Fan detection method and system based on satellite navigation positioning

Abstract

The invention discloses a fan detection method and system based on satellite navigation positioning. The method comprises the steps that a GPS / Beidou positioning module is installed at the tail of a fan cabin; recording data of the positioning module during rotation of the fan cabin; calculating a rotation circle center according to data of the positioning module; and real-time positioning data are obtained, and the impeller orientation of the fan is calculated according to the rotation circle center and the real-time positioning data. The system comprises a preprocessing unit and a real-time calculation unit. By using the method, the orientation of the fan impeller can be accurately calculated in various scenes, and subsequent detection and scheduling are facilitated. The method can be widely applied to the field of equipment operation and maintenance.

Description

Technical Field

[0001] The present invention relates to the field of equipment operation and maintenance, and in particular to a wind turbine detection method and system based on satellite navigation positioning. Background Art

[0002] The operation and maintenance of wind turbines is the focus of future development of wind power. Due to current resource constraints, wind turbines may be closely arranged when designing a wind farm. When the wind turbines in front of the wind farm are working, the wind speed and force will decrease. However, according to the principle that air flows from high pressure to low pressure, the wind speed will recover after a certain distance after the work. Therefore, it is necessary to calculate the direction of each wind turbine nacelle (wind turbine impeller direction) in real time to study the direction scheduling of each wind turbine in the wind farm, which is very necessary for improving power generation efficiency.

[0003] The current direction of the fan impeller is measured by the linkage of the slewing bearing and the angle sensor (encoder) in the fan cabin to measure the rotation information of the fan cabin. By measuring the initial position information and comparing the angle sensor data, the real-time direction information of the fan cabin can be calculated in real time. This method requires precise measurement of the initial information and cannot be affected by power outages. If the fan cabin rotates by inertia after power failure, the information cannot be reflected. This method cannot accurately calculate the direction of the fan cabin. Summary of the invention

[0004] In view of this, in order to solve the technical problem that most of the existing impeller direction detection methods calculate the direction of the wind turbine nacelle by adding an encoder to a slewing bearing, and thus cannot accurately calculate the direction of the wind turbine nacelle in the case of power failure, the present invention proposes a wind turbine detection method based on satellite navigation positioning, the method comprising the following steps:

[0005] Install a positioning module at the rear of the wind turbine nacelle;

[0006] Among them, it should be noted that the impeller and the positioning module are located at the head and tail of the nacelle respectively;

[0007] Recording data of the positioning module during the rotation of the wind turbine nacelle;

[0008] Among them, the positioning module can be a GPS / Beidou positioning module.

[0009] Calculating the center of the rotation circle according to the data of the positioning module;

[0010] The impeller direction of the fan is calculated according to the rotation center and the real-time positioning data.

[0011] In some embodiments, the calculation process of the center of rotation includes:

[0012] Assume that the rotation center of the cabin is O(x,y), which is generally the rotation center of the slewing bearing, that is, the center of the circle. The three different positions of the positioning module are all on the circumference of the rotation.

[0013] According to the rule of equal circle radius, we can list a set of equations and calculate the center of the circle of rotation.

[0014] In some embodiments, it also includes:

[0015] Get real-time data from the positioning module;

[0016] The orientation angle and quadrant of the impeller can be calculated by calculating the center of the rotation circle and the real-time data.

[0017] Among them, the quadrants that the impeller faces include the first quadrant, the second quadrant, the third quadrant and the fourth quadrant; the angle of the wheel can be selected by the staff based on the angle between the connecting line and the axis as a reference.

[0018] The present invention also proposes a wind turbine detection system based on satellite navigation positioning, the system comprising:

[0019] The pre-processing unit is configured to install a positioning module at the rear of the wind turbine cabin; record the data of the positioning module during the rotation of the wind turbine cabin; and calculate the center of the rotation circle according to the data of the positioning module;

[0020] The real-time calculation unit calculates the impeller direction of the fan according to the rotation center and the real-time positioning data.

[0021] Based on the above scheme, the present invention provides a wind turbine detection method and system based on satellite navigation positioning. Through the GPS / Beidou positioning module installed at the tail of the wind turbine nacelle, the orientation information of the wind turbine nacelle can be accurately calculated, and the relative orientation information of each wind turbine nacelle in the wind farm can be accurately obtained, so as to be used for online visual inspection of wind turbine blades, or for scheduling of wind turbines in centralized wind farms. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a flow chart of the steps of a wind turbine detection method based on satellite navigation positioning of the present invention;

[0023] Figure 2 This is the internal structure diagram of the fan;

[0024] Figure 3 is a schematic diagram of the rotation of a wind turbine nacelle according to a specific embodiment of the present invention;

[0025] Figure 4 It is a structural block diagram of a wind turbine detection system based on satellite navigation positioning of the present invention.

[0026] Figure numerals: 1. blade; 2. hub; 3. main shaft; 4. controller; 5. gearbox; 6. brake device; 7. generator; 8. cooling system; 9. anemometer; 10. wind vane; 11. yaw system; 12. positioning module; 13. tower; 14. impeller. DETAILED DESCRIPTION

[0027] See the fan structure diagram Figure 2 , wherein three blades and a hub form a impeller, and a GPS / Beidou positioning module is installed on the mounting brackets 9 and 10. In addition to the defects mentioned in the background technology, the method of calculating the direction of the wind turbine cabin by adding an encoder to the slewing bearing has low accuracy, data is easily lost, mechanical rotating equipment is easily worn and damaged, and the precise direction of the cabin corresponding to the starting point of the slewing bearing needs to be accurately measured and recorded.

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions 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 are within the scope of protection of this application.

[0029] It should be noted that, for the convenience of description, only the parts related to the relevant invention are shown in the drawings. In the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other.

[0030] It should be understood that the "system", "device", "unit" and / or "module" used in this application is a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the word can be replaced by other expressions.

[0031] As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not refer to the singular, but also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of clearly identified steps and elements, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements. The elements defined by the sentence "includes a..." do not exclude the existence of other identical elements in the process, method, commodity or device that includes the elements.

[0032] In the description of the embodiments of the present application, "plurality" means two or more than two. The following terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0033] In addition, flow charts are used in the present application to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed accurately in order. On the contrary, the various steps may be processed in reverse order or simultaneously. At the same time, other operations may also be added to these processes, or a certain step or several steps of operations may be removed from these processes.

[0034] Reference Figure 1 , is a flow chart of an optional example of a wind turbine detection method based on satellite navigation positioning proposed in the present invention. The method can be applied to computer equipment. The wind turbine detection method proposed in this embodiment may include but is not limited to the following steps:

[0035] Step S1, installing a positioning module at the rear of the nacelle of the wind turbine;

[0036] Step S2, recording the data of the positioning module during the rotation of the wind turbine nacelle;

[0037] Step S3, calculating the center of the rotation circle according to the data of the positioning module;

[0038] Step S4, calculating the impeller direction of the fan according to the rotation center and the real-time positioning data.

[0039] The wind turbine tower is fixed, and the rotation of the slewing bearing of the yaw system allows the generator cabin to rotate 360 ​​degrees freely in the horizontal direction, so that the impeller always faces the direction of the strongest wind when the power generation requirements are met. Because the wind is always irregular, once the wind does not meet the power generation requirements, the cabin will stop rotating, so the direction of the impeller is also unpredictable. Therefore, it is necessary to measure the direction of the wind turbine impeller with precise means for online inspection of blades or real-time scheduling of wind farm power generation.

[0040] In some possible embodiments,

[0041] During the maintenance of wind power, inspection of wind turbine blades is a very important task. Generally, manual inspection or drone inspection is adopted. Both methods have unavoidable shortcomings, such as poor real-time performance and easy threat to blades. Using online ultra-high-definition cameras for online inspection of blades and using AI for intelligent judgment is the future development direction, but there is a huge problem. The best way to install ultra-high-definition cameras is on the top of the wind turbine cabin, and they can only observe blades at other positions. This requires real-time information on the position of different positions and the direction of the cabin, avoiding blind spots in sight, and comprehensively dispatching cameras at different positions to achieve real-time and effective shooting of blade surface information. This requires very detailed information on the direction of the wind turbine cabin to calculate and judge the blind spots in sight of cameras at different positions.

[0042] The method further includes: S5, selecting a wind turbine to be tested, and determining a dispatching wind turbine according to a preset restriction;

[0043] S6. Photographing the wind turbine to be tested based on the dispatching wind turbine.

[0044] Specifically, after the camera positions to be inspected are determined, the camera positions with cameras installed in the surrounding areas are selected, and the distance between the camera position to be inspected and the surrounding camera positions is calculated to be less than 2km, and the camera positions that meet the requirements are included in the dispatching camera position list. Camera positions without cameras installed and whose distance to the camera position to be inspected is less than 2km are included in the risk list.

[0045] Determine the horizontal height and put mountainous areas with high peaks that block the line of sight into the prohibited dispatch list;

[0046] Interference detection fan position judgment: If the height difference of the fan position is within the impeller diameter, exclude the fans between the camera position and the observed position; assuming that the line connecting the maximum horizontal size of the impeller at the fan position (a2, b2) and the line connecting the two horizontal ends of the impeller at the camera position (a1, b1) - the observation position (a3, b3) intersect, it can be judged that the camera is not suitable for observation.

[0047] After there are no observation obstacles, determine the wind turbine position that can effectively observe the observed position. When the camera is turned to an angle range that exceeds the observed wind turbine, it is best to be perpendicular to a certain surface of the impeller, or the angle with the vertical line of the surface is not greater than 60 degrees.

[0048] This specific embodiment is a multi-camera coordination solution.

[0049] In some feasible embodiments, the step S2 and step S3 specifically include:

[0050] Record the positioning module data of three different positions of the wind turbine nacelle during rotation: assumed to be (a1, b1), (a2, b2), (a3, b3);

[0051] The schematic diagram of the rotation process is shown in Figure 3 ;

[0052] Assume that the rotation center of the cabin is O(x, y), which is generally the rotation center of the slewing bearing, that is, the center of the circle. The three different positions of the positioning module are all on the circumference of the rotation.

[0053] According to the equal radius of the circle, we get the engineering formula (a1-x) 2 +(b1-y) 2 =(a2-x) 2 +(b2-y) 2 =(a3-x) 2 +(b3-y) 2 , we can calculate the specific position information of the center of the circle of rotation, which is theoretically unchanged.

[0054] In some feasible embodiments, the step S4 specifically includes:

[0055] After the position of the rotation center O(x, y) is calculated, the direction angle and quadrant of the impeller can be calculated each time through the data (ab) of the positioning module.

[0056] If ax>0, by>0, the positioning module is in quadrant 1, and the impeller is in quadrant 3.

[0057] If ax<0, by>0, the positioning module is in quadrant 2, and the impeller is in quadrant 4.

[0058] If ax<0, by<0, the positioning module is in quadrant 3, and the impeller is in quadrant 1.

[0059] If ax>0, by<0, the positioning module is in quadrant 4 and the impeller is in quadrant 2.

[0060] The specific orientation angle can be replaced by the angle between the direction line from the positioning module point to the rotation center point and the quadrant area line, calculated according to a right triangle, or other angles can be calculated to make orientation marks (set as needed).

[0061] In addition, the present invention also provides a second specific embodiment:

[0062] Positioning modules are installed at both ends of the wind turbine nacelle;

[0063] Recording data of the positioning module during the rotation of the wind turbine nacelle;

[0064] The impeller direction of the fan is calculated according to the data of the positioning module.

[0065] The remaining data processing steps are the same as those in the above-mentioned specific embodiment. The tower point is used as the center of the circle, and the points of the two positioning modules are connected by a line to determine the quadrant area and the orientation angle.

[0066] like Figure 4 As shown, a wind turbine detection system based on satellite navigation positioning includes:

[0067] The pre-processing unit is configured to install a positioning module at the rear of the wind turbine cabin; record the data of the positioning module during the rotation of the wind turbine cabin; and calculate the center of the rotation circle according to the data of the positioning module;

[0068] The real-time calculation unit calculates the impeller direction of the fan according to the rotation center and the real-time positioning data.

[0069] The contents of the above method embodiments are all applicable to the present system embodiments. The functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0070] A wind turbine detection device based on satellite navigation positioning:

[0071] at least one processor;

[0072] at least one memory for storing at least one program;

[0073] When the at least one program is executed by the at least one processor, the at least one processor implements the wind turbine detection method based on satellite navigation positioning as described above.

[0074] The contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0075] A storage medium stores instructions executable by a processor, wherein the instructions executable by the processor are used to implement a wind turbine detection method based on satellite navigation positioning as described above when executed by the processor.

[0076] The contents of the above method embodiments are all applicable to the present storage medium embodiments. The functions specifically implemented by the present storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0077] The above is a specific description of the preferred implementation of the present invention, but the invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A wind turbine detection method based on satellite navigation positioning, characterized in that: The following steps are involved: Install a positioning module at the rear of the wind turbine nacelle; Recording data of the positioning module during the rotation of the wind turbine nacelle; Calculating the center of the rotation circle according to the data of the positioning module; The impeller direction of the fan is calculated according to the rotation center and the real-time positioning data.

2. A wind turbine detection method based on satellite navigation positioning according to claim 1, characterized in that: Also includes: Select the wind turbine to be tested and determine the dispatched wind turbine according to the preset restrictions; The wind turbine to be tested is photographed based on the dispatched wind turbine.

3. A wind turbine detection method based on satellite navigation positioning according to claim 2, characterized in that: The preset limits include horizontal height and presence of interference detection fan position.

4. The wind turbine detection method based on satellite navigation positioning according to claim 1 is characterized in that: The calculation formula for the center of the circle of rotation is as follows: <h2 style=";text-align:left;direction:ltr">(a1-x)<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +(b1-y)<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> (a2-x)<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +(b2-y)<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> (a3-x)<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +(b3-y)<h2 style=";text-align:left;direction:ltr"> 2 Among them, (a1, b1) represents the first data of the positioning module, and (a2, b2) represents the second data of the positioning module. (a3, b3) represents the third data of the positioning module, and (x, y) represents the center of rotation of the positioning module.

5. A wind turbine detection method based on satellite navigation positioning according to claim 4, characterized in that: The step of calculating the impeller direction of the fan according to the rotation center and the real-time positioning data specifically includes: Comparing the rotation center with the real-time positioning data; If ax>0 and by>0, the positioning module is in quadrant 1 and the impeller is in quadrant 3; If ax<0 and by>0, the positioning module is in quadrant 2 and the impeller is in quadrant 4; If ax<0 and by<0, the positioning module is in quadrant 3 and the impeller is in quadrant 1; If ax>0 and by<0, the positioning module is in quadrant 4 and the impeller is in quadrant 2.

6. A wind turbine detection method based on satellite navigation positioning according to claim 5, characterized in that: Also includes: Connecting the real-time positioning data and the coordinates of the center of the rotation circle to obtain a connecting line; The angle between the connecting line and the quadrant line is taken as the orientation angle.

7. A wind turbine detection method based on satellite navigation positioning, characterized in that: The following steps are involved: Positioning modules are installed at both ends of the wind turbine nacelle; Recording data of the positioning module during the rotation of the wind turbine nacelle; The impeller direction of the fan is calculated according to the data of the positioning module.

8. A wind turbine detection system based on satellite navigation positioning, characterized in that: include: Pre-processing unit, a positioning module is installed at the rear of the wind turbine cabin; Recording data of the positioning module during the rotation of the wind turbine nacelle; Calculating the center of the rotation circle according to the data of the positioning module; The real-time calculation unit calculates the impeller direction of the fan according to the rotation center and the real-time positioning data.

9. A wind turbine detection device based on satellite navigation positioning, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the wind turbine detection method based on satellite navigation positioning as described in any one of claims 1 to 7.

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