A method, device, equipment and medium for detecting and controlling ice coating on fan blades

Abstract

The present application discloses a method, device, equipment and medium for detecting and controlling ice coating on wind turbine blades, which relates to the field of new energy equipment detection, including: detecting target blades based on a millimeter-wave radar detection device to obtain an ice coating detection result; if the ice coating detection result indicates that the target blades are iced, the wind turbine is controlled to stop working, and the position of a first target measuring point is determined based on the acquired target rotation information and blade deformation information; the position of a second target measuring point closest to the position of a laser detection device is determined from the first target measuring point position, the laser emission angle of the laser detection device is adjusted according to the second target measuring point position, and the theoretical distance corresponding to the adjusted laser detection device and the second target measuring point is obtained; the ice thickness of the target measuring point is determined based on the actual distance and the theoretical distance obtained by the laser detection device, so as to determine whether the target blade is iced based on the ice thickness of the target measuring point; if the target blade is not iced, the wind turbine is controlled to start up.

Description

Technical Field

[0001] The present application relates to the field of new energy equipment detection, and in particular to a method, device, equipment and medium for detecting and controlling icing on wind turbine blades. Background Art

[0002] In the field of wind power generation, blade icing has long been a key factor affecting the safe and stable operation and power generation efficiency of wind turbines. In cold climates or high humidity environments, ice easily forms on the blades. This ice can significantly reduce aerodynamic performance, increase turbine load, and affect output power. In severe cases, it can even cause turbine failure, resulting in significant economic losses.

[0003] Traditional wind turbine blade ice detection methods have numerous limitations. Some rely on manual inspections, which are inefficient and difficult to implement in adverse weather conditions, making them unable to detect ice accumulation in a timely and accurate manner. Other detection technologies based on single sensors, such as temperature or strain sensors, struggle to comprehensively, accurately, and reliably detect blade ice accumulation and ice thickness. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a wind turbine blade icing detection and control method, device, equipment and medium. Through the synergistic effect of radar and laser, it can accurately detect the blade icing situation and ice thickness, providing strong support for the reasonable control of wind turbine start and stop in wind farms. The specific scheme is as follows:

[0005] In a first aspect, the present application provides a method for detecting and controlling icing on wind turbine blades, comprising:

[0006] Determining a first icing detection result based on a detection signal obtained by performing icing detection on a target blade by a millimeter-wave radar detection device;

[0007] If the first icing detection result indicates that ice is present on the target blade, the wind turbine is controlled to stop operation, and target rotation information detected by the target sensor and blade deformation information obtained by the distributed optical fiber on the blade are obtained, and a first target measuring point position is determined based on the target rotation information and the blade deformation information; the target rotation information includes impeller angle information, impeller orientation information, and blade angle information of the wind turbine;

[0008] Determining a position of a laser detection device, determining a second target measurement point position closest to the position of the laser detection device from the positions of the first target measurement points, adjusting a laser emission angle of the laser detection device according to the position of the second target measurement point, and obtaining a theoretical distance between the laser detection device and the blade surface corresponding to the second target measurement point after adjustment;

[0009] determining an ice layer thickness at a target measuring point based on an actual distance obtained by the laser detection device and the theoretical distance, and determining whether ice is coated on the wind turbine blades based on the ice layer thickness at the target measuring point, thereby obtaining a second ice coating detection result; wherein the actual distance is the distance between the laser detection device and the ice layer surface corresponding to the second target measuring point;

[0010] If the second icing detection result indicates that no icing is present on the target blade, the wind turbine is controlled to start up.

[0011] Optionally, the determining of the first icing detection result based on a detection signal obtained by performing icing detection on a target blade by a millimeter-wave radar detection device includes:

[0012] Using a millimeter-wave radar detection device to detect ice coating on target blades to obtain a detection signal;

[0013] A signal processing operation is performed on the detection signal, and the processed detection signal is compared with data in a preset database to obtain a first ice coating detection result.

[0014] Optionally, acquiring target rotation information detected by a target sensor and blade deformation information obtained based on a distributed optical fiber on the blade, and determining the position of the first target measuring point according to the target rotation information and the blade deformation information includes:

[0015] Determining the impeller rotation angle information and impeller orientation information of the wind turbine based on a first target sensor on the nacelle, and determining the blade rotation angle information of the wind turbine based on a second target sensor on the target blade;

[0016] determining blade position information of the target blade based on the impeller rotation angle information, the impeller orientation information, and the blade rotation angle information;

[0017] Determining blade deformation information based on the distributed optical fiber on the target blade, and obtaining target blade shape information according to the blade deformation information and the original size information of the blade;

[0018] The positions of the first target measuring points are determined according to the blade position information and the target blade shape information.

[0019] Optionally, determining the position of the laser detection device, determining a second target measurement point position closest to the position of the laser detection device from each of the first target measurement point positions, adjusting a laser emission angle of the laser detection device according to the second target measurement point position, and obtaining a theoretical distance between the laser detection device and the blade surface corresponding to the second target measurement point after adjustment, includes:

[0020] Determine the current position of the laser detection device, and determine a preset number of second target measurement point positions closest to the current position of the laser detection device from each of the first target measurement point positions;

[0021] For any second target measuring point position, adjusting the laser emission angle of the current laser detection device according to the second target measuring point position;

[0022] Obtain the adjusted theoretical distance between the current laser detection device and the blade surface corresponding to the second target measuring point.

[0023] Optionally, adjusting the laser emission angle of the current laser detection device according to the position of the second target measurement point includes:

[0024] The target relative direction vector is determined based on the position of the second target measuring point and the position of the current laser detection device, and the variable bracket is controlled to rotate according to the target relative direction vector to adjust the laser emission angle of the current laser detection device; the variable bracket is used to control the rotation of the laser detection device.

[0025] Optionally, determining the ice thickness at the target measuring point based on the actual distance obtained by the laser detection device and the theoretical distance includes:

[0026] For any second target measuring point corresponding to the position of the second target measuring point, determining an actual distance detected by the adjusted laser detection device corresponding to the second target measuring point;

[0027] The target measuring point ice thickness corresponding to the second target measuring point is determined based on the actual distance and the theoretical distance corresponding to the second target measuring point, so as to obtain the target measuring point ice thickness corresponding to each of the second target measuring points.

[0028] Optionally, the wind turbine blade icing detection and control method further includes:

[0029] Determine whether the wind turbine blades are covered with ice based on the ice thickness at the target measuring point to obtain a target detection result;

[0030] If the target detection result indicates that the blade is covered with ice, continue to use the laser detection device to detect whether the wind turbine blade is covered with ice until the target detection result indicates that the blade is not covered with ice;

[0031] If the target detection result indicates that the blades are not covered with ice, a wind turbine start signal is output to control the wind turbine to start up.

[0032] In a second aspect, the present application provides a wind turbine blade icing detection and control device, comprising:

[0033] a first result determination module, configured to determine a first icing detection result based on a detection signal obtained by the millimeter wave radar detection device when performing icing detection on a target blade;

[0034] a position determination module, configured to, if the first icing detection result indicates that ice is present on the target blade, control the wind turbine to stop operating, obtain target rotation information detected by the target sensor and blade deformation information obtained by the distributed optical fiber on the blade, and determine the position of a first target measurement point based on the target rotation information and the blade deformation information; the target rotation information includes impeller angle information, impeller orientation information, and blade angle information of the wind turbine;

[0035] a distance determination module, configured to determine the position of the laser detection device, determine the position of a second target measurement point closest to the position of the laser detection device from the positions of the first target measurement points, adjust the laser emission angle of the laser detection device according to the position of the second target measurement point, and obtain a theoretical distance between the laser detection device and the blade surface corresponding to the second target measurement point after adjustment;

[0036] a second result determination module, configured to determine an ice layer thickness at a target measuring point based on an actual distance obtained by the laser detection device and the theoretical distance, so as to determine whether ice is applied to the wind turbine blades based on the ice layer thickness at the target measuring point, thereby obtaining a second ice detection result; the actual distance being the distance between the laser detection device and the ice layer surface corresponding to the second target measuring point;

[0037] The control module is configured to control the wind turbine to start up if the second icing detection result indicates that no icing is present on the target blade.

[0038] In a third aspect, the present application provides an electronic device, comprising:

[0039] Memory, used to store computer programs;

[0040] The processor is used to execute the computer program to implement the aforementioned wind turbine blade icing detection and control method.

[0041] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the aforementioned wind turbine blade icing detection and control method.

[0042] In the present application, a first ice detection result is determined based on a detection signal obtained by performing ice detection on a target blade by a millimeter-wave radar detection device; if the first ice detection result indicates that ice is present on the target blade, the wind turbine is controlled to stop working, and target rotation information detected by the target sensor and blade deformation information obtained based on the distributed optical fiber on the blade are obtained, and a first target measuring point position is determined based on the target rotation information and the blade deformation information; the target rotation information includes the impeller angle information, impeller direction information and blade angle information of the wind turbine; the position of the laser detection device is determined, and the position of each first target measuring point position corresponding to the laser detection point is determined from each first target measuring point position. The method comprises the following steps: determining the position of the laser detection device and the position of the second target measuring point closest to the position of the measuring device, adjusting the laser emission angle of the laser detection device according to the position of the second target measuring point, and obtaining a theoretical distance between the laser detection device and the blade surface corresponding to the second target measuring point after adjustment; determining the ice layer thickness at the target measuring point based on the actual distance obtained by the laser detection device and the theoretical distance, and determining whether ice is covered on the wind turbine blade based on the ice layer thickness at the target measuring point, to obtain a second ice coverage detection result; the actual distance is the distance between the laser detection device and the ice layer surface corresponding to the second target measuring point; and controlling the wind turbine generator to start if the second ice coverage detection result indicates that no ice is covered on the target blade. As can be seen from the above, the present application first uses a millimeter-wave radar detection device to detect ice on the target blade. If the detection result indicates that the target blade is iced, the wind turbine is controlled to stop operating. At the same time, the target sensor and the distributed optical fiber on the wind turbine blade are used to obtain target rotation information and blade deformation information, thereby determining the position of the first target measurement point. Further, the position of the laser detection device is determined, and the laser emission angle of the laser detection device is adjusted according to the position of the second target measurement point closest to the laser detection device to obtain the theoretical distance and actual distance corresponding to the adjusted laser detection device and the second target measurement point. Based on the theoretical and actual distances, the ice thickness at the target measurement point is determined. A second ice detection result is obtained based on the ice thickness at the target measurement point, and then a second ice detection result is determined based on the second ice detection result to determine whether to control the wind turbine to start. In this way, the present application, through the synergistic effect of the millimeter-wave radar detection device and the laser detection device, can accurately detect the blade ice coverage and ice thickness, allowing the wind farm to rationally control the start and stop of wind turbines to reduce ice damage and economic losses. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0044] Figure 1 This is a flow chart of a wind turbine blade icing detection and control method disclosed in this application;

[0045] Figure 2 This is a schematic diagram of a method for locating target measurement points on a wind turbine blade disclosed in this application;

[0046] Figure 3 This is a schematic diagram of a method for tracking target measurement points and obtaining theoretical distances for wind turbine blades disclosed in this application;

[0047] Figure 4 This is a schematic diagram of a laser reflected along an ice surface disclosed in this application;

[0048] Figure 5 This is a schematic diagram of a method for obtaining ice thickness at a target measuring point disclosed in this application;

[0049] Figure 6 This is a schematic diagram of the laser reflection process in ice disclosed in this application;

[0050] Figure 7 A schematic diagram of a device used in a method for detecting and controlling icing on wind turbine blades disclosed in this application;

[0051] Figure 8 A schematic diagram of the structure of a device disclosed in this application;

[0052] Figure 9 This is a schematic diagram of the structure of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0054] Traditional methods for detecting ice on wind turbine blades have many limitations. Some methods rely on manual inspections, which are not only inefficient but also difficult to implement in severe weather conditions, and cannot detect ice coverage in a timely and accurate manner. Some detection technologies based on a single sensor, such as using only temperature sensors or strain sensors, are difficult to comprehensively, accurately and reliably detect the blade ice coverage and ice thickness. To this end, the present application provides a method for detecting and controlling ice coverage on wind turbine blades. Through the coordinated action of a millimeter-wave radar detection device and a laser detection device, the blade ice coverage and ice thickness can be accurately detected, so that the wind farm can reasonably control the start and stop of wind turbines to reduce ice damage and economic losses.

[0055] See also Figure 1As shown, the embodiment of the present application discloses a method for detecting and controlling ice coating on wind turbine blades, comprising:

[0056] Step S11: determining a first icing detection result based on a detection signal obtained by performing icing detection on a target blade by a millimeter-wave radar detection device.

[0057] In this embodiment, a millimeter-wave radar detection device is first used to detect ice coating on a target blade among wind turbine blades to obtain a detection signal. Then, a signal processing operation is performed on the detection signal, and the processed detection signal is compared with data in a preset database to obtain a first ice coating detection result.

[0058] Specifically, a millimeter wave radar signal processing program may be written to filter the signal received by the radar and compare it with a preset database to preliminarily determine whether the blade is covered with ice, so as to obtain a first ice detection result.

[0059] Among them, the above-mentioned preset database is a database established through a large number of experiments and actual data accumulation, which contains the characteristic data of radar waves reflected by wind turbine blades under different degrees of icing. By comparing the characteristic parameters of the processed detection signal, such as signal strength, frequency change, phase difference, etc., with the data in the database one by one, a pattern recognition algorithm, such as a neural network-based classification algorithm or a support vector machine algorithm, can be used to judge the icing condition of the target blade, and then obtain the first icing detection result.

[0060] Step S12: If the first icing detection result indicates that ice is present on the target blade, the wind turbine is controlled to stop working, and target rotation information detected by the target sensor and blade deformation information obtained based on the distributed optical fiber on the blade are obtained, and the position of the first target measuring point is determined based on the target rotation information and the blade deformation information; the target rotation information includes impeller angle information, impeller orientation information, and blade angle information of the wind turbine.

[0061] In this embodiment, Figure 2As shown, first, it is determined whether the first ice detection result indicates that the target blade is iced. If the first ice detection result indicates that the target blade is iced, the wind turbine is controlled to stop working to prevent further damage to the wind turbine caused by ice, such as damage to wind turbine components or a serious decrease in power generation efficiency due to increased load. Furthermore, the wind turbine's impeller angle information and impeller orientation information are first determined based on the first target sensor on the nacelle, and the wind turbine's blade angle information is determined based on the second target sensor on the target blade. Then, based on the impeller angle information, impeller orientation information, and blade angle information, the position information of the target blade in space can be calculated according to a MATLAB calculation program to obtain blade position information. The blade deformation information is determined based on the distributed optical fiber on the target blade, and the target blade shape information is obtained based on the blade deformation information and the original blade size information. Finally, the position of each first target measurement point can be determined based on the blade position information and the target blade shape information. It should be noted that since the blades may swing when the wind turbine is stopped, it is impossible to accurately locate the measurement point position, so a distributed optical fiber can be installed on the blade.

[0062] Among them, the positions of each first target measuring point can be determined based on the obtained blade position information and target blade shape information, and in accordance with pre-set measuring point selection rules (such as equal spacing distribution, priority of key stress-bearing parts, etc.). These first target measuring point positions can serve as key parts for subsequent further detection and analysis, providing important data collection points for accurately evaluating the blade icing condition and taking corresponding treatment measures, ensuring that the entire detection system can comprehensively and accurately grasp the actual situation of the blade and ensure the safe and stable operation of the wind turbine.

[0063] Step S13: Determine the position of the laser detection device, determine the second target measurement point position closest to the position of the laser detection device from the positions of the first target measurement points, adjust the laser emission angle of the laser detection device according to the position of the second target measurement point, and obtain the theoretical distance between the laser detection device and the blade surface corresponding to the second target measurement point after adjustment.

[0064] In this embodiment, Figure 3 As shown, first determine the position of the current laser detection device, and determine a preset number of second target measurement point positions that are closest to the position of the current laser detection device from each first target measurement point position; for any second target measurement point position, the laser emission angle of the current laser detection device can be adjusted according to the second target measurement point position; then obtain the theoretical distance between the adjusted current laser detection device and the blade surface corresponding to the second target measurement point.

[0065] In this embodiment, since the bottom column used to support and fix the laser detection device is prone to deformation in cold weather and may also shake in windy weather, a distributed optical fiber can be installed on the bottom column, and the current position of the laser detection device can be jointly determined based on the bottom column deformation information obtained by the distributed optical fiber and the position determination device.

[0066] Among them, the above-mentioned adjustment of the laser emission angle of the current laser detection device according to the position of the second target measuring point may include: determining the target relative direction vector based on the position of the second target measuring point and the position of the current laser detection device, and controlling the rotation of the variable bracket according to the target relative direction vector to adjust the laser emission angle of the current laser detection device; the above-mentioned variable bracket is used to control the rotation of the laser detection device.

[0067] It should be noted that in order to improve detection efficiency and enhance detection accuracy, a preset number of second target measurement point positions that are closest to the current position of the laser detection device can be selected from the first target measurement point position; for any second target measurement point position, in actual application, since the laser emitted by the laser detection device is approximately perpendicular to the section corresponding to the second target measurement point, the position of the current laser detection device can be adjusted according to the second target measurement point position, and the laser emission angle of the current laser detection device can be adjusted. For example Figure 4 In the schematic diagram of laser reflection along the ice surface, The degree is approximately zero degrees;

[0068] Among them, the laser detection device consists of Figure 4 The laser transmitter and laser receiver shown in the figure are composed of orange light, which are the incident light of the laser entering the ice surface and the reflected light reflected by the ice surface; the yellow light is the refracted light after the laser enters the ice layer, and then is reflected in the ice layer and then emitted from the ice layer; the blue area in the figure is the ice layer; the gray area is the wind turbine blade part.

[0069] Step S14: Determine the ice thickness at the target measuring point based on the actual distance obtained by the laser detection device and the theoretical distance, so as to determine whether ice is covered on the wind turbine blades based on the ice thickness at the target measuring point, and obtain a second ice coverage detection result; the actual distance is the distance between the laser detection device and the ice surface corresponding to the second target measuring point.

[0070] In this embodiment, Figure 5As shown, determining the ice thickness at the target measuring point based on the actual distance and theoretical distance obtained by the laser detection device can include: for the second target measuring point corresponding to any second target measuring point position, determining the actual distance detected by the adjusted laser detection device corresponding to the second target measuring point; then determining the ice thickness at the target measuring point corresponding to the second target measuring point based on the actual distance and the theoretical distance corresponding to the second target measuring point, so as to obtain the ice thickness at the target measuring point corresponding to each second target measuring point.

[0071] In a specific embodiment, if the position of the laser detection device is , the second target measuring point position is , then the theoretical distance for:

[0072] ;

[0073] Assume that the speed of light in air is , the time from emitting laser to receiving laser by laser detection device is , then the actual distance for:

[0074] ;

[0075] The actual distance is calculated by the above formula without considering the .

[0076] Therefore, the thickness of the ice layer for:

[0077] ;

[0078] The ice thickness corresponding to each second target measuring point is calculated through the above calculation process, thereby determining whether ice is covered on the wind turbine blades.

[0079] In another specific embodiment, assuming that the refractive index of air is The refractive index of ice is , the speed of light in ice is , the propagation time of the laser signal in the ice layer is , where the laser transmitter emits a laser pulse, which will be reflected and refracted once on the ice surface. The refracted signal will be reflected twice when it reaches the blade surface, so the receiver will receive two signals and then obtain the signal time difference, that is, , is the time when the receiver receives the first signal, is the time when the receiver receives the second signal, such as Figure 6 As shown, the incident angle is , the refraction angle is , and it is known that:

[0080] ;

[0081] Therefore, the thickness of the ice layer for:

[0082] ;

[0083] In summary, ;

[0084] Step S15: If the second icing detection result indicates that there is no icing on the target blade, the wind turbine is controlled to start up.

[0085] In this embodiment, ice thickness at a target measurement point is used to determine whether the wind turbine blades are covered with ice, thereby obtaining a target detection result, i.e., a second ice detection result. If the target detection result indicates that the blades are iced, the laser detection device is used to continue detecting ice on the wind turbine blades until the target detection result indicates that the blades are not iced. If the target detection result indicates that the blades are not iced, a wind turbine start signal is output to control the start of the wind turbine. In this way, timely start-up decisions based on accurate ice detection results help maintain stable wind turbine operation, reduce equipment fatigue damage, and extend equipment service life. This also optimizes the overall operating costs of wind farms and ensures the sustainable development of the wind power industry.

[0086] As can be seen from the above, this embodiment first performs ice coverage detection on the target blade based on the millimeter-wave radar detection device. If the detection result indicates that the target blade is covered with ice, the wind turbine is controlled to stop working. At the same time, the target rotation information and blade deformation information are obtained by using the target sensor and the distributed optical fiber on the wind turbine blade, and then the position of the first target measuring point is determined; further, the position of the laser detection device is determined, and the laser emission angle of the laser detection device is adjusted according to the position of the second target measuring point closest to the position of the laser detection device to obtain the theoretical distance and actual distance corresponding to the adjusted laser detection device and the second target measuring point, the ice thickness of the target measuring point is determined based on the theoretical distance and the actual distance, and the second ice coverage detection result is obtained according to the ice thickness of the target measuring point, so as to determine whether to control the wind turbine to start up according to the second ice coverage detection result. In this way, the present application uses the synergistic effect of the millimeter-wave radar detection device and the laser detection device. The millimeter-wave radar is less affected by weather, and the laser detection accuracy is higher. The combination of the two can complement each other's advantages, enhance the feasibility of the system, and can accurately detect the blade icing condition and ice thickness. At the same time, through target measurement point positioning, target measurement point tracking and theoretical distance acquisition, the blade icing condition and ice thickness can be detected, so that the wind farm can reasonably control the start and stop of the wind turbine to reduce icing damage and economic losses.

[0087] See also Figure 7As shown, the device in this application is described below.

[0088] Among them, 1 is the nacelle of the wind turbine, 2 is the tower of the wind turbine, 3 is the sensor distributed in the wind turbine, which is located on the nacelle and blades of the wind turbine, 4 is the blades of the wind turbine, 5 is the distributed optical fiber, 6 is the variable bracket, 7 is the laser transmitter, 8 is the millimeter wave radar (also known as the millimeter wave radar detection device), and 9 is the laser receiver.

[0089] It should be noted that the laser emitter, millimeter-wave radar, and laser receiver constitute a radar-laser detection device. The variable bracket can control the rotation of the radar-laser detection device. At the same time, the laser emitter and laser receiver can also be controlled to rotate separately according to actual conditions. Distributed optical fibers are distributed in the blades of the wind turbine and in the base column used to fix and support the radar-laser detection device.

[0090] As can be seen from the above, in this embodiment, radar and laser work together to form a radar-laser detection device. At the same time, sensors, distributed optical fibers, variable brackets, etc. are used to accurately detect the ice coverage and ice thickness of the blades, providing strong support for the wind farm to rationally control the start and stop of wind turbines.

[0091] See also Figure 8 As shown, the embodiment of the present application also discloses a wind turbine blade icing detection and control device, comprising:

[0092] A first result determination module 11 is configured to determine a first icing detection result based on a detection signal obtained by a millimeter-wave radar detection device for performing icing detection on a target blade;

[0093] a position determination module 12 configured to, if the first icing detection result indicates that ice is present on the target blade, control the wind turbine to stop operating, obtain target rotation information detected by the target sensor and blade deformation information obtained by the distributed optical fiber on the blade, and determine the position of a first target measurement point based on the target rotation information and the blade deformation information; the target rotation information includes impeller angle information, impeller orientation information, and blade angle information of the wind turbine;

[0094] a distance determination module 13 configured to determine the position of the laser detection device, determine the position of a second target measurement point closest to the position of the laser detection device from the positions of the first target measurement points, adjust the laser emission angle of the laser detection device according to the position of the second target measurement point, and obtain a theoretical distance between the laser detection device and the blade surface corresponding to the second target measurement point after adjustment;

[0095] a second result determination module 14 configured to determine an ice layer thickness at a target measuring point based on an actual distance obtained by the laser detection device and the theoretical distance, so as to determine whether ice is applied to the wind turbine blades based on the ice layer thickness at the target measuring point, thereby obtaining a second ice detection result; wherein the actual distance is the distance between the laser detection device and the ice layer surface corresponding to the second target measuring point;

[0096] The control module 15 is configured to control the wind turbine to start up if the second icing detection result indicates that no icing is present on the target blade.

[0097] As can be seen from the above, the present application first uses a millimeter-wave radar detection device to detect ice on the target blade. If the detection result indicates that the target blade is iced, the wind turbine is controlled to stop operating. At the same time, the target sensor and the distributed optical fiber on the wind turbine blade are used to obtain target rotation information and blade deformation information, thereby determining the position of the first target measurement point. Further, the position of the laser detection device is determined, and the laser emission angle of the laser detection device is adjusted according to the position of the second target measurement point closest to the laser detection device to obtain the theoretical distance and actual distance corresponding to the adjusted laser detection device and the second target measurement point. Based on the theoretical and actual distances, the ice thickness at the target measurement point is determined. A second ice detection result is obtained based on the ice thickness at the target measurement point, and then a second ice detection result is determined based on the second ice detection result to determine whether to control the wind turbine to start. In this way, the present application, through the synergistic effect of the millimeter-wave radar detection device and the laser detection device, can accurately detect the blade ice coverage and ice thickness, allowing the wind farm to rationally control the start and stop of wind turbines to reduce ice damage and economic losses.

[0098] In some specific implementations, the first result determination module 11 includes:

[0099] a signal acquisition unit, configured to detect ice coating on a target blade using a millimeter-wave radar detection device to obtain a detection signal;

[0100] The result determination unit is configured to perform a signal processing operation on the detection signal and compare the processed detection signal with data in a preset database to obtain a first ice coating detection result.

[0101] In some specific implementations, the location determination module 12 includes:

[0102] a first information determining unit, configured to determine the impeller rotation angle information and the impeller orientation information of the wind turbine based on a first target sensor on the nacelle, and to determine the blade rotation angle information of the wind turbine based on a second target sensor on the target blade;

[0103] a second information determining unit, configured to determine blade position information of the target blade based on the impeller rotation angle information, the impeller orientation information, and the blade rotation angle information;

[0104] a third information determining unit, configured to determine blade deformation information based on the distributed optical fiber on the target blade, and obtain target blade shape information according to the blade deformation information and the original blade size information;

[0105] The first position determining unit is configured to determine the position of each first target measuring point according to the blade position information and the target blade shape information.

[0106] In some specific implementations, the distance determination module 13 includes:

[0107] a first position determining unit, configured to determine a current position of the laser detection device, and determine a preset number of second target measurement point positions closest to the current position of the laser detection device from each of the first target measurement point positions;

[0108] An angle adjustment submodule, configured to adjust the laser emission angle of the current laser detection device according to the second target measurement point position for any second target measurement point position;

[0109] The first distance acquisition unit is used to acquire the adjusted theoretical distance between the current laser detection device and the blade surface corresponding to the second target measuring point.

[0110] In some specific embodiments, the angle adjustment submodule includes:

[0111] An angle adjustment unit is used to determine the target relative direction vector based on the position of the second target measuring point and the position of the current laser detection device, and control the rotation of the variable bracket according to the target relative direction vector to adjust the laser emission angle of the current laser detection device; the variable bracket is used to control the rotation of the laser detection device.

[0112] In some specific embodiments, the second result determination module 14 includes:

[0113] a second distance acquisition unit, configured to determine, for a second target measuring point corresponding to any second target measuring point position, an actual distance detected by the adjusted laser detection device corresponding to the second target measuring point;

[0114] The thickness determining unit is configured to determine the target measuring point ice thickness corresponding to the second target measuring point based on the actual distance and the theoretical distance corresponding to the second target measuring point, so as to obtain the target measuring point ice thickness corresponding to each of the second target measuring points.

[0115] In some specific embodiments, the wind turbine blade icing detection and control device further includes:

[0116] A result determination unit is used to determine whether ice is applied to the blades of the wind turbine generator based on the ice thickness at the target measuring point to obtain a target detection result;

[0117] a first processing unit configured to, if the target detection result indicates that the blade is covered with ice, continue to detect whether ice is covered on the wind turbine blade using a laser detection device until the target detection result indicates that the blade is not covered with ice;

[0118] The second processing unit is configured to output a wind turbine start signal to control the wind turbine to start if the target detection result indicates that the blades are not covered with ice.

[0119] Furthermore, the embodiment of the present application also discloses an electronic device, Figure 9 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram should not be considered as any limitation to the scope of application of the present application.

[0120] Figure 9 This is a schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps of the wind turbine blade icing detection and control method disclosed in any of the aforementioned embodiments. Furthermore, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0121] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device. The communication protocol it follows is any communication protocol that can be applied to the technical solution of this application and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world. Its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0122] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or CD, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0123] The operating system 221 is used to manage and control the hardware devices on the electronic device 20 and the computer program 222. The operating system 221 can be Windows Server, NetWare, Unix, Linux, etc. In addition to including computer programs capable of implementing the wind turbine blade icing detection and control method performed by the electronic device 20 as disclosed in any of the aforementioned embodiments, the computer program 222 can further include computer programs capable of performing other specific tasks.

[0124] Furthermore, this application discloses a computer-readable storage medium for storing a computer program. When executed by a processor, the computer program implements the aforementioned wind turbine blade icing detection and control method. The specific steps of this method can be found in the corresponding contents disclosed in the aforementioned embodiments and will not be further elaborated here.

[0125] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from the other embodiments. Reference can be made to the descriptions of the identical or similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and the relevant parts can be referred to the descriptions of the methods.

[0126] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0127] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0128] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0129] The above is a detailed introduction to the technical solution provided by the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for those skilled in the art, according to the ideas of the present application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for detecting and controlling ice coating on wind turbine blades, characterized in that: include: Determining a first icing detection result based on a detection signal obtained by performing icing detection on a target blade by a millimeter-wave radar detection device; If the first icing detection result indicates that ice is present on the target blade, the wind turbine is controlled to stop operating, and target rotation information detected by the target sensor and blade deformation information obtained by the distributed optical fiber on the blade are obtained, and a first target measuring point position is determined based on the target rotation information and the blade deformation information; The target rotation information includes the impeller rotation angle information, impeller orientation information and blade rotation angle information of the wind turbine; Determining a position of a laser detection device, determining a second target measurement point position closest to the position of the laser detection device from the positions of the first target measurement points, adjusting a laser emission angle of the laser detection device according to the position of the second target measurement point, and obtaining a theoretical distance between the laser detection device and the blade surface corresponding to the second target measurement point after adjustment; determining an ice layer thickness at a target measuring point based on an actual distance obtained by the laser detection device and the theoretical distance, and determining whether ice is coated on the wind turbine blades based on the ice layer thickness at the target measuring point, thereby obtaining a second ice coating detection result; wherein the actual distance is the distance between the laser detection device and the ice layer surface corresponding to the second target measuring point; If the second icing detection result indicates that no icing is present on the target blade, the wind turbine is controlled to start up.

2. The wind turbine blade icing detection and control method according to claim 1, characterized in that: The determining of a first icing detection result based on a detection signal obtained by performing icing detection on a target blade by a millimeter-wave radar detection device includes: Using a millimeter-wave radar detection device to detect ice coating on target blades to obtain a detection signal; A signal processing operation is performed on the detection signal, and the processed detection signal is compared with data in a preset database to obtain a first ice coating detection result.

3. The wind turbine blade icing detection and control method according to claim 1, characterized in that: The acquiring target rotation information detected by the target sensor and blade deformation information obtained based on the distributed optical fiber on the blade, and determining the position of the first target measuring point according to the target rotation information and the blade deformation information, includes: Determining the impeller rotation angle information and impeller orientation information of the wind turbine based on a first target sensor on the nacelle, and determining the blade rotation angle information of the wind turbine based on a second target sensor on the target blade; determining blade position information of the target blade based on the impeller rotation angle information, the impeller orientation information, and the blade rotation angle information; Determining blade deformation information based on the distributed optical fiber on the target blade, and obtaining target blade shape information according to the blade deformation information and the original size information of the blade; The positions of the first target measuring points are determined according to the blade position information and the target blade shape information.

4. The wind turbine blade icing detection and control method according to any one of claims 1 to 3, characterized in that: The determining of the position of the laser detection device, determining the position of a second target measurement point closest to the position of the laser detection device from the positions of the first target measurement points, adjusting the laser emission angle of the laser detection device according to the position of the second target measurement point, and obtaining the adjusted theoretical distance between the laser detection device and the blade surface corresponding to the second target measurement point, includes: Determine the current position of the laser detection device, and determine a preset number of second target measurement point positions closest to the current position of the laser detection device from each of the first target measurement point positions; For any second target measuring point position, adjusting the laser emission angle of the current laser detection device according to the second target measuring point position; Obtain the adjusted theoretical distance between the current laser detection device and the blade surface corresponding to the second target measuring point.

5. The wind turbine blade icing detection and control method according to claim 4, characterized in that: The adjusting the laser emission angle of the current laser detection device according to the position of the second target measuring point includes: The target relative direction vector is determined based on the position of the second target measuring point and the position of the current laser detection device, and the variable bracket is controlled to rotate according to the target relative direction vector to adjust the laser emission angle of the current laser detection device; the variable bracket is used to control the rotation of the laser detection device.

6. The wind turbine blade icing detection and control method according to claim 4, characterized in that: The determining of the ice thickness at the target measuring point based on the actual distance obtained by the laser detection device and the theoretical distance includes: For any second target measuring point corresponding to the position of the second target measuring point, determining an actual distance detected by the adjusted laser detection device corresponding to the second target measuring point; The target measuring point ice thickness corresponding to the second target measuring point is determined based on the actual distance and the theoretical distance corresponding to the second target measuring point, so as to obtain the target measuring point ice thickness corresponding to each of the second target measuring points.

7. The wind turbine blade icing detection and control method according to claim 1, characterized in that: Also includes: Determine whether the wind turbine blades are covered with ice based on the ice thickness at the target measuring point to obtain a target detection result; If the target detection result indicates that the blade is covered with ice, continue to use the laser detection device to detect whether the wind turbine blade is covered with ice until the target detection result indicates that the blade is not covered with ice; If the target detection result indicates that the blades are not covered with ice, a wind turbine start signal is output to control the wind turbine to start up.

8. A wind turbine blade icing detection and control device, characterized in that: include: a first result determination module, configured to determine a first icing detection result based on a detection signal obtained by the millimeter wave radar detection device when performing icing detection on a target blade; a position determination module, configured to, if the first icing detection result indicates that ice is present on the target blade, control the wind turbine to stop operating, obtain target rotation information detected by the target sensor and blade deformation information obtained based on the distributed optical fiber on the blade, and determine the position of a first target measurement point based on the target rotation information and the blade deformation information; The target rotation information includes the impeller rotation angle information, impeller orientation information and blade rotation angle information of the wind turbine; a distance determination module, configured to determine the position of the laser detection device, determine the position of a second target measurement point closest to the position of the laser detection device from the positions of the first target measurement points, adjust the laser emission angle of the laser detection device according to the position of the second target measurement point, and obtain a theoretical distance between the laser detection device and the blade surface corresponding to the second target measurement point after adjustment; a second result determination module, configured to determine an ice layer thickness at a target measuring point based on an actual distance obtained by the laser detection device and the theoretical distance, so as to determine whether ice is applied to the wind turbine blades based on the ice layer thickness at the target measuring point, thereby obtaining a second ice detection result; the actual distance being the distance between the laser detection device and the ice layer surface corresponding to the second target measuring point; The control module is configured to control the wind turbine to start up if the second icing detection result indicates that no icing is present on the target blade.

9. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor is used to execute the computer program to implement the wind turbine blade icing detection and control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that Used to store a computer program, which, when executed by a processor, implements the wind turbine blade icing detection and control method according to any one of claims 1 to 7.

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