Tower drum perpendicularity detection method, device and equipment and storage medium

Abstract

The invention relates to a tower drum perpendicularity detection method, device and equipment and a storage medium. According to the invention, the laser source emits the laser beams to the three equally-divided bottom surface measuring points on the boundary of the bottom surface of the tower drum and the three equally-divided annular surface measuring points on the boundary of the to-be-measured annular plane of the tower drum, and the position relation among the laser source, the center point of the bottom surface of the tower drum, the three bottom surface measuring points and the three annular surface measuring points is determined based on the laser beams. The perpendicularity of the tower drum can be obtained without lifting a platform and climbing operation of detection personnel, the influence of factors such as weather and sites is avoided, potential safety hazards are reduced, errors caused by manual operation are reduced, operation is simple, measurement time is greatly shortened, applicability is high, and the method is suitable for popularization and application. And the efficiency and the accuracy of the verticality detection of the tower drum are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of wind power technology, and in particular to a tower verticality detection method, device, equipment and storage medium. Background Art

[0002] The tower is the main supporting structure of the wind turbine. It carries the weight of the nacelle, blades, etc., ensuring the stable operation of the entire wind turbine. At the same time, the tower can also reduce the vibration and impact of the wind turbine during operation, and to a certain extent protect the unit from the influence of bad weather, which is of great significance for extending the service life of the unit. In order to obtain high-quality wind resources, the hub height of the unit is generally hundreds of meters, which makes the tower have a considerable height-to-diameter ratio. In this context, affected by factors such as the installation process of the tower ring, the settlement of the wind turbine foundation and the long-term wind action, the tower may tilt or even collapse, which will not only bring huge economic losses to the wind farm, but also pose a serious threat to the lives of the unit's operation and maintenance personnel. Therefore, the verticality detection of the tower is an important basis for ensuring the safe operation of the wind turbine.

[0003] During the hoisting process of the tower ring segment, a laser plumb line is often used to measure the verticality of the tower. Specifically, a laser plumb line is placed at the center point inside the tower to emit a vertical laser, and the vertical laser is received on the tower ring segment hoisting platform. The verticality of the tower is determined by comparing the offset distance between the vertical laser and the center point of the hoisting platform. The verticality of the tower measured by this method is easily affected by the flatness of the wind turbine foundation and the accuracy of the center point of the hoisting platform. The measurement accuracy is low, and the method also requires workers to perform high-altitude operations to complete the measurement of the tower verticality, which is complicated to operate.

[0004] During the operation and maintenance of the unit, the theodolite is often used to measure the verticality of the tower, specifically by measuring on the outside of the tower. This method is easily affected by the tilt direction of the tower, weather, site, etc., and the measurement result of the tower verticality is not accurate enough. Summary of the invention

[0005] In order to solve the above technical problems, the present disclosure provides a tower verticality detection method, device, equipment and storage medium.

[0006] A first aspect of the present disclosure provides a tower verticality detection method, comprising:

[0007] The three equally divided points on the bottom surface boundary of the tower are sequentially determined as the first bottom surface measuring point, the second bottom surface measuring point and the third bottom surface measuring point, the direction from the bottom surface center point of the tower to the first bottom surface measuring point is determined as the first direction, the direction from the bottom surface center point to the second bottom surface measuring point is determined as the second direction, and the direction from the bottom surface center point to the third bottom surface measuring point is determined as the third direction, and the cross section of the tower is circular;

[0008] Determine the boundary of the ring plane to be measured of the tower as the target boundary, determine a first line segment from the center point of the ring plane to be measured along the first direction to the target boundary, a second line segment from the center point of the ring plane to be measured along the second direction to the target boundary, and a third line segment from the center point of the ring plane to be measured along the third direction to the target boundary, determine the intersection of the first line segment and the target boundary as the first ring surface measurement point, determine the intersection of the second line segment and the target boundary as the second ring surface measurement point, and determine the intersection of the third line segment and the target boundary as the third ring surface measurement point;

[0009] Control the laser source to emit laser beams to the first bottom surface measuring point, the second bottom surface measuring point, the third bottom surface measuring point, the first annular surface measuring point, the second annular surface measuring point and the third annular surface measuring point respectively, determine the positional relationship between the laser source, the bottom surface center point, the first bottom surface measuring point, the second bottom surface measuring point, the third bottom surface measuring point, the first annular surface measuring point, the second annular surface measuring point and the third annular surface measuring point based on the laser beam, and the laser source is horizontally placed on the central axis of the bottom surface of the tower;

[0010] Based on the positional relationship, the verticality of the ring plane to be measured relative to the bottom surface of the tower is calculated.

[0011] A second aspect of the present disclosure provides a tower verticality detection device, comprising:

[0012] A first determination module is used to determine three equally divided points on the bottom surface boundary of the tower as a first bottom surface measurement point, a second bottom surface measurement point and a third bottom surface measurement point in sequence, determine a direction from the bottom surface center point of the tower to the first bottom surface measurement point as a first direction, determine a direction from the bottom surface center point to the second bottom surface measurement point as a second direction, and determine a direction from the bottom surface center point to the third bottom surface measurement point as a third direction, and the cross section of the tower is circular;

[0013] A second determination module is used to determine the boundary of the ring plane to be measured of the tower as the target boundary, determine a first line segment from the center point of the ring plane to be measured along the first direction to the target boundary, a second line segment from the center point of the ring plane to be measured along the second direction to the target boundary, and a third line segment from the center point of the ring plane to be measured along the third direction to the target boundary, determine the intersection of the first line segment and the target boundary as the first ring surface measurement point, determine the intersection of the second line segment and the target boundary as the second ring surface measurement point, and determine the intersection of the third line segment and the target boundary as the third ring surface measurement point;

[0014] A third determination module is used to control the laser source to emit laser beams to the first bottom surface measurement point, the second bottom surface measurement point, the third bottom surface measurement point, the first annular surface measurement point, the second annular surface measurement point and the third annular surface measurement point respectively, and determine the positional relationship between the laser source, the bottom surface center point, the first bottom surface measurement point, the second bottom surface measurement point, the third bottom surface measurement point, the first annular surface measurement point, the second annular surface measurement point and the third annular surface measurement point based on the laser beam, and the laser source is horizontally placed on the bottom surface center axis of the tower;

[0015] The calculation module is used to calculate the verticality of the ring plane to be measured relative to the bottom surface of the tower based on the position relationship.

[0016] A third aspect of the present disclosure provides a computer device, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the tower verticality detection method of the first aspect can be implemented.

[0017] A fourth aspect of the present disclosure provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the tower verticality detection method of the first aspect can be implemented.

[0018] Compared with the prior art, the technical solution provided by the present invention has the following advantages:

[0019] The present invention uses a laser source to emit laser beams to three equally divided bottom surface measuring points on the boundary of the bottom surface of the tower and three equally divided annular surface measuring points on the boundary of the annular plane to be measured of the tower, respectively; based on the laser beam, the positional relationship among the laser source, the center point of the bottom surface of the tower, the three bottom surface measuring points and the three annular surface measuring points is determined; the verticality of the annular plane to be measured relative to the bottom surface of the tower is calculated; the verticality of the tower can be obtained without the need for a hoisting platform or inspection personnel to perform high-altitude operations; the method is not affected by factors such as weather and site, reduces safety hazards, reduces errors introduced by manual operation, is simple to operate, greatly reduces measurement time, has strong applicability, and improves the efficiency and accuracy of tower verticality detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0022] Figure 1 is a flow chart of a tower verticality detection method provided by an embodiment of the present disclosure;

[0023] Figure 2 is a schematic diagram of a tower verticality detection method provided by an embodiment of the present disclosure;

[0024] Figure 3 is a flow chart of another tower verticality detection method provided by an embodiment of the present disclosure;

[0025] Figure 4is a flow chart of another tower verticality detection method provided by an embodiment of the present disclosure;

[0026] Figure 5 It is a structural schematic diagram of a tower verticality detection device provided by an embodiment of the present disclosure;

[0027] Figure 6 It is a structural diagram of a computer device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0028] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0029] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0030] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0031] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0032] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0033] The tower verticality detection method provided by the embodiment of the present disclosure can be executed by a computer device, which can be understood as any device with processing and computing capabilities. The device may include but is not limited to mobile terminals such as smart phones, laptops, tablet computers (PADs), vehicle-mounted terminals, wearable devices, etc., as well as fixed electronic devices such as digital TVs, desktop computers, etc.

[0034] In order to better understand the inventive concept of the embodiments of the present disclosure, the technical solutions of the embodiments of the present disclosure are described below in conjunction with exemplary embodiments.

[0035] Figure 1 is a flow chart of a tower verticality detection method provided by an embodiment of the present disclosure, which can be executed by a computer device, such as Figure 1 As shown, the tower verticality detection method provided in this embodiment includes the following steps:

[0036] Step 110, determine the three equally divided points on the bottom surface boundary of the tower as the first bottom surface measuring point, the second bottom surface measuring point and the third bottom surface measuring point in sequence, determine the direction from the bottom surface center point of the tower to the first bottom surface measuring point as the first direction, determine the direction from the bottom surface center point to the second bottom surface measuring point as the second direction, and determine the direction from the bottom surface center point to the third bottom surface measuring point as the third direction, and the cross-section of the tower is circular.

[0037] In the embodiment of the present disclosure, the tower may be a tower of a wind turbine generator set, and the cross section of the tower is circular.

[0038] The bottom boundary of the tower is the bottom edge of the tower. The computer equipment can divide the bottom boundary of the tower into three equal parts to obtain three equally divided points on the bottom boundary of the tower. The three equally divided points on the bottom boundary of the tower are sequentially determined as the first bottom measurement point, the second bottom measurement point and the third bottom measurement point. The direction from the bottom center point of the tower to the first bottom measurement point is determined as the first direction, the direction from the bottom center point to the second bottom measurement point is determined as the second direction, and the direction from the bottom center point to the third bottom measurement point is determined as the third direction.

[0039] Specifically, any point on the bottom boundary of the tower can be determined as the first equal division point, starting from the first line connecting the bottom center point of the tower and the first equal division point, rotating 120 degrees around the bottom center point along a preset direction, and determining the intersection of the first line and the bottom boundary as the second equal division point of the bottom boundary, and then starting from the second line connecting the bottom center point of the tower and the second equal division point, rotating 120 degrees around the bottom center point along a preset direction, and determining the intersection of the second line and the bottom boundary as the third equal division point of the bottom boundary, and then determining the first equal division point as the first bottom measurement point, the second equal division point as the second bottom measurement point, and the third equal division point as the third bottom measurement point.

[0040] For example, Figure 2 is a schematic diagram of a tower verticality detection method provided by the present disclosure, such as Figure 2 As shown, 200 is the tower, 201 is the bottom surface boundary of the tower, point O' is the center point of the bottom surface of the tower, measuring point 1-1 is the first bottom surface measuring point on the bottom surface boundary of the tower, measuring point 2-1 is the second bottom surface measuring point on the bottom surface boundary of the tower, measuring point 3-1 is the third bottom surface measuring point on the bottom surface boundary of the tower, the direction from O' to measuring point 1-1 is the first direction, the direction from O' to measuring point 2-1 is the second direction, and the direction from O' to measuring point 3-1 is the third direction.

[0041] Step 120, determine the boundary of the measured annular plane of the tower as the target boundary, determine a first line segment from the center point of the measured annular plane along the first direction to the target boundary, a second line segment from the center point of the measured annular plane along the second direction to the target boundary, and a third line segment from the center point of the measured annular plane along the third direction to the target boundary, determine the intersection of the first line segment and the target boundary as the first annular surface measuring point, determine the intersection of the second line segment and the target boundary as the second annular surface measuring point, and determine the intersection of the third line segment and the target boundary as the third annular surface measuring point.

[0042] In the disclosed embodiment, the tower is composed of a plurality of rings connected perpendicularly to the bottom surface of the tower. The cross section of the ring is called a ring plane.

[0043] The computer device can determine the boundary of the measured annular plane of the tower as the target boundary, determine a first line segment from the center point of the measured annular plane along the first direction to the target boundary, a second line segment from the center point of the measured annular plane along the second direction to the target boundary, and a third line segment from the center point of the measured annular plane along the third direction to the target boundary, determine the intersection of the first line segment and the target boundary as the first annular surface measuring point, determine the intersection of the second line segment and the target boundary as the second annular surface measuring point, and determine the intersection of the third line segment and the target boundary as the third annular surface measuring point.

[0044] For example, Figure 2 As shown, 202 is the boundary of the ring plane to be measured of the tower, that is, the target boundary, 1 is the center point of the annular plane to be measured, determine the first line segment from O1 along the first direction (the direction from O' to measuring point 1-1) to the target boundary, determine the second line segment from O1 along the second direction (the direction from O' to measuring point 2-1) to the target boundary, determine the third line segment from O1 along the third direction (the direction from O' to measuring point 3-1) to the target boundary, the intersection of the first line segment and the target boundary is measuring point 1-2, measuring point 1-2 is the first annular surface measuring point, the intersection of the second line segment and the target boundary is measuring point 2-2, measuring point 2-2 is the second annular surface measuring point, the intersection of the third line segment and the target boundary is measuring point 3-2, measuring point 3-2 is the third annular surface measuring point.

[0045] Step 130, control the laser source to emit laser beams to the first bottom surface measuring point, the second bottom surface measuring point, the third bottom surface measuring point, the first annular surface measuring point, the second annular surface measuring point and the third annular surface measuring point respectively, determine the positional relationship between the laser source, the bottom surface center point, the first bottom surface measuring point, the second bottom surface measuring point, the third bottom surface measuring point, the first annular surface measuring point, the second annular surface measuring point and the third annular surface measuring point based on the laser beam, and the laser source is horizontally placed on the central axis of the bottom surface of the tower.

[0046] In the disclosed embodiment, the laser source is a device capable of emitting a laser beam, and the laser source is horizontally placed on the central axis of the bottom surface of the tower, and the central axis of the bottom surface of the tower passes through the center point of the bottom surface of the tower and is perpendicular to the bottom surface of the tower.

[0047] For example, the laser source can be installed on the detection device, and the detection device can be placed on the central axis of the bottom surface of the tower. According to the mechanical compass, the detection device can be adjusted to face south along a certain directional part of the mechanical mechanism, and the other two directional parts of the mechanical mechanism point to 30° east by north and 30° west by north, respectively. According to the mechanical level, adjust the mechanical tripod to adjust the detection device to the level.

[0048] For example, Figure 2 As shown, point O is the laser source, the laser source is placed horizontally, point O is located on the central axis of the bottom surface of the tower, the central axis of the bottom surface passes through the center point O' of the bottom surface of the tower and is perpendicular to the bottom surface of the tower.

[0049] The computer device can control the laser source to emit laser beams to the first bottom surface measuring point, the second bottom surface measuring point, the third bottom surface measuring point, the first annular surface measuring point, the second annular surface measuring point and the third annular surface measuring point respectively, and determine the positional relationship between the laser source, the bottom surface center point, the first bottom surface measuring point, the second bottom surface measuring point, the third bottom surface measuring point, the first annular surface measuring point, the second annular surface measuring point and the third annular surface measuring point based on the laser beam.

[0050] Step 140: Calculate the verticality of the ring plane to be measured relative to the bottom surface of the tower based on the position relationship.

[0051] In the disclosed embodiment, the computer device can calculate the verticality of the measured annular plane relative to the bottom surface of the tower based on the positional relationship between the laser source, the bottom surface center point, the first bottom surface measuring point, the second bottom surface measuring point, the third bottom surface measuring point, the first annular surface measuring point, the second annular surface measuring point and the third annular surface measuring point.

[0052] In the disclosed embodiment, a laser source is used to emit a laser beam to three equally divided bottom surface measuring points on the boundary of the bottom surface of the tower and three equally divided annular surface measuring points on the boundary of the annular plane to be measured of the tower, respectively. The positional relationship among the laser source, the center point of the bottom surface of the tower, the three bottom surface measuring points and the three annular surface measuring points is determined based on the laser beam, and the verticality of the annular plane to be measured relative to the bottom surface of the tower is calculated. The verticality of the tower can be obtained without the need for a lifting platform and inspection personnel to climb up, and is not affected by factors such as weather and site, thereby reducing safety hazards and errors introduced by manual operation. The operation is simple, the measurement time is greatly reduced, and the applicability is strong, thereby improving the efficiency and accuracy of tower verticality detection.

[0053] In some embodiments of the present disclosure, after determining the first bottom surface measurement point, the second bottom surface measurement point and the third bottom surface measurement point and the first annular surface measurement point, the second annular surface measurement point and the third annular surface measurement point, the computer device may execute Figure 3 A flowchart of a tower verticality detection method is provided, which can be executed by a computer device, such as Figure 3 As shown, the tower verticality detection method provided in this embodiment includes the following steps:

[0054] Step 310: Based on the laser beam, measure a first distance from the laser source to the first bottom surface measuring point, a second distance from the laser source to the second bottom surface measuring point, a third distance from the laser source to the third bottom surface measuring point, a fourth distance from the laser source to the first annular surface measuring point, a fifth distance from the laser source to the second annular surface measuring point, and a sixth distance from the laser source to the third annular surface measuring point, and measure a first angle between an emission direction of the laser beam corresponding to the first bottom surface measuring point and a direction opposite to the bottom surface centerline, a second angle between an emission direction of the laser beam corresponding to the second bottom surface measuring point and a direction opposite to the bottom surface centerline of the tower, and a third angle between an emission direction of the laser beam corresponding to the third bottom surface measuring point and a direction opposite to the bottom surface centerline of the tower, wherein the direction opposite to the bottom surface centerline points to the bottom surface of the tower.

[0055] For example, Figure 2 As shown:

[0056] The distance from the laser source point O to the measuring point 1-1 (the first bottom measuring point) is the first distance l o-1-1 ;

[0057] The distance from the laser source point O to the measuring point 2-1 (the second bottom measuring point) is the second distance l o-2-1 ;

[0058] The distance from the laser source point O to the measuring point 3-1 (the third bottom measuring point) is the third distance l o-3-1 ;

[0059] The distance from the laser source point O to the measuring point 1-2 (the first annular measuring point) is the fourth distance l 0-1-2 ;

[0060] The distance from the laser source point O to the measuring point 2-2 (the second torus measuring point) is the fifth distance l 0-2-2 ;

[0061] The distance from the laser source point O to the measuring point 3-2 (the third ring surface measuring point) is the sixth distance l 0-3-2 ;

[0062] The first angle between the emission direction of the laser beam corresponding to the first bottom surface measuring point and the opposite direction of the bottom surface center axis is the first angle α between the direction of the line from the laser source point O to the measuring point 1-1 (the first bottom surface measuring point) and the opposite direction of the bottom surface center axis. 1 ;

[0063] The second angle between the emission direction of the laser beam corresponding to the second bottom surface measuring point and the opposite direction of the central axis of the bottom surface of the tower is the second angle α between the direction of the line from the laser source point O to the measuring point 2-1 (the second bottom surface measuring point) and the opposite direction of the central axis of the bottom surface. 2 ;

[0064] The third angle between the emission direction of the laser beam corresponding to the third bottom surface measuring point and the opposite direction of the central axis of the bottom surface of the tower is the third angle α between the direction of the line from the laser source point O to the measuring point 3-1 (the third bottom surface measuring point) and the opposite direction of the central axis of the bottom surface. 3 ;

[0065] The opposite direction of the bottom center axis points to the bottom surface of the tower.

[0066] Step 320, determine a first center distance from the bottom center point of the tower to the first bottom measuring point, a second center distance from the bottom center point of the tower to the second bottom measuring point, and a third center distance from the bottom center point of the tower to the third bottom measuring point.

[0067] For example, Figure 2 As shown, the first center distance from the bottom center point O' of the tower to the measuring point 1-1 (the first bottom measuring point) is l o’-1-1 ; The second center distance from O' to measuring point 2-1 (the second bottom surface measuring point) is l o’-2-1 ; The third center distance from O' to measuring point 3-1 (the third bottom surface measuring point) is l o’-3-1 .

[0068] In some embodiments, the above step 320 may include S11-S13:

[0069] S11. Based on the first distance and the first angle, calculate a first center distance from the bottom center point of the tower to the first bottom measurement point.

[0070] S12. Based on the second distance and the second angle, calculate the second center distance from the bottom center point of the tower to the second bottom measurement point.

[0071] S13. Based on the third distance and the third angle, calculate a third center distance from the bottom center point of the tower to a third bottom measuring point.

[0072] For example, Figure 2 As shown, the first center distance l o’-1-1 , the second center distance l o’-2-1 , the third center distance l o’-3-1 It can be calculated by formula (1) according to the Pythagorean theorem:

[0073]

[0074] Step 330: determine a first measuring point pair distance from the first bottom surface measuring point to the first torus measuring point, a second measuring point pair distance from the second bottom surface measuring point to the second torus measuring point, and a third measuring point pair distance from the third bottom surface measuring point to the third torus measuring point.

[0075] For example, Figure 2 As shown in the figure, the distance from measuring point 1-1 (the first bottom surface measuring point) to measuring point 1-2 (the first annular surface measuring point) is the first measuring point distance l 1-1-1-2 ;

[0076] The distance between measuring point 2-1 (the second bottom surface measuring point) and measuring point 2-2 (the second torus measuring point) is the second measuring point distance l. 2-1-2-2 ;

[0077] The distance between measuring point 3-1 (the third bottom surface measuring point) and measuring point 3-2 (the third torus measuring point) is the third measuring point distance l. 3-1-3-2 .

[0078] In some embodiments, the above step 330 may include S21-S24:

[0079] S21, measure the first measuring point angle between the emission direction of the laser beam corresponding to the first toroidal measuring point and the emission direction of the laser beam corresponding to the first bottom surface measuring point, the second measuring point angle between the emission direction of the laser beam corresponding to the second toroidal measuring point and the emission direction of the laser beam corresponding to the second bottom surface measuring point, and the third measuring point angle between the emission direction of the laser beam corresponding to the third toroidal measuring point and the emission direction of the laser beam corresponding to the third bottom surface measuring point.

[0080] For example, Figure 2 As shown, the angle between the emission direction of the laser beam corresponding to the measuring point 1-2 (the first annular surface measuring point) and the emission direction of the laser beam corresponding to the measuring point 1-1 (the first bottom surface measuring point) is the first measuring point angle β 1 ;

[0081] The angle between the emission direction of the laser beam corresponding to the measuring point 2-2 (the second annular surface measuring point) and the emission direction of the laser beam corresponding to the measuring point 2-1 (the second bottom surface measuring point) is the second measuring point angle β 2 ;

[0082] The angle between the emission direction of the laser beam corresponding to the measuring point 3-2 (the third annular surface measuring point) and the emission direction of the laser beam corresponding to the measuring point 3-1 (the third bottom surface measuring point) is the third measuring point angle β. 3 ;

[0083] S22: Calculate a first measuring point pair distance from the first bottom surface measuring point to the first annular surface measuring point based on the first distance, the fourth distance and the first measuring point pair angle.

[0084] S23. Calculate a second measuring point pair distance from the second bottom surface measuring point to the second annular surface measuring point based on the second distance, the fifth distance and the second measuring point pair angle.

[0085] S24. Calculate a third measuring point pair distance from the third bottom surface measuring point to the third torus measuring point based on the third distance, the sixth distance and the third measuring point pair angle.

[0086] For example, Figure 2 As shown, the first measuring point is at a distance l 1-1-1-2 , the distance between the second measuring point and l 2-1-2-2 The distance l between the third measuring point and 3-1-3-2 It can be calculated by the cosine formula (2):

[0087]

[0088] Step 340, determine a first target angle composed of the laser source, the first bottom surface measuring point and the first annular surface measuring point, a second target angle composed of the laser source, the second bottom surface measuring point and the second annular surface measuring point, and a third target angle composed of the laser source, the third bottom surface measuring point and the third annular surface measuring point.

[0089] For example, Figure 2 As shown in FIG. 1 , the angle formed by the laser source point O, the measuring point 1-1 (the first bottom surface measuring point) and the measuring point 1-2 (the first annular surface measuring point) is the first target angle γ 1 ;

[0090] The angle formed by the laser source point O, the measuring point 2-1 (the second bottom surface measuring point) and the measuring point 2-2 (the second annular surface measuring point) is the second target angle γ 2 ;

[0091] The angle formed by the laser source point O, the measuring point 3-1 (the third bottom surface measuring point) and the measuring point 3-2 (the third annular surface measuring point) is the third target angle γ 3 .

[0092] In some embodiments, the above step 340 may include S31-S33:

[0093] S31, based on the first distance, the fourth distance, the first measuring point pair distance and the first measuring point pair angle, calculate a first target angle composed of a laser source, a first bottom surface measuring point and a first annular surface measuring point.

[0094] S32. Calculate a second target angle formed by the laser source, the second bottom surface measuring point and the second annular surface measuring point based on the second distance, the fifth distance, the second measuring point pair distance and the second measuring point pair angle.

[0095] S33, based on the third distance, the sixth distance, the third measuring point pair distance and the third measuring point pair angle, calculate a third target angle composed of the laser source, the third bottom surface measuring point and the third annular surface measuring point.

[0096] For example, Figure 2 As shown, the first target angle γ 1 , the second target angle γ 2 and the third target angle γ 3 It can be calculated according to the sine formula through formula (3):

[0097]

[0098] Step 350, based on the first center distance, the first measuring point pair distance, the first angle and the first target angle, calculate the first coordinate of the first toroidal measuring point in the target three-dimensional coordinate system, the target three-dimensional coordinate system is a Cartesian coordinate system constructed with the center point of the bottom surface of the tower as the origin, the horizontal direction as the x-axis direction, the central axis of the bottom surface of the tower as the z-axis direction, and the direction perpendicular to the x-axis and the z-axis as the y-axis direction.

[0099] Step 360: Calculate the second coordinate of the second torus measuring point in the target three-dimensional coordinate system based on the second center distance, the second measuring point pair distance, the second included angle and the second target angle.

[0100] Step 370: Calculate the third coordinate of the third torus measuring point in the target three-dimensional coordinate system based on the third center distance, the third measuring point pair distance, the third angle and the third target angle.

[0101] For example, Figure 2 As shown, the origin of the target three-dimensional coordinate system is O'; the coordinates of O' are (0, 0, 0), the x-axis direction of the target three-dimensional coordinate system is the horizontal direction, the z-axis direction of the target three-dimensional coordinate system is the center axis of the bottom surface of the tower, and the y-axis direction of the target three-dimensional coordinate system is perpendicular to the x-axis and z-axis directions. The coordinates of the first torus measuring point (measuring point 1-2) in the target three-dimensional coordinate system are the first coordinates (x 1 ,y 1 , z1 ), the coordinates of the second torus measuring point (measuring point 2-2) in the target three-dimensional coordinate system are the second coordinates (x 2 ,y 2 , z 2 ), the coordinates of the third torus measuring point (measuring point 3-2) in the target three-dimensional coordinate system are the third coordinates (x 3 ,y 3 , z 3 ).

[0102] The coordinates of measuring point 1-2 (the first torus measuring point) in the target three-dimensional coordinate system are the first coordinates (x 1 ,y 1 , z 1 ), the first coordinate can be calculated by formula (4):

[0103]

[0104] The coordinates of the measuring point 2-2 (the second torus measuring point) in the target three-dimensional coordinate system are the second coordinates (x 2 ,y 2 , z 2 ), the second coordinate can be calculated by formula (5):

[0105]

[0106] The coordinates of measuring point 3-2 (the third torus measuring point) in the target three-dimensional coordinate system are the third coordinates (x 3 ,y 3 , z 3 ), the third coordinate can be calculated by formula (6):

[0107]

[0108] Step 380: Determine the inclination angle between the normal vector of the ring plane to be measured and the positive direction of the center axis of the bottom surface based on the first coordinate, the second coordinate and the third coordinate.

[0109] For example, Figure 2 As shown, n(x n ,y n , z n ) is the normal vector of the ring plane to be measured, and n can be obtained by the cross product of two vectors, as shown in formula (7):

[0110] n=(x 2 -x 1 , y 2 -y 1 , z 2 -z 1 )×(x 3 -x 1, y 3 -y 1 , z 3 -z 1 ); (7).

[0111] (x n ,y n , z n ) can be calculated by formula (8):

[0112]

[0113] Then the inclination angle θ between the normal vector n of the ring plane to be measured and the positive direction of the central axis of the bottom surface of the tower can be calculated by formula (9):

[0114]

[0115] Step 390: determine the inclination angle as the verticality of the ring plane to be measured relative to the bottom surface of the tower.

[0116] Therefore, a laser beam can be emitted by a laser source to three equally divided bottom surface measuring points on the boundary of the bottom surface of the tower and three equally divided annular surface measuring points on the boundary of the annular plane to be measured of the tower, respectively. The positional relationship among the laser source, the center point of the bottom surface of the tower, the three bottom surface measuring points and the three annular surface measuring points is determined based on the laser beam, and the verticality of the annular plane to be measured relative to the bottom surface of the tower is calculated. The verticality of the tower can be obtained without the need for a lifting platform and inspection personnel to climb up, and it is not affected by factors such as weather and site, thus reducing safety hazards and errors introduced by manual operation. The operation is simple, the measurement time is greatly reduced, and the applicability is strong, thereby improving the efficiency and accuracy of tower verticality detection.

[0117] In some embodiments of the present disclosure, after calculating the verticality of the ring plane to be measured relative to the bottom surface of the tower, the computer device may execute Figure 4 A flow chart of a tower verticality detection method is provided, such as Figure 4 As shown, the tower verticality detection method provided in this embodiment includes the following steps:

[0118] Step 410: Calculate the first center coordinates of the center of the circle shared by the first torus measuring point, the second torus measuring point and the third torus measuring point based on the coordinates of the first torus measuring point, the second torus measuring point and the third torus measuring point in the target three-dimensional coordinate system and the normal vector of the torus plane to be measured.

[0119] For example, Figure 2 As shown, the normal vector n of the ring plane to be measured; the coordinates of the measuring point 1-2 (the first ring surface measuring point) in the target three-dimensional coordinate system are (x 1 ,y 1 , z 1); the coordinates of the measuring point 2-2 (the second torus measuring point) in the target three-dimensional coordinate system are (x 2 ,y 2 , z 2 ); the coordinates of measuring point 3-2 (the third torus measuring point) in the target three-dimensional coordinate system are (x 3 ,y 3 , z 3 ), then the first center coordinate O of the circle of measuring points 1-2, 2-2 and 3-2 is 1 (x o1 ,y o1 , z o1 ) can be calculated by formula (10):

[0120]

[0121] n·[X-(x 1 ,y 1 ,z 1 )]=0 (10);

[0122] Among them, n·[X-(x 1 ,y 1 ,z 1 )]=0 represents the plane where measuring points 1-2, 2-2 and 3-2 are located; X(x, y, z) is any point on the plane.

[0123] Step 420: According to the construction method of three torus measuring points in the to-be-measured torus plane, determine the first target torus measuring point, the second target torus measuring point and the third target torus measuring point of the target torus plane on the boundary of the target torus plane of the tower outside the to-be-measured torus plane.

[0124] In the embodiment of the present disclosure, the computer device can be Figure 1 The invention discloses a method for constructing three annular surface measuring points in the annular plane to be measured, and determines the first target annular surface measuring point, the second target annular surface measuring point and the third target annular surface measuring point of the target annular plane on the boundary of the target annular plane of the tower outside the annular plane to be measured.

[0125] Step 430, based on the coordinates of the first target torus measuring point, the second target torus measuring point and the third target torus measuring point in the target three-dimensional coordinate system and the normal vector of the target annular plane, calculate the second center coordinates of the center of the circle of the first target torus measuring point, the second target torus measuring point and the third target torus measuring point.

[0126] Step 440: Based on the second circle center coordinates and the first circle center coordinates, calculate the angle between the normal vector of the target ring plane and the normal vector of the ring plane to be measured, and obtain the verticality of the target ring plane relative to the ring plane to be measured.

[0127] For example, the center O of the circle of the first target annular surface measuring point, the second target annular surface measuring point and the third target annular surface measuring point is the same as i The coordinates of the second center of the circle can be expressed as (x oi ,y oi , z oi ); The normal vector of the target ring plane can be expressed as n i (x ni ,y ni , z ni ), then the angle θ between the normal vector of the target ring plane and the normal vector of the ring plane to be measured is i It can be calculated by formula (11):

[0128]

[0129] Therefore, the verticality of the target ring plane of the tower relative to the ring plane to be measured can be calculated through the laser beam emitted by the laser source. The verticality of the tower can be obtained without the need for a lifting platform or inspection personnel to climb up. It is not affected by factors such as weather and site, reduces safety hazards, reduces errors introduced by manual operation, is simple to operate, greatly reduces measurement time, and has strong applicability, thereby improving the efficiency and accuracy of tower verticality detection.

[0130] Figure 5 is a schematic diagram of the structure of a tower verticality detection device provided by an embodiment of the present disclosure, and the device can be understood as the above-mentioned computer device or a part of the functional modules in the above-mentioned computer device. Figure 5 As shown, the tower verticality detection device 500 includes:

[0131] The first determination module 510 is used to determine three equally divided points on the bottom surface boundary of the tower as the first bottom surface measurement point, the second bottom surface measurement point and the third bottom surface measurement point in sequence, determine the direction from the bottom surface center point of the tower to the first bottom surface measurement point as the first direction, determine the direction from the bottom surface center point to the second bottom surface measurement point as the second direction, and determine the direction from the bottom surface center point to the third bottom surface measurement point as the third direction, and the cross section of the tower is circular;

[0132] A second determination module 520 is used to determine the boundary of the ring plane to be measured of the tower as the target boundary, determine a first line segment from the center point of the ring plane to be measured along the first direction to the target boundary, a second line segment from the center point of the ring plane to be measured along the second direction to the target boundary, and a third line segment from the center point of the ring plane to be measured along the third direction to the target boundary, determine the intersection of the first line segment and the target boundary as the first ring surface measurement point, determine the intersection of the second line segment and the target boundary as the second ring surface measurement point, and determine the intersection of the third line segment and the target boundary as the third ring surface measurement point;

[0133] The third determination module 530 is used to control the laser source to emit laser beams to the first bottom surface measurement point, the second bottom surface measurement point, the third bottom surface measurement point, the first annular surface measurement point, the second annular surface measurement point and the third annular surface measurement point respectively, and determine the positional relationship between the laser source, the bottom surface center point, the first bottom surface measurement point, the second bottom surface measurement point, the third bottom surface measurement point, the first annular surface measurement point, the second annular surface measurement point and the third annular surface measurement point based on the laser beam, and the laser source is horizontally placed on the bottom surface center axis of the tower;

[0134] The calculation module 540 is used to calculate the verticality of the ring plane to be measured relative to the bottom surface of the tower based on the position relationship.

[0135] Optionally, the third determining module includes:

[0136] A measurement submodule is used to measure, based on the laser beam, a first distance from the laser source to a first bottom surface measurement point, a second distance from the laser source to a second bottom surface measurement point, a third distance from the laser source to a third bottom surface measurement point, a fourth distance from the laser source to a first annular surface measurement point, a fifth distance from the laser source to a second annular surface measurement point, and a sixth distance from the laser source to a third annular surface measurement point, and to measure a first angle between an emission direction of the laser beam corresponding to the first bottom surface measurement point and a direction opposite to a bottom surface central axis, a second angle between an emission direction of the laser beam corresponding to the second bottom surface measurement point and a direction opposite to a bottom surface central axis of the tower, and a third angle between an emission direction of the laser beam corresponding to the third bottom surface measurement point and a direction opposite to a bottom surface central axis of the tower, wherein the direction opposite to the bottom surface central axis points to the bottom surface of the tower;

[0137] The first determination submodule is used to determine a first center distance from the bottom center point of the tower to the first bottom surface measuring point, a second center distance from the bottom center point of the tower to the second bottom surface measuring point, and a third center distance from the bottom center point of the tower to the third bottom surface measuring point;

[0138] The second determination submodule is used to determine a first measuring point pair distance from the first bottom surface measuring point to the first torus measuring point, a second measuring point pair distance from the second bottom surface measuring point to the second torus measuring point, and a third measuring point pair distance from the third bottom surface measuring point to the third torus measuring point;

[0139] The third determination submodule is used to determine the first target angle composed of the laser source, the first bottom surface measurement point and the first annular surface measurement point, the second target angle composed of the laser source, the second bottom surface measurement point and the second annular surface measurement point, and the third target angle composed of the laser source, the third bottom surface measurement point and the third annular surface measurement point.

[0140] Optionally, the first determining submodule includes:

[0141] A first calculation unit, used for calculating a first center distance from a bottom center point of the tower to a first bottom measurement point based on the first distance and the first angle;

[0142] A second calculation unit is used to calculate a second center distance from the bottom center point of the tower to a second bottom measurement point based on the second distance and the second angle;

[0143] The third calculation unit is used to calculate a third center distance from the bottom center point of the tower to a third bottom surface measuring point based on a third distance and a third angle.

[0144] Optionally, the second determining submodule includes:

[0145] A measuring unit, used to measure a first measuring point subtended angle between an emission direction of a laser beam corresponding to a first annular surface measuring point and an emission direction of a laser beam corresponding to a first bottom surface measuring point, a second measuring point subtended angle between an emission direction of a laser beam corresponding to a second annular surface measuring point and an emission direction of a laser beam corresponding to a second bottom surface measuring point, and a third measuring point subtended angle between an emission direction of a laser beam corresponding to a third annular surface measuring point and an emission direction of a laser beam corresponding to a third bottom surface measuring point;

[0146] A fourth calculation unit, configured to calculate a first measuring point pair distance from the first bottom surface measuring point to the first annular surface measuring point based on the first distance, the fourth distance and the first measuring point pair angle;

[0147] A fifth calculation unit, configured to calculate a second measuring point pair distance from the second bottom surface measuring point to the second annular surface measuring point based on the second distance, the fifth distance and the second measuring point pair angle;

[0148] The sixth calculation unit is used to calculate a third measuring point pair distance from the third bottom surface measuring point to the third annular surface measuring point based on the third distance, the sixth distance and the third measuring point pair angle.

[0149] Optionally, the third determining submodule includes:

[0150] A seventh calculation unit, configured to calculate a first target angle composed of a laser source, a first bottom surface measurement point, and a first annular surface measurement point based on the first distance, the fourth distance, the first measurement point pair distance, and the first measurement point pair angle;

[0151] An eighth calculation unit is used to calculate a second target angle composed of the laser source, the second bottom surface measurement point and the second annular surface measurement point based on the second distance, the fifth distance, the second measurement point pair distance and the second measurement point pair angle;

[0152] The ninth calculation unit is used to calculate a third target angle composed of the laser source, the third bottom surface measuring point and the third annular surface measuring point based on the third distance, the sixth distance, the third measuring point pair distance and the third measuring point pair angle.

[0153] Optionally, the above-mentioned calculation module includes:

[0154] A first calculation submodule is used to calculate the first coordinate of the first toroidal measuring point in the target three-dimensional coordinate system based on the first center distance, the first measuring point pair distance, the first angle and the first target angle, wherein the target three-dimensional coordinate system is a Cartesian coordinate system constructed with the center point of the bottom surface of the tower as the origin, the horizontal direction as the x-axis direction, the central axis of the bottom surface of the tower as the z-axis direction, and the direction perpendicular to the x-axis and the z-axis as the y-axis direction;

[0155] A second calculation submodule, used for calculating a second coordinate of a second torus measuring point in a target three-dimensional coordinate system based on a second center distance, a second measuring point pair distance, a second included angle, and a second target angle;

[0156] A third calculation submodule, used for calculating a third coordinate of a third torus measuring point in a target three-dimensional coordinate system based on a third center distance, a third measuring point pair distance, a third included angle and a third target angle;

[0157] A fourth determination submodule is used to determine the inclination angle between the normal vector of the ring plane to be measured and the positive direction of the central axis of the bottom surface based on the first coordinate, the second coordinate and the third coordinate;

[0158] The fifth determination submodule is used to determine the inclination angle as the verticality of the ring plane to be measured relative to the bottom surface of the tower.

[0159] Optionally, the above-mentioned calculation module includes:

[0160] A fourth calculation submodule is used to calculate the first center coordinates of the center of the circle of the first torus measuring point, the second torus measuring point and the third torus measuring point based on the coordinates of the first torus measuring point, the second torus measuring point and the third torus measuring point in the target three-dimensional coordinate system and the normal vector of the torus plane to be measured;

[0161] A sixth determination submodule is used to determine a first target annular surface measurement point, a second target annular surface measurement point, and a third target annular surface measurement point of a target annular plane on a boundary of a target annular plane of a tower outside the annular plane to be measured according to a construction method of three annular surface measurement points in the annular plane to be measured;

[0162] a fifth calculation submodule, for calculating the second center coordinates of the center of a circle common to the first target torus measuring point, the second target torus measuring point and the third target torus measuring point based on the coordinates of the first target torus measuring point, the second target torus measuring point and the third target torus measuring point in the target three-dimensional coordinate system and the normal vector of the target annular plane;

[0163] The sixth calculation submodule is used to calculate the angle between the normal vector of the target ring plane and the normal vector of the ring plane to be measured based on the second circle center coordinates and the first circle center coordinates, so as to obtain the verticality of the target ring plane relative to the ring plane to be measured.

[0164] The tower verticality detection device provided in the embodiments of the present disclosure can implement the method of any of the above embodiments, and its execution method and beneficial effects are similar, which will not be repeated here.

[0165] The embodiments of the present disclosure also provide a computer device, which includes a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the method of any of the above embodiments can be implemented, and its execution method and beneficial effects are similar and will not be repeated here.

[0166] Figure 6 is a schematic diagram of the structure of a computer device provided by an embodiment of the present disclosure, such as Figure 6 As shown, the computer device 600 may include a processor 610 and a memory 620, wherein the memory 620 stores a computer program 621, and when the computer program 621 is executed by the processor 610, the method provided by any of the above embodiments can be implemented, and its execution method and beneficial effects are similar and will not be repeated here.

[0167] Of course, to simplify, Figure 6 Only some of the components related to the present invention in the computer device 600 are shown, and components such as a bus, an input / output interface, an input device, and an output device are omitted. In addition, according to specific application conditions, the computer device 600 may also include any other appropriate components.

[0168] An embodiment of the present disclosure provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method of any of the above embodiments can be implemented. The execution method and beneficial effects are similar and will not be repeated here.

[0169] The above-mentioned computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0170] The computer program may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the disclosed embodiments, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer device, partially on the user's device, as a separate software package, partially on the user's computer device and partially on a remote computer device, or entirely on a remote computer device or server.

[0171] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0172] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0173] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A tower verticality detection method, characterized in that: include: The three equally divided points on the bottom surface boundary of the tower are sequentially determined as the first bottom surface measuring point, the second bottom surface measuring point and the third bottom surface measuring point, the direction from the bottom surface center point of the tower to the first bottom surface measuring point is determined as the first direction, the direction from the bottom surface center point to the second bottom surface measuring point is determined as the second direction, and the direction from the bottom surface center point to the third bottom surface measuring point is determined as the third direction, and the cross section of the tower is circular; Determine the boundary of the ring plane to be measured of the tower as the target boundary, determine a first line segment from the center point of the ring plane to be measured along the first direction to the target boundary, a second line segment from the center point of the ring plane to be measured along the second direction to the target boundary, and a third line segment from the center point of the ring plane to be measured along the third direction to the target boundary, determine the intersection of the first line segment and the target boundary as a first torus measuring point, determine the intersection of the second line segment and the target boundary as a second torus measuring point, and determine the intersection of the third line segment and the target boundary as a third torus measuring point; Controlling a laser source to emit laser beams to the first bottom surface measuring point, the second bottom surface measuring point, the third bottom surface measuring point, the first annular surface measuring point, the second annular surface measuring point, and the third annular surface measuring point respectively, and determining the positional relationship between the laser source, the bottom surface center point, the first bottom surface measuring point, the second bottom surface measuring point, the third bottom surface measuring point, the first annular surface measuring point, the second annular surface measuring point, and the third annular surface measuring point based on the laser beam, wherein the laser source is horizontally placed on the center axis of the bottom surface of the tower; Based on the positional relationship, the verticality of the ring plane to be measured relative to the bottom surface of the tower is calculated.

2. The method according to claim 1, characterized in that: The determining, based on the laser beam, the positional relationship among the laser source, the bottom surface center point, the first bottom surface measuring point, the second bottom surface measuring point, the third bottom surface measuring point, the first annular surface measuring point, the second annular surface measuring point, and the third annular surface measuring point comprises: Based on the laser beam, measuring a first distance from the laser source to the first bottom surface measuring point, a second distance from the laser source to the second bottom surface measuring point, a third distance from the laser source to the third bottom surface measuring point, a fourth distance from the laser source to the first annular surface measuring point, a fifth distance from the laser source to the second annular surface measuring point, and a sixth distance from the laser source to the third annular surface measuring point, and measuring a first angle between an emission direction of the laser beam corresponding to the first bottom surface measuring point and a direction opposite to the center axis of the bottom surface, a second angle between an emission direction of the laser beam corresponding to the second bottom surface measuring point and a direction opposite to the center axis of the bottom surface of the tower, and a third angle between an emission direction of the laser beam corresponding to the third bottom surface measuring point and a direction opposite to the center axis of the bottom surface of the tower, wherein the direction opposite to the center axis of the bottom surface points to the bottom surface of the tower; Determine a first center distance from the bottom center point of the tower to the first bottom measurement point, a second center distance from the bottom center point of the tower to the second bottom measurement point, and a third center distance from the bottom center point of the tower to the third bottom measurement point; Determine a first measuring point pair distance from the first bottom surface measuring point to the first toroidal measuring point, a second measuring point pair distance from the second bottom surface measuring point to the second toroidal measuring point, and a third measuring point pair distance from the third bottom surface measuring point to the third toroidal measuring point; Determine a first target angle formed by the laser source, the first bottom surface measuring point and the first annular surface measuring point, a second target angle formed by the laser source, the second bottom surface measuring point and the second annular surface measuring point, and a third target angle formed by the laser source, the third bottom surface measuring point and the third annular surface measuring point.

3. The method according to claim 2, characterized in that The determining of a first center distance from the bottom center point of the tower to the first bottom measurement point, a second center distance from the bottom center point of the tower to the second bottom measurement point, and a third center distance from the bottom center point of the tower to the third bottom measurement point includes: Based on the first distance and the first angle, calculate a first center distance from the bottom center point of the tower to the first bottom measurement point; Based on the second distance and the second angle, calculate a second center distance from the bottom center point of the tower to the second bottom measurement point; Based on the third distance and the third angle, a third center distance from the bottom center point of the tower to the third bottom surface measuring point is calculated.

4. The method according to claim 2, characterized in that: The determining of a first measuring point pair distance from the first bottom surface measuring point to the first toroidal measuring point, a second measuring point pair distance from the second bottom surface measuring point to the second toroidal measuring point, and a third measuring point pair distance from the third bottom surface measuring point to the third toroidal measuring point comprises: Measuring a first measuring point subtending angle between an emission direction of a laser beam corresponding to the first annular surface measuring point and an emission direction of a laser beam corresponding to the first bottom surface measuring point, a second measuring point subtending angle between an emission direction of a laser beam corresponding to the second annular surface measuring point and an emission direction of a laser beam corresponding to the second bottom surface measuring point, and a third measuring point subtending angle between an emission direction of a laser beam corresponding to the third annular surface measuring point and an emission direction of a laser beam corresponding to the third bottom surface measuring point; Calculate a first measuring point pair distance from the first bottom surface measuring point to the first annular surface measuring point based on the first distance, the fourth distance and the first measuring point pair angle; Calculate a second measuring point pair distance from the second bottom surface measuring point to the second annular surface measuring point based on the second distance, the fifth distance and the second measuring point pair angle; A third measuring point pair distance from the third bottom surface measuring point to the third annular surface measuring point is calculated based on the third distance, the sixth distance and the third measuring point pair angle.

5. The method according to claim 2, characterized in that: The determining of a first target angle formed by the laser source, the first bottom surface measuring point and the first annular surface measuring point, a second target angle formed by the laser source, the second bottom surface measuring point and the second annular surface measuring point, and a third target angle formed by the laser source, the third bottom surface measuring point and the third annular surface measuring point comprises: Calculate a first target angle formed by the laser source, the first bottom surface measuring point and the first annular surface measuring point based on the first distance, the fourth distance, the first measuring point pair distance and the first measuring point pair angle; Calculate a second target angle formed by the laser source, the second bottom surface measuring point and the second annular surface measuring point based on the second distance, the fifth distance, the second measuring point pair distance and the second measuring point pair angle; A third target angle formed by the laser source, the third bottom surface measuring point and the third annular surface measuring point is calculated based on the third distance, the sixth distance, the third measuring point pair distance and the third measuring point pair angle.

6. The method according to claim 2, characterized in that The step of calculating the verticality of the ring plane to be measured relative to the bottom surface of the tower based on the positional relationship includes: Based on the first center distance, the first measuring point pair distance, the first included angle and the first target angle, calculate the first coordinate of the first toroidal measuring point in the target three-dimensional coordinate system, wherein the target three-dimensional coordinate system is a Cartesian coordinate system constructed with the center point of the bottom surface of the tower as the origin, the horizontal direction as the x-axis direction, the central axis of the bottom surface of the tower as the z-axis direction, and the direction perpendicular to the x-axis and the z-axis as the y-axis direction; Calculate the second coordinate of the second torus measuring point in the target three-dimensional coordinate system based on the second center distance, the second measuring point pair distance, the second angle and the second target angle; Calculate the third coordinate of the third torus measuring point in the target three-dimensional coordinate system based on the third center distance, the third measuring point pair distance, the third included angle and the third target angle; Based on the first coordinate, the second coordinate and the third coordinate, determining the inclination angle between the normal vector of the ring plane to be measured and the positive direction of the central axis of the bottom surface; The inclination angle is determined as the verticality of the ring plane to be measured relative to the bottom surface of the tower.

7. The method according to claim 6, characterized in that After determining the inclination angle as the verticality of the ring plane to be measured relative to the bottom surface of the tower, the method further includes: Calculate the first center coordinates of the center of a circle common to the first torus measuring point, the second torus measuring point and the third torus measuring point based on the coordinates of the first torus measuring point, the second torus measuring point and the third torus measuring point in the target three-dimensional coordinate system and the normal vector of the torus plane to be measured; According to the construction method of three annular surface measuring points in the annular plane to be measured, a first target annular surface measuring point, a second target annular surface measuring point and a third target annular surface measuring point of the target annular plane are determined on the boundary of the target annular plane of the tower outside the annular plane to be measured; Calculate the second center coordinates of the center of a circle common to the first target torus measuring point, the second target torus measuring point and the third target torus measuring point based on the coordinates of the first target torus measuring point, the second target torus measuring point and the third target torus measuring point in the target three-dimensional coordinate system and the normal vector of the target torus plane; Based on the second circle center coordinates and the first circle center coordinates, the angle between the normal vector of the target ring plane and the normal vector of the ring plane to be measured is calculated to obtain the verticality of the target ring plane relative to the ring plane to be measured.

8. A tower verticality detection device, characterized in that: include: A first determination module is used to determine three equally divided points on the bottom surface boundary of the tower tube as a first bottom surface measurement point, a second bottom surface measurement point and a third bottom surface measurement point in sequence, determine a direction from the bottom surface center point of the tower tube to the first bottom surface measurement point as a first direction, determine a direction from the bottom surface center point to the second bottom surface measurement point as a second direction, and determine a direction from the bottom surface center point to the third bottom surface measurement point as a third direction, and the cross section of the tower tube is circular; A second determination module is used to determine the boundary of the ring plane to be measured of the tower as the target boundary, determine a first line segment from the center point of the ring plane to be measured along the first direction to the target boundary, a second line segment from the center point of the ring plane to be measured along the second direction to the target boundary, and a third line segment from the center point of the ring plane to be measured along the third direction to the target boundary, determine the intersection of the first line segment and the target boundary as a first torus measurement point, determine the intersection of the second line segment and the target boundary as a second torus measurement point, and determine the intersection of the third line segment and the target boundary as a third torus measurement point; a third determination module, configured to control a laser source to emit laser beams to the first bottom surface measurement point, the second bottom surface measurement point, the third bottom surface measurement point, the first annular surface measurement point, the second annular surface measurement point, and the third annular surface measurement point, respectively, and determine a positional relationship between the laser source, the bottom surface center point, the first bottom surface measurement point, the second bottom surface measurement point, the third bottom surface measurement point, the first annular surface measurement point, the second annular surface measurement point, and the third annular surface measurement point based on the laser beam, wherein the laser source is horizontally placed on the bottom surface center axis of the tower; A calculation module is used to calculate the verticality of the ring plane to be measured relative to the bottom surface of the tower based on the position relationship.

9. A computer device, characterized in that: include: A memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the tower verticality detection method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the tower verticality detection method according to any one of claims 1 to 7 is implemented.

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