deformation of the target blade, when obtaining A, the corresponding wind speed at that time can be obtained first, and the standard point cloud data can be obtained at the wind speed; that is, different wind speeds correspond to different standard point cloud data lists.

[0026] S200, obtaining a current point cloud data list B=(B1, B2, ..., B j , …, B m ), j = 1, 2, …, m; where B j is the jth current point cloud data collected by the ground laser radar when the target blade is in the first preset position, and m is the number of current point cloud data collected by the ground laser radar when the target blade is in the first preset position.

[0027] In this embodiment, A obtained in the above step 100 is stored in a preset position and can be called at any time; when the wind turbine is running, the current point cloud data of the target blade at the first preset position can be obtained in real time, and then B can be obtained; it should be noted that since A and B are obtained at different time points, the number of point cloud data of the two is not necessarily equal.

[0028] S300, obtaining the minimum distance between each standard point cloud data in A and each current point cloud data in B, so as to obtain the minimum distance list LA corresponding to A = (LA1, LA2, ..., LA i , …, LA n ); where LA i A i The minimum distance to each current point cloud data in B.

[0029] In this embodiment, for A i , we can calculate A i The distance between each current point cloud data in B, and then find the minimum distance among the distances to get A i The corresponding minimum distance LA i , and then get LA.

[0030] S400, obtaining the number NUM1 of the minimum distances in LA that are greater than a preset distance L'.

[0031] In this embodiment, the preset distance L' can be obtained through a large number of experiments, which will not be described in detail here.

[0032] S500, if NUM1<NUM', determine that the target blade has no deformation; otherwise, proceed to S600; wherein NUM' is a preset minimum distance quantity threshold.

[0033] In this embodiment, if the target blade is not deformed, then, ideally, the minimum distance in LA should be smaller than L'; taking into account the existence of monitoring errors, when the target blade is not deformed, there may be individual minimum distances in LA that are greater than L', therefore, NUM' is set to improve the accuracy of monitoring.

[0034] S600, obtaining a standard point cloud data list C=(C1, C2, ..., C i , …, C n ); where C i It is the point cloud data of the i-th preset point on the target blade when the target blade is at the second preset position; the aerial laser radar is installed at the top of the main engine of the wind turbine; C is obtained through the aerial laser radar coordinate system.

[0035] In this embodiment, an aerial laser radar is also arranged at the top of the main engine of the wind turbine; when the target blade is not deformed, the target blade can be placed in a second preset position, for example, the target blade is placed in a vertically upward position; the point cloud data of the target blade when it is in the second preset position is obtained by installing the aerial laser radar at the top of the main engine of the wind turbine to obtain C; it should be noted that when obtaining each point cloud data corresponding to the target blade, each point on the target blade will be marked according to the position relationship, and a total of n points will be marked; each point cloud data includes the coordinates of the point corresponding to each point cloud data in the aerial laser radar coordinate system.

[0036] Furthermore, the ground laser radar and the aerial laser radar in this embodiment are 512-line laser radars, which can completely cover the target blades.

[0037] S700, determining a deformation area of ​​the target blade according to C and current point cloud data of the target blade at a second preset position collected by the aerial laser radar.

[0038] In this embodiment, if NUM≥NUM', it is not possible to directly determine that the target blade is deformed, because the position of the ground laser radar may be moved due to certain factors, for example, the ground laser radar is moved artificially; thereby causing the coordinates of the ground laser radar to change, and when the target blade is not deformed, the point cloud data of the target blade obtained will change significantly; in order to improve the accuracy of the judgment, it is necessary to use the point cloud data of the target blade obtained by the aerial laser radar for auxiliary judgment.

[0039] Further, step S700 may include the following steps:

[0040] S710, obtaining a current point cloud data list D = (D1, D2, ..., D p , …, D q ), p = 1, 2, …, q; where D p is the pth current point cloud data collected by the air-space laser radar when the target blade is in the second preset position, and q is the number of current point cloud data collected by the air-space laser radar when the target blade is in the second preset position.

[0041] In this embodiment, when the target blade is in the second preset position, the point cloud data corresponding to the target blade can be acquired through the aerial laser radar to obtain D; it should be noted that the time for the aerial laser radar to acquire the point cloud data of the target blade is different each time, so the number of corresponding point cloud data acquired may also be different.

[0042] S720, obtaining the distance between each standard point cloud data in C and each current point cloud data in D, so as to obtain a distance list set LC corresponding to C = (LC1, LC2, ..., LC i ,…,LC n ); where LC i C i Corresponding distance list; LC i =(LC i，1 , L.C. i，2 ,…,LC i，p ,…,LC i，q );LC i，p C i With D p distance.

[0043] S730, according to LC, determine the minimum distance list ZC corresponding to C = (ZC1, ZC2, ..., ZC i , …, ZC n ); Among them, ZC i C i The corresponding minimum distance; ZC i =MIN(LC i );MIN() is the preset minimum value function.

[0044] S740, traverse ZC, if ZC i >L', then C i Determine as the first target point cloud data to obtain the first target point cloud data list E = (E1, E2, ..., E r , …, E s ), r = 1, 2, …, s; where E r is the rth first target point cloud data determined, and s is the number of the first target point cloud data determined.

[0045] S750, if s<NUM', it is determined that the position of the ground laser radar has moved; otherwise, enter S760.

[0046] In this embodiment, if s<NUM', it means that the point cloud data acquired by the aerial laser radar shows that the target blade has not been deformed; therefore, it can be determined that the position of the ground laser radar has moved; or the ground laser radar has failed.

[0047] S760: Determine the deformation area of ​​the target blade according to the minimum distance between E and LA that is greater than the preset distance L'.

[0048] In this embodiment, if s≥NUM', it means that the aerial laser radar also detects that the target blade may be deformed; however, the position of the aerial laser radar may also move; therefore, further judgment is required.

[0049] Further, step S760 may include the following steps:

[0050] S761, traverse LA, if LA i >L', then A i Determine as the second target point cloud data to obtain the second target point cloud data list F=(F1, F2, ..., F u , …, F v ), u = 1, 2, …, v; where F u is the u-th second target point cloud data determined, and v is the number of the second target point cloud data determined.

[0051] In this embodiment, if LA i >L', it means that the target blade has A i The corresponding point is abnormal, so it is determined as the second target point cloud data.

[0052] S762, according to the position coordinates corresponding to each first target point cloud data in E and the position coordinates corresponding to each second target point cloud data in F, use a preset clustering algorithm to cluster the first target point cloud data in E and the second target point cloud data in F respectively, so as to obtain a cluster list CE corresponding to E and a cluster list CF corresponding to F.

[0053] In this embodiment, after the abnormal first target point cloud data in E and the abnormal second target point cloud data in F are determined, the first target point cloud data and the second target point cloud data both have corresponding coordinates; the first target point cloud data and the second target point cloud data can be clustered according to the corresponding coordinates, so that adjacent points are clustered into one cluster; the preset clustering algorithm can be the DBSCAN clustering algorithm.

[0054] S763, obtaining the sub-region corresponding to the first target point cloud data in each cluster in CE, so as to obtain a sub-region list QE corresponding to CE = (QE1, QE2, ..., QE a ,…,QE b ), a=1, 2,...,b; among them, QE a is the sub-region corresponding to the first target point cloud data in the ath cluster in CE, and b is the number of clusters in CE.

[0055] S764, obtaining the sub-region corresponding to the first target point cloud data in each cluster in CF, so as to obtain a sub-region list QF corresponding to CF = (QF1, QF2, ..., QF c , …, QF d ), c = 1, 2, ..., d; where QF cis the sub-region corresponding to the second target point cloud data in the cth cluster in CF, and d is the number of clusters in CF.

[0056] S765: If b=d=1, and the overlapping area of ​​QE1 and QF1 is greater than a preset overlapping area threshold, QE1 or QF1 is determined as the deformation area of ​​the target blade.

[0057] In this embodiment, it can be understood that the deformation area on the target blade remains unchanged regardless of whether the target blade is located at the first preset position or the second preset position; if b=d=1, and the overlapping area of ​​QE1 and QF1 is greater than the preset overlapping area threshold, it means that the deformation area on the target blade monitored by the ground laser radar and the aerial laser radar is an identical area, and therefore, QE1 or QF1 is determined as the deformation area of ​​the target blade.

[0058] Furthermore, after step S765, the method may further include the following steps:

[0059] S766, if b=d>1, and the overlapping area of ​​each sub-region in QE and a sub-region in QF is greater than a preset overlapping area threshold, then each sub-region in QE or each sub-region in QF is determined as a deformation region of the target blade.

[0060] In this embodiment, if b=d>1, and the overlapping area of ​​each sub-region in QE and a sub-region in QF is greater than the preset overlapping area threshold, it means that both the ground laser radar and the aerial laser radar have monitored multiple deformation areas, and the deformation areas monitored by the ground laser radar and the deformation areas monitored by the aerial laser radar are one-to-one corresponding. Therefore, each sub-region in QE or each sub-region in QF is determined as the deformation area of ​​the target blade.

[0061] S767, if b=d>1, and the maximum overlapping area in QE with each sub-area in QF is less than the preset overlapping area threshold, it is determined that the position of the ground laser radar or the aerial laser radar has moved.

[0062] In this embodiment, if b=d>1, and the maximum overlapping area in QE with each sub-area in QF is less than the preset overlapping area threshold, it means that both the ground laser radar and the aerial laser radar have monitored multiple deformation areas, but the deformation areas monitored by the ground laser radar and the deformation areas monitored by the aerial laser radar cannot correspond one to one. This situation may be that the position of the ground laser radar or the aerial laser radar has moved.

[0063] S768: If b is not equal to d, it is determined that the position of the ground laser radar or the aerial laser radar has moved.

[0064] In this embodiment, if b is not equal to d, it means that the number of deformation areas monitored by the ground laser radar and the number of deformation areas monitored by the aerial laser radar are different, and the results are even less likely to be consistent. Therefore, it is determined that the position of the ground laser radar or the aerial laser radar has moved.

[0065] For the above situation, it is possible to manually check whether the positions of the ground laser radar and the aerial laser radar have moved, and whether their working status is normal.

[0066] Furthermore, after step S700, the method may further include the following steps:

[0067] S800: If the target blade has a deformation region, use B to establish a three-dimensional model corresponding to the target blade.

[0068] S810: Color and display the deformed area on the three-dimensional model.

[0069] In this embodiment, after determining the deformation area on the target blade, the B obtained in the above step can be used to establish a three-dimensional model corresponding to the target blade, and the deformation area can be colored and displayed on the three-dimensional model to prompt the user the specific location of the deformation area.

[0070] The method for monitoring the operating status of wind turbine blades based on three-dimensional modeling of this embodiment obtains a list A of standard point cloud data of a target blade without deformation collected by a ground-based laser radar at a first preset position, obtains a list B of current point cloud data of a target blade at the first preset position collected by a ground-based laser radar, obtains the minimum distance between each standard point cloud data in A and each current point cloud data in B, so as to obtain a minimum distance list LA corresponding to A; if the number NUM1 of minimum distances greater than a preset distance L' in LA is less than a preset threshold value of the number of minimum distances, it is determined that the target blade has no deformation; otherwise, the deformation area of ​​the target blade is determined based on C and the current point cloud data of the target blade at a second preset position collected by an aerial laser radar; thereby realizing overall deformation monitoring of the wind turbine blade.

[0071] Furthermore, the present invention simultaneously sets up a ground-based laser radar and an aerial laser radar, and uses the point cloud data of the target blade acquired by the laser radars at different positions to monitor the deformation of the target blade. Since the probability of the laser radars in different spatial dimensions being moved at the same time is extremely small, the monitoring accuracy can be further improved.

[0072] In addition, although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0073] An embodiment of the present invention also provides a non-transitory computer-readable storage medium, which can be set in an electronic device to store at least one instruction or at least one program related to implementing a method in a method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement the method provided in the above embodiment.

[0074] The program product may adopt any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0075] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0076] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0077] Program code for performing the operations of the present application may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., using an Internet service provider to connect through the Internet).

[0078] An embodiment of the present invention further provides an electronic device, comprising a processor and the aforementioned non-transitory computer-readable storage medium.

[0079] The electronic device is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0080] The electronic device is presented in the form of a general-purpose computing device. The components of the electronic device may include, but are not limited to: the at least one processor mentioned above, the at least one memory mentioned above, and a bus connecting different system components (including the memory and the processor).

[0081] The memory stores program codes, which can be executed by the processor, so that the processor executes the steps in various embodiments described in this specification.

[0082] The memory may include readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory, and may further include read only memory (ROM).

[0083] The memory may also include a program / utility having a set (at least one) of program modules, such program modules including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include an implementation of a network environment.

[0084] The bus may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures.

[0085] The electronic device may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may communicate with one or more devices that enable a user to interact with the electronic device, and / or may communicate with any device (e.g., routers, modems, etc.) that enables the electronic device to communicate with one or more other computing devices. Such communication may be performed through an input / output (I / O) interface. Furthermore, the electronic device may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter. The network adapter communicates with other modules of the electronic device through a bus. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0086] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0087] An embodiment of the present invention further provides a computer program product, which includes program code. When the program product is run on an electronic device, the program code is used to enable the electronic device to execute the steps of the method according to various exemplary embodiments of the present invention described above in this specification.

[0088] Although some specific embodiments of the present invention have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are only for illustration, not for limiting the scope of the present invention. It should also be understood by those skilled in the art that various modifications may be made to the embodiments without departing from the scope and spirit of the present invention.

Claims

1. A method for monitoring the operating status of wind turbine blades based on three-dimensional modeling, characterized in that: The method comprises the following steps: S100, obtaining a standard point cloud data list A=(A1, A2, ..., A1) of a target blade without deformation at a first preset position collected by a ground laser radar. i , …, A n ), i=1, 2,...,n; among them, A i is the point cloud data of the i-th preset point on the target blade when the target blade is at the first preset position, and n is the number of preset points on the target blade; the ground laser radar is installed on the back side of the wind turbine blade; the target blade is any blade in the wind turbine blade; A is obtained through the ground laser radar coordinate system; S200, obtaining a current point cloud data list B=(B1, B2, ..., B j , …, B m ), j = 1, 2, …, m; where B j is the jth current point cloud data collected by the ground laser radar when the target blade is at the first preset position, and m is the number of current point cloud data collected by the ground laser radar when the target blade is at the first preset position; S300, obtaining the minimum distance between each standard point cloud data in A and each current point cloud data in B, so as to obtain the minimum distance list LA corresponding to A = (LA1, LA2, ..., LA i , …, LA n ); where LA i A i The minimum distance to each current point cloud data in B; S400, obtaining the number NUM1 of the minimum distances in LA that are greater than a preset distance L'; S500, if NUM1<NUM', it is determined that the target blade has no deformation; otherwise, enter S600; wherein NUM' is a preset minimum distance quantity threshold; S600, obtaining a standard point cloud data list C=(C1, C2, ..., C i , …, C n ); where C i is the point cloud data of the i-th preset point on the target blade when the target blade is at the second preset position; the aerial laser radar is installed at the top of the main engine of the wind turbine; C is obtained through the aerial laser radar coordinate system; S700, determining a deformation area of ​​the target blade according to C and current point cloud data of the target blade at a second preset position collected by the aerial laser radar; Step S700 includes the following steps: S710, obtaining a current point cloud data list D = (D1, D2, ..., D p , …, D q ), p = 1, 2, …, q; where D p is the pth current point cloud data collected by the air-space laser radar when the target blade is at the second preset position, and q is the number of current point cloud data collected by the air-space laser radar when the target blade is at the second preset position; S720, obtaining the distance between each standard point cloud data in C and each current point cloud data in D, so as to obtain a distance list set LC corresponding to C = (LC1, LC2, ..., LC i ,…,LC n ); where LC i C i Corresponding distance list; LC i =(LC i，1 , L.C. i，2 ,…,LC i，p ,…,LC i，q );LC i，p C i With D p distance; S730, according to LC, determine the minimum distance list ZC corresponding to C = (ZC1, ZC2, ..., ZC i , …, ZC n ); Among them, ZC i C i The corresponding minimum distance; ZC i =MIN(LC i MIN() is the preset minimum value function; S740, traverse ZC, if ZC i >L', then C i Determine as the first target point cloud data to obtain the first target point cloud data list E = (E1, E2, ..., E r ,…,E s ), r = 1, 2, …, s; where E r is the rth first target point cloud data determined, and s is the number of the first target point cloud data determined; S750, if s<NUM', it is determined that the position of the ground laser radar has moved; otherwise, proceed to S760; S760: Determine the deformation area of ​​the target blade according to the minimum distance between E and LA that is greater than the preset distance L'.

2. The method for monitoring the operating status of wind turbine blades based on three-dimensional modeling according to claim 1 is characterized in that: Step S760 includes the following steps: S761, traverse LA, if LA i >L', then A i Determine as the second target point cloud data to obtain the second target point cloud data list F=(F1, F2, ..., F u , …, F v ), u = 1, 2, …, v; where F u is the u-th second target point cloud data determined, and v is the number of the second target point cloud data determined; S762, according to the position coordinates corresponding to each first target point cloud data in E and the position coordinates corresponding to each second target point cloud data in F, use a preset clustering algorithm to cluster the first target point cloud data in E and the second target point cloud data in F, so as to obtain a cluster list CE corresponding to E and a cluster list CF corresponding to F; S763, obtaining the sub-region corresponding to the first target point cloud data in each cluster in CE, so as to obtain a sub-region list QE corresponding to CE = (QE1, QE2, ..., QE a ,…,QE b ), a=1, 2,...,b; among them, QE a is the sub-region corresponding to the first target point cloud data in the ath cluster in CE, and b is the number of clusters in CE; S764, obtaining the sub-region corresponding to the first target point cloud data in each cluster in CF, so as to obtain a sub-region list QF corresponding to CF = (QF1, QF2, ..., QF c , …, QF d ), c = 1, 2, ..., d; where QF c is the sub-region corresponding to the second target point cloud data in the cth cluster in CF, and d is the number of clusters in CF; S765: If b=d=1, and the overlapping area of ​​QE1 and QF1 is greater than a preset overlapping area threshold, QE1 or QF1 is determined as the deformation area of ​​the target blade.

3. The method for monitoring the operating status of wind turbine blades based on three-dimensional modeling according to claim 2 is characterized in that: After step S765, the method further includes the following steps: S766, if b=d>1, and the overlap area of ​​each sub-region in QE and a sub-region in QF is greater than a preset overlap area threshold, then each sub-region in QE or each sub-region in QF is determined as a deformation region of the target blade; S767, if b=d>1, and the maximum overlapping area between QE and each sub-area in QF is less than a preset overlapping area threshold, it is determined that the position of the ground laser radar or the aerial laser radar has moved; S768: If b is not equal to d, it is determined that the position of the ground laser radar or the aerial laser radar has moved.

4. The method for monitoring the operating status of wind turbine blades based on three-dimensional modeling according to claim 2 is characterized in that: The preset clustering algorithm includes the DBSCAN clustering algorithm.

5. The method for monitoring the operating status of wind turbine blades based on three-dimensional modeling according to claim 1, characterized in that: The ground laser radar and the aerial laser radar are 512-line laser radars.

6. The method for monitoring the operating status of wind turbine blades based on three-dimensional modeling according to claim 1, characterized in that: A and C are related to the current wind speed.

7. The method for monitoring the operating status of wind turbine blades based on three-dimensional modeling according to claim 1, characterized in that: After step S700, the method further includes the following steps: S800, if the target blade has a deformation area, use B to establish a three-dimensional model corresponding to the target blade; S810: Color and display the deformed area on the three-dimensional model.

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