High-precision line laser wind power blade contour detection and analysis system

Abstract

The invention discloses a high-precision line laser wind power blade contour detection and analysis system, and relates to the technical field of wind power blade contour quality inspection. According to the invention, a motion path of a line laser contour scanner on a displacement conduction mechanism is provided with a starting acceleration area, a constant-speed stable area and a stopping deceleration area. The photoelectric receiving modules on the two sides comprise CCD light sensing modules, position parameters of the photoelectric receiving modules are preset, the position information of the scanner is obtained in real time, and the power of the horizontal laser module is adjusted according to the distance between the scanner and the CCD light sensing modules. And after the scanner enters the constant-speed stable area, acquiring and analyzing starting and moving conditions of the geometric center point of the light sensing area, comparing a displacement difference with a preset reference value to judge a moving state, marking a position point if abnormity occurs, and alarming if abnormity occurs for many times. According to the method, tiny motion state changes can be more sensitively captured, and after motion state abnormity occurs, detection problems can be timely and accurately found, so that the wind power blade contour scanning precision can be further guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine blade profile quality inspection, and in particular to a high-precision line laser wind turbine blade profile detection and analysis system. Background Art

[0002] After the wind turbine blades are processed and manufactured, a line laser profile scanner can be used to scan and detect the profile parameters of the wind turbine blades. The line laser profile scanner mainly uses line laser measurement technology to measure wind turbine blades. Line laser measurement technology is based on the principle of laser triangulation reflection. By emitting a line laser to illuminate the surface of the wind turbine blade to be measured, the camera built into the sensor obtains the laser reflected from the target surface from an angle. Due to the different distances from different positions on the blade surface to the sensor, the reflected laser will fall on different positions in the camera imaging area, thus forming a triangle. Using the sensor parameters pre-calibrated at the factory, the height of each point on the laser profile formed by the laser irradiation on the blade surface can be calculated, and then the 3D profile data of the blade can be obtained.

[0003] When installing the line laser profile scanner, it is also necessary to configure the corresponding displacement transmission mechanism. When the displacement transmission mechanism drives the line laser profile scanner to move, it is necessary to ensure that the movement state of the line laser profile scanner is very stable, so as to avoid shaking or vibration affecting the accuracy of the scanning results. However, during installation, the operator can only make rough judgments based on experience and cannot accurately guarantee the installation quality to obtain accurate scanning results.

[0004] The traditional detection method is to configure a vibration detector in the line laser profile scanner to detect whether the motion state of the line laser profile scanner is stable. However, vibration detectors are generally divided into acceleration vibration detectors, velocity vibration detectors, displacement vibration detectors, etc. These detectors are generally used for conventional and obvious vibration intensities. If you want to significantly improve the parameter accuracy of the line laser profile scanner for wind turbine blade profile scanning, it is obvious that the traditional method is not ideal.

[0005] In summary, how to more accurately monitor the motion state of the line laser profile scanner and ensure the parameter accuracy of the line laser profile scanner in scanning the wind turbine blade profile has become a problem that needs to be solved. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a high-precision line laser wind turbine blade contour detection and analysis system, which can more keenly capture tiny changes in motion state. After abnormal motion state occurs, it is convenient to timely and accurately discover detection problems, thereby further ensuring the accuracy of wind turbine blade contour scanning.

[0007] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0008] The present invention provides a high-precision line laser wind turbine blade profile detection and analysis system, including the following contents:

[0009] The line laser profile scanner scans and detects the profile parameters of the wind turbine blade, and the displacement transmission mechanism drives the line laser profile scanner to move.

[0010] (i) The system presets a displacement transmission mechanism to drive the line laser profile scanner through the starting acceleration zone, uniform speed stabilization zone, and stopping deceleration zone. Among them, the wind turbine blades to be detected are placed directly below the uniform speed stabilization zone, and the starting ends of the wind turbine blades to be detected are all located within the uniform speed stabilization zone. In order to ensure that the line laser profile scanner is in a stable motion state when scanning and detecting the wind turbine blades, the starting stage and the stopping stage of the line laser profile scanner are independently assigned an area. Because the displacement transmission mechanism starts to drive the line laser profile scanner to move and brake the line laser profile scanner, it may cause the line laser profile scanner to produce corresponding vibrations. Therefore, the starting and braking of the line laser profile scanner need to be completely independent, and a buffer area at a certain distance relative to the normal detection area is set.

[0011] (ii) A photoelectric receiving module with a CCD light sensing module is fixedly installed on both sides of the displacement transmission mechanism, and the system presets fixed position parameters of the CCD light sensing module relative to the moving path of the linear laser profile scanner.

[0012] (iii) The system acquires the position information of the line laser profile scanner during the movement of the displacement transmission mechanism in real time.

[0013] (IV) The system analyzes the real-time distance parameter L between the line laser profile scanner and the CCD light sensing module, and adjusts the laser output power P of the horizontal laser module on the corresponding side of the line laser profile scanner according to the distance parameter L. Among them, the real-time laser output power F(P) of the horizontal laser module ∝ the real-time distance parameter L.

[0014] (V) When the line laser profile scanner leaves the start-up acceleration zone and enters the uniform speed stability zone, the system obtains the light-sensitive area stimulated by the CCD light-sensitive module when the horizontal laser module is irradiated, and analyzes the geometric center point M of the light-sensitive area. 起始 :(X 起始 , Y 起始 ).

[0015] (VI) The line laser profile scanner enters the uniform speed stable area and moves at a uniform speed. The system obtains the light-sensitive area stimulated by the CCD light-sensitive module irradiated by the horizontal laser module in real time, and analyzes the geometric center point M of the light-sensitive area. 运动 :(X 运动 , Y 运动 ).

[0016] ㈦Analyze the displacement difference of geometric center point Determine the displacement difference ΔM of the geometric center point and the reference displacement difference ΔM preset by the system 参考 The difference.

[0017] If ΔM≤ΔM 参考 , then the motion state of the line laser profile scanner at the current position is stable.

[0018] If ΔM>ΔM 参考 , then the motion state of the line laser profile scanner at the current position is abnormal, and the system marks the current position point W of the line laser profile scanner 异常 After completing a scanning and detection of the entire wind turbine blade, the entire wind turbine blade is scanned and detected again. If the number of abnormal motion states at the same position point is not less than three times in a row, an alarm prompt message is output, and the abnormal position point information is output.

[0019] As a preferred technical solution of the present invention: the starting acceleration zone includes the starting stroke starting point, the stopping deceleration zone includes the stopping stroke end point, and the uniform speed stabilization zone includes the uniform speed stroke starting point located at the end position of the starting acceleration zone and the uniform speed stroke end point located at the beginning position of the stopping deceleration zone.

[0020] As a preferred technical solution of the present invention: two photoelectric receiving modules are independently arranged in the peripheral area of ​​the displacement transmission mechanism, and a horizontal laser module is fixedly installed on both sides of the line laser profile scanner. The CCD light sensing module of one photoelectric receiving module is aligned with the horizontal laser module on one side of the line laser profile scanner, and the CCD light sensing module of the other photoelectric receiving module is aligned with the horizontal laser module on the other side of the line laser profile scanner.

[0021] As a preferred technical solution of the present invention: a fixed support frame for fixing the photoelectric receiving module is arranged below the photoelectric receiving module, and the fixed support frame and the displacement transmission mechanism are not located on the same installation platform.

[0022] As a preferred technical solution of the present invention: after the line laser profile scanner enters the uniform speed stable area, the system simultaneously obtains the information of the light-sensitive areas excited in the two photoelectric receiving modules, and the geometric center point displacement difference generated by the geometric center point of any light-sensitive area is equal to the reference displacement difference ΔM 参考 When the difference is abnormal, the system determines that the motion state of the line laser profile scanner is abnormal.

[0023] As a preferred technical solution of the present invention: after the line laser profile scanner enters the stop deceleration zone, the horizontal laser module does not need to continue to emit laser light, and the line laser profile scanner stops moving after reaching the stop stroke end of the stop deceleration zone. When the line laser profile scanner moves in the reverse direction, the stop deceleration zone entered by the line laser profile scanner becomes the start acceleration zone for scanning and testing again, and the start acceleration zone during the last scanning and testing becomes the stop deceleration zone.

[0024] As a preferred technical solution of the present invention: when pre-installing the line laser profile scanner, the horizontal laser module and the photoelectric receiving module, a horizontal monitoring device is used to ensure that they are in a horizontal state after installation.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. The present invention sets up a start acceleration zone, a uniform speed stabilization zone and a stop deceleration zone, separates the start and braking stages and provides a buffer, effectively avoiding the interference of these vibrations on the scanning, and enables the scanner to move smoothly in the uniform speed stabilization zone, thereby improving the scanning accuracy.

[0027] 2. The present invention uses a photoelectric receiving module and a horizontal laser module to monitor the distance parameters between the line laser profile scanner and the CCD light sensing module in real time, adjusts the laser power to ensure the receiving effect, and accurately determines the motion state by analyzing the relationship between the displacement difference of the geometric center point of the light sensing area and the preset reference displacement difference. Compared with traditional detection methods, this method can more sensitively capture tiny changes in the motion state, and after an abnormal motion state occurs, it is easy to detect detection problems in a timely and accurate manner, thereby further ensuring the accuracy of wind turbine blade profile scanning.

[0028] 3. In the present invention, the laser is allowed to fall on the area near the center of the CCD photosensitive module, which reduces the difficulty of installation and debugging, improves the stability and accuracy of the system after installation, and ensures that the overall performance of the system meets the detection requirements for the motion state of the linear laser profile scanner. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A dynamic diagram of the blade profile detection and analysis system in the present invention Figure 1 .

[0030] Figure 2 A dynamic diagram of the blade profile detection and analysis system in the present invention Figure 2 .

[0031] Figure 3 for Figure 1 Schematic diagram of the structure with a partial enlargement at point A in the middle.

[0032] Figure 4 A dynamic diagram of the CCD light sensing module in the present invention Figure 1 .

[0033] Figure 5 A dynamic diagram of the CCD light sensing module in the present invention Figure 2 .

[0034] Wherein: 1-line laser profile scanner; 2-displacement transmission mechanism, 201-start acceleration zone, 2011-start stroke starting point, 202-uniform speed stabilization zone, 2021-uniform speed stroke starting point, 2022-uniform speed stroke end point, 203-stop deceleration zone, 2031-stop stroke end point; 3-horizontal laser module; 4-wind turbine blades; 5-fixed support frame; 6-photoelectric receiving module; 601-CCD light sensing module, 602-CCD light sensing pixel unit, 603-light sensing area, 604-geometric center point. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the following Figures 1 to 5 It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0036] Embodiment 1: The present invention designs a high-precision line laser wind turbine blade profile detection and analysis system. The specific system architecture and core control contents are as follows:

[0037] (I) System architecture and hardware layout

[0038] The high-precision line laser wind turbine blade profile detection and analysis system is mainly composed of a line laser profile scanner 1, a displacement transmission mechanism 2, a horizontal laser module 3, a photoelectric receiving module 6 and a fixed support frame 5. The line laser profile scanner 1 is a core detection component, which moves along the length direction of the wind turbine blade 4 through the displacement transmission mechanism 2, thereby performing a comprehensive scan of the blade profile. The displacement transmission mechanism 2 can use a combination of high-precision guide rails and drive motors to ensure that the line laser profile scanner 1 moves smoothly and accurately.

[0039] The horizontal laser modules 3 are fixedly installed on both sides of the line laser profile scanner 1. The vibrations of the line laser profile scanner 1 can be reflected on the horizontal laser modules 3. The horizontal laser modules 3 on both sides respectively emit lasers to the photoelectric receiving modules 6 on both sides. The photoelectric receiving module 6 is fixed to the peripheral area of ​​the displacement transmission mechanism 2 through the fixed support frame 5, and the fixed support frame 5 and the displacement transmission mechanism 2 are installed on different platforms to prevent the vibration generated by the movement of the displacement transmission mechanism 2 from being transmitted to the photoelectric receiving module 6, affecting the detection accuracy.

[0040] (II) Area Division and Motion Control

[0041] The displacement transmission mechanism 2 divides the motion path into a starting acceleration zone 201, a uniform speed stabilization zone 202, and a stopping deceleration zone 203. The starting acceleration zone 201 starts from the starting stroke starting point 2011, and the driving motor gradually increases the speed in this area, so that the line laser profile scanner 1 starts smoothly, and the line laser profile scanner 1 can completely reach a stable motion state before reaching the uniform speed stroke starting point 2021. The uniform speed stabilization zone 202 is between the uniform speed stroke starting point 2021 at the end of the starting acceleration zone 201 and the uniform speed stroke end point 2022 at the beginning of the stopping deceleration zone 203. In this area, the line laser profile scanner 1 maintains uniform motion to ensure the accuracy of the scanning data. The stopping deceleration zone 203 starts from the uniform speed stroke end point 2022 to the stopping stroke end point 2031, and the driving motor controls the line laser profile scanner 1 to gradually decelerate and stop or brake through a corresponding rapid braking method.

[0042] The system controls the speed and movement direction of the driving motor to achieve precise motion control of the line laser profile scanner 1 in different areas. At the same time, the system obtains the position information of the line laser profile scanner 1 on the displacement transmission mechanism 2 in real time, which can be achieved through a position sensor (such as a grating ruler) installed on the guide rail, so that corresponding detection and control operations can be performed according to the position information.

[0043] (III) Photoelectric detection and laser power adjustment

[0044] The CCD light sensing module 601 in the photoelectric receiving module 6 is composed of a large number of CCD photosensitive pixel units 602 distributed in a matrix, and each pixel unit has a preset coordinate position.

[0045] When the line laser profile scanner 1 moves, the system analyzes the distance parameter L between it and the CCD light sensing module 601 in real time.

[0046] The laser output power P of the horizontal laser module 3 is adjusted according to the distance parameter L. The specific relationship is F(P)∝L, that is, the longer the distance, the greater the laser output power. By adjusting the laser power, it is ensured that the CCD light sensing module 601 can effectively and accurately receive the laser irradiation emitted by the horizontal laser module 3, so as to accurately determine the motion state of the line laser profile scanner 1.

[0047] ㈣Motion status monitoring and exception handling

[0048] When the line laser profile scanner 1 leaves the start acceleration zone 201 and enters the uniform speed stable zone 202, the system obtains the light sensing area 603 excited by the CCD light sensing module 601 irradiated by the horizontal laser module 3, and determines its geometric center point M start (X 起始 , Y 起始 In the uniform stable area 202, the system continuously obtains the movement of the geometric center point M of the light sensing area 603 (X 运动 , Y运动 ), calculate the displacement difference of the geometric center point

[0049] Compare ΔM with the preset reference displacement difference ΔM 参考 Compare. If ΔM≤ΔM 参考 , indicating that the motion state of the line laser profile scanner 1 is stable and normal scanning and detection can continue (the normal scanning mentioned here refers to the normal scanning without abnormal position points. If abnormal position points appear, the scanning will continue).

[0050] If ΔM>ΔMreference, the current position point W is marked as abnormal. After completing a scanning test of the wind turbine blade 4, the system automatically re-scans the entire wind turbine blade 4. If the number of abnormalities at the same position point W is not less than three times in a row, the system outputs an alarm prompt message and records the abnormal data for subsequent analysis.

[0051] like Figure 4 , when the line laser profile scanner leaves the start-up acceleration zone and enters the uniform speed stability zone, the photosensitive area of ​​the CCD photosensitive module is excited as [S 11 ~S 44 ], the geometric center point falls into S 32 Position, the geometric center point M of the light-sensitive area 起始 It's S 32 .

[0052] like Figure 5 When the line laser profile scanner moves in the uniform stable zone, at any moment, the photosensitive area of ​​the CCD photosensitive module excited is [S 12 , S 13 , S 14 , S 15 , S 22 , S 23 , S 24 , S 25 , S 32 , S 33 , S 34 , S 35 , S 42 , S 43 , S 44 , S 45 ], the geometric center point falls into S 13 Position, the geometric center point M of the light-sensitive area 运动 It's S 13 .

[0053] Then analyze the displacement difference ΔM of the geometric center point and the difference ΔM between ΔM and the reference displacement difference ΔM preset by the system. 参考 The difference can be used to determine whether the motion state of the line laser profile scanner is abnormal.

[0054] (V) System operation under special working conditions

[0055] When the line laser profile scanner 1 enters the stop deceleration zone 203, the system controls the horizontal laser module 3 to stop emitting laser light, which can reduce energy consumption and avoid unnecessary laser irradiation. After reaching the stop travel end 2031, the line laser profile scanner 1 stops moving.

[0056] When reverse scanning detection is required, the original stop deceleration zone 203 entered by the line laser profile scanner 1 becomes the new start acceleration zone 201, and the original start acceleration zone 201 becomes the new stop deceleration zone 203. The system adjusts the motion control and detection logic accordingly to ensure the smooth progress of the reverse scanning detection.

[0057] (VI) Installation, debugging and accuracy assurance

[0058] When installing the line laser profile scanner 1, the horizontal laser module 3 and the photoelectric receiving module 6, use a high-precision level monitoring device (such as a level or an electronic level) to ensure that they are in a horizontal state after installation. The laser emitted by the horizontal laser module 3 does not need to be precisely aligned with the center position of the CCD light sensing module 601, as long as it can fall on an area close to the center position of the CCD light sensing module 601, which can reduce the difficulty of installation. During the system debugging stage, each component is calibrated and optimized, including laser power calibration, CCD light sensing module 601 pixel coordinate calibration, etc., to ensure that the system can meet the high-precision wind turbine blade profile detection requirements during operation.

[0059] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. High-precision line laser wind turbine blade profile detection and analysis system, the line laser profile scanner scans and detects the profile parameters of the wind turbine blade, and the displacement transmission mechanism drives the line laser profile scanner to move, which is characterized by: (1) The system presets the displacement transmission mechanism to drive the linear laser profile scanner through the start acceleration zone, uniform speed stabilization zone, and stop deceleration zone; (ii) a photoelectric receiving module with a CCD light sensing module is fixedly installed on both sides of the displacement transmission mechanism, and the system presets fixed position parameters of the CCD light sensing module relative to the moving path of the linear laser profile scanner; (3) The system obtains the position information of the line laser profile scanner in the movement of the displacement transmission mechanism in real time; ㈣ The system analyzes the real-time distance parameter L between the line laser profile scanner and the CCD light sensing module, and adjusts the laser output power P of the horizontal laser module on the corresponding side of the line laser profile scanner according to the distance parameter L; Among them, the real-time laser output power F(P) of the horizontal laser module ∝ the real-time distance parameter L; (V) When the line laser profile scanner leaves the start-up acceleration zone and enters the uniform speed stability zone, the system obtains the light-sensitive area stimulated by the CCD light-sensitive module when the horizontal laser module is irradiated, and analyzes the geometric center point M of the light-sensitive area. 起始 :(X 起始 , Y 起始 ); (VI) The line laser profile scanner enters the uniform speed stable area and moves at a uniform speed. The system obtains the light-sensitive area stimulated by the CCD light-sensitive module irradiated by the horizontal laser module in real time, and analyzes the geometric center point M of the light-sensitive area. 运动 :(X 运动 , Y 运动 ); ㈦Analyze the displacement difference of geometric center point Determine the displacement difference ΔM of the geometric center point and the reference displacement difference ΔM preset by the system 参考 The difference between If ΔM≤ΔM 参考 , then the motion state of the line laser profile scanner at the current position is stable; If ΔM>ΔM 参考 , then the motion state of the line laser profile scanner at the current position is abnormal, and the system marks the current position point W of the line laser profile scanner 异常 After completing a scanning and detection of the entire wind turbine blade, the entire wind turbine blade is scanned and detected again. If the number of abnormal motion states at the same position point is not less than three times in a row, an alarm prompt message is output, and the abnormal position point information is output.

2. The high-precision line laser wind turbine blade profile detection and analysis system according to claim 1 is characterized by: in, The starting acceleration zone includes the starting stroke starting point, the stopping deceleration zone includes the stopping stroke end point, and the uniform speed stabilization zone includes the uniform speed stroke starting point located at the end position of the starting acceleration zone and the uniform speed stroke end point located at the beginning position of the stopping deceleration zone.

3. The high-precision line laser wind turbine blade profile detection and analysis system according to claim 1 or 2, characterized in that: The wind turbine blades to be tested are placed directly below the uniform speed stable zone, and the starting ends of the wind turbine blades to be tested are all located within the uniform speed stable zone.

4. The high-precision line laser wind turbine blade profile detection and analysis system according to claim 1 is characterized by: Two photoelectric receiving modules are independently arranged in the peripheral area of ​​the displacement transmission mechanism, and a horizontal laser module is fixedly installed on both sides of the line laser profile scanner; The CCD light sensing module of one of the photoelectric receiving modules is aligned with the horizontal laser module on one side of the line laser profile scanner, and the CCD light sensing module of the other photoelectric receiving module is aligned with the horizontal laser module on the other side of the line laser profile scanner.

5. The high-precision line laser wind turbine blade profile detection and analysis system according to claim 1 is characterized by: A fixed support frame for fixing and installing the photoelectric receiving module is arranged below the photoelectric receiving module, and the fixed support frame and the displacement transmission mechanism are located on different installation platforms.

6. The high-precision line laser wind turbine blade profile detection and analysis system according to claim 1 is characterized by: After the line laser profile scanner enters the uniform speed stable area, the system simultaneously obtains the information of the light-sensitive areas stimulated by the two photoelectric receiving modules. The displacement difference of the geometric center point generated by any light-sensitive area and the reference displacement difference ΔM 参考 When the difference is abnormal, the system determines that the motion state of the line laser profile scanner is abnormal.

7. The high-precision line laser wind turbine blade profile detection and analysis system according to claim 1 is characterized by: After the line laser profile scanner enters the stop and deceleration zone, the horizontal laser module does not need to continue to emit laser light, and the line laser profile scanner stops moving after reaching the stop stroke end of the stop and deceleration zone; When the line laser profile scanner moves in the reverse direction, the stop deceleration zone entered by the line laser profile scanner becomes the start acceleration zone for scanning and detecting again, and the start acceleration zone during the last scanning and detecting becomes the stop deceleration zone.

8. The high-precision line laser wind turbine blade profile detection and analysis system according to claim 1 is characterized by: When pre-installing the line laser profile scanner, horizontal laser module and photoelectric receiving module, use a horizontal monitoring device to ensure that they are in a horizontal state after installation.

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