Real-time monitoring method and device for blade clearance value and imbalance based on RTK technology

Abstract

The present invention provides a method and device for real-time monitoring of blade clearance and imbalance based on RTK technology, which relates to the technical field of wind turbine monitoring. The method comprises: using RTK technology to obtain the position coordinates and elevation information of the RTK monitoring equipment on the top of the wind turbine nacelle and the position coordinates and elevation information of the RTK monitoring equipment on the three blades of the wind turbine; by establishing a nacelle coordinate system and an impeller coordinate system, analyzing the relationship between the clearance distance, elevation difference, and horizontal distance of the three blades of the wind turbine during rotation; using a sampling statistical mechanism method based on the relationship between the clearance distance, elevation difference, and horizontal distance, calculating the clearance distance of the three blades of the wind turbine during rotation; and obtaining the balance state between the three blades of the wind turbine based on the clearance distance. The present invention can monitor the clearance distance of the blades and the balance state of the impeller in real time at various rotation positions.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine generator set monitoring, and in particular to a method and device for real-time monitoring of blade clearance value and imbalance based on RTK technology. Background Art

[0002] According to aerodynamic principles, wind turbine power is proportional to the area of the impeller and the cube of the wind speed. With the continuous development of wind power technology and the market, the capacity of wind turbines is increasing, resulting in increasingly larger blade sizes. Currently, the impeller diameter of the largest onshore turbine exceeds 230 meters, while that of the largest offshore turbine reaches 300 meters. As wind turbine blades grow in size, they pose greater safety risks. In practice, blade-related safety issues, such as tower sweeps and tower collapses, are common due to deviations in simulation models, deficiencies in manufacturing processes, and inadequate safety measures. Furthermore, for mainstream three-blade turbines, incoordination or misalignment between the three blades can lead to impeller imbalance, increasing turbine vibration, accelerating wear and damage to major components, shortening component life, and ultimately affecting turbine power generation. Therefore, to ensure the safe operation of wind turbines, real-time monitoring of blade clearance and impeller balance is essential. The blade clearance can be roughly understood as the distance between the blade and the wind turbine tower, and the impeller imbalance can be understood as whether the aerodynamic arrangement of the three blades is consistent, whether the impeller operates within the design parameters and remains consistent, and whether there is no abnormal jitter.

[0003] There are currently two main ways to monitor blade clearance, namely online and offline. The online method mainly involves installing detection equipment on the wind turbine for uninterrupted monitoring; the offline method mainly involves setting up the detection equipment at a certain distance from the wind turbine for observation for a period of time. Currently, there are three main online methods for blade clearance detection, and then judging the balance state of the blade; among them, the first method is to install monitoring equipment at the bottom of the cabin to detect downward, such as installing a lidar or video surveillance or machine vision. When the blade rotates to the tower position, the distance between the blade and the tower is detected by image recognition, machine vision or laser ranging, so as to judge whether the clearance value of the blade is within a safe range, and by detecting the difference in the clearance values of the three blades, it is judged whether the blade has an imbalance problem, but laser and video surveillance or machine vision are easily affected by climate, resulting in reduced accuracy and effectiveness; the second method is to install the detection equipment on the tip of the blade, To a certain extent, it solves the problem of insufficient detection effectiveness of Solution 1 when applied to large units, long blades, and severe weather such as rain, fog, and snow. However, during the power generation process of the wind turbine, when the blades change pitch, the monitoring equipment may no longer be aimed at the tower, and thus the clearance distance of the blades cannot be detected. Multiple detection equipment need to be arranged at intervals for monitoring, which increases the cost and complexity of the solution. Method 3 is to install the monitoring equipment on the tower. In order to cope with the yaw of the wind turbine, detection equipment needs to be installed on the circumference of the tower so that no matter which direction the wind turbine is facing, there are monitoring equipment facing the blades. However, this solution greatly increases the number of monitoring equipment. The above three methods can only detect the clearance value of the blade when the blade sweeps across the tower, and cannot perform real-time monitoring. When a clearance-related abnormality suddenly occurs before the blade rotates to the tower position, it cannot be monitored in time. Summary of the Invention

[0004] In order to solve the technical problem that the existing methods can only detect the clearance value of the blade when the blade sweeps the tower, and cannot be timely detected when the clearance abnormality occurs before the blade rotates to the tower position, the embodiment of the present invention provides a real-time monitoring method and device for blade clearance value and imbalance based on RTK technology. The technical solution is as follows:

[0005] On the one hand, a method for real-time monitoring of blade clearance value and imbalance based on RTK technology is provided. The method is implemented by a real-time monitoring device for blade clearance value and imbalance based on RTK technology. The method includes:

[0006] S1. Obtain the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine nacelle and the position coordinates and elevation information of the RTK monitoring devices on the three blades of the wind turbine;

[0007] S2. Analyze the relationship between the clearance distance, elevation difference, and horizontal distance of the three blades of the wind turbine during rotation by establishing a nacelle coordinate system and an impeller coordinate system based on the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine nacelle and the position coordinates and elevation information of the RTK monitoring devices on the three blades of the wind turbine;

[0008] S3. Calculate the clearance distance during the rotation of the three blades of the wind turbine using a sampling statistical mechanism method based on the relationship between the clearance distance, elevation difference, and horizontal distance;

[0009] According to the relationship between the clearance value, the elevation difference, and the horizontal distance, a sampling statistical mechanism method is used to calculate the clearance distance during the rotation of the three blades of the wind turbine, including:

[0010] Acquire real-time data between the RTK monitoring devices on the three blades of the wind turbine and the RTK monitoring device on the top of the wind turbine nacelle;

[0011] The sampling time is set to 10 seconds; according to the sampling time, the real-time data is organized into an array, and the horizontal distance value corresponding to the minimum value of the elevation difference in the array is calculated; wherein the horizontal distance value corresponding to the minimum value of the elevation difference is a simplified horizontal distance;

[0012] Based on the simplified horizontal distance, calculate the clearance distance of the three blades of the fan during rotation;

[0013] S4. Obtaining a balance state between the three blades of the fan according to the clearance distance;

[0014] Wherein, obtaining the balance state between the three blades of the wind turbine according to the clearance distance includes:

[0015] Set the clearance distance tolerance for the RTK monitoring equipment on the three blades of the wind turbine;

[0016] The balance state between the three blades of the wind turbine is obtained according to the clearance distance of the RTK monitoring equipment on the three blades of the wind turbine and the clearance distance tolerance of the RTK monitoring equipment on the three blades of the wind turbine.

[0017] On the other hand, a real-time monitoring device for blade clearance value and imbalance based on RTK technology is provided. The device is applied to a real-time monitoring method for blade clearance value and imbalance based on RTK technology. The device includes:

[0018] The first acquisition unit is used to obtain the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine nacelle and the position coordinates and elevation information of the RTK monitoring devices on the three blades of the wind turbine;

[0019] an analysis unit for analyzing the relationship between the clearance distance, elevation difference, and horizontal distance of the three blades of the wind turbine during rotation by establishing a nacelle coordinate system and an impeller coordinate system based on the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine nacelle and the position coordinates and elevation information of the RTK monitoring devices on the three blades of the wind turbine;

[0020] a calculation unit for calculating the clearance distance during the rotation of the three blades of the fan using a sampling statistical mechanism method according to the mutual relationship between the clearance distance, the elevation difference and the horizontal distance;

[0021] According to the relationship between the clearance value, the elevation difference, and the horizontal distance, a sampling statistical mechanism method is used to calculate the clearance distance during the rotation of the three blades of the wind turbine, including:

[0022] Acquire real-time data between the RTK monitoring devices on the three blades of the wind turbine and the RTK monitoring device on the top of the wind turbine nacelle; wherein the real-time data includes: slant distance, horizontal distance, elevation difference and position coordinates;

[0023] Set the sampling time to 10 seconds. According to the sampling time, organize the real-time data into an array and calculate the horizontal distance value corresponding to the minimum elevation difference in the array. The horizontal distance value corresponding to the minimum elevation difference is the simplified horizontal distance.

[0024] Based on the simplified horizontal distance, calculate the clearance distance of the three blades of the fan during rotation;

[0025] A second obtaining unit is configured to obtain a balance state between the three blades of the wind turbine according to the clearance distance;

[0026] Wherein, obtaining the balance state between the three blades of the wind turbine according to the clearance distance includes:

[0027] Set the clearance distance tolerance for the RTK monitoring equipment on the three blades of the wind turbine;

[0028] The balance state between the three blades of the wind turbine is obtained according to the clearance distance of the RTK monitoring equipment on the three blades of the wind turbine and the clearance distance tolerance of the RTK monitoring equipment on the three blades of the wind turbine.

[0029] On the other hand, a real-time monitoring device for blade clearance value and imbalance based on RTK technology is provided, and the real-time monitoring device for blade clearance value and imbalance based on RTK technology includes: a processor; a memory, and the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, any one of the above-mentioned real-time monitoring methods for blade clearance value and imbalance based on RTK technology is implemented.

[0030] On the other hand, a computer-readable storage medium is provided, in which at least one instruction is stored. The at least one instruction is loaded and executed by a processor to implement any one of the above-mentioned methods for real-time monitoring of blade clearance value and imbalance based on RTK technology.

[0031] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0032] The embodiment of the present invention first obtains the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine cabin and the position coordinates and elevation information of the RTK monitoring device on the three blades of the wind turbine; secondly, based on the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine cabin and the position coordinates and elevation information of the RTK monitoring device on the three blades of the wind turbine, by establishing a cabin coordinate system and an impeller coordinate system, the clearance distance, elevation difference and horizontal distance of the three blades of the wind turbine during rotation are analyzed; according to the relationship between the clearance distance, elevation difference and horizontal distance, a sampling statistical mechanism method is adopted to calculate the clearance distance of the three blades of the wind turbine during rotation; finally, according to the clearance distance, the balance state between the three blades of the wind turbine is obtained.

[0033] The embodiment of the present invention adopts RTK technology and is applicable all-weather, avoiding the problem that the laser system or video system cannot be used in bad weather, and effectively solving the problem of limited detection distance; the embodiment of the present invention can monitor the clearance value and the balance state of the impeller when the blade sweeps through the tower, and can monitor the clearance value and the balance state of the impeller at various rotation positions in real time to meet the needs of blade monitoring; the embodiment of the present invention can draw the blade operation trajectory based on the real-time coordinates and elevation data of the blade monitored by RTK, and through trajectory comparison, it can be used to view the deformation of the blade at different wind speeds and different positions and the rotation surface angle of different blades. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] 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.

[0035] Figure 1 This is a flow chart of a method for real-time monitoring of blade clearance and imbalance based on RTK technology provided by an embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram of a structure in which a wind farm is provided with one base station and the RTK devices on all wind turbines are configured as rover stations, according to an embodiment of the present invention;

[0037] Figure 3 1 is a schematic diagram of a structure in which an RTK device on the top of a wind turbine nacelle is set as a reference station and an RTK device on a blade is set as a rover station, provided by an embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram of a structure in which all RTK devices on wind turbines are configured as rovers and connected to a public CORS network, provided by an embodiment of the present invention;

[0039] Figure 5 is a schematic diagram of a nacelle coordinate system and an impeller coordinate system provided by an embodiment of the present invention;

[0040] Figure 6 This is a relationship diagram of elevation difference, horizontal distance, and clearance value provided by an embodiment of the present invention;

[0041] Figure 7 This is a schematic diagram of the shape of a blade under different wind speeds provided by an embodiment of the present invention;

[0042] Figure 8 Schematic diagram of the structure of a 5-RTK real-time monitoring solution provided by an embodiment of the present invention;

[0043] Figure 9 This is a design block diagram of a monitoring device provided by an embodiment of the present invention;

[0044] Figure 10 This is a block diagram of a real-time monitoring device for blade clearance and imbalance based on RTK technology provided by an embodiment of the present invention;

[0045] Figure 11 It is a structural schematic diagram of a blade clearance value and imbalance real-time monitoring device based on RTK technology provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The technical solution of the present invention is described below in conjunction with the accompanying drawings.

[0047] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as an "exemplary" in the present invention should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of the word "exemplary" is intended to present concepts in a concrete manner. Furthermore, in the embodiments of the present invention, "and / or" can mean both or either of the two.

[0048] In the embodiments of the present invention, the terms "image" and "picture" may sometimes be used interchangeably. It should be noted that, when the distinction is not emphasized, the meanings they convey are the same. The terms "of," "corresponding," and "corresponding" may sometimes be used interchangeably. It should be noted that, when the distinction is not emphasized, the meanings they convey are the same.

[0049] In the embodiments of the present invention, sometimes a subscript such as W1 may be written as a non-subscript such as W1. When the difference is not emphasized, the meanings to be expressed are the same.

[0050] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0051] The embodiment of the present invention provides a method for real-time monitoring of blade clearance value and imbalance based on RTK technology. The method can be implemented by a real-time monitoring device for blade clearance value and imbalance based on RTK technology. The real-time monitoring device for blade clearance value and imbalance based on RTK technology can be a terminal or a server. Figure 1 The flowchart of the method for real-time monitoring of blade clearance and imbalance based on RTK technology is shown. The processing flow of the method may include the following steps:

[0052] S1. Obtain the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine nacelle and the position coordinates and elevation information of the RTK monitoring devices on the three blades of the wind turbine.

[0053] Among them, RTK is a real-time dynamic measurement technology that provides high-precision error correction data through carrier phase observation; RTK technology can provide positioning results within the centimeter-level accuracy range.

[0054] Real-Time Kinematic (RTK) technology is a high-precision satellite navigation and positioning technology. Its core is to use the relative position differences between two or more global navigation satellite system receivers to correct position data in real time. RTK systems typically consist of two key components: a base station and a rover. The base station's GNSS receiver is installed at a known precise location and calculates real-time error data by receiving satellite signals, transmitting this error information to the rover. The rover is installed on the target that requires real-time positioning. After receiving the error data from the base station, it combines it with its own GNSS signals to correct the positioning results in real time, achieving high-precision positioning. Through a high-precision carrier phase differential algorithm, RTK can currently reduce the error of traditional satellite positioning from a few meters to the centimeter level. RTK has been widely used in navigation and surveying and mapping.

[0055] Optionally, the specific implementation process of S1 includes:

[0056] According to the setting method of the wind farm reference station, an RTK monitoring device is arranged on the top of the wind turbine nacelle. The position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine nacelle are read through the RTK monitoring device; an RTK monitoring device is arranged on each of the three blades of the wind turbine. The position coordinates and elevation information of the RTK monitoring device on each blade of the wind turbine are read through the RTK monitoring device.

[0057] In a feasible implementation, there are three ways to set up the wind farm reference station; Figure 2 In the first scheme shown, a wind farm base station is established at a certain location in the entire wind farm, such as a booster station, and the RTK monitoring equipment of all wind turbines are connected to the wind farm base station. For a single wind turbine, the RTK monitoring equipment arranged on its three blades and the top of the wind turbine nacelle are set as mobile stations. By reading the coordinate position and elevation information of the mobile station, the elevation difference and horizontal distance between the mobile station on the blade and the mobile station on the top of the wind turbine nacelle are calculated. Scheme 1 needs to consider the information transmission between the mobile station and the base station, that is, the coverage range of the base station.

[0058] Among them, such as Figure 3 In the second scheme shown, each wind turbine is independently equipped with its own base station. That is, the RTK monitoring equipment on the top of the wind turbine cabin is used as the base station, and the RTK monitoring equipment on the three blades of the wind turbine is used as the mobile station. The horizontal distance and elevation difference between the three mobile stations and the base station are calculated. In the second scheme, since the base station and the mobile station are close to each other, the base station and the mobile station will have good information transmission conditions.

[0059] Among them, such as Figure 4 In the third scheme shown, no base station is established in the wind farm and the wind turbine. Instead, Continuously Operating Reference Stations (CORS) are used. That is, nearby commercial base stations are used. All RTK monitoring equipment arranged on the three blades of the wind turbine and on the top of the wind turbine cabin are set as mobile stations. By reading the position coordinates and elevation information of the mobile stations, the elevation difference and horizontal distance between the mobile station on the blade and the mobile station on the top of the wind turbine cabin are calculated. Scheme three is suitable for areas where the wind turbine is located with a good network environment. This application adopts the setting method of scheme three to set up the base station of the wind farm; among them, if Figure 4 FIG2 is a schematic diagram of a structure in which all RTK devices on wind turbines are configured as mobile stations and connected to a public CORS network, provided by an embodiment of the present invention.

[0060] Among them, for large-capacity units, in order to reduce the risk of blade sweeping the tower, the hub will have a certain elevation angle relative to the nacelle, generally 2°-8°; in order to analyze the relationship between the clearance value, elevation difference and horizontal distance during the blade rotation process, two sets of coordinate systems are established, including: nacelle coordinate system and impeller coordinate system ;like Figure 5 FIG. 1 is a schematic diagram of a nacelle coordinate system and an impeller coordinate system provided by an embodiment of the present invention, wherein: The coordinate system takes the tower direction as the Z axis, the nacelle centerline as the Y axis, and the nacelle transverse direction as the X axis; Coordinate system and The origin of the coordinate system coincides with the X-axis rotation of the coordinate system Angle; where around X-axis rotation of the coordinate system The angle is equal to the elevation angle of the hub relative to the nacelle; the origins of the two coordinate systems are located at the intersection of the three blades of the wind turbine.

[0061] S2. Based on the position coordinates and elevation information of the RTK monitoring equipment on the top of the wind turbine nacelle and the position coordinates and elevation information of the RTK monitoring equipment on the three wind turbine blades, by establishing the nacelle coordinate system and the impeller coordinate system, the relationship between the clearance distance, elevation difference, and horizontal distance during the rotation of the three wind turbine blades is analyzed.

[0062] Optionally, the specific implementation process of S2 may include S21-S25:

[0063] S21. Establish a nacelle coordinate system with the tower direction as the Z axis, the nacelle centerline as the Y axis, and the nacelle transverse direction as the X axis. Based on the nacelle coordinate system, obtain the coordinates of the RTK monitoring device on the nacelle and the coordinates of the RTK monitoring devices on the three blades of the wind turbine in the nacelle coordinate system.

[0064] Among them, the coordinates of the RTK monitoring equipment on the cabin in the cabin coordinate system are expressed as .

[0065] Among them, the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the cabin coordinate system are expressed as follows: .

[0066] S22, take the origin of the cabin coordinate system as the coordinate origin, and rotate around the X axis of the cabin coordinate system Angle, establish the impeller coordinate system; according to the impeller coordinate system, obtain the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the impeller coordinate system;

[0067] Among them, the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the impeller coordinate system are expressed as follows: .

[0068] S23. According to the coordinates of the RTK monitoring devices on the three blades of the wind turbine in the impeller coordinate system and the coordinates of the RTK monitoring devices on the three blades of the wind turbine in the nacelle coordinate system, the conversion relationship between the nacelle coordinate system and the impeller coordinate system of the RTK monitoring devices on the three blades of the wind turbine is obtained, which is expressed by the following formula (1):

[0069] (1)

[0070] in, Indicates the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the nacelle coordinate system; Indicates the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the impeller coordinate system; Indicates the rotation angle;

[0071] The rotation of the blade is in the impeller coordinate system of The projection in the plane is a circle, so constraints are set for the coordinates of the RTK monitoring equipment on the three blades of the wind turbine.

[0072] S24. Set the constraints of the RTK monitoring equipment on the three blades of the wind turbine in the impeller coordinate system, which are expressed by the following formulas (2) and (3):

[0073] (2)

[0074] (3)

[0075] Where L represents the straight-line distance between the RTK monitoring equipment on the three blades of the wind turbine and the origin of the coordinate system; Indicates the angle between the three blades of the wind turbine and the y-axis in the impeller coordinate system; x indicates the coordinate of the RTK monitoring device on the blade on the x-axis in the impeller coordinate system; y indicates the coordinate of the RTK monitoring device on the blade on the y-axis in the impeller coordinate system; z indicates the coordinate of the RTK monitoring device on the blade on the z-axis in the impeller coordinate system;

[0076] S25. Calculate the clearance distance, elevation difference, and horizontal distance based on the constraints. The clearance distance is the horizontal distance between the RTK monitoring equipment on the three blades of the wind turbine and the tower wall, which is expressed by the following formula (4):

[0077] (4)

[0078] in, Indicates the clearance distance; Y indicates the Y-axis coordinate of the blade RTK monitoring device in the cabin coordinate system; Indicates the distance between the tower wall and the origin of the coordinate system;

[0079] The elevation difference is the vertical distance between the RTK monitoring equipment on the three blades of the wind turbine and the RTK monitoring equipment on the top of the wind turbine nacelle, which is expressed by the following formula (5):

[0080] (5)

[0081] in, Indicates elevation difference; represents the Z-axis coordinate of the cabin RTK monitoring device in the cabin coordinate system; Z represents the Z-axis coordinate of the blade RTK monitoring device in the cabin coordinate system;

[0082] The horizontal distance is the horizontal distance between the RTK monitoring equipment on the three blades of the wind turbine and the RTK monitoring equipment on the top of the wind turbine nacelle, which is expressed by the following formula (6):

[0083] (6)

[0084] in, Indicates horizontal distance; Indicates the X-axis coordinate of the cabin RTK monitoring device in the cabin coordinate system; Indicates the Y-axis coordinate of the cabin RTK monitoring device in the cabin coordinate system;

[0085] Among them, when When the blade is located below the nacelle, the calculation process of the horizontal distance is simplified to obtain the simplified horizontal distance, which is expressed by the following formula (7):

[0086] (7)

[0087] Among them, when When the blade is located below the nacelle, the clearance distance is simplified to obtain the simplified clearance distance, which is expressed by the following formula (8):

[0088] (8)

[0089] in, represents the simplified clearance distance; Represents the simplified horizontal distance.

[0090] In a feasible implementation, Figure 6 The figure shows the relationship between the elevation difference, the horizontal distance and the clearance value provided by an embodiment of the present invention. For a unit with a hub having an elevation angle, the clearance distance changes with the change of the elevation difference during the rotation of the blades.

[0091] Among them, in order to reduce the complexity of the design of the fan blade clearance value and impeller imbalance monitoring system and improve the system operation speed, a sampling statistical mechanism method is adopted to obtain the clearance distance from the value of the horizontal distance parameter; because the rated speed of the fan impeller is generally between a few revolutions per minute and more than ten revolutions per minute, data can be counted every 10 seconds or 30 seconds.

[0092] S3. Based on the relationship between the clearance value, elevation difference and horizontal distance, a sampling statistical mechanism method is used to calculate the clearance distance during the rotation of the three blades of the fan.

[0093] Among them, based on the relationship between the clearance value, elevation difference and horizontal distance, a sampling statistical mechanism method is used to calculate the clearance distance during the rotation of the three blades of the wind turbine, including:

[0094] Acquire real-time data between the RTK monitoring devices on the three blades of the wind turbine and the RTK monitoring device on the top of the wind turbine nacelle;

[0095] Among them, real-time data includes: slope distance, horizontal distance, elevation difference and position coordinates;

[0096] Set the sampling time to 10 seconds. According to the sampling time, organize the real-time data into an array and calculate the horizontal distance value corresponding to the minimum elevation difference in the array. The horizontal distance value corresponding to the minimum elevation difference is the simplified horizontal distance.

[0097] Based on the simplified horizontal distance, calculate the clearance distance of the three blades of the fan during rotation;

[0098] Optionally, the process of calculating the clearance distance during the rotation of the three blades of the wind turbine according to the simplified horizontal distance in S3 includes:

[0099] According to the simplified horizontal distance and the simplified clearance distance formula, the clearance distance when the blade sweeps over the wind turbine tower is calculated and expressed by the following formula (9):

[0100] (9)

[0101] in, represents the simplified clearance distance; Represents the simplified horizontal distance.

[0102] In a feasible implementation, according to formula (9), if the cabin RKT monitoring equipment is installed on the central axis of the cabin, When the blade is located below the nacelle and facing the tower, the elevation difference is the smallest, but the absolute value is the largest. The solution to the clearance distance can be converted into the solution to the horizontal distance, which can reduce the amount of calculation and improve the system response speed.

[0103] In a feasible embodiment, the blades, especially the long blades and the flexible blades, will deform under high wind speed, such as Figure 7 The figure shows a schematic diagram of the blade shape under different wind speeds provided by an embodiment of the present invention; under different wind speeds, the straight-line distance between the RTK monitoring equipment on the above three blades and the origin of the coordinate system and the angle between the three blades and the y-axis in the impeller coordinate system will be affected, resulting in the direct calculation of the clearance distance being relatively cumbersome. The solution of the clearance distance can be converted into the solution of the horizontal distance, which can reduce the difficulty of the problem; because the horizontal distance between any two points can be solved according to the north coordinate and east coordinate in the National 2000 coordinate system in the RTK monitoring equipment test.

[0104] S4. Obtain the balance state between the three blades of the fan according to the clearance distance.

[0105] Among them, according to the clearance distance, the balance state between the three blades of the fan is obtained, including:

[0106] Set the clearance distance tolerance for the RTK monitoring equipment on the three blades of the wind turbine;

[0107] The balance state between the three blades of the wind turbine is obtained according to the clearance distance of the RTK monitoring equipment on the three blades of the wind turbine and the clearance distance tolerance of the RTK monitoring equipment on the three blades of the wind turbine.

[0108] Optionally, the equilibrium state between the three blades of the fan S4 is expressed by the following formula (10):

[0109] (10)

[0110] in, Indicates the clearance distance of the RTK monitoring equipment on the first blade of the wind turbine; Indicates the clearance distance of the RTK monitoring equipment on the second blade of the wind turbine; Indicates the clearance distance of the RTK monitoring equipment on the third blade of the wind turbine; Indicates the clearance distance tolerance of the three blades of the fan.

[0111] Among them, the blade's running trajectory can be drawn based on the real-time coordinates and elevation information of the RTK monitoring equipment on each blade of the wind turbine.

[0112] In a feasible implementation, the method proposed in this application can be used to monitor the clearance distance when the blades sweep across the tower and the balance state between the three blades.

[0113] Among them, such as Figure 8The figure shows a structural diagram of a real-time monitoring solution of five RTK monitoring devices provided by an embodiment of the present invention. By adding one RTK monitoring device on the top of the cabin, the clearance distance of the blade at each rotation position can be monitored in real time.

[0114] Optionally, after the step of obtaining the balance state between the three blades of the wind turbine according to the clearance distance in S4, the method further includes:

[0115] By adding RTK monitoring equipment, the real-time clearance distance of each wind turbine blade is calculated, including:

[0116] Two RTK monitoring devices are placed on the top of the wind turbine nacelle. The coordinate information of the first RTK monitoring device and the coordinate information of the second RTK monitoring device on the top of the wind turbine nacelle are obtained using the National 2000 coordinate system. The two RTK monitoring devices on the top of the wind turbine nacelle form a straight line, and the formed straight line coincides with the central axis of the nacelle.

[0117] Place one RTK monitoring device on each of the three blades of the wind turbine, and obtain the coordinate information of each RTK monitoring device on the three blades of the wind turbine using the National 2000 coordinate system;

[0118] According to the coordinate information of the first RTK monitoring device on the top of the wind turbine nacelle, the coordinate information of the second RTK monitoring device on the top of the wind turbine nacelle, and the coordinate information of each RTK monitoring device on the three blades of the wind turbine, the real-time clearance distance of each blade of the wind turbine is calculated by calculating the distance between the projection of the RTK monitoring device of each blade on the straight line and the RTK monitoring device of the wind turbine nacelle.

[0119] Optionally, the distance between the projection of the RTK monitoring device of each blade on the straight line and the RTK monitoring device of the wind turbine nacelle is calculated and expressed by the following formula (11):

[0120] (11)

[0121] in, Indicates the distance between the projection of the RTK monitoring device of each blade on the straight line and the first RTK monitoring device on the top of the wind turbine nacelle; Indicates the coordinate information of the first RTK monitoring device on the top of the wind turbine nacelle; Indicates the coordinate information of the second RTK monitoring device on the top of the wind turbine nacelle; Indicates the coordinate information of each RTK monitoring device on the three blades of the wind turbine.

[0122] In a feasible implementation, the real-time clearance distance of each blade of the wind turbine is calculated based on the distance between the projection of the RTK monitoring device of each blade on a straight line and the RTK monitoring device in the cabin, so that the clearance distance of the blade at each position and time can be monitored; during the normal operation of the wind turbine, the elevation difference and clearance distance of the blade RTK monitoring device are collected at low wind speed and high wind speed respectively, and the clearance threshold corresponding to each elevation difference is set; the clearance distance collected during normal operation is used as a benchmark to determine whether the deviation of the clearance distance of the wind turbine during operation is within the tolerance range and whether it is lower than the threshold. If it is lower than the threshold, there is a risk of clearance sweeping the tower, and an alarm is issued in time.

[0123] Among them, according to the blade clearance value and imbalance real-time monitoring method based on RTK technology proposed in this application, a fan blade clearance distance and impeller imbalance monitoring system can be designed; Figure 9 The figure shows a design block diagram of a monitoring system provided by an embodiment of the present invention; wherein, the system includes a stand-alone MCU, an RTK module, a communication module, an early warning module and a host computer software; the system can run independently, or multiple systems can be connected to a centralized control center for centralized control; wherein, the system includes 4 or 5 RTK modules for transmitting the data monitored by RTK to the stand-alone MCU module for processing; the communication module is used for communication between the RTK mobile station and the base station, and for communication between the stand-alone MCU and the centralized control center; the MCU is used for data processing and parameter setting, including RTK working mode and communication module parameters, etc., and calculates the horizontal distance, elevation difference, slant distance and clearance distance through the received RTK module monitoring data; the early warning module is used to judge whether the blades are rotating, whether the clearance distance is lower than the threshold, whether there is impeller imbalance and whether the rotation of the blades is within the tolerance range, etc. according to whether the clearance distance or elevation difference is changing; the host computer software is connected to the MCU to provide visual operation and graphic information display.

[0124] The embodiment of the present invention first obtains the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine cabin and the position coordinates and elevation information of the RTK monitoring device on the three blades of the wind turbine; secondly, based on the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine cabin and the position coordinates and elevation information of the RTK monitoring device on the three blades of the wind turbine, by establishing a cabin coordinate system and an impeller coordinate system, the clearance distance, elevation difference and horizontal distance of the three blades of the wind turbine during rotation are analyzed; according to the relationship between the clearance distance, elevation difference and horizontal distance, a sampling statistical mechanism method is adopted to calculate the clearance distance of the three blades of the wind turbine during rotation; finally, according to the clearance distance, the balance state between the three blades of the wind turbine is obtained.

[0125] The embodiment of the present invention adopts RTK technology and is applicable all-weather, avoiding the problem that the laser system or video system cannot be used in bad weather, and effectively solving the problem of limited detection distance; the embodiment of the present invention can monitor the clearance distance of the blade when it sweeps across the tower and the balance state of the impeller, and can monitor the clearance distance and the balance state of the impeller at various rotation positions in real time to meet the needs of blade monitoring; the embodiment of the present invention can draw the blade operation trajectory based on the real-time coordinates and elevation data of the blade monitored by RTK, and through trajectory comparison, it can be used to view the deformation of the blade at different wind speeds and different positions and the rotation surface angle of different blades.

[0126] Figure 10 This is a block diagram of a real-time monitoring device for blade clearance value and imbalance based on RTK technology according to an exemplary embodiment. The device is used in a real-time monitoring method for blade clearance value and imbalance based on RTK technology. Figure 10 The device includes a first acquisition unit 310, an analysis unit 320, a calculation unit 330, and a second acquisition unit 340.

[0127] The first acquisition unit 310 is used to acquire the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine nacelle and the position coordinates and elevation information of the RTK monitoring devices on the three blades of the wind turbine;

[0128] an analyzing unit 320 for analyzing the relationship between the clearance distance, elevation difference, and horizontal distance of the three wind turbine blades during rotation by establishing a nacelle coordinate system and an impeller coordinate system based on the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine nacelle and the position coordinates and elevation information of the RTK monitoring devices on the three wind turbine blades;

[0129] The calculation unit 330 is configured to calculate the clearance distance during the rotation of the three blades of the wind turbine using a sampling statistical mechanism method based on the relationship between the clearance distance, the elevation difference, and the horizontal distance;

[0130] According to the relationship between the clearance value, the elevation difference, and the horizontal distance, a sampling statistical mechanism method is used to calculate the clearance distance during the rotation of the three blades of the wind turbine, including:

[0131] Acquire real-time data between the RTK monitoring devices on the three blades of the wind turbine and the RTK monitoring device on the top of the wind turbine nacelle;

[0132] The sampling time is set to 10 seconds; according to the sampling time, the real-time data is organized into an array, and the horizontal distance value corresponding to the minimum value of the elevation difference in the array is calculated; wherein the horizontal distance value corresponding to the minimum value of the elevation difference is a simplified horizontal distance;

[0133] Based on the simplified horizontal distance, calculate the clearance distance of the three blades of the fan during rotation;

[0134] A second obtaining unit 340 is configured to obtain a balance state between the three blades of the wind turbine according to the clearance distance;

[0135] Wherein, obtaining the balance state between the three blades of the wind turbine according to the clearance distance includes:

[0136] Set the clearance distance tolerance for the RTK monitoring equipment on the three blades of the wind turbine;

[0137] The balance state between the three blades of the wind turbine is obtained according to the clearance distance of the RTK monitoring equipment on the three blades of the wind turbine and the clearance distance tolerance of the RTK monitoring equipment on the three blades of the wind turbine.

[0138] Optionally, the first acquiring unit 310 is configured to:

[0139] According to the setting method of the wind farm reference station, an RTK monitoring device is arranged on the top of the wind turbine nacelle, and the position coordinates and elevation information of the wind turbine nacelle are read through the RTK monitoring device; an RTK monitoring device is arranged on each of the three blades of the wind turbine, and the position coordinates and elevation information of each blade of the wind turbine are read through the RTK monitoring device.

[0140] Optionally, the analysis unit 320 is configured to:

[0141] Establish a nacelle coordinate system with the tower direction as the Z-axis, the nacelle centerline as the Y-axis, and the nacelle transverse direction as the X-axis. Based on the nacelle coordinate system, obtain the coordinates of the RTK monitoring equipment on the nacelle and the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the nacelle coordinate system.

[0142] With the origin of the cabin coordinate system as the coordinate origin, rotate around the X axis of the cabin coordinate system Angle, establish the impeller coordinate system; according to the impeller coordinate system, obtain the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the impeller coordinate system;

[0143] According to the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the impeller coordinate system and the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the nacelle coordinate system, the conversion relationship between the nacelle coordinate system and the impeller coordinate system of the RTK monitoring equipment on the three blades of the wind turbine is obtained, which is expressed by the following formula (1):

[0144] (1)

[0145] in, Indicates the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the nacelle coordinate system; Indicates the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the impeller coordinate system; Indicates the rotation angle;

[0146] The constraints for setting the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the impeller coordinate system are expressed by the following formulas (2)-(3):

[0147] (2)

[0148] (3)

[0149] Where L represents the straight-line distance between the RTK monitoring equipment on the three blades of the wind turbine and the origin of the coordinate system; Indicates the angle between the three blades of the wind turbine and the y-axis in the impeller coordinate system; x indicates the coordinate of the RTK monitoring device on the blade on the x-axis in the impeller coordinate system; y indicates the coordinate of the RTK monitoring device on the blade on the y-axis in the impeller coordinate system; z indicates the coordinate of the RTK monitoring device on the blade on the z-axis in the impeller coordinate system;

[0150] According to the constraints, the clearance distance, elevation difference, and horizontal distance are calculated; the clearance distance is the horizontal distance between the RTK monitoring equipment on the three blades of the wind turbine and the tower wall, which is expressed by the following formula (4):

[0151] (4)

[0152] in, Indicates the clearance distance; Y indicates the Y-axis coordinate of the blade RTK monitoring device in the cabin coordinate system; Indicates the distance between the tower wall and the origin of the coordinate system;

[0153] The elevation difference is the vertical distance between the RTK monitoring equipment on the three blades of the wind turbine and the RTK monitoring equipment on the top of the wind turbine nacelle, which is expressed by the following formula (5):

[0154] (5)

[0155] in, Indicates elevation difference; It represents the Z-axis coordinate of the cabin RTK monitoring device in the cabin coordinate system; Z represents the Y-axis coordinate of the blade RTK monitoring device in the cabin coordinate system;

[0156] The horizontal distance is the horizontal distance between the RTK monitoring equipment on the three blades of the wind turbine and the RTK monitoring equipment on the top of the wind turbine nacelle, which is expressed by the following formula (6):

[0157] (6)

[0158] in, Indicates horizontal distance; Indicates the X-axis coordinate of the cabin RTK monitoring device in the cabin coordinate system; Indicates the Y-axis coordinate of the cabin RTK monitoring device in the cabin coordinate system;

[0159] Among them, when When the blade is located below the nacelle, the calculation process of the horizontal distance is simplified to obtain the simplified horizontal distance, which is expressed by the following formula (7):

[0160] (7)

[0161] Among them, when When the blade is located below the nacelle, the clearance distance is simplified to obtain the simplified clearance distance, which is expressed by the following formula (8):

[0162] (8)

[0163] in, represents the simplified clearance distance; Represents the simplified horizontal distance.

[0164] Optionally, the process of calculating the clearance distance during the rotation of the three blades of the wind turbine according to the simplified horizontal distance includes:

[0165] According to the simplified horizontal distance and the simplified clearance distance formula, the clearance distance when the blade sweeps over the wind turbine tower is calculated and expressed by the following formula (9):

[0166] (9)

[0167] in, represents the simplified clearance distance; Represents the simplified horizontal distance.

[0168] Optionally, the equilibrium state between the three blades of the fan is expressed by the following formula (10):

[0169] (10)

[0170] in, Indicates the clearance distance of the first blade of the fan; Indicates the clearance distance of the second blade of the fan; Indicates the clearance distance of the third blade of the fan; Indicates the clearance distance tolerance of the three blades of the fan.

[0171] Optionally, after the step of obtaining the balance state between the three blades of the wind turbine according to the clearance distance, the method further includes:

[0172] By adding RTK monitoring equipment, the real-time clearance distance of each wind turbine blade is calculated, including:

[0173] Two RTK monitoring devices are placed on the top of the wind turbine nacelle. The coordinate information of the first RTK monitoring device and the coordinate information of the second RTK monitoring device on the top of the wind turbine nacelle are obtained using the National 2000 coordinate system. The two RTK monitoring devices on the top of the wind turbine nacelle form a straight line, and the formed straight line coincides with the central axis of the nacelle.

[0174] Place one RTK monitoring device on each of the three blades of the wind turbine, and obtain the coordinate information of each RTK monitoring device on the three blades of the wind turbine using the National 2000 coordinate system;

[0175] According to the coordinate information of the first RTK monitoring device on the top of the wind turbine nacelle, the coordinate information of the second RTK monitoring device on the top of the wind turbine nacelle, and the coordinate information of each RTK monitoring device on the three blades of the wind turbine, the real-time clearance distance of each blade of the wind turbine is calculated by calculating the distance between the projection of the RTK monitoring device of each blade on the straight line and the RTK monitoring device of the wind turbine nacelle.

[0176] Optionally, the distance between the projection of the RTK monitoring device on each blade on the straight line and the RTK monitoring device in the wind turbine nacelle is calculated using the following formula (11):

[0177] (11)

[0178] in, Indicates the distance between the projection of the RTK monitoring device of each blade on the straight line and the RTK monitoring device in the wind turbine nacelle; Indicates the coordinate information of the first RTK monitoring device on the top of the wind turbine nacelle; Indicates the coordinate information of the second RTK monitoring device on the top of the wind turbine nacelle; Indicates the coordinate information of each RTK monitoring device on the three blades of the wind turbine.

[0179] The embodiment of the present invention first obtains the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine cabin and the position coordinates and elevation information of the RTK monitoring device on the three blades of the wind turbine; secondly, based on the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine cabin and the position coordinates and elevation information of the RTK monitoring device on the three blades of the wind turbine, by establishing a cabin coordinate system and an impeller coordinate system, the clearance distance, elevation difference and horizontal distance of the three blades of the wind turbine during rotation are analyzed; according to the relationship between the clearance distance, elevation difference and horizontal distance, a sampling statistical mechanism method is adopted to calculate the clearance distance of the three blades of the wind turbine during rotation; finally, according to the clearance distance, the balance state between the three blades of the wind turbine is obtained.

[0180] The embodiment of the present invention adopts RTK technology and is applicable all-weather, avoiding the problem that the laser system or video system cannot be used in bad weather, and effectively solving the problem of limited detection distance; the embodiment of the present invention can monitor the clearance distance of the blade when it sweeps across the tower and the balance state of the impeller, and can monitor the clearance distance and the balance state of the impeller at various rotation positions in real time to meet the needs of blade monitoring; the embodiment of the present invention can draw the blade operation trajectory based on the real-time coordinates and elevation data of the blade monitored by RTK, and through trajectory comparison, it can be used to view the deformation of the blade at different wind speeds and different positions and the rotation surface angle of different blades.

[0181] Figure 11 FIG. 1 is a schematic diagram of a real-time monitoring device for blade clearance and imbalance based on RTK technology provided by an embodiment of the present invention. Figure 11 As shown, the blade clearance value and imbalance real-time monitoring equipment based on RTK technology can include the above Figure 10 The blade clearance value and imbalance real-time monitoring device based on RTK technology is shown. Optionally, the blade clearance value and imbalance real-time monitoring device 410 based on RTK technology may include a first processor 2001.

[0182] Optionally, the blade clearance value and imbalance real-time monitoring device 410 based on RTK technology may further include a memory 2002 and a transceiver 2003 .

[0183] The first processor 2001, the memory 2002 and the transceiver 2003 may be connected via a communication bus.

[0184] The following combination Figure 11 The components of the blade clearance value and imbalance real-time monitoring device 410 based on RTK technology are described in detail:

[0185] The first processor 2001 is the control center of the RTK-based blade clearance value and imbalance real-time monitoring device 410, and can be a single processor or a collective term for multiple processing elements. For example, the first processor 2001 can be one or more central processing units (CPUs), or application-specific integrated circuits (ASICs), or one or more integrated circuits configured to implement embodiments of the present invention, such as one or more digital signal processors (DSPs) or one or more field programmable gate arrays (FPGAs).

[0186] Optionally, the first processor 2001 can perform various functions of the blade clearance value and imbalance real-time monitoring device 410 based on RTK technology by running or executing a software program stored in the memory 2002 and calling data stored in the memory 2002.

[0187] In a specific implementation, as an embodiment, the first processor 2001 may include one or more CPUs, such as Figure 11 CPU0 and CPU1 are shown in FIG.

[0188] In a specific implementation, as an embodiment, the blade clearance value and imbalance real-time monitoring device 410 based on RTK technology may also include multiple processors, such as Figure 11 1 and 2. The first processor 2001 and the second processor 2004 are shown in FIG. Each of these processors can be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). A processor herein can refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0189] The memory 2002 is used to store the software program for executing the solution of the present invention, and is controlled by the first processor 2001 for execution. The specific implementation method can refer to the above method embodiment and will not be repeated here.

[0190] Alternatively, the memory 2002 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, a random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, an optical disc storage (including a compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and capable of being accessed by a computer, but not limited thereto. The memory 2002 may be integrated with the first processor 2001 or may exist independently and be connected to the first processor 2001 through the interface circuit ( Figure 11 (not shown) is coupled to the first processor 2001, which is not specifically limited in this embodiment of the present invention.

[0191] The transceiver 2003 is used to communicate with a network device or a terminal device.

[0192] Optionally, the transceiver 2003 may include a receiver and a transmitter ( Figure 11 The receiver is used to implement a receiving function, and the transmitter is used to implement a sending function.

[0193] Optionally, the transceiver 2003 may be integrated with the first processor 2001 or may exist independently and communicate with the blade clearance value and the unbalance real-time monitoring device 410 through an interface circuit based on RTK technology ( Figure 11 (not shown) is coupled to the first processor 2001, which is not specifically limited in this embodiment of the present invention.

[0194] It should be noted that Figure 11 The structure of the blade clearance value and imbalance real-time monitoring device 410 based on RTK technology shown in the figure does not constitute a limitation on the router. The actual knowledge structure identification device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0195] In addition, the technical effects of the blade clearance value and imbalance real-time monitoring device 410 based on RTK technology can refer to the technical effects of the blade clearance value and imbalance real-time monitoring method based on RTK technology described in the above method embodiment, and will not be repeated here.

[0196] It should be understood that the first processor 2001 in the embodiment of the present invention may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, etc.

[0197] It should also be understood that the memory in the embodiments of the present invention may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory may be random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0198] The above embodiments can be implemented in whole or in part via software, hardware (e.g., circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions or computer programs. When loaded or executed on a computer, the processes or functions described in accordance with the embodiments of the present invention are fully or partially performed. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired means (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server or data center that contains a collection of one or more available media. The available medium can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media. The semiconductor media can be a solid-state drive.

[0199] It should be understood that the term "and / or" as used herein simply describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. A and B can be singular or plural. Furthermore, the character " / " as used herein generally indicates an "or" relationship between the associated objects, but it may also indicate an "and / or" relationship. For specific understanding, please refer to the context.

[0200] In this disclosure, "at least one" means one or more, and "plurality" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, "at least one of a, b, or c" can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or plural.

[0201] It should be understood that in various embodiments of the present invention, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0202] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0203] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described equipment, devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0204] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interface, indirect coupling or communication connection of the device or unit, which can be electrical, mechanical or other forms.

[0205] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0206] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0207] If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or the portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include various media that can store program code, such as USB flash drives, mobile hard drives, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical disks.

[0208] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A real-time monitoring method for blade clearance and imbalance based on RTK technology, characterized in that: The method comprises: S1. Obtain the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine nacelle and the position coordinates and elevation information of the RTK monitoring devices on the three blades of the wind turbine; S2. Analyze the relationship between the clearance distance, elevation difference, and horizontal distance of the three blades of the wind turbine during rotation by establishing a nacelle coordinate system and an impeller coordinate system based on the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine nacelle and the position coordinates and elevation information of the RTK monitoring devices on the three blades of the wind turbine; S3. Calculate the clearance distance during the rotation of the three blades of the wind turbine using a sampling statistical mechanism method based on the relationship between the clearance distance, elevation difference, and horizontal distance; According to the relationship between the clearance value, the elevation difference, and the horizontal distance, a sampling statistical mechanism method is used to calculate the clearance distance during the rotation of the three blades of the wind turbine, including: Acquire real-time data between the RTK monitoring devices on the three blades of the wind turbine and the RTK monitoring device on the top of the wind turbine nacelle; The sampling time is set to 10 seconds; according to the sampling time, the real-time data is organized into an array, and the horizontal distance value corresponding to the minimum value of the elevation difference in the array is calculated; wherein the horizontal distance value corresponding to the minimum value of the elevation difference is a simplified horizontal distance; Based on the simplified horizontal distance, calculate the clearance distance of the three blades of the fan during rotation; S4. Obtaining a balance state between the three blades of the fan according to the clearance distance; Wherein, obtaining the balance state between the three blades of the wind turbine according to the clearance distance includes: Set the clearance distance tolerance for the RTK monitoring equipment on the three blades of the wind turbine; The balance state between the three blades of the wind turbine is obtained according to the clearance distance of the RTK monitoring equipment on the three blades of the wind turbine and the clearance distance tolerance of the RTK monitoring equipment on the three blades of the wind turbine.

2. The method for real-time monitoring of blade clearance and imbalance based on RTK technology according to claim 1, characterized in that: The step S1 of obtaining the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine nacelle and the position coordinates and elevation information of the RTK monitoring devices on the three blades of the wind turbine includes: According to the setting method of the wind farm reference station, an RTK monitoring device is arranged on the top of the wind turbine nacelle. The position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine nacelle are read through the RTK monitoring device; an RTK monitoring device is arranged on each of the three blades of the wind turbine. The position coordinates and elevation information of the RTK monitoring device on each blade of the wind turbine are read through the RTK monitoring device.

3. The real-time monitoring method for blade clearance and imbalance based on RTK technology according to claim 1, characterized in that: The step S2 analyzes the relationship between the clearance distance, elevation difference, and horizontal distance of the three blades of the wind turbine during rotation by establishing a nacelle coordinate system and an impeller coordinate system based on the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine nacelle and the position coordinates and elevation information of the RTK monitoring devices on the three blades of the wind turbine, including: S21. Establish a nacelle coordinate system with the tower direction as the Z axis, the nacelle centerline as the Y axis, and the nacelle transverse direction as the X axis. Based on the nacelle coordinate system, obtain the coordinates of the RTK monitoring device on the nacelle and the coordinates of the RTK monitoring devices on the three blades of the wind turbine in the nacelle coordinate system. S22, take the origin of the cabin coordinate system as the coordinate origin, and rotate around the X axis of the cabin coordinate system Angle, establish the impeller coordinate system; according to the impeller coordinate system, obtain the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the impeller coordinate system; S23. According to the coordinates of the RTK monitoring devices on the three blades of the wind turbine in the impeller coordinate system and the coordinates of the RTK monitoring devices on the three blades of the wind turbine in the nacelle coordinate system, the conversion relationship between the nacelle coordinate system and the impeller coordinate system of the RTK monitoring devices on the three blades of the wind turbine is obtained, which is expressed by the following formula (1): （1） in, Indicates the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the nacelle coordinate system; Indicates the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the impeller coordinate system; Indicates the rotation angle; S24. Set the constraints of the RTK monitoring equipment on the three blades of the wind turbine in the impeller coordinate system, which are expressed by the following formulas (2) and (3): （2） （3） Where L represents the straight-line distance between the RTK monitoring equipment on the three blades of the wind turbine and the origin of the coordinate system; Indicates the angle between the three blades of the wind turbine and the y-axis in the impeller coordinate system; x indicates the coordinate of the RTK monitoring device on the blade on the x-axis in the impeller coordinate system; y indicates the coordinate of the RTK monitoring device on the blade on the y-axis in the impeller coordinate system; z indicates the coordinate of the RTK monitoring device on the blade on the z-axis in the impeller coordinate system; S25. Calculate the clearance distance, elevation difference, and horizontal distance based on the constraints. The clearance distance is the horizontal distance between the RTK monitoring equipment on the three blades of the wind turbine and the tower wall, which is expressed by the following formula (4): （4） in, Indicates the clearance distance; Y indicates the Y-axis coordinate of the RTK monitoring device on the blade in the cabin coordinate system; Indicates the distance between the tower wall and the origin of the coordinate system; The elevation difference is the vertical distance between the RTK monitoring equipment on the three blades of the wind turbine and the RTK monitoring equipment on the top of the wind turbine nacelle, which is expressed by the following formula (5): （5） in, Indicates elevation difference; represents the coordinate of the cabin RTK monitoring device on the Z axis in the cabin coordinate system; Z represents the coordinate of the blade RTK monitoring device on the Z axis in the cabin coordinate system; The horizontal distance is the horizontal distance between the RTK monitoring equipment on the three blades of the wind turbine and the RTK monitoring equipment on the top of the wind turbine nacelle, which is expressed by the following formula (6): （6） in, Indicates horizontal distance; Indicates the coordinate of the cabin RTK monitoring device on the X-axis in the cabin coordinate system; Indicates the coordinate of the cabin RTK monitoring device on the Y axis in the cabin coordinate system; Among them, when When the blade is located below the nacelle, the calculation process of the horizontal distance is simplified to obtain the simplified horizontal distance, which is expressed by the following formula (7): （7） Among them, when When the blade is located below the nacelle, the clearance distance is simplified to obtain the simplified clearance distance, which is expressed by the following formula (8): （8） in, represents the simplified clearance distance; Represents the simplified horizontal distance.

4. The method for real-time monitoring of blade clearance and imbalance based on RTK technology according to claim 1, characterized in that: The process of calculating the clearance distance during the rotation of the three blades of the fan according to the simplified horizontal distance in S3 includes: According to the simplified horizontal distance and the simplified clearance distance formula, the clearance distance when the blade sweeps over the wind turbine tower is calculated and expressed by the following formula (9): （9） in, represents the simplified clearance distance; Represents the simplified horizontal distance.

5. The method for real-time monitoring of blade clearance and imbalance based on RTK technology according to claim 1, characterized in that: The equilibrium state between the three blades of the fan S4 is expressed by the following formula (10): （10） in, Indicates the clearance distance of the RTK monitoring equipment on the first blade of the wind turbine; Indicates the clearance distance of the RTK monitoring equipment on the second blade of the wind turbine; Indicates the clearance distance of the RTK monitoring equipment on the third blade of the wind turbine; Indicates the clearance distance tolerance of the RTK monitoring equipment on the three blades of the wind turbine.

6. The method for real-time monitoring of blade clearance and imbalance based on RTK technology according to claim 1, characterized in that: After the step of obtaining the balance state between the three blades of the wind turbine according to the clearance distance in S4, the method further includes: By adding RTK monitoring equipment, the real-time clearance distance of each wind turbine blade is calculated, including: Two RTK monitoring devices are placed on the top of the wind turbine nacelle. The coordinate information of the first RTK monitoring device and the coordinate information of the second RTK monitoring device on the top of the wind turbine nacelle are obtained using the National 2000 coordinate system. The two RTK monitoring devices on the top of the wind turbine nacelle form a straight line, and the formed straight line coincides with the central axis of the nacelle. Place one RTK monitoring device on each of the three blades of the wind turbine, and obtain the coordinate information of each RTK monitoring device on the three blades of the wind turbine using the National 2000 coordinate system; According to the coordinate information of the first RTK monitoring device on the top of the wind turbine nacelle, the coordinate information of the second RTK monitoring device on the top of the wind turbine nacelle, and the coordinate information of each RTK monitoring device on the three blades of the wind turbine, the real-time clearance distance of each blade of the wind turbine is calculated by calculating the distance between the projection of the RTK monitoring device on each blade on the straight line and the RTK monitoring device on the top of the wind turbine nacelle.

7. The method for real-time monitoring of blade clearance and imbalance based on RTK technology according to claim 6, characterized in that: The distance between the projection of the RTK monitoring device on each blade on the straight line and the RTK monitoring device on the top of the wind turbine nacelle is calculated using the following formula (11): （11） in, Indicates the distance between the projection of the RTK monitoring device of each blade on the straight line and the first RTK monitoring device on the top of the wind turbine nacelle; Indicates the coordinate information of the first RTK monitoring device on the top of the wind turbine nacelle; Indicates the coordinate information of the second RTK monitoring device on the top of the wind turbine nacelle; Indicates the coordinate information of each RTK monitoring device on the three blades of the wind turbine.

8. A blade clearance value and imbalance real-time monitoring device based on RTK technology, wherein the blade clearance value and imbalance real-time monitoring device based on RTK technology is used to implement the blade clearance value and imbalance real-time monitoring method based on RTK technology according to any one of claims 1 to 7, characterized in that: The device comprises: The first acquisition unit is used to obtain the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine nacelle and the position coordinates and elevation information of the RTK monitoring devices on the three blades of the wind turbine; an analysis unit for analyzing the relationship between the clearance distance, elevation difference, and horizontal distance of the three blades of the wind turbine during rotation by establishing a nacelle coordinate system and an impeller coordinate system based on the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine nacelle and the position coordinates and elevation information of the RTK monitoring devices on the three blades of the wind turbine; a calculation unit for calculating the clearance distance during the rotation of the three blades of the fan using a sampling statistical mechanism method according to the mutual relationship between the clearance distance, the elevation difference and the horizontal distance; According to the relationship between the clearance value, the elevation difference, and the horizontal distance, a sampling statistical mechanism method is used to calculate the clearance distance during the rotation of the three blades of the wind turbine, including: Acquire real-time data between the RTK monitoring devices on the three blades of the wind turbine and the RTK monitoring device on the top of the wind turbine nacelle; The sampling time is set to 10 seconds; according to the sampling time, the real-time data is organized into an array, and the horizontal distance value corresponding to the minimum value of the elevation difference in the array is calculated; wherein the horizontal distance value corresponding to the minimum value of the elevation difference is a simplified horizontal distance; Based on the simplified horizontal distance, calculate the clearance distance of the three blades of the fan during rotation; A second obtaining unit is configured to obtain a balance state between the three blades of the wind turbine according to the clearance distance; Wherein, obtaining the balance state between the three blades of the wind turbine according to the clearance distance includes: Set the clearance distance tolerance for the RTK monitoring equipment on the three blades of the wind turbine; The balance state between the three blades of the wind turbine is obtained according to the clearance distance of the RTK monitoring equipment on the three blades of the wind turbine and the clearance distance tolerance of the RTK monitoring equipment on the three blades of the wind turbine.

9. A real-time monitoring device for blade clearance and imbalance based on RTK technology, characterized in that: The blade clearance value and imbalance real-time monitoring equipment based on RTK technology includes: processor; A memory having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program code, which can be called by a processor to execute the method according to any one of claims 1 to 7.

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