Automatic detection system and method for blade root bolt of wind driven generator blade

Abstract

The invention discloses an automatic detection system and method for a blade root bolt of a wind driven generator, and belongs to the technical field of wind driven generator maintaining.The system comprises a local detection mechanism and a control mechanism, and the local detection mechanism comprises a track part and an automatic detection part; the automatic detection part comprises a power supply unit, a driving unit, a visual unit, an ultrasonic flaw detection unit, a communication unit and a local control storage unit; the driving unit can drive the automatic detection part to move along the rail part, the visual unit can collect image data and perform alignment confirmation, and the ultrasonic flaw detection unit can collect data of a to-be-detected bolt; the vision unit and the ultrasonic flaw detection unit can transmit acquired data to the communication unit and the local control storage unit; and the control mechanism interacts with the local detection mechanism to detect the to-be-detected bolt. According to the invention, full-coverage, automatic, high-precision and efficient detection of the blade root bolt of the fan blade can be realized to a certain extent, and the method is suitable for detection and maintenance of a wind driven generator.

Description

Technical Field

[0001] The present invention belongs to the field of maintenance of wind turbines, and particularly relates to an automatic detection system and method for blade root bolts of wind turbines. Background Art

[0002] In a wind turbine, the blade root bolt of the wind turbine blade is a key component for connecting the wind turbine blade to the hub. It is responsible for fixing the blade on the hub and bearing various loads transmitted from the blade. The blade root bolt of the wind turbine usually bears the action of tension (pre-tightening force) and torsion. The performance of the blade root bolt of the wind turbine is directly related to the operation safety and stability of the wind turbine. During the operation of the wind turbine, the blade root bolt of the wind turbine not only bears the tensile load generated by gravity and wind pressure, but also withstands the stress caused by the changing expansion and contraction of the blade. Due to the influence of corrosion and fatigue, it is necessary to regularly check its condition. At present, with the trend of large-scale wind turbine units, there are often hundreds of blade root bolts for a single blade. Therefore, the inspection operation of the blade root bolt of the wind turbine is relatively complicated.

[0003] At present, the performance of the blade root bolt of the wind turbine directly affects the operation safety of the unit. At present, the detection of the blade root bolt mainly relies on manual boarding detection or fixed detection devices installed on some bolts. Among them, manual boarding detection: requires maintenance personnel to carry ultrasonic flaw detectors, torque wrenches and other equipment to climb the tower for detection when the wind turbine is shut down. The detection of a single wind turbine takes up to several hours, the labor cost is relatively high and the detection efficiency is low. Fixed detection devices installed on some bolts: randomly select 10%-30% of the blade root bolts of the wind turbine to install sensors, and infer the overall state of the blade root bolts of the wind turbine blade and the wind turbine through the sampling inspection results. Obviously, the sampling inspection method has insufficient coverage and cannot achieve full bolt detection, and there is a certain risk of missed detection. This method requires dozens of sensors to be installed on a single wind turbine. The installation of sensors requires drilling or modifying bolts, which may weaken the bolt strength, the cost is high, and the adaptability is relatively poor. Therefore, in summary, in the current detection of the blade root bolts of wind turbines, manual detection is easily affected by subjective factors, and the wind turbine needs to be shut down for a long time during detection, the cost is relatively high and the detection efficiency is low; the sampling data coverage rate of the fixed detection device installed is insufficient, and full bolt detection cannot be achieved, and there is a certain risk of missed detection, making it difficult to accurately reflect the overall state of the wind turbine. Summary of the Invention

[0004] The present invention provides an automatic detection system and method for blade root bolts of wind turbines, aiming to solve the problems in the current detection of blade root bolts of wind turbines that manual detection has low efficiency, inaccuracy and relatively high cost; the sampling data coverage rate of the fixed detection device installed is insufficient, there is a risk of missed detection, and it is difficult to accurately reflect the overall state of the wind turbine.

[0005] In order to achieve the above object, the present invention adopts the following technical scheme: The present invention provides an automatic detection system for blade root bolts of a wind turbine blade, comprising a local detection mechanism and a control mechanism, wherein the local detection mechanism comprises a track portion and an automatic detection portion arranged on the track portion, and the track portion is provided with a power supply and communication line corresponding to the automatic detection portion, wherein: The automatic detection unit includes a power supply unit, a drive unit, a visual unit, an ultrasonic flaw detection unit, a communication unit and a local control storage unit, and the power supply unit is used to supply power to the automatic detection unit; The driving unit can drive the automatic detection part to move along the track part, the visual unit can collect image data of the automatic detection part and the bolt to be detected, and perform alignment confirmation in combination with the driving unit, and the ultrasonic flaw detection unit can collect data of the bolt to be detected; The visual unit and the ultrasonic flaw detection unit can transmit the collected data to the communication unit and the local control storage unit; the communication unit and the local control storage unit can interact and communicate with the control mechanism to detect the bolts to be detected.

[0006] In some embodiments, the shape of the track portion can be set according to the arrangement of the bolts to be detected, and the track portion has a guide groove inside.

[0007] Furthermore, the track portion is configured as an annular track, which includes a plurality of detachable segmented tracks, and the annular track is arranged along the circumference of the distribution of the bolts to be detected.

[0008] In some embodiments, the driving unit adopts a servo motor and a gear transmission, and the driving unit is provided with a position rotary encoder, and the position rotary encoder can be combined with the visual unit to perform zero position calibration so as to locate the position of the bolt to be detected.

[0009] In some embodiments, the vision unit includes an industrial camera and an image processing module, and the vision unit can: determine the detection starting point by identifying a specific mark on the bolt to be detected; take a real-time image of the head of the bolt to be detected, and determine whether the device is aligned through an edge detection algorithm; compare with a historical image database, analyze the displacement of the bolt and nut in the bolt to be detected, and determine the loosening risk of the bolt to be detected.

[0010] In some embodiments, the power supply unit draws power through a conductive rail of the track portion, the power supply unit supports 220V AC input, and the power supply unit has a built-in AC-DC converter.

[0011] In some embodiments, the ultrasonic flaw detection unit uses a retractable probe, and an electromagnetic adsorption device is equipped at the end of the retractable probe to ensure fitting with the head of the bolt to be detected. The ultrasonic flaw detection unit can detect defects inside the bolt to be detected and calculate the pre-tightening force loss rate of the bolt to be detected by inferring from the change in ultrasonic propagation time.

[0012] In some embodiments, among the communication unit and the local control storage unit, the communication unit holds both wired and wireless dual-mode communication; The local control storage unit can: During the detection process, if the fan needs to be started, it automatically saves the current progress and continues the detection from the breakpoint when it stops next time; and locally stores the detection data of the most recent several times.

[0013] Furthermore, the local control storage unit can also regularly diagnose the status of the automatic detection unit, trigger an alarm when an abnormality is detected, and lock the abnormal position.

[0014] The present invention also provides an automatic detection method for the blade root bolts of a wind turbine. This method is based on the above-mentioned automatic detection system for the blade root bolts of a wind turbine, and the method includes the following steps: S1. After the wind turbine stops, the control mechanism sends a start command, and the drive unit drives the automatic detection unit to move along the track unit to the position of the bolt to be detected marked with the zero position to complete the position calibration; S2. The control mechanism controls the automatic detection unit to move to the position of the target bolt to be detected; the vision unit collects the image data of the automatic detection unit and the bolt to be detected, and performs alignment confirmation between the automatic detection unit and the target bolt to be detected; the ultrasonic flaw detection unit collects the data of the target bolt to be detected and uploads the collected data to the communication unit and the local control storage unit; the communication unit uploads the collected data to the control mechanism; S3. The control mechanism performs data analysis and automatically generates a detection report through the SCADA platform; the control mechanism: If it is detected that the bolt to be detected at the target position has no defects, record the position of the bolt to be detected in this detection, and control the automatic detection unit to return to the initial position; If it is detected that the bolt to be detected at the target position has defects, mark the position of the bolt to be detected with defects, judge the damage type of the bolt to be detected with defects, and generate a recommended treatment measure plan for the bolt to be detected with defects.

[0015] Compared with the prior art, the automatic detection system and method for the blade root bolts of a wind turbine of the present invention have the following beneficial effects: An automatic detection system for the blade root bolts of a wind turbine according to the present invention can improve the detection efficiency through the coordinated cooperation of each unit and the control system. The detection time for a single blade (assuming 100 bolts) is shortened from 5 - 6 hours of traditional manual shutdown work to ≤1 hour, with the efficiency increased by more than 5 times, and the power generation is not affected. The present invention can achieve full coverage and high-precision detection of the blade root bolts of the fan, realizing 100% detection of the blade root bolts, with a defect detection rate ≥99% and a false alarm rate ≤1%. Compared with the traditional method of installing fixed sensors, the overall cost of the system is greatly reduced in the case of full coverage detection of the blade root bolts of the fan. Compared with the traditional manual detection method, the labor cost is greatly reduced, and the power generation is not affected. The present invention can avoid manual high-altitude operations to a certain extent, the detection process is relatively automated, the operation and maintenance risks are greatly reduced, and the data collected by the system is highly reliable. The detection data is uploaded in real time and double-backed up, supporting historical trend analysis, providing a basis for preventive maintenance. The present invention is adapted to the mainstream fan models of 5MW - 15MW, and the detection logic can be adapted to new bolts through software upgrade, with good compatibility and expandability. It can achieve full coverage, automation, and high-precision efficient detection of the blade root bolts of the fan to a certain extent, and is applicable to the detection and maintenance of wind turbines. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings in the specification are used to provide a further understanding of the present invention, and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute an improper limitation to the present invention.

[0017] Figure 1 It is a schematic diagram of the architecture of the automatic detection system for the blade root bolts of the wind turbine of the present invention; Figure 2 It is a schematic flowchart of the automatic detection method for the blade root bolts of a wind turbine according to the present invention in an embodiment.

[0018] Reference numerals: 1, power supply unit; 2, drive unit; 3, vision unit; 4, ultrasonic flaw detection unit; 5, communication unit and local control storage unit; 6, annular track; 7, position rotation encoder. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and shown in the accompanying drawings here can be arranged in various different configurations.

[0020] Accordingly, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0021] Similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not require further definition and explanation in subsequent drawings.

[0022] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper", "lower", "horizontal", "inner", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the invention product is usually placed during use, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present invention. In addition, terms such as "first", "second", etc. are only used for distinguishing descriptions and cannot be construed as indicating or implying relative importance.

[0023] In addition, if the term "horizontal" appears, it does not mean that the component is required to be absolutely horizontal, but it can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but it can be slightly inclined.

[0024] In the description of the embodiments of the present invention, it should also be noted that unless otherwise clearly specified and limited, if terms such as "set", "installed", "connected", "connected" are understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0025] How to improve the detection of the blade root bolts of a wind turbine, so as to accurately reflect the overall state of the wind turbine, improve the detection efficiency and control costs.

[0026] Based on the above, as Figure 1 shown, an automatic detection system for the blade root bolts of a wind turbine blade of the present invention includes a local detection mechanism and a control mechanism. The local detection mechanism includes a track part and an automatic detection part arranged on the track part. The track part is provided with a power supply and communication line corresponding to the automatic detection part, wherein: The automatic detection unit includes a power supply unit 1, a drive unit 2, a visual unit 3, an ultrasonic flaw detection unit 4, a communication unit and a local control storage unit 5. The power supply unit 1 is used to supply power to the automatic detection unit; The driving unit 2 can drive the automatic detection part to move along the track part, the visual unit 3 can collect image data of the automatic detection part and the bolt to be detected, and perform alignment confirmation in combination with the driving unit 2, and the ultrasonic flaw detection unit 4 can collect data of the bolt to be detected; The visual unit 3 and the ultrasonic flaw detection unit 4 can transmit the collected data to the communication unit and the local control storage unit 5; the communication unit and the local control storage unit 5 can interact and communicate with the control mechanism to detect the bolts to be inspected.

[0027] The following is a further detailed description of a system and method for automatically detecting blade root bolts of a wind turbine blade according to the present invention through specific embodiments.

[0028] The present invention provides an automatic detection system for blade root bolts of a wind turbine blade, which is composed of the following components: The annular track 1 is installed above the blade root bolts and arranged along the circumference of the bolt distribution. It is made of lightweight and high-strength aluminum alloy and has built-in power supply and communication lines. Guide grooves are set on the surface of the annular track 1 to ensure the overall operating stability of the detection system.

[0029] The annular track 1 has an adaptive adjustment function. The annular track 1 adopts a segmented design and is connected by spring hinges to adapt to slight deformation of the circumference of the blade root bolt distribution circle (tolerance ±5mm).

[0030] The automatic detection unit integrates a power supply unit 1, a drive unit 2, a visual unit 3, an ultrasonic flaw detection unit 4, a communication unit and a local control storage unit 5. The automatic detection unit is integrated, miniaturized and lightweight, and is adapted to the mainstream fan blade root bolt layout.

[0031] The functions and cooperation processes of each unit of the present invention are as follows: Power supply unit 1: Power is taken through the conductive rail in the circular track, supports 220V AC input, and the built-in AC-DC converter provides 12V / 24V DC power for each module.

[0032] Drive unit 2: Adopts servo motor + gear transmission, the drive device moves along the circular track, and the moving speed is adjustable from 0.02 to 0.2 m / s.

[0033] The drive unit 2 has a built-in high-precision encoder 7 (resolution ±0.1mm), which, combined with the zero-position calibration of the visual unit 3, enables accurate positioning of the bolt position (error ≤0.3mm).

[0034] The vision unit 3 is equipped with an industrial camera (5 million pixels) and an AI image processing unit. The functions of the vision unit 3 include: Zero position calibration: Determine the detection starting point by identifying the QR code or specific identifier on the blade root bolt. Alignment assistance: Continuously capture images of the bolt head, and determine whether the device is aligned through edge detection algorithms. Looseness detection: Compare with the historical image database, analyze the displacement of the bolt nut (accuracy ±0.5 mm), and judge the looseness risk.

[0035] The ultrasonic flaw detection unit 4 uses a retractable probe (stroke 50 mm). The end of the retractable probe is equipped with an electromagnetic adsorption device to ensure close contact with the bolt head. It can detect internal cracks, corrosion and other defects of the bolt, and calculate the bolt pre-tightening force loss rate (accuracy ±5%) through the change of ultrasonic propagation time. The retractable probe can be set to two for dual acquisition. The dual ultrasonic probes work in parallel, and the data is cross-checked to avoid missed detection or misjudgment.

[0036] The communication unit supports dual-mode communication of wired (CAN bus) and wireless (4G / WiFi), and uploads the detection data to the fan main control system and the wind farm SCADA platform in real time.

[0037] The functions of the local control and storage unit include: Interruption recovery: If the fan needs to start during the detection process, automatically save the current progress, and continue the detection from the breakpoint when the fan stops next time, without losing power generation. Data backup: Locally store the recent 3 detection data, which is redundant with the cloud data. Fault self-check: Regularly diagnose the device status, trigger an alarm and lock the position when abnormal.

[0038] The present invention can operate with low power consumption. The standby power consumption ≤10W, the detection peak power consumption ≤200W, and the total energy consumption for single blade single detection (assuming 100 bolts) ≤0.5 kWh.

[0039] The present invention also provides an automatic detection method for the blade root bolts of a wind turbine. The method is based on the automatic detection system for the blade root bolts of a wind turbine, and the method includes the following steps: S1. After the wind turbine stops, the control mechanism sends a start command, and the drive unit 2 drives the automatic detection part to move along the track part to the position of the bolt to be detected at the zero position mark to complete the position calibration. S2. The control mechanism controls the automatic detection unit to move to the position of the target bolt to be detected; the vision unit 3 collects the image data of the automatic detection unit and the bolt to be detected, and conducts the alignment confirmation of the automatic detection unit and the target bolt to be detected; the ultrasonic flaw detection unit 4 collects the data of the target bolt to be detected, and uploads the collected data to the communication unit and the local control storage unit 5; the communication unit uploads the collected data to the control mechanism; S3. The control mechanism conducts data analysis and automatically generates a detection report through the SCADA platform; the control mechanism: If it is detected that the bolt to be detected at the target position has no defect, record the position of the bolt to be detected in this detection, and control the automatic detection unit to return to the initial position; If it is detected that the bolt to be detected at the target position has a defect, mark the position of the bolt to be detected with a defect, judge the damage type of the bolt to be detected with a defect, and generate a recommended treatment measure plan for the bolt to be detected with a defect.

[0040] As Figure 2 shown, in some embodiments, an automatic detection method for the blade root bolts of a wind turbine of the present invention has a bolt automatic monitoring process, data uploading and main control; 1) Initialization of the detection work: After the wind turbine stops, the main control system sends a start command to the bolt automatic detection device, and the device aligns with the zero-position identification bolt to complete the initial position calibration (numbered 1); 2) The vision unit 3 conducts precise alignment confirmation and takes a photo of the bolt nut. Data uploading and main control: The photo is marked with the detection time and the bolt number, and the data is recorded in the main control local storage (the latest 3 times of data), and the data is synchronously uploaded to the cloud.

[0041] 3) The ultrasonic probe extends, tightly adsorbs to the target bolt and starts detection, and uploads the data. Data uploading and main control: The data is marked with the detection time and the bolt number, and the data is recorded in the main control local storage (the latest 3 times of data), and the data is synchronously uploaded to the cloud.

[0042] 4) After the data detection is completed, the ultrasonic probe retracts; 5) Judge whether the main control issues a detection interruption command; If so, record the bolt number and position in this detection, and the device returns to the initial position to wait for the resume work command.

[0043] If not, add 1 to the bolt number, the device moves clockwise to the next bolt, judge whether the system moves to the initial zero position. If so, the current detection is completed, and the device returns to the initial position to standby. If not, return to 2) to continue.

[0044] Full-coverage detection mechanism of the present invention: The circular track 1 and the position rotation encoder 7 are used for positioning to achieve 100% coverage detection of the blade root bolts, breaking through the limitations of sampling inspection. Multi-modal data fusion: Visual AI looseness detection and ultrasonic flaw detection are jointly analyzed to comprehensively evaluate the health status of the bolts (cracks, corrosion, pre-tightening force loss). Intelligent interruption recovery: The local storage module supports resuming inspection from the breakpoint, avoiding repeated detection tasks caused by the startup of the wind turbine. Adaptive track design: The segmented track and spring hinge structure are compatible with the distribution tolerance of the blade root bolts, ensuring the stable operation of the detection device.

[0045] The integrated system of the circular track and the automatic detection part of the present invention: The structure of the protective track, the moving logic of the automatic detection part, and the integrated design of power supply and communication. The visual and ultrasonic dual-mode detection method covers image comparison for looseness judgment, ultrasonic flaw detection algorithm, and data fusion logic. Interruption recovery and data backup mechanism: Specifically protect the function of resuming inspection from the breakpoint of the local storage module and the 3-time data backup strategy. Retractable electromagnetic adsorption probe: Protect the probe telescopic mechanism, the fit between the electromagnetic adsorption and the bolt head, and improve the data acquisition accuracy.

[0046] An automatic detection system and method for the blade root bolts of a wind turbine of the present invention can achieve automatic detection, reduce human errors, and improve the detection efficiency and accuracy. Precise positioning, the visual unit has rich functions, can determine the detection starting point, judge alignment, and analyze the looseness risk; the ultrasonic flaw detection unit has accurate detection and can measure internal defects and pre-tightening force loss rate. Stable power supply, flexible communication, the local control and storage unit can save the progress, store data, and can also diagnose the system status and give an alarm in time. Each step from startup to report generation has clear operations. According to the detection results, record the positions of the bolts without defects and provide treatment plans for the bolts with defects, effectively improving the equipment maintenance efficiency and quality, and ensuring the safety and stability of the wind turbine.

[0047] Finally, it should be noted that: The above is only the preferred embodiment of the present invention, and it is not intended to limit the present invention in any form; any ordinary technical personnel in this industry can smoothly implement the present invention according to the description in the specification and the above; however, any equivalent changes such as slight modifications, decorations, and evolutions made by those skilled in the art within the scope of the technical solution of the present invention by using the technical content disclosed above are all equivalent embodiments of the present invention; at the same time, any equivalent changes, modifications, and evolutions made to the above embodiments based on the essential technology of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. An automatic detection system for the blade root bolts of a wind turbine blade, characterized in that It includes a local detection mechanism and a control mechanism. The local detection mechanism includes a track portion and an automatic detection portion configured on the track portion. The track portion is provided with a power supply and communication line corresponding to the automatic detection portion, wherein: The automatic detection unit comprises a power supply unit (1), a drive unit (2), a visual unit (3), an ultrasonic flaw detection unit (4), a communication unit and a local control storage unit (5), wherein the power supply unit (1) is used to supply power to the automatic detection unit; The driving unit (2) is capable of driving the automatic detection unit to move along the track portion, the visual unit (3) is capable of collecting image data of the automatic detection unit and the bolt to be detected, and performing alignment confirmation in conjunction with the driving unit (2), and the ultrasonic flaw detection unit (4) is capable of collecting data of the bolt to be detected; The visual unit (3) and the ultrasonic flaw detection unit (4) are capable of transmitting the collected data to the communication unit and the local control storage unit (5); the communication unit and the local control storage unit (5) are capable of interactive communication with the control mechanism so as to detect the bolts to be detected.

2. The automatic detection system for the blade root bolts of a wind turbine blade according to claim 1, characterized in that, The shape of the track portion can be set according to the arrangement of the bolts to be detected, and a guide groove is provided inside the track portion.

3. The automatic detection system for the blade root bolts of a wind turbine according to claim 2, wherein, The track portion is configured as an annular track (6), the annular track (6) comprising a plurality of detachable segmented tracks, and the annular track (6) is arranged along the circumference of the distribution of the bolts to be detected.

4. The automatic detection system for the root bolts of a wind turbine blade according to claim 1, characterized in that, The drive unit (2) uses a servo motor and gear transmission. The drive unit (2) is provided with a position rotary encoder (7). The position rotary encoder (7) can be combined with a visual unit to perform zero position calibration so as to locate the position of the bolt to be detected.

5. The automatic detection system for the blade root bolts of a wind turbine blade according to claim 1, characterized in that, The visual unit (3) comprises an industrial camera and an image processing module, and the visual unit (3) is capable of: determining the detection starting point by identifying a specific mark on the bolt to be detected; taking a real-time image of the head of the bolt to be detected, and judging whether the device is aligned by using an edge detection algorithm; and comparing with a historical image database, analyzing the displacement of the bolt and nut in the bolt to be detected, and judging the loosening risk of the bolt to be detected.

6. The automatic detection system for the blade root bolts of a wind turbine blade according to claim 1, characterized in that, The power supply unit (1) draws power through a conductive slide rail of the track portion, the power supply unit (1) supports 220V AC input, and the power supply unit (1) has a built-in AC-DC converter.

7. The automatic detection system for the blade root bolts of a wind turbine blade according to claim 1, characterized in that The ultrasonic flaw detection unit (4) adopts a retractable probe, and the end of the retractable probe is equipped with an electromagnetic adsorption device to ensure that it fits the head of the bolt to be detected. The ultrasonic flaw detection unit (4) can detect defects inside the bolt to be detected, and calculate the preload loss rate of the bolt to be detected through the change of ultrasonic propagation time.

8. The automatic detection system for the blade root bolts of a wind turbine blade according to claim 1, characterized in that, In the communication unit and the local control storage unit (5), the communication unit has wired and wireless dual-mode communication; The local control storage unit can: If the fan needs to be started during the detection process, the current progress will be automatically saved, and the detection will continue from the interruption point the next time it stops; and the most recent detection data will be stored locally.

9. The automatic detection system for the root bolts of a wind turbine blade according to claim 8, characterized in that, The local control storage unit can also regularly diagnose the status of the automatic detection unit, trigger an alarm when an abnormality is detected, and lock the abnormal position.

10. An automatic detection method for the blade root bolts of a wind turbine blade, characterized in that The method is based on the automatic detection system for the blade root bolts of a wind turbine according to any one of claims 1-9, and the method comprises the following steps: S1. After the wind turbine is shut down, the control mechanism sends a start instruction, and the driving unit (2) drives the automatic detection part to move along the track part to the position of the bolt to be detected with the zero position mark, and the position calibration is completed; S2. The control mechanism controls the automatic detection part to move to the position of the target bolt to be detected; the vision unit (3) collects the image data of the automatic detection part and the bolt to be detected, and performs the alignment confirmation of the automatic detection part and the target bolt to be detected; the ultrasonic flaw detection unit (4) collects the data of the target bolt to be detected, and uploads the collected data to the communication unit and the local control and storage unit (5); the communication unit uploads the collected data to the control mechanism; S3. The control mechanism performs data analysis and automatically generates a detection report through the SCADA platform; the control mechanism: If it is detected that the bolt to be detected at the target position has no defect, record the position of the bolt to be detected in this detection, and control the automatic detection part to return to the initial position; If it is detected that the bolt to be detected at the target position has a defect, mark the position of the bolt to be detected with a defect, judge the damage type of the bolt to be detected with a defect, and generate a recommended treatment measure plan for the bolt to be detected with a defect.

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