A wind turbine detection method and system based on satellite navigation and positioning

Abstract

The present invention discloses a fan detection method and system based on satellite navigation and positioning. The method includes: installing a GPS / Beidou positioning module at the tail of the fan nacelle; recording the data of the positioning module during the rotation of the fan nacelle; calculating the center of rotation according to the data of the positioning module; obtaining real-time positioning data, and calculating the impeller orientation of the fan according to the center of rotation and the real-time positioning data. The system includes: a preprocessing unit and a real-time calculation unit. By using the present invention, the impeller orientation of the fan can be accurately calculated in various scenarios, which helps subsequent detection and scheduling. The present invention 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 particularly to a method and system for detecting a wind turbine based on satellite navigation and positioning. Background Art

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

[0003] The current wind turbine impeller orientation is measured by the linkage of a slewing bearing and an angle sensor (encoder) inside the wind turbine nacelle. By comparing the measurement of the initial position azimuth information and the data of the angle sensor, the real-time azimuth orientation information of the wind turbine nacelle can be calculated in real time; this method requires accurate measurement of the initial information and is not affected by power outages. If power is lost, and the wind turbine nacelle rotates due to inertia, this information cannot be reflected, and this method cannot accurately calculate the orientation of the wind turbine nacelle. Summary of the Invention

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

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

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

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

[0008] The positioning module can be a GPS / Beidou positioning module.

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

[0010] Calculate the impeller orientation of the wind turbine according to the rotation center and the real-time positioning data.

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

[0012] Assume that the position of the rotation center of the nacelle is O(x,y). Generally, this center is 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 rotating circumference.

[0013] According to the rule that the radii of the circles are equal, a system of equations can be listed to calculate and obtain the center of rotation of the slewing.

[0014] In some embodiments, it further includes:

[0015] Obtain the real-time data of the positioning module;

[0016] Through calculation, the center of rotation of the slewing and the real-time data can be used to calculate the orientation angle and quadrant area of the impeller.

[0017] Among them, the quadrant area of the impeller orientation includes the first quadrant area, the second quadrant area, the third quadrant area, and the fourth quadrant area; the orientation angle of the impeller can be selected by the staff with the included angle between the connecting line and the axis as the reference.

[0018] The present invention also proposes a wind turbine detection system based on satellite navigation and positioning. The system includes:

[0019] A preprocessing unit installs a positioning module at the tail of the nacelle of the wind turbine; records the data of the positioning module during the rotation of the nacelle of the wind turbine; calculates the center of rotation of the slewing according to the data of the positioning module;

[0020] A real-time calculation unit calculates the orientation of the impeller of the wind turbine according to the center of rotation of the slewing and the real-time positioning data.

[0021] Based on the above solution, the present invention provides a wind turbine detection method and system based on satellite navigation and positioning. Through the GPS / Beidou positioning module installed at the tail of the nacelle of the wind turbine, the azimuth information of the nacelle of the wind turbine is accurately calculated, and the relative azimuth information of each nacelle in the wind farm is accurately obtained, so as to be used for on-line visual inspection of the wind turbine blades or for the scheduling of wind turbines in a centralized wind farm. Description of the Drawings

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

[0023] Figure 2 is the internal structure diagram of the wind turbine;

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

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

[0026] Reference Signs: 1, blade; 2, hub; 3, main shaft; 4, controller; 5, gearbox; 6, braking device; 7, generator; 8, cooling system; 9, anemometer; 10, wind vane; 11, yaw system; 12, positioning module; 13, tower; 14, impeller. Detailed Implementation Manner

[0027] The structure diagram of the fan is referred to Figure 2 , in which, three blades and the hub are collectively referred to as the impeller, and a GPS / Beidou positioning module is installed on the mounting brackets of 9 and 10. In addition to the defects mentioned in the background art, the orientation of the fan nacelle is calculated by means of a slewing bearing plus an encoder. Firstly, the accuracy of this method is not high. Secondly, the data is prone to loss. Thirdly, it is a mechanical rotating device and is prone to wear and damage. Fourthly, it is necessary to accurately measure the exact orientation of the slewing bearing rotation starting point corresponding to the nacelle and record it.

[0028] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present 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. Without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0030] It should be understood that the "system", "device", "unit" and / or "module" used in the present 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 the present application and the claims, unless the context clearly indicates an exceptional situation, words such as "a", "one", "a kind of" and / or "the" are not specifically singular and may also include plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the 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. An element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, commodity or device including the element.

[0032] In the description of the embodiments of the present application, "a plurality" means two or more than two. The following terms "first" and "second" are only for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0033] In addition, flowcharts are used in the present application to illustrate the operations performed by the systems according to the embodiments of the present application. It should be understood that the operations before or after do not necessarily need to be executed precisely in sequence. On the contrary, they can be executed in reverse order or simultaneously. At the same time, other operations can also be added to these processes, or one or several operations can be removed from these processes.

[0034] Refer to Figure 1 , which is a schematic flowchart of an optional example of the fan detection method based on satellite navigation and positioning proposed by the present invention. This method can be applied to computer devices. The fan detection method proposed in this embodiment may include but is not limited to the following steps:

[0035] Step S1: Install a positioning module at the tail of the nacelle of the fan;

[0036] Step S2: Record the data of the positioning module during the rotation of the fan nacelle;

[0037] Step S3: Calculate the center of rotation according to the data of the positioning module;

[0038] Step S4: Calculate the impeller orientation of the fan according to the center of rotation and the real-time positioning data.

[0039] The wind turbine tower is fixed. The rotation of the slewing bearing of the yaw system allows the generator nacelle to rotate freely 360 degrees in the horizontal direction, enabling the impeller to always face the direction where the wind force is the greatest when meeting the power generation requirements. Since the wind is always irregular, once the wind does not meet the power generation requirements, the nacelle will stop rotating. Therefore, the orientation of the impeller is also unpredictable. Therefore, it is necessary to measure the orientation of the fan impeller accurately for on-line inspection of the blades or real-time scheduling of wind farm power generation.

[0040] In some feasible embodiments,

[0041] During the maintenance of wind power, the inspection of wind turbine blades is a very important task. Generally, manual inspection or drone inspection is adopted, but both of these methods have unavoidable disadvantages, such as poor real-time performance. In addition, drone inspection is prone to pose a threat to the blades. Using an online ultra-high-definition camera for on-line inspection of blades and using AI for intelligent judgment is the future development direction. However, there is a huge problem. The best installation method of the ultra-high-definition camera is on the top of the wind turbine nacelle, and it can only observe the blades of other positions. Therefore, it is necessary to obtain the position information of different positions and the orientation of the nacelle in real time, avoid the blind spots of the line of sight, and comprehensively dispatch the cameras of different positions to achieve real-time and effective shooting of the surface information of the blades. Very detailed information about the orientation of the wind turbine nacelle is required to calculate and judge the blind spots of the line of sight of the cameras at different positions.

[0042] It also includes: S5. Select the wind turbine to be tested, and determine the dispatched wind turbines according to the preset restrictions;

[0043] S6. Based on the dispatched wind turbines, photograph the wind turbine to be tested.

[0044] Specifically, after the position to be detected is determined, select the positions with cameras installed nearby, calculate the distance between the position to be detected and the nearby positions to be less than 2 KM, and include the positions that meet the requirements in the list of dispatched positions. For the positions without cameras installed, those with a distance less than 2 KM from the position to be detected are included in the risk list.

[0045] Judge the horizontal height, and include those with sight obstruction due to the height of mountain peaks in mountainous areas in the prohibited dispatch list;

[0046] Interference detection for wind turbine position judgment: When the height difference between wind turbine positions is within the impeller diameter, exclude the wind turbines between the position of the camera and the observed position; Assume that any intersection of the connecting line of the maximum horizontal dimension of the impeller of the wind turbine position (a2, b2) and the connecting line of the two horizontal ends of the impeller of the camera position (a1, b1) - the observed position (a3, b3) can determine that the camera is not suitable for observation.

[0047] After there is no observation obstacle, judge the wind turbine positions that can effectively observe the observed position. In the angular range where the camera turns towards the observed wind turbine, it is preferably perpendicular to a certain surface of the impeller, or the angle with the vertical line of this surface is not greater than 60 degrees.

[0048] This specific embodiment is a multi-position coordination scheme.

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

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

[0051] Among them, the schematic diagram of the rotation process refers toFigure 3 ;

[0052] Assume that the position of the rotation center of the nacelle is O(x,y). Generally, this center is the rotation center of the slewing bearing, that is, the center of the circle, and three different positions of the positioning module are all on the rotating circumference.

[0053] According to the equality of the circle radius, the equation (a1 - x) 2 +(b1 - y) 2 =(a2 - x) 2 +(b2 - y) 2 =(a3 - x) 2 +(b3 - y) 2 is obtained, and the specific position information of the slewing center can be calculated. This position is theoretically unchanged.

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

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

[0056] If a - x > 0 and b - y > 0, the positioning module is in quadrant 1, while the impeller is in quadrant 3.

[0057] If a - x < 0 and b - y > 0, the positioning module is in quadrant 2, while the impeller is in quadrant 4.

[0058] If a - x < 0 and b - y < 0, the positioning module is in quadrant 3, while the impeller is in quadrant 1.

[0059] If a - x > 0 and b - y < 0, the positioning module is in quadrant 4, while the impeller is in quadrant 2.

[0060] The specific orientation angle can be replaced by the included angle between the direction line connecting the positioning module point to the slewing center point and the quadrant area line, and calculated according to a right triangle, or other angles can be calculated for orientation marking (set according to needs).

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

[0062] Install positioning modules at both ends of the nacelle of the wind turbine;

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

[0064] Calculate the orientation of the impeller of the wind turbine according to the data of the positioning module.

[0065] The remaining data processing steps are the same as those in the foregoing specific embodiments. Using the tower point as the center of the circle, the line connecting the points of the two positioning modules is used to determine the quadrant area and the orientation angle.

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

[0067] A preprocessing unit that installs a positioning module at the tail of the nacelle of the wind turbine; records the data of the positioning module during the rotation of the wind turbine nacelle; calculates the center of rotation according to the data of the positioning module;

[0068] A real-time calculation unit that calculates the orientation of the impeller of the wind turbine according to the center of rotation and the real-time positioning data.

[0069] The content in the foregoing method embodiments is applicable to the system embodiments. The functions specifically implemented by the system embodiments are the same as those in the foregoing method embodiments, and the beneficial effects achieved are also the same as those in the foregoing 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 a wind turbine detection method based on satellite navigation positioning as described above.

[0074] The content in the foregoing method embodiments is applicable to the device embodiments. The functions specifically implemented by the device embodiments are the same as those in the foregoing method embodiments, and the beneficial effects achieved are also the same as those in the foregoing method embodiments.

[0075] A storage medium storing instructions executable by a processor, where 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 content in the foregoing method embodiments is applicable to the storage medium embodiments. The functions specifically implemented by the storage medium embodiments are the same as those in the foregoing method embodiments, and the beneficial effects achieved are also the same as those in the foregoing method embodiments.

[0077] The above is a specific description of the preferred embodiment of the present invention. However, the present invention is not limited to the described embodiment. Those skilled in the art can make various equivalent deformations or substitutions without departing from the spirit of the present invention, and these equivalent deformations or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A wind turbine detection method based on satellite navigation and positioning, characterized in that It includes the following steps: Install a positioning module at the tail of the nacelle of the wind turbine; Record the data of the positioning module during the rotation of the wind turbine nacelle; Calculate the center of rotation according to the data of the positioning module; Calculate the impeller orientation of the wind turbine according to the center of rotation and the real-time positioning data; The calculation formula for the center of rotation is as follows: Among them, represents the first data of the positioning module, represents the second data of the positioning module, represents the third data of the positioning module, represents the center of rotation of the positioning module; The step of calculating the impeller orientation of the wind turbine according to the center of rotation and the real-time positioning data specifically includes: Compare the center of rotation with the real-time positioning data; If a - x > 0 and b - y > 0, the positioning module is in quadrant area 1 and the impeller is in quadrant area 3; If a - x < 0 and b - y > 0, the positioning module is in quadrant area 2 and the impeller is in quadrant area 4; If a - x < 0 and b - y < 0, the positioning module is in quadrant area 3 and the impeller is in quadrant area 1; If a - x > 0 and b - y < 0, the positioning module is in quadrant area 4 and the impeller is in quadrant area 2.

2. The method for detecting a wind turbine based on satellite navigation and positioning according to claim 1, wherein It also includes: Select the wind turbine to be measured, and determine the dispatching wind turbine according to the preset limits; Take a picture of the wind turbine to be measured based on the dispatching wind turbine.

3. The method for detecting a wind turbine based on satellite navigation and positioning according to claim 2, characterized in that, The preset limits include the horizontal height and the detection of the wind turbine position with interference.

4. The method for detecting a wind turbine based on satellite navigation and positioning according to claim 3, wherein It also includes: Connect the real-time positioning data and the coordinates of the center of rotation to obtain a connecting line; Use the included angle between the connecting line and the quadrant area line as the orientation angle.

5. A fan detection system based on satellite navigation and positioning, characterized in that, For implementing a wind turbine detection method based on satellite navigation positioning as described in claim 1, it includes: A preprocessing unit, which installs a positioning module at the tail of the nacelle of the wind turbine; records the data of the positioning module during the rotation of the wind turbine nacelle; calculates the center of rotation according to the data of the positioning module; A real-time calculation unit, which calculates the impeller orientation of the wind turbine according to the center of rotation and the real-time positioning data.

6. A fan detection device based on satellite navigation and positioning, characterized in that It includes: 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 a wind turbine detection method based on satellite navigation positioning as described in any one of claims 1 - 4.

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