Tower verticality detection method, device, equipment and storage medium

Abstract

The present disclosure relates to a tower verticality detection method, device, equipment and storage medium. The present disclosure emits laser beams to three equally divided bottom surface measuring points on the bottom surface boundary of the tower and three equally divided ring surface measuring points on the to-be-detected ring plane boundary of the tower through a laser source, determines the positional relationship between the laser source, the center point of the tower bottom surface, the three bottom surface measuring points and the three ring surface measuring points based on the laser beams, calculates the verticality of the to-be-detected ring plane relative to the tower bottom surface, obtains the verticality of the tower without hoisting platform and personnel climbing operation, is not affected by weather and site factors, reduces safety hazards, reduces errors introduced by manual operation, is simple to operate, greatly reduces the measurement time, has strong applicability, and improves the efficiency and accuracy of tower verticality detection.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of wind power, and particularly relates to a tower verticality detection method, device, equipment and storage medium. BACKGROUND

[0002] The tower is the main supporting structure of the wind turbine generator set, which bears the weight of the nacelle, blades and the like, ensures the stable operation of the entire wind turbine generator set, and at the same time, the tower can also reduce the vibration and impact of the wind turbine generator set during operation, and to some extent, protects the unit from the influence of bad weather, which is of great significance to prolong 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, so that the tower has a large height-diameter ratio. Under this background, affected by the tower ring piece installation process, wind turbine foundation settlement and long-term wind action and other factors, the tower may be inclined or even collapsed, which not only brings huge economic losses to the wind farm, but also causes serious life threats to the operation and maintenance personnel of the unit. Therefore, the verticality detection of the tower is an important basis for ensuring the safe operation of the wind turbine generator set.

[0003] During the hoisting process of the tower ring piece, a laser plumb instrument is usually used to measure the verticality of the tower, specifically, a laser plumb instrument is placed at the center point inside the tower to emit vertical laser, and the vertical laser is received at the hoisting platform of the tower ring piece, and 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, and the accuracy of the measurement is low, and the method also needs the staff to perform high-altitude operation to complete the measurement of the verticality of the tower, which is complicated to operate.

[0004] During the operation and maintenance of the unit, a theodolite is usually used to measure the verticality of the tower, specifically, the measurement is performed outside the tower, and this method is easily affected by the inclination direction of the tower, the weather and the site, and the measurement result of the verticality of the tower is not accurate enough. SUMMARY

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

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

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

[0008] determine the first line segment from the center point of the to-be-measured annular plane to the target boundary in the first direction, the second line segment from the center point of the to-be-measured annular plane to the target boundary in the second direction, and the third line segment from the center point of the to-be-measured annular plane to the target boundary in the third direction, determine the intersection point of the first line segment and the target boundary as the first annular surface measuring point, determine the intersection point of the second line segment and the target boundary as the second annular surface measuring point, and determine the intersection point of the third line segment and the target boundary as the third annular surface measuring 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, and determine 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 based on the laser beams, and the laser source is horizontally placed on the bottom surface center line of the tower drum;

[0010] based on the positional relationship, calculate the perpendicularity of the to-be-measured annular plane relative to the bottom surface of the tower drum.

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

[0012] The first determination module is configured to determine three equidistant points on the bottom surface boundary of the tower drum 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 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, 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 drum is circular.

[0013] The second determination module is configured to determine the boundary of the to-be-measured annular plane of the tower drum as a target boundary, determine the first line segment from the center point of the to-be-measured annular plane to the target boundary in the first direction, the second line segment from the center point of the to-be-measured annular plane to the target boundary in the second direction, and the third line segment from the center point of the to-be-measured annular plane to the target boundary in the third direction, determine the intersection point of the first line segment and the target boundary as the first annular surface measuring point, determine the intersection point of the second line segment and the target boundary as the second annular surface measuring point, and determine the intersection point of the third line segment and the target boundary as the third annular surface measuring point.

[0014] The third determination module is configured to 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 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 based on the laser beams, and the laser source is horizontally placed on the bottom surface center line of the tower drum.

[0015] The computing module is configured to calculate the perpendicularity of the to-be-measured ring plane relative to the tower drum bottom surface based on the positional relationship.

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

[0017] A fourth aspect of the present disclosure provides a computer readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by the processor, the tower drum perpendicularity detection method of the first aspect can be implemented.

[0018] The technical solution provided by the present disclosure has the following advantages compared with the prior art:

[0019] The present disclosure emits laser beams to three equally divided bottom surface measuring points on the boundary of the tower drum bottom surface and three equally divided ring surface measuring points on the boundary of the to-be-measured ring plane of the tower drum by a laser source, determines the positional relationship between the laser source, the center point of the tower drum bottom surface, the three bottom surface measuring points and the three ring surface measuring points based on the laser beams, calculates the perpendicularity of the to-be-measured ring plane relative to the tower drum bottom surface, obtains the perpendicularity of the tower drum without hoisting platform and personnel climbing operation, is not affected by weather and site factors, reduces safety hazards, reduces errors introduced by manual operation, is simple to operate, greatly reduces the measurement time, has strong applicability, and improves the efficiency and accuracy of the tower drum perpendicularity detection. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure.

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0022] Figure 1 is a flowchart of a tower drum perpendicularity detection method provided by an embodiment of the present disclosure;

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

[0024] Figure 3 is a flowchart of another tower drum perpendicularity detection method provided by an embodiment of the present disclosure;

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

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

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

[0028] In order to more clearly understand the above-mentioned purposes, features and advantages of the present disclosure, the solutions 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, a large number of specific details are set forth in order to facilitate a thorough understanding of the present disclosure, but the present disclosure can also be implemented in other ways different from those described herein; obviously, the embodiments in the description are only some of the embodiments of the present disclosure, not all the embodiments.

[0030] It should be understood that each step recorded in the method embodiments of the present disclosure can be executed in different order and / or in parallel. In addition, the method embodiments can include additional steps and / or omit the execution of the steps shown. The scope of the present disclosure is not limited in this respect.

[0031] It should be noted that in this document, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action, without necessarily requiring or implying any actual such relationship or order between or among the entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by the phrase "comprising a..." does not exclude the existence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0032] It should be noted that the modification of "one" or "multiple" mentioned in the present disclosure is illustrative but not limiting, and those skilled in the art should understand that unless otherwise explicitly indicated in the context, it should be understood as "one or more".

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

[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 will be described below in conjunction with exemplary embodiments.

[0035] Figure 1 is a flowchart of a tower verticality detection method provided by the embodiments of the present disclosure, which can be executed by a computer device, as Figure 1 The tower verticality detection method provided by the embodiments of the present disclosure includes the following steps:

[0036] In step 110, three equally divided points on the bottom surface boundary of the tower are sequentially determined as a first bottom surface measuring point, a second bottom surface measuring point, and a third bottom surface measuring point, a direction from the bottom surface center point of the tower to the first bottom surface measuring point is determined as a first direction, a direction from the bottom surface center point to the second bottom surface measuring point is determined as a second direction, and a direction from the bottom surface center point to the third bottom surface measuring point is determined as a third direction, and the cross section of the tower is circular.

[0037] In the embodiments of the present disclosure, the tower can be a tower of a wind turbine generator set. The cross section of the tower is circular.

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

[0039] Specifically, any point on the bottom surface boundary of the tower can be determined as a first equally divided point, a first connecting line from the bottom surface center point of the tower to the first equally divided point is started, and the first connecting line is rotated by 120 degrees around the bottom surface center point along a preset direction, an intersection point of the first connecting line and the bottom surface boundary is determined as a second equally divided point of the bottom surface boundary, then a second connecting line from the bottom surface center point of the tower to the second equally divided point is started, and the second connecting line is rotated by 120 degrees around the bottom surface center point along the preset direction, an intersection point of the second connecting line and the bottom surface boundary is determined as a third equally divided point of the bottom surface boundary, and then the first equally divided point is determined as the first bottom surface measuring point, the second equally divided point is determined as the second bottom surface measuring point, and the third equally divided point is determined as the third bottom surface measuring point.

[0040] For example, Figure 2 is a schematic diagram of a tower verticality detection method provided by the present disclosure, as shown in Figure 2 200 is a tower, 201 is the bottom 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 boundary of the tower, measuring point 2-1 is the second bottom surface measuring point on the bottom boundary of the tower, measuring point 3-1 is the third bottom surface measuring point on the bottom 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, determining the boundary of the to-be-measured ring plane of the tower as a target boundary, determining a first line segment from the center point of the to-be-measured ring plane to the target boundary in the first direction, a second line segment from the center point of the to-be-measured ring plane to the target boundary in the second direction, and a third line segment from the center point of the to-be-measured ring plane to the target boundary in the third direction, determining the intersection of the first line segment and the target boundary as a first ring plane measuring point, determining the intersection of the second line segment and the target boundary as a second ring plane measuring point, and determining the intersection of the third line segment and the target boundary as a third ring plane measuring point.

[0042] In the embodiment of the present disclosure, the tower is composed of a plurality of cylinder rings connected perpendicularly to the bottom surface of the tower. The cross section of the cylinder ring is referred to as a ring plane.

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

[0044] For example, as shown in Figure 2 202 is the boundary of the to-be-measured ring plane of the tower, i.e., the target boundary, O1 is the center point of the to-be-measured ring plane, a first line segment from O1 to the target boundary in the first direction (the direction from O' to measuring point 1-1), a second line segment from O1 to the target boundary in the second direction (the direction from O' to measuring point 2-1), and a third line segment from O1 to the target boundary in the third direction (the direction from O' to measuring point 3-1) are determined, the intersection of the first line segment and the target boundary is measuring point 1-2, measuring point 1-2 is the first ring plane 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 ring plane measuring point, and the intersection of the third line segment and the target boundary is measuring point 3-2, measuring point 3-2 is the third ring plane 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 ring surface measuring point, the second ring surface measuring point and the third ring 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 ring surface measuring point, the second ring surface measuring point and the third ring surface measuring point based on the laser beams, and the laser source is horizontally placed on the bottom surface central axis of the tower drum.

[0046] In the embodiments of the present disclosure, the laser source is a device capable of emitting laser beams, the laser source is horizontally placed on the bottom surface central axis of the tower drum, the bottom surface central axis of the tower drum passes through the bottom surface center point of the tower drum and is perpendicular to the bottom surface of the tower drum.

[0047] For example, the laser source can be installed on the detection device, the detection device can be placed on the bottom surface central axis of the tower drum, according to the mechanical mechanism compass, the detection device can be adjusted to point to the south along the mechanical mechanism, and the other two directional pieces of the mechanical mechanism are respectively pointed to the east and the west.

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

[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 ring surface measuring point, the second ring surface measuring point and the third ring 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 ring surface measuring point, the second ring surface measuring point and the third ring surface measuring point based on the laser beams.

[0050] Step 140, based on the positional relationship, calculate the perpendicularity of the to-be-measured ring plane relative to the bottom surface of the tower drum.

[0051] In the embodiments of the present disclosure, the computer device can calculate the perpendicularity of the to-be-measured ring plane relative to the bottom surface of the tower drum 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 ring surface measuring point, the second ring surface measuring point and the third ring surface measuring point.

[0052] The embodiment of the present disclosure determines the position relationship among the laser source, the center point of the bottom surface of the tower drum, the three bottom surface measuring points and the three ring surface measuring points based on the laser beams, calculates the perpendicularity of the to-be-measured ring plane relative to the bottom surface of the tower drum, and obtains the perpendicularity of the tower drum without hoisting a platform and without personnel climbing, is not affected by weather and site factors, reduces safety hazards, reduces errors introduced by manual operation, is simple to operate, greatly reduces the measurement time, has strong applicability, and improves the efficiency and accuracy of tower drum perpendicularity detection.

[0053] In some embodiments of the present disclosure, after determining the first bottom surface measuring point, the second bottom surface measuring point and the third bottom surface measuring point and the first ring surface measuring point, the second ring surface measuring point and the third ring surface measuring point of the tower drum, the computer device can perform Figure 3 A flowchart of a tower drum perpendicularity detection method is provided, which can be executed by a computer device, as shown in Figure 3 The tower drum perpendicularity detection method provided by the embodiment includes the following steps:

[0054] In step 310, based on the laser beams, the first distance from the laser source to the first bottom surface measuring point, the second distance from the laser source to the second bottom surface measuring point, the third distance from the laser source to the third bottom surface measuring point, the fourth distance from the laser source to the first ring surface measuring point, the fifth distance from the laser source to the second ring surface measuring point and the sixth distance from the laser source to the third ring surface measuring point are measured, and the first included angle between the emission direction of the laser beam corresponding to the first bottom surface measuring point and the reverse direction of the bottom surface central axis, the second included angle between the emission direction of the laser beam corresponding to the second bottom surface measuring point and the reverse direction of the bottom surface central axis of the tower drum, and the third included angle between the emission direction of the laser beam corresponding to the third bottom surface measuring point and the reverse direction of the bottom surface central axis of the tower drum are measured. The reverse direction of the bottom surface central axis points to the bottom surface of the tower drum.

[0055] For example, as shown in Figure 2 ;

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

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

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

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

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

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

[0062] The first included angle between the emission direction of the laser beam corresponding to the first bottom surface measuring point and the direction opposite to the center axis of the bottom surface is the first included angle α1 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 direction opposite to the center axis of the bottom surface;

[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 bottom surface center axis of the tower is the second angle α2 between the direction of the line connecting the laser source point O to the measuring point 2-1 (the second bottom surface measuring point) and the opposite direction of the bottom surface center axis;

[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 bottom surface center axis of the tower is the third angle α3 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 bottom surface center axis;

[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 (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. Calculate a first center distance from the bottom center point of the tower to a first bottom surface measuring point based on the first distance and the first included angle.

[0070] S12. 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 measuring point.

[0071] S13. Calculate a third center distance from the bottom center point of the tower to a third bottom surface measuring point based on the third distance and the third included angle.

[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, the distance between measuring point 1-1 (first bottom surface measuring point) and measuring point 1-2 (first annular surface measuring point) is the first measuring point distance l. 1-1-1-2 ;

[0076] The distance between measuring point 2-1 (second bottom surface measuring point) and measuring point 2-2 (second annular surface 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 a first measuring point-to-angle between the emission direction of the laser beam corresponding to the first annular surface measuring point and the emission direction of the laser beam corresponding to the first bottom surface measuring point, a second measuring point-to-angle between the emission direction of the laser beam corresponding to the second annular surface measuring point and the emission direction of the laser beam corresponding to the second bottom surface measuring point, and a third measuring point-to-angle between the emission direction of the laser beam corresponding to the third annular surface 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 β1;

[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 β2;

[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 β3;

[0083] S22: Calculate a first measuring point pair distance from the first bottom surface measuring point to the first toroidal 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 of l 1-1-1-2 , the distance l between the second measuring point 2-1-2-2 The distance l from the third measuring point 3-1-3-2 It can be calculated by formula (2) according to the cosine formula:

[0087]

[0088] Step 340: 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.

[0089] For example, Figure 2 As shown, 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 γ1;

[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 γ2;

[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 γ3.

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

[0093] S31. Calculate a first target angle formed by a laser source, a first bottom surface measuring point, and a 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.

[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. Calculate a third target angle formed by 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.

[0096] For example, Figure 2 As shown, the first target angle γ1, the second target angle γ2 and the third target angle γ3 can be calculated according to the sine formula through formula (3):

[0097]

[0098] Step 350: 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. 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 coordinates 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 included 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 horizontal, the z-axis direction of the target three-dimensional coordinate system is the centerline 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 (x1, y1, z1), the coordinates of the second torus measuring point (measuring point 2-2) in the target three-dimensional coordinate system are the second coordinates (x2, y2, z2), and the coordinates of the third torus measuring point (measuring point 3-2) in the target three-dimensional coordinate system are the third coordinates (x3, y3, z3).

[0102] The coordinates of measuring point 1-2 (the first torus measuring point) in the target three-dimensional coordinate system are the first coordinates (x1, y1, z1). The first coordinates can be calculated using formula (4):

[0103]

[0104] The coordinates of the measuring point 2-2 (the second ring surface measuring point) in the target three-dimensional coordinate system are second coordinates (x2, y2, z2), which can be calculated by formula (5):

[0105]

[0106] The coordinates of the measuring point 3-2 (the third ring surface measuring point) in the target three-dimensional coordinate system are third coordinates (x3, y3, z3), which can be calculated by formula (6):

[0107]

[0108] Step 380, based on the first coordinates, the second coordinates and the third coordinates, determine the inclination angle between the normal vector of the to-be-measured ring plane and the positive direction of the bottom surface central axis.

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

[0110] n = (x2-x1, y2-y1, z2-z1) x (x3-x1, y3-y1, z3-z1) (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 to-be-measured ring plane and the positive direction of the bottom surface central axis of the tower drum can be calculated by formula (9):

[0114]

[0115] Step 390, determine the inclination angle as the perpendicularity of the to-be-measured ring plane relative to the tower drum bottom surface.

[0116] Therefore, the laser beams can be emitted to the three equidistant bottom surface measuring points on the bottom surface boundary of the tower drum and the three equidistant ring surface measuring points on the ring plane boundary of the tower drum to be measured by the laser source, the position relationship among the laser source, the center point of the tower drum bottom surface, the three bottom surface measuring points, and the three ring surface measuring points is determined based on the laser beams, the perpendicularity of the ring plane to be measured relative to the tower drum bottom surface is calculated, the perpendicularity of the tower drum can be obtained without hoisting platform and personnel climbing operation, is not affected by weather and site and the like, safety hazards are reduced, errors introduced by manual operation are reduced, the operation is simple, the measurement time is greatly reduced, the applicability is high, and the efficiency and accuracy of the tower drum perpendicularity detection are improved.

[0117] In some embodiments of the present disclosure, after the perpendicularity of the ring plane to be measured relative to the tower drum bottom surface is calculated, the computer device can perform Figure 4 The flowchart of the tower drum perpendicularity detection method provided in the present embodiment is shown in Figure 4 The tower drum perpendicularity detection method provided in the present embodiment includes the following steps:

[0118] In step 410, based on the coordinates of the first ring surface measuring point, the second ring surface measuring point, and the third ring surface measuring point in the target three-dimensional coordinate system and the normal vector of the ring plane to be measured, the first center point coordinates of the center point of the circle in which the first ring surface measuring point, the second ring surface measuring point, and the third ring surface measuring point are located are calculated.

[0119] For example, as shown in Figure 2 , the normal vector of the ring plane to be measured is n; the coordinates of measuring point 1-2 (the first ring surface measuring point) in the target three-dimensional coordinate system are (x1, y1, z1); the coordinates of measuring point 2-2 (the second ring surface measuring point) in the target three-dimensional coordinate system are (x2, y2, z2); the coordinates of measuring point 3-2 (the third ring surface measuring point) in the target three-dimensional coordinate system are (x3, y3, z3), and the first center point coordinates O1(x o1 , y o1 , z o1 ) of the center point of the circle in which measuring point 1-2, measuring point 2-2, and measuring point 3-2 are located can be calculated by formula (10):

[0120]

[0121] n·[X-(x1,y1,z1)]=0 (10);

[0122] Wherein, n·[X-(x1,y1,z1)]=0 represents the plane in which measuring point 1-2, measuring point 2-2, and measuring point 3-2 are located; X(x, y, z) is any point on the plane.

[0123] Step 420: According to the method for constructing 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 Figure 1 The method for constructing three annular surface measuring points in the annular plane to be measured 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: Calculate the second center coordinates of the center of the circle shared by the first target torus point, the second target torus point, and the third target torus point based on the coordinates of the first target torus point, the second target torus point, and the third target torus point in the target three-dimensional coordinate system and the normal vector of the target torus plane.

[0126] Step 440: 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 to obtain the perpendicularity 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 5FIG. 1 is a structural schematic diagram of a tower verticality detection device provided by an embodiment of the present disclosure. The device can be understood as the computer device described above or part of the functional modules in the computer device. As shown in FIG. 1, the tower verticality detection device 500 includes: Figure 5

[0131] A first determination module 510 is configured to determine three equidistant points on the boundary of the bottom surface of the tower as a first bottom surface measuring point, a second bottom surface measuring point and a third bottom surface measuring point in sequence, determine a direction from the center point of the bottom surface of the tower to the first bottom surface measuring point as a first direction, determine a direction from the center point of the bottom surface to the second bottom surface measuring point as a second direction, determine a direction from the center point of the bottom surface to the third bottom surface measuring point as a third direction, and the cross section of the tower is circular.

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

[0133] A third determination module 530 is configured to control 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 ring surface measuring point, the second ring surface measuring point and the third ring surface measuring point respectively, determine a positional relationship between the laser source, the center point of the bottom surface, the first bottom surface measuring point, the second bottom surface measuring point, the third bottom surface measuring point, the first ring surface measuring point, the second ring surface measuring point and the third ring surface measuring point based on the laser beams, and the laser source is horizontally placed on the bottom surface center line of the tower.

[0134] A calculation module 540 is configured to calculate the verticality of the to-be-measured ring plane relative to the bottom surface of the tower based on the positional relationship.

[0135] Optionally, the third determination module includes:

[0136] ​The measurement sub-module is configured 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 ring surface measurement point, a fifth distance from the laser source to a second ring surface measurement point, and a sixth distance from the laser source to a third ring surface measurement point, and measure a first included angle between a direction of emission of the laser beam corresponding to the first bottom surface measurement point and a reverse direction of a bottom surface central axis of the tower drum, a second included angle between a direction of emission of the laser beam corresponding to the second bottom surface measurement point and the reverse direction of the bottom surface central axis of the tower drum, and a third included angle between a direction of emission of the laser beam corresponding to the third bottom surface measurement point and the reverse direction of the bottom surface central axis of the tower drum, the reverse direction of the bottom surface central axis being directed to the bottom surface of the tower drum.

[0137] The first determination sub-module is configured to determine a first center distance from a bottom surface center point of the tower drum to the first bottom surface measurement point, a second center distance from the bottom surface center point of the tower drum to the second bottom surface measurement point, and a third center distance from the bottom surface center point of the tower drum to the third bottom surface measurement point.

[0138] The second determination sub-module is configured to determine a first measurement point pair distance from the first bottom surface measurement point to the first ring surface measurement point, a second measurement point pair distance from the second bottom surface measurement point to the second ring surface measurement point, and a third measurement point pair distance from the third bottom surface measurement point to the third ring surface measurement point.

[0139] The third determination sub-module is configured to determine a first target angle formed by the laser source, the first bottom surface measurement point, and the first ring surface measurement point, a second target angle formed by the laser source, the second bottom surface measurement point, and the second ring surface measurement point, and a third target angle formed by the laser source, the third bottom surface measurement point, and the third ring surface measurement point.

[0140] Optionally, the first determination sub-module includes:

[0141] The first calculation unit is configured to calculate, based on the first distance and the first included angle, the first center distance from the bottom surface center point of the tower drum to the first bottom surface measurement point.

[0142] The second calculation unit is configured to calculate, based on the second distance and the second included angle, the second center distance from the bottom surface center point of the tower drum to the second bottom surface measurement point.

[0143] The third calculation unit is configured to calculate, based on the third distance and the third included angle, the third center distance from the bottom surface center point of the tower drum to the third bottom surface measurement point.

[0144] Optionally, the second determination sub-module includes:

[0145] a measurement unit configured to measure a first point pair angle between a direction of emission of a laser beam corresponding to a first ring surface measurement point and a direction of emission of a laser beam corresponding to a first bottom surface measurement point, a second point pair angle between a direction of emission of a laser beam corresponding to a second ring surface measurement point and a direction of emission of a laser beam corresponding to a second bottom surface measurement point, and a third point pair angle between a direction of emission of a laser beam corresponding to a third ring surface measurement point and a direction of emission of a laser beam corresponding to a third bottom surface measurement point;

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

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

[0148] a sixth calculation unit configured to calculate a third point pair distance from the third bottom surface measurement point to the third ring surface measurement point based on the third distance, the sixth distance, and the third point pair angle.

[0149] Optionally, the third determination sub-module includes:

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

[0151] an eighth calculation unit configured to calculate a second target angle formed by the laser source, the second bottom surface measurement point, and the second ring surface measurement point based on the second distance, the fifth distance, the second point pair distance, and the second point pair angle;

[0152] a ninth calculation unit configured to calculate a third target angle formed by the laser source, the third bottom surface measurement point, and the third ring surface measurement point based on the third distance, the sixth distance, the third point pair distance, and the third point pair angle.

[0153] Optionally, the calculation module includes:

[0154] a first calculation sub-module configured to calculate a first coordinate of the first ring surface measurement point in a target three-dimensional coordinate system based on the first center distance, the first point pair distance, the first included angle, and the first target angle, the target three-dimensional coordinate system being a Cartesian coordinate system with a bottom surface center point of the tower drum as an origin, a horizontal direction as an x-axis direction, a bottom surface central axis of the tower drum as a z-axis direction, and a direction perpendicular to the x-axis and the z-axis as a y-axis direction;

[0155] a second calculation sub-module configured to calculate a second coordinate of the second ring surface measurement point in the target three-dimensional coordinate system based on the second center distance, the second point pair distance, the second included angle, and the second target angle.

[0156] a third calculating sub-module, configured to calculate a third coordinate of the third ring surface 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;

[0157] a fourth determining sub-module, configured to determine an inclination angle between the normal vector of the to-be-detected ring plane and the positive direction of the bottom surface central axis based on the first coordinate, the second coordinate, and the third coordinate;

[0158] a fifth determining sub-module, configured to determine the inclination angle as the perpendicularity of the to-be-detected ring plane relative to the tower bottom surface.

[0159] Optionally, the calculation module comprises:

[0160] a fourth calculating sub-module, configured to calculate a first circle center coordinate of a circle center of the first ring surface measuring point, the second ring surface measuring point, and the third ring surface measuring point based on the coordinates of the first ring surface measuring point, the second ring surface measuring point, and the third ring surface measuring point in the target three-dimensional coordinate system and the normal vector of the to-be-detected ring plane;

[0161] a sixth determining sub-module, configured to determine a first target ring surface measuring point, a second target ring surface measuring point, and a third target ring surface measuring point of a target ring plane on a boundary of the target ring plane of the tower outside the to-be-detected ring plane according to a construction method of three ring surface measuring points in the to-be-detected ring plane;

[0162] a fifth calculating sub-module, configured to calculate a second circle center coordinate of a circle center of the first target ring surface measuring point, the second target ring surface measuring point, and the third target ring surface measuring point based on the coordinates of the first target ring surface measuring point, the second target ring surface measuring point, and the third target ring surface measuring point in the target three-dimensional coordinate system and the normal vector of the target ring plane;

[0163] a sixth calculating sub-module, configured to calculate an included angle between the normal vector of the target ring plane and the normal vector of the to-be-detected ring plane based on the second circle center coordinate and the first circle center coordinate, to obtain the perpendicularity of the target ring plane relative to the to-be-detected ring plane.

[0164] The tower perpendicularity detection device provided by the embodiments of the present disclosure can implement the method of any of the above embodiments, and has similar implementation manners and beneficial effects, which will not be described here again.

[0165] The embodiments of the present disclosure also provide a computer device comprising a processor and a memory, wherein the memory stores a computer program which, when executed by the processor, can implement the method of any of the above embodiments, and has similar implementation manners and beneficial effects, which will not be described here again.

[0166] Figure 6 is a structural schematic diagram of a computer device provided by the embodiments of the present disclosure, asFigure 6 As shown, the computer device 600 can include a processor 610 and a memory 620, wherein the memory 620 stores a computer program 621, which, when executed by the processor 610, can implement the method provided by any of the above embodiments, and has similar implementation manner and beneficial effects, which will not be described here again.

[0167] Of course, for the sake of simplicity, Figure 6 Only some of the components of the computer device 600 related to the present application are shown in FIG. 6, and components such as buses, input / output interfaces, input devices and output devices are omitted. In addition, the computer device 600 can include any other appropriate components according to specific application cases.

[0168] The present disclosure provides a computer readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the method of any of the above embodiments can be implemented, and has similar implementation manner and beneficial effects, which will not be described here again.

[0169] The computer readable storage medium described above 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 may, for example, include but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples (non-exhaustive list) of readable storage medium include: electrical connection having one or more wires, portable disc, hard disk, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read only memory (CD-ROM), optical storage device, magnetic storage device, or any appropriate combination of the above.

[0170] The computer program described above can be written in any combination of one or more programming languages for executing the operations of the embodiments of the present disclosure, including object-oriented programming languages such as Java, C++, etc., and conventional procedural programming languages such as "C" language or similar programming languages. The program code can be executed completely on a user computer device, partially on a user device, as an independent software package, partially on a user computer device and partially on a remote computer device, or completely on a remote computer device or server.

[0171] The above description is merely a preferred embodiment of the present disclosure and an illustration of the technical principles employed. 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 the specific combination of the above-mentioned technical features, but also includes other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the above-mentioned disclosed concepts. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this disclosure.

[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 have been 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 foregoing description is intended only to provide specific embodiments of the present disclosure, intended to enable those skilled in the art to understand and implement the present disclosure. Various modifications to these embodiments will be readily 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 is not intended to be limited to the embodiments described herein, but rather to be construed in the broadest manner consistent with the principles and novel features disclosed herein.

Claims

1. A tower verticality detection method, characterized in that: include: Determine three equally divided points on the bottom surface boundary of the tower as a first bottom surface measuring point, a second bottom surface measuring point, and a third bottom surface measuring point in sequence; determine a direction from the bottom surface center point of the tower to the first bottom surface measuring point as a first direction; determine a direction from the bottom surface center point to the second bottom surface measuring point as a second direction; and determine a direction from the bottom surface center point to the third bottom surface measuring point as a third direction; and the cross section of the tower is circular; Determine the boundary of the to-be-measured annular plane of the tower as the target boundary, determine a first line segment from the center point of the to-be-measured annular plane along the first direction to the target boundary, a second line segment from the center point of the to-be-measured annular plane along the second direction to the target boundary, and a third line segment from the center point of the to-be-measured annular plane along the third direction to the target boundary, determine the intersection of the first line segment and the target boundary as a first annular surface measuring point, determine the intersection of the second line segment and the target boundary as a second annular surface measuring point, and determine the intersection of the third line segment and the target boundary as a third annular surface measuring point; controlling a laser source to emit laser beams toward 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; determining a 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 based on the laser beams, wherein the laser source is horizontally placed on the central axis of the bottom surface of the tower; Based on the positional relationship, calculating the verticality of the ring plane to be measured relative to the bottom surface of the tower; 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, where 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 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; 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.

2. The method according to claim 1, characterized in that The determining of 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 includes: Calculate a first center distance from the bottom center point of the tower to the first bottom surface measuring point based on the first distance and the first included angle; Calculate a second center distance from the bottom center point of the tower to the second bottom surface measuring point based on the second distance and the second included angle; Based on the third distance and the third included angle, a third center distance from the bottom center point of the tower to the third bottom surface measuring point is calculated.

3. The method according to claim 1, 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 includes: measuring a first measuring point subtended angle between an emission direction of the laser beam corresponding to the first annular surface measuring point and an emission direction of the laser beam corresponding to the first bottom surface measuring point, a second measuring point subtended angle between an emission direction of the laser beam corresponding to the second annular surface measuring point and an emission direction of the laser beam corresponding to the second bottom surface measuring point, and a third measuring point subtended angle between an emission direction of the laser beam corresponding to the third annular surface measuring point and an emission direction of the 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.

4. The method according to claim 1, wherein 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 includes: Calculating 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, where the first measuring point pair angle is the angle between an emission direction of the laser beam corresponding to the first annular surface measuring point and an emission direction of the laser beam corresponding to the first bottom surface measuring point; Calculating 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, where the second measuring point pair angle is the second measuring point pair angle between an emission direction of the laser beam corresponding to the second annular surface measuring point and an emission direction of the laser beam corresponding to the second bottom surface measuring point; Based on the third distance, the sixth distance, the third measuring point pair distance and the third measuring point pair angle, a third target angle composed of the laser source, the third bottom surface measuring point and the third annular surface measuring point is calculated, where the third measuring point pair angle is the angle between the emission direction of the laser beam corresponding to the third annular surface measuring point and the emission direction of the laser beam corresponding to the third bottom surface measuring point.

5. The method according to claim 1, wherein Calculating the verticality of the ring plane to be measured relative to the bottom surface of the tower based on the positional relationship includes: Calculate, based on the first center distance, the first measuring point pair distance, the first included angle, and the first target angle, a first coordinate of the first toroidal measuring point in a target three-dimensional coordinate system, where the target three-dimensional coordinate system is a Cartesian coordinate system having 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; Calculating a second coordinate of the second torus measuring point in a 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; Calculating a third coordinate of the third torus measuring point in a 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; Determine, based on the first coordinate, the second coordinate, and the third coordinate, an inclination angle between a normal vector of the ring plane to be measured and a 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.

6. The method according to claim 5, 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 first center coordinates of a center of a circle common to the first torus measuring point, the second torus measuring point, and the third torus measuring point based on coordinates of the first torus measuring point, the second torus measuring point, and the third torus measuring point in a target three-dimensional coordinate system and a normal vector of the torus plane to be measured; According to the method for constructing 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 perpendicularity of the target ring plane relative to the ring plane to be measured.

7. A tower verticality detection device, characterized in that: include: a first determining module, configured to sequentially determine three equally divided points on a bottom surface boundary of a tower as a first bottom surface measuring point, a second bottom surface measuring point, and a third bottom surface measuring point; determine a direction from a bottom surface center point of the tower to the first bottom surface measuring point as a first direction; determine a direction from the bottom surface center point to the second bottom surface measuring point as a second direction; and determine a direction from the bottom surface center point to the third bottom surface measuring point as a third direction; and the cross section of the tower is circular; a second determining module, configured to determine a boundary of the to-be-measured annular plane of the tower as a target boundary, determine a first line segment from the center point of the to-be-measured annular plane along the first direction to the target boundary, a second line segment from the center point of the to-be-measured annular plane along the second direction to the target boundary, and a third line segment from the center point of the to-be-measured annular plane along the third direction to the target boundary, determine an intersection point of the first line segment with the target boundary as a first annular surface measuring point, determine an intersection point of the second line segment with the target boundary as a second annular surface measuring point, and determine an intersection point of the third line segment with the target boundary as a third annular surface measuring point; a third determining module, configured to control a laser source to emit laser beams toward 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, based on the laser beams, a 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, wherein the laser source is horizontally placed on the central axis of the bottom surface of the tower; A calculation module, configured to calculate the verticality of the ring plane to be measured relative to the bottom surface of the tower based on the positional relationship; The third determining module includes: a measurement submodule, configured to measure, based on the laser beam, 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 to 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 central 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 central 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 central axis of the bottom surface of the tower, wherein the direction opposite to the central axis of the bottom surface points to the bottom surface of the tower; A first determining submodule is configured 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; a second determining submodule, configured to 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; The third determination submodule is used to 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.

8. 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 6 is implemented.

9. 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 6 is implemented.

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