Fan tower footing settlement monitoring method and system based on Beidou high-precision positioning

Abstract

The invention relates to the technical field of wind power generation equipment monitoring, in particular to a draught fan tower footing settlement monitoring method and system based on Beidou high-precision positioning, and the method comprises the steps: S1, setting at least three positioning points below a draught fan tower footing, and installing a Beidou positioning instrument; s2, acquiring longitude and latitude height coordinates of the positioning point, and converting the longitude and latitude height coordinates into earth-centered earth-fixed coordinates; s3, converting the earth-centered earth-fixed coordinate into an east-north-sky coordinate; s4, drawing a monitoring space plane in the three-dimensional space by using the east-north-sky coordinates, and calculating geometric features of the monitoring space plane; s5, building a tower footing position state model based on geometric features of the monitoring space plane; and S6, repeating the steps S2 to S5, and judging whether the tower footing is settled or not and judging the settlement degree by comparing the front and back changes of the tower footing position state model. According to the method disclosed by the invention, millimeter-level monitoring on the settlement of the tower footing of the fan is realized by utilizing the high-precision positioning capability of the Beidou satellite navigation system.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power generation equipment monitoring, and in particular to a method and system for monitoring wind turbine tower base settlement based on Beidou high-precision positioning. Background Art

[0002] As an important part of renewable energy, wind power generation has been widely used around the world. As a key structure supporting the entire wind turbine generator set, the stability of the wind turbine tower base is directly related to the safe operation and service life of wind power equipment. However, due to the influence of various factors such as geological conditions, climatic conditions, and long-term loads, the wind turbine tower base may experience uneven settlement, which will not only affect the stability and power generation efficiency of the wind turbine, but in severe cases may even lead to safety accidents such as tower tilting and collapse. Therefore, it is particularly important to conduct accurate and real-time settlement monitoring of the wind turbine tower base.

[0003] Existing settlement monitoring methods mostly rely on traditional leveling or optical signal reception and positioning technology, but these methods have disadvantages such as long measurement cycle, limited accuracy, and susceptibility to interference from environmental factors. They are difficult to meet the needs of real-time, high-precision monitoring of wind turbine tower foundation settlement.

[0004] In summary, there is an urgent need for a wind turbine tower base settlement monitoring method and system based on Beidou high-precision positioning to solve the problems in the existing technology. Summary of the invention

[0005] The purpose of the present invention is to provide a method and system for monitoring the settlement of a wind turbine tower base based on Beidou high-precision positioning, aiming to overcome the shortcomings of the prior art and realize real-time monitoring and accurate monitoring of the settlement of a wind turbine tower base. The specific technical scheme is as follows:

[0006] A method for monitoring wind turbine tower foundation settlement based on Beidou high-precision positioning includes the following steps:

[0007] S1: Set at least three positioning points below the wind turbine tower base, and install at least one Beidou positioning device at each positioning point;

[0008] S2: Obtain the longitude and latitude coordinates of the positioning point through the Beidou positioning device, and convert the longitude and latitude coordinates into geocentric earth-fixed coordinates;

[0009] S3: Convert the geocentric earth-fixed coordinates to northeast celestial coordinates;

[0010] S4: Draw the monitoring space plane in three-dimensional space using the northeast celestial coordinates and calculate the geometric features of the monitoring space plane;

[0011] S5: Establishing the tower base position state model based on the geometric characteristics of the monitoring space plane;

[0012] S6: Collect and update the coordinate data of the Beidou locator in real time, and repeat steps S2 to S5 to determine whether the tower foundation has settled and the extent of the settlement by comparing the before and after changes in the tower foundation position state model.

[0013] Optionally, in S2, the calculation expression for converting the longitude and latitude coordinates into the Earth-centered Earth-fixed coordinates is as follows:

[0014] X=(N+alt)cost(lat)cos(lon);

[0015] Y=(N+alt)cos(lat)sin(lon);

[0016] Z=(N(1-f) 2 +alt)sin(lat);

[0017] Among them, lon represents the longitude information in the longitude and latitude coordinates, lat represents the latitude information in the longitude and latitude coordinates, alt represents the altitude information in the longitude and latitude coordinates, f represents the extreme flattening, N represents the radius of curvature of the reference ellipsoid, and X, Y, and Z represent the geocentric fixed coordinates.

[0018] Optionally, in S3, the geocentric earth-fixed coordinates are converted to northeast celestial coordinates. The original coordinates of the target point are set as P(x, y, z), and the northeast celestial coordinates with P0(x0, y0, z0) as the origin are established. The latitude and longitude coordinates of the target point are LLA0(lon0, lat0, alt0). The calculation expression is as follows:

[0019]

[0020] Among them, e, n, u represent the northeast celestial coordinates, and S represents the orthogonal matrix.

[0021] Optionally, in S4, when the number of positioning points is three, a monitoring space plane is drawn; when the number of positioning points exceeds three, any three different positioning points are taken as a combination, and two or more monitoring space planes are drawn according to monitoring requirements.

[0022] Optionally, in S4, the geometric features of the monitoring space plane include a normal vector, an area, and a plane angle.

[0023] Optionally, in S4, the normal vector is calculated according to the coordinates of the positioning points. Assume that the coordinates of the three positioning points are A(x1, y1, z1), B(x2, y2, z2), and C(x3, y3, z3). The normal vector of plane ABC is The calculation expression is as follows:

[0024]

[0025] in, represents the AB vector, represents AC vector, and θ represents the angle between AB vector and AC vector.

[0026] Optionally, in S4, the calculation expression of the plane area is as follows:

[0027]

[0028] Among them, S ABC Represents the plane area.

[0029] Optionally, in S4, when there are more than three positioning points, two or more monitoring space planes are drawn, and the plane angle is the angle between any two monitoring space planes, and the calculation expression is as follows:

[0030]

[0031] Among them, α represents the angle between plane ABC and plane ACD, Represents the normal vector of plane ACD.

[0032] Optionally, in S6, the wind turbine tower base settlement monitoring method further includes setting a settlement threshold, and when the wind turbine tower base settlement exceeds a preset settlement threshold, an early warning mechanism is triggered.

[0033] In addition, the present invention also includes a wind turbine tower base settlement monitoring system based on Beidou high-precision positioning, which is used to implement the wind turbine tower base settlement monitoring method as described above, and the system includes a Beidou locator, a data computing center, an early warning device and a display;

[0034] Beidou locator: set at the positioning point below the wind turbine tower base to obtain the longitude and latitude coordinates of the positioning point;

[0035] Data calculation center: Receive the longitude and latitude coordinates of the positioning point, calculate the tower base position state model, and perform wind turbine tower base settlement monitoring;

[0036] Early warning device: used to implement early warning mechanism;

[0037] Display: used to display the tower base position status model and visual data.

[0038] The application of the technical solution of the present invention has the following beneficial effects:

[0039] The present invention proposes a method for monitoring the settlement of wind turbine tower bases based on Beidou high-precision positioning, which uses the high-precision positioning capability of the Beidou satellite navigation system to achieve millimeter-level monitoring of the settlement of wind turbine tower bases. The method of the present invention can monitor the wind turbine tower base in real time, and through real-time monitoring and data analysis, timely discover and warn potential settlement risks, thereby reducing the occurrence of safety accidents. The method of the present invention has strong adaptability, is not restricted by natural conditions such as weather and terrain, and is suitable for monitoring the settlement of wind turbine tower bases in various complex environments.

[0040] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 It is a flow chart of the steps of the method for monitoring the settlement of a wind turbine tower base in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0043] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0044] like Figure 1 As shown, this embodiment provides a method for monitoring wind turbine tower foundation settlement based on Beidou high-precision positioning, comprising the following steps:

[0045] S1: Set at least three positioning points below the wind turbine tower base, and install at least one Beidou positioning device at each positioning point.

[0046] It should be noted that, in this embodiment, four positioning points are set to obtain multiple monitoring space planes, which is conducive to achieving high-precision monitoring of wind turbine tower foundation settlement.

[0047] S2: Obtain the longitude and latitude coordinates of the positioning point through the Beidou positioning device, and convert the longitude and latitude coordinates into earth-centered earth-fixed coordinates. In this embodiment, the calculation expression for converting the longitude and latitude coordinates into earth-centered earth-fixed coordinates is as follows:

[0048] X=(N+alt)cost(lat)cos(lon);

[0049] Y=(N+alt)cos(lat)sin(lon);

[0050] Z=(N(1-f) 2 +alt)sin(lat);

[0051] Among them, lon represents the longitude information in the longitude and latitude coordinates, lat represents the latitude information in the longitude and latitude coordinates, alt represents the altitude information in the longitude and latitude coordinates, f represents the extreme flattening, N represents the radius of curvature of the reference ellipsoid, and X, Y, and Z represent the geocentric fixed coordinates.

[0052] It should be noted that the Earth-centered Earth-fixed coordinate system is abbreviated as ECEF. The origin of the ECEF coordinate system is the center of mass of the earth, the x-axis extends through the intersection of the prime meridian and the equator, the z-axis extends through the North Pole (that is, it coincides with the earth's rotation axis), and the y-axis completes the right-hand coordinate system, passing through the equator and 90 degrees of longitude.

[0053] S3: Convert the Earth-centered Earth-fixed coordinates to the Northeast Celestial coordinates.

[0054] In this embodiment, the process of converting the Earth-centered Earth-fixed coordinates into the Northeast Celestial Coordinates is as follows:

[0055] Assume the original coordinates of the target point are P(x,y,z), establish the northeast celestial coordinates with P0(x0,y0,z0) as the origin, and the latitude and longitude coordinates of the target point are LLA0(lon0,lat0,alt0). The calculation expression is as follows:

[0056]

[0057] Among them, e, n, u represent the northeast celestial coordinates, and S represents the orthogonal matrix.

[0058] S4: Draw the monitoring space plane in three-dimensional space using the northeast celestial coordinates and calculate the geometric features of the monitoring space plane.

[0059] In this embodiment, when the number of positioning points is three, a monitoring space plane is drawn; when the number of positioning points exceeds three, any three different positioning points are taken as a combination, and two or more monitoring space planes are drawn according to monitoring requirements.

[0060] Furthermore, the geometric features of the monitored space plane include the normal vector, area and plane angle. The above geometric characteristics are used to establish a tower base position state model. By monitoring the changes in the tower base position state model, this embodiment can determine whether the tower base has settled and the uniformity of the settlement.

[0061] Specifically, the normal vector can be calculated based on the coordinates of the positioning points. Here, taking plane ABC as an example, the coordinates of the three positioning points of plane ABC are A(x1, y1, z1), B(x2, y2, z2), and C(x3, y3, z3). The normal vector of plane ABC is The calculation expression is as follows:

[0062]

[0063] |AB|*|AC|*cosθ=(x2-x1)(x3-x1)+(y2-y1)(y3-y1)+(z2-z1)(z3-z1);

[0064] in, represents the AB vector, represents AC vector, and θ represents the angle between AB vector and AC vector.

[0065] Furthermore, the calculation expression of the plane area is as follows:

[0066]

[0067] Among them, S ABC Represents the plane area.

[0068] When there are more than three positioning points, draw two or more monitoring space planes. The plane angle is the angle between any two monitoring space planes. The calculation expression is as follows:

[0069]

[0070] Among them, α represents the angle between plane ABC and plane ACD, Represents the normal vector of plane ACD.

[0071] S5: Establish a tower base position state model based on the geometric characteristics of the monitoring space plane.

[0072] S6: Collect and update the coordinate data of the Beidou locator in real time, and repeat steps S2 to S5 to compare the tower base position.

[0073] In a more specific embodiment, in S6, the wind turbine tower foundation settlement monitoring method further includes setting a settlement threshold, and when the wind turbine tower foundation settlement exceeds the preset settlement threshold, triggering an early warning mechanism. The early warning mechanism can be sending an early warning signal to the equipment of the management personnel, and can also use an audible and visual alarm for early warning.

[0074] In addition, the present invention also includes a wind turbine tower base settlement monitoring system based on Beidou high-precision positioning, which is used to implement the wind turbine tower base settlement monitoring method as described above, and the system includes a Beidou locator, a data computing center, an early warning device and a display;

[0075] Beidou locator: set at the positioning point below the wind turbine tower base to obtain the longitude and latitude coordinates of the positioning point;

[0076] Data calculation center: Receive the longitude and latitude coordinates of the positioning point, calculate the tower base position state model, and perform wind turbine tower base settlement monitoring;

[0077] Early warning device: used to implement early warning mechanism;

[0078] Display: used to display the tower base location status model and visualization data, the visualization data at least includes latitude and longitude coordinates, northeast celestial coordinates, normal vector, area and plane angle.

[0079] It should be noted that this embodiment monitors the settlement of the wind turbine tower base in real time, and collects, calculates and stores the visual data in real time. This embodiment displays the visual data by drawing a line graph or a bar graph, which is convenient for management personnel to review.

[0080] This embodiment proposes a method for monitoring the settlement of wind turbine tower bases based on Beidou high-precision positioning, which uses the high-precision positioning capability of the Beidou satellite navigation system to achieve millimeter-level monitoring of the settlement of wind turbine tower bases. The method of this embodiment can monitor the wind turbine tower base in real time, and through real-time monitoring and data analysis, timely discover and warn of potential settlement risks, thereby reducing the occurrence of safety accidents. The method of this embodiment is highly adaptable and is not restricted by natural conditions such as weather and terrain. It is suitable for monitoring the settlement of wind turbine tower bases in various complex environments. In addition, the system of this embodiment also provides data visualization and early warning mechanisms, which improves the level of intelligence in wind farm operation and maintenance management.

[0081] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for monitoring wind turbine tower foundation settlement based on Beidou high-precision positioning, characterized in that: The following steps are involved: S1: Set at least three positioning points below the wind turbine tower base, and install at least one Beidou positioning device at each positioning point; S2: Obtain the longitude and latitude coordinates of the positioning point through the Beidou positioning device, and convert the longitude and latitude coordinates into geocentric earth-fixed coordinates; S3: Convert the geocentric earth-fixed coordinates to northeast celestial coordinates; S4: Draw the monitoring space plane in three-dimensional space using the northeast celestial coordinates and calculate the geometric features of the monitoring space plane; S5: Establishing the tower base position state model based on the geometric characteristics of the monitoring space plane; S6: Collect and update the coordinate data of the Beidou locator in real time, and repeat steps S2 to S5 to determine whether the tower foundation has settled and the extent of the settlement by comparing the changes before and after the tower foundation position state model.

2. The method for monitoring wind turbine tower foundation settlement according to claim 1, characterized in that: In S2, the calculation expression for converting longitude and latitude coordinates into Earth-centered Earth-fixed coordinates is as follows: X=(N+alt)cost(lat)cos(lon); Y=(N+alt)xos(lat)sin(lon); Z=(N(1-f) 2 +alt)sin(lat); Among them, lon represents the longitude information in the longitude and latitude coordinates, lat represents the latitude information in the longitude and latitude coordinates, alt represents the altitude information in the longitude and latitude coordinates, f represents the extreme flattening, N represents the radius of curvature of the reference ellipsoid, and X, Y, and Z represent the geocentric fixed coordinates.

3. The method for monitoring wind turbine tower foundation settlement according to claim 2, characterized in that: In S3, the geocentric earth-fixed coordinates are converted to northeast celestial coordinates. The original coordinates of the target point are set as P(x, y, z), and the northeast celestial coordinates with P0(x0, y0, z0) as the origin are established. The latitude and longitude coordinates of the target point are LLA0(lon0, lat0, alt0). The calculation expression is as follows: Among them, e, n, u represent the northeast celestial coordinates, and S represents the orthogonal matrix.

4. The method for monitoring wind turbine tower foundation settlement according to claim 3, characterized in that: In S4, when the number of positioning points is three, a monitoring space plane is drawn; when the number of positioning points exceeds three, any three different positioning points are taken as a combination, and two or more monitoring space planes are drawn according to monitoring requirements.

5. The method for monitoring wind turbine tower foundation settlement according to claim 4, characterized in that: In S4, the geometric features of the monitoring space plane include the normal vector, area and plane angle.

6. The method for monitoring wind turbine tower foundation settlement according to claim 5, characterized in that: In S4, the normal vector is calculated according to the coordinates of the positioning points. Assume that the coordinates of the three positioning points are A(x1, y1, z1), B(x2, y2, z2), and C(x3, y3, z3). The normal vector of plane ABC is The calculation expression is as follows: in, represents the AB vector, represents AC vector, and θ represents the angle between AB vector and AC vector.

7. The method for monitoring wind turbine tower foundation settlement according to claim 6, characterized in that: In S4, the calculation expression of the plane area is as follows: Among them, S ABC Represents the plane area.

8. The method for monitoring wind turbine tower foundation settlement according to claim 7, characterized in that: In S4, when there are more than three positioning points, two or more monitoring space planes are drawn, and the plane angle is the angle between any two monitoring space planes, and the calculation expression is as follows: Among them, α represents the angle between plane ABC and plane ACD, Represents the normal vector of plane ACD.

9. The method for monitoring wind turbine tower foundation settlement according to claim 8, characterized in that: In S6, it also includes setting a settlement threshold. When the settlement of the wind turbine tower base exceeds the preset settlement threshold, the early warning mechanism is triggered.

10. A wind turbine tower base settlement monitoring system based on Beidou high-precision positioning, characterized in that: Used to implement the wind turbine tower foundation settlement monitoring method as described in any one of claims 1 to 9, the system includes a Beidou positioning device, a data computing center, an early warning device and a display; Beidou locator: set at the positioning point below the wind turbine tower base to obtain the longitude and latitude coordinates of the positioning point; Data calculation center: Receive the longitude and latitude coordinates of the positioning point, calculate the tower base position state model, and perform wind turbine tower base settlement monitoring; Early warning device: used to implement early warning mechanism; Display: used to display the tower base position status model and visual data.

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