Wind turbine blade detection method, device, computer storage medium and program product

Abstract

The application discloses a wind power blade detection method and device, a computer storage medium and a program product. The method comprises the following steps: constructing an axis three-dimensional model of a root of a wind power blade; taking a plane parallel to a section along a diameter direction of the root as a reference plane, and sequentially scanning bolt sleeves on the root to obtain height data of the bolt sleeves; constructing a three-dimensional model of the root according to a size of a section circle of an end surface of the root and the height reference plane of the bolt sleeves; selecting at least two bolt sleeve combinations to obtain at least two limit planes; determining an included angle between each limit plane and the axis; and obtaining a target included angle between the axis of the root of the wind power blade and the end surface of the root according to the included angles between the at least two limit planes and the axis. According to the embodiment of the application, the accuracy of determining the included angle between the end surface of the root of the wind power blade and the axis of the root can be improved, and a separate measurement process is not needed, so that the production efficiency can be improved.

Description

Technical Field

[0001] This application belongs to the field of automatic wind turbine blade detection technology, and in particular relates to a wind turbine blade detection method, device, computer storage medium and program product. Background Technology

[0002] The angle between the blade root end face and the blade root axis of the embedded blade is one of the important parameters for evaluating the manufacturing quality of the blade. This parameter directly affects the operational safety and power generation efficiency after the blade is installed in the turbine. The angle between the blade root axis and the bolt sleeve end face of most wind turbine blades is required to be 90°±1° (specific data is given by the design, and this parameter may vary slightly between different wind turbine blades). Currently, ensuring this parameter mainly relies on embedded tooling and end face grinding. However, due to shrinkage deformation during blade forming and the need for flatness grinding of the bolt sleeve after the embedded blade is formed, the end face formed by the bolt sleeve will inevitably change during grinding, ultimately causing a change in the angle between the blade root end face and the blade root axis of the embedded blade.

[0003] However, conventional techniques often result in significant errors in determining the blade root axis and the blade root end face, leading to low accuracy in the angle between them. Furthermore, conventional methods require a separate process to obtain data for determining the blade root axis and end face, lengthening the production process and reducing efficiency. Therefore, this application aims to solve the technical problems of inaccurate measurement of the angle between the blade root end face and the blade root axis, and the long production cycle caused by the need for a separate measurement process. Summary of the Invention

[0004] This application provides a wind turbine blade inspection method, device, computer storage medium, and program product that can improve the accuracy of determining the angle between the blade root end face and the blade root axis without requiring a separate measurement process, thereby improving production efficiency.

[0005] On one hand, this application provides a method for detecting wind turbine blades, the method comprising: constructing a three-dimensional model of the blade root axis; using a plane parallel to a cross-section along the diameter direction of the blade root as a reference plane, sequentially scanning multiple bolt sleeves on the blade root to obtain height data of the multiple bolt sleeves relative to the reference plane; constructing a three-dimensional model of the blade root including the bolt sleeves based on the end face pitch circle dimension of the blade root, the height data of the multiple bolt sleeves relative to the reference plane, and the reference plane; and selecting at least two bolt sleeve combinations from the multiple bolt sleeves based on the height data of the multiple bolt sleeves, wherein each bolt... Each set of bolt sleeves includes three bolt sleeves, two of which are the tallest and shortest bolt sleeves, and the other is either the tallest, shortest, second tallest, or second shortest bolt sleeve. Based on the spatial coordinates of the bolt sleeves in each bolt sleeve set in the three-dimensional model of the blade root, a limit plane is constructed for each bolt sleeve set set. The angle between each limit plane and the axis is determined. Based on the angles between at least two limit planes and the axis, the target angle between the blade root axis and the blade root end face is obtained.

[0006] Optionally, constructing a three-dimensional model of the axis of the wind turbine blade root includes: constructing a three-dimensional model of the axis of the blade root based on the normal of the center point of any one of the end face pitch circle, theoretical inner circle, or theoretical outer circle of the blade root.

[0007] Optionally, selecting at least two bolt sleeve combinations from the plurality of bolt sleeves based on the height data of the plurality of bolt sleeves includes: selecting four bolt sleeve combinations from the plurality of bolt sleeves based on the height data of the plurality of bolt sleeves, wherein the four bolt sleeve combinations include: a bolt sleeve combination consisting of a first bolt sleeve with the highest height, a second bolt sleeve with the lowest height, and a third bolt sleeve with the second highest height; a bolt sleeve combination consisting of a first bolt sleeve with the highest height, a second bolt sleeve with the lowest height, and a fourth bolt sleeve with the second lowest height; a bolt sleeve combination consisting of a first bolt sleeve with the highest height, a second bolt sleeve with the lowest height, and a fifth bolt sleeve with the same highest height; and a bolt sleeve combination consisting of a first bolt sleeve with the highest height, a second bolt sleeve with the lowest height, and a sixth bolt sleeve with the same lowest height.

[0008] Optionally, determining the angle between each of the limiting planes and the axis includes: constructing a three-dimensional model of each limiting plane and the axis based on the three-dimensional model of each limiting plane and the axis; and obtaining the angle between each limiting plane and the axis based on the three-dimensional model of each limiting plane and the axis.

[0009] Optionally, obtaining the angle between each limit plane and the axis based on the three-dimensional model of each limit plane and the axis includes: obtaining the normal vector of each limit plane; determining the first angle between the normal vector of each limit plane and the axis according to the vector dot product formula; and obtaining the angle between each limit plane and the axis according to the difference between the right angle and the first angle.

[0010] Optionally, obtaining the target angle between the root axis of the wind turbine blade and the root end face based on the angles between at least two of the limiting planes and the axis respectively includes: determining the angle with the smallest value among the angles between each of the limiting planes and the axis as the target angle between the root axis of the wind turbine blade and the root end face.

[0011] Optionally, the method for determining the reference plane further includes: positioning the laser emitting device and the laser receiving device parallel to the blade root and at the same height; rotating the laser emitting device or the laser receiving device around the circumference of the blade root, and determining the surface formed by the path line during the rotation as the reference plane; wherein the laser emitting device and the laser receiving device are used to scan the height of the bolt sleeve relative to the reference plane.

[0012] On the other hand, this application provides a wind turbine blade inspection device, which includes: a construction module for constructing a three-dimensional model of the axis of the wind turbine blade root; a first acquisition module for sequentially scanning a plurality of bolt sleeves on the blade root using a plane parallel to a cross-section along the diameter direction of the blade root as a reference plane to obtain height data of the plurality of bolt sleeves relative to the reference plane; a second acquisition module for constructing a three-dimensional model based on the end face pitch circle size of the blade root, the height data of the bolt sleeves relative to the reference plane, and the reference plane to obtain a three-dimensional model of the blade root; and a third acquisition module for selecting at least two bolt sleeve combinations from the plurality of bolt sleeves based on the height data of the plurality of bolt sleeves, each of which... Each bolt sleeve assembly includes three bolt sleeves, two of which are the highest and lowest bolt sleeves, and the other is either the highest bolt sleeve, the lowest bolt sleeve, the second highest bolt sleeve, or the second lowest bolt sleeve. A first construction module is used to construct a limit plane formed by each bolt sleeve assembly based on the spatial coordinates of the bolt sleeves in the blade root three-dimensional model. A first determination module is used to determine the angle between each limit plane and the axis. A second determination module is used to obtain the target angle between the wind turbine blade root axis and the blade root end face based on the angles between at least two limit planes and the axis.

[0013] In another aspect, embodiments of this application provide an electronic device, the device comprising: a processor and a memory storing computer program instructions; the processor, when executing the computer program instructions, implements the wind turbine blade detection method as described above.

[0014] In another aspect, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the wind turbine blade detection method as described above.

[0015] In another aspect, embodiments of this application provide a computer program product in which instructions, when executed by a processor of an electronic device, cause the electronic device to perform the wind turbine blade detection method as described above.

[0016] The wind turbine blade inspection method, apparatus, equipment, and computer storage medium of this application construct a three-dimensional model of the wind turbine blade root axis for subsequent steps to determine the angle between the blade root and the actual blade root end face. Based on the height of the bolt sleeves on the actual scanned blade root end face relative to a reference plane, the pitch circle dimension of the blade root end face, and the reference plane, a three-dimensional model of the blade root including the ground bolt sleeves is constructed. Based on the height data of multiple bolt sleeves, at least two bolt sleeve combinations are selected from the multiple bolt sleeves. Based on the spatial coordinates of the bolt sleeves in each bolt sleeve combination in the three-dimensional model of the blade root, a limit plane is constructed for each bolt sleeve combination. According to the limit method, the most inclined limit plane must be one of at least two limit planes. This limit plane will be the actual inclined end face when the blade root is installed with the flange, and the angle between this actual inclined end face and the blade root axis is the minimum angle between the actual blade root end face and the blade root axis. Using the method of this application, the angle between the actual installed blade root end face and the blade root axis can be accurately determined, improving the accuracy of determining the angle between the wind turbine blade root end face and the blade root axis. Furthermore, the data for establishing the three-dimensional model of the leaf root obtained in this application is acquired incidentally during the end face flatness inspection process, thus eliminating the need for a separate process to acquire the corresponding data, thereby improving production efficiency. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic flowchart of a wind turbine blade testing method provided in one embodiment of this application;

[0019] Figure 2This is a schematic diagram of the height difference of the bolt sleeve relative to the reference plane according to an embodiment of this application;

[0020] Figure 3 This is an overall framework diagram of wind turbine blade testing provided in the embodiments of this application;

[0021] Figure 4 This is a schematic diagram of the structure of a wind turbine blade testing device provided in another embodiment of this application;

[0022] Figure 5 This is a schematic diagram of the structure of an electronic device provided in another embodiment of this application.

[0023] Explanation of reference numerals in the attached figures

[0024] 40 Wind Turbine Blade Testing Device 401 Construction Module

[0025] 402 First Acquisition Module 403 Second Acquisition Module

[0026] 404 Third Acquisition Module 405 First Construction Module

[0027] 406 First Determination Module 407 Second Determination Module

[0028] 301 Processor 302 Memory

[0029] 303 Communication Interface 310 Bus Detailed Implementation

[0030] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0031] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0032] The angle between the end face of the embedded blade and the blade axis is one of the important parameters for evaluating the manufacturing quality of the blade. This parameter directly affects the operational safety and power generation efficiency after the blade is installed. Currently, ensuring this parameter mainly relies on the embedded tooling and end face grinding. However, due to factors such as shrinkage deformation during the blade forming process, and the need for grinding the flatness of the bolt sleeve after the embedded blade is formed, the end face formed by the bolt sleeve will inevitably change during the grinding process. Ultimately, this will cause the angle between the end face of the embedded blade and the blade root axis to change.

[0033] However, conventional techniques, such as the API (Analog-to-Plate) method, calculate the blade root end face by acquiring multiple discrete points on the blade root end face and then fitting these points into a plane using the least squares method. This method suffers from inaccuracies due to data processing errors such as deletion optimizations or random point selection. The API device outputs a virtual plane, not the actual assembly contact surface of the blade, thus failing to accurately determine the angle between the blade root axis and the blade root end face after installation. Furthermore, the API method requires a separate process to acquire data for determining the axis and blade end face, lengthening the production process and reducing efficiency. Therefore, this application aims to solve the technical problems of inaccurate measurement of the angle between the blade root end face and the blade root axis, and the increased production cycle caused by the need for a separate measurement process.

[0034] The wind turbine blade inspection method, apparatus, equipment, and computer storage medium of this application construct a three-dimensional model of the wind turbine blade root axis for subsequent steps to determine the angle between the blade root and the actual blade root end face. Based on the height of the bolt sleeves on the actual scanned blade root end face relative to a reference plane, the pitch circle dimension of the blade root end face, and the reference plane, a three-dimensional model of the blade root including the ground bolt sleeves is constructed. Based on the height data of multiple bolt sleeves, at least two bolt sleeve combinations are selected from the multiple bolt sleeves. Based on the spatial coordinates in the three-dimensional model of the blade root of each bolt sleeve combination, a limit plane is constructed for each bolt sleeve combination. According to the limit method, the most inclined limit plane must be one of at least two limit planes. This limit plane will be the actual inclined end face when the blade root is installed with the flange, and the angle between this actual inclined end face and the blade root axis is the minimum angle between the actual blade root end face and the blade root axis. Using the method of this application, the angle between the actual installed blade root end face and the blade root axis can be accurately determined, improving the accuracy of determining the angle between the blade root end face and the blade root axis of the wind turbine blade. Furthermore, the data for establishing the three-dimensional model of the leaf root obtained in this application is acquired incidentally during the end face flatness inspection process, thus eliminating the need for a separate process to acquire the corresponding data, thereby improving production efficiency.

[0035] To address the problems of the prior art, this application provides a method, apparatus, device, computer storage medium, and computer program product for testing wind turbine blades. The wind turbine blade testing method provided in this application is described below.

[0036] Figure 1 A flowchart illustrating a wind turbine blade testing method according to an embodiment of this application is shown. Figure 1 As shown, a method for testing wind turbine blades includes the following steps S10-S16.

[0037] In step S10, a three-dimensional model of the axis of the wind turbine blade root is constructed.

[0038] This application mainly applies to pre-embedded wind turbine blades. Pre-embedded wind turbine blades refer to a type of wind turbine blade in which a certain number of metal bolt sleeves are pre-embedded according to a specific pitch circle distribution size during the blade root layering process, and then integrally cast into shape. After casting, the pre-embedded bolt sleeves are embedded in the blade root, forming an integral unit with the blade, and are later used for installation and fixation to the hub after the blade is installed in the turbine.

[0039] The end face pitch circle of the blade root refers to the circle in which the center of the bolt sleeve on the end face of the wind turbine blade is evenly distributed along the circumference (the centers of all bolt sleeves are distributed on the circumference of this circle).

[0040] The end face of the blade root: refers to the entire end face composed of the end faces (exposed ends) of all the pre-embedded bolt sleeves of the blade roots.

[0041] Blade root end face grinding: Bolt sleeves are pre-embedded on the same pitch circle of the blade end face. The end face of the bolt sleeves of a certain length will protrude from the fiberglass surface. Before installing the blade root flange, the end face of the bolt sleeves needs to be ground as a whole using specific equipment to ensure that the overall flatness of the end face formed by all pre-embedded bolt sleeves meets the technical parameter requirements.

[0042] The axis of the leaf root: generally refers to the virtual center line of the circular ring at the position of the leaf root. That is, the leaf root is regarded as a cylinder, and the center line of the cylinder is regarded as the axis of the leaf root.

[0043] In some embodiments, constructing a three-dimensional model of the axis of the wind turbine blade root includes: constructing a three-dimensional model of the axis of the blade root based on the normal of the center point of any one of the end face pitch circle, theoretical inner circle, or theoretical outer circle of the blade root.

[0044] For example, this application takes into account that the root of the wind turbine blade is a cylinder. Based on the symmetry of the deformation of the cylinder (such as the anti-deformation tooling and embedded flanges in the wind turbine blade forming process, which have no significant deformation, and the same cylindrical fiberglass in the same environment, the small deformation trend is uniform and symmetrical, such as the microstructure of the cylinder is deformed into an ellipse), the axial orientation of the blade root does not change (if the axis of the blade root is defined as the Z-axis, the no change in the orientation of the axis means that the change in the X and Y axis directions is 0, so when measuring the angle between it and the end face, any line parallel to it can be used to replace the axis for measurement without affecting the measurement result). Therefore, in this embodiment, the axial three-dimensional model of the wind turbine blade root is constructed using three-dimensional software (such as CAD, SolidWorks, Autodesk 3ds Max, Pro / E, etc., without specific limitations) based on the normal of the center point of any one of the blade root's end face pitch circle, theoretical inner circle (i.e., the theoretical value of the blade root's inner cavity in the initial design) and theoretical outer circle (i.e., the theoretical value of the blade root's outer perimeter in the initial design).

[0045] This embodiment of the application constructs a three-dimensional model of the wind turbine blade's root axis using the normal to the center point of the pitch circle on the blade root's end face, or the normal to the center point of either the theoretical inner circle or the theoretical outer circle of the blade root. This method does not require the use of actual blade root point cloud data to fit the axis. This is because the inner or outer circle of the actual blade root is not flat, resulting in the collected point cloud data not being completely on the same circle, thus leading to inaccurate normals to the center points (i.e., the blade root's axis). This embodiment of the application constructs a three-dimensional model of the wind turbine blade's root axis using the normal to the center point of either the pitch circle on the blade root's end face (where the bolt sleeves are all on the pitch circle), or the theoretical inner circle (theoretical value during the blade root design stage) or the theoretical outer circle (theoretical value during the blade root design stage). Therefore, it is not affected by systematic errors, point sampling quality, or fitting calculations that could prevent the accurate determination of the three-dimensional model of the blade root's axis. This method eliminates the influence of systematic errors, measurement point quality, and data processing in principle, thereby improving the accuracy of determining the axis of the leaf root and laying the foundation for further accurate determination of the target angle between the axis and the end face of the leaf root.

[0046] In step S11, a plane parallel to the cross-section along the diameter direction of the blade root is used as a reference plane, and multiple bolt sleeves on the blade root are scanned sequentially to obtain the height data of the multiple bolt sleeves relative to the reference plane.

[0047] For example, the bolt sleeves in this embodiment are obtained after grinding, and their heights are not strictly uniform. Therefore, it is necessary to obtain the height of the bolt sleeves to further determine the actual angle between the end face of the blade root and the axis when the bolt sleeves are actually installed on the flange on the hub. This process is simulated and calculated using a created three-dimensional model. Any plane parallel to the cross-section in the diameter direction of the blade root (i.e., the circular cross-section of the blade root) can be used as a reference plane. All bolt sleeves on the blade root are scanned sequentially to obtain the height data of the bolt sleeves relative to the reference plane. In this process, to facilitate the differentiation of the position and height of each bolt sleeve, the bolt sleeves can also be encoded separately. For example, if there are 108 bolt sleeves in total, the bolt sleeves on the end face are encoded clockwise, counterclockwise, or in any order along the end face of the blade root, and coded as 1, 2, 3...108 respectively. In this way, all height data (H1, H2, H3...H ... n-2 H n-1 H n Where n represents the code of the bolt sleeve, such as n being 108 in this embodiment of the application, H n (This represents the height of the nth bolt sleeve).

[0048] In some embodiments, the method for determining the reference plane further includes: positioning the laser emitting device and the laser receiving device parallel to the blade root and at the same height; rotating the laser emitting device or the laser receiving device around the circumference of the blade root, and determining the surface formed by the path line during the rotation as the reference plane; wherein the laser emitting device and the laser receiving device are used to scan the height of the bolt sleeve relative to the reference plane.

[0049] For example, to facilitate the determination of the reference plane, in this embodiment, the laser emitting device and the laser receiving device are arranged parallel to each other at the same end of the blade root (i.e., the end where the bolt sleeves are installed), and the laser emitting device is positioned so that the laser signal can be received by the laser receiving device. Simultaneously, the laser emitting device and the laser receiving device are zeroed at the same height, and then the laser emitting device or the laser receiving device is rotated clockwise or counterclockwise around the circumference of the blade root. The surface formed by the connecting line of the path during the rotation is determined as the reference plane. During this process, the laser emitting device and the laser receiving device scan all the bolt sleeves on the end face of the blade root, thereby obtaining the height of the bolt sleeves relative to the reference plane. The laser emitting device and the laser receiving device used in this embodiment can be a flatness laser measuring instrument; this embodiment does not impose specific limitations.

[0050] In this embodiment, the laser emitting device and the laser receiving device are set at the same height, and the surface formed by the connecting line of their paths when rotating around the circumference of the leaf root is defined as the reference surface, so as to quickly determine the reference surface.

[0051] In step S12, a three-dimensional model of the blade root including the bolt sleeves is constructed based on the end face pitch circle dimension of the blade root, the height data of the multiple bolt sleeves relative to the reference surface, and the reference surface.

[0052] For example, the pitch circle dimension of the blade root end face can be determined based on the radius and circumference of the pitch circle. This can be obtained by scanning the blade root end face with a laser scanning device, or by using the theoretical radius and circumference of the pitch circle at the initial design stage. Simultaneously, using the height data of the bolt sleeves relative to the reference plane obtained in step S11, a three-dimensional model of the blade root containing each bolt sleeve is constructed. Specifically, the reference plane normal can be used as the direction, based on the height data H1, H2, H3…H of each bolt sleeve relative to the reference plane. n-2 H n-1 H n Modeling was performed to obtain a 3D model of the leaf root. (Reference) Figure 2This diagram illustrates the height difference of the bolt sleeve relative to the reference plane, as provided in an embodiment of this application. The diagram represents a 3D model of a portion of the blade root, where the serrated edge represents the bolt sleeve, but does not represent its actual shape. Furthermore, to facilitate differentiation of the height and position of each bolt sleeve, the number and position of each bolt sleeve can be labeled in the 3D model of the blade root.

[0053] In step S13, based on the height data of the plurality of bolt sleeves, at least two bolt sleeve combinations are selected from the plurality of bolt sleeves.

[0054] Each bolt sleeve assembly includes three bolt sleeves, two of which are the bolt sleeve with the highest height and the bolt sleeve with the lowest height, and the third bolt sleeve is the bolt sleeve that is closest in height to either the bolt sleeve with the highest height or the bolt sleeve with the lowest height.

[0055] For example, bolt sleeves that are closest in height to the highest or lowest bolt sleeve include: bolt sleeves that are also the highest in height, bolt sleeves that are also the lowest in height, bolt sleeves that are the second highest in height (i.e., the second highest, with a height only slightly higher than the highest), or bolt sleeves that are the second lowest in height (i.e., the second lowest, with a height only slightly higher than the lowest).

[0056] Given the height data of multiple bolt sleeves, the principle is to select at least two bolt sleeve combinations from these bolt sleeves, using the principle that a plane is determined by at least three points. Therefore, each bolt sleeve combination includes three bolt sleeves. However, considering that the planes formed by bolt sleeve combinations at different positions have different poses, the most inclined limiting plane cannot be directly determined. Therefore, the limiting plane formed by at least two bolt sleeve combinations is needed for subsequent judgment. The limiting plane that forms the most inclined plane must include the bolt sleeve with the highest height and the bolt sleeve with the lowest height. The other bolt sleeve can be the bolt sleeve with the same highest height, the bolt sleeve with the same lowest height, the second highest height, or the second lowest height.

[0057] For example, two bolt sleeve combinations can be identified, each containing three bolt sleeves. This results in two bolt sleeve combinations: Bolt sleeve combination one includes two bolt sleeves of equal and highest height, and one bolt sleeve of lowest height; Bolt sleeve combination two includes two bolt sleeves of equal and lowest height, and one bolt sleeve of highest height. For instance, using 108 bolt sleeves as an example, if there are two bolt sleeves in different positions but both being the highest height, select the two highest bolt sleeves (e.g., 10mm) and the lowest height bolt sleeve to form one bolt sleeve combination. Similarly, if there are two bolt sleeves in different positions but both being the lowest height, select the two lowest bolt sleeves (e.g., 1mm) and the highest height bolt sleeve (e.g., 10mm) to form another bolt sleeve combination. This results in two bolt sleeve combinations.

[0058] To further adapt to more bolt sleeve height scenarios and facilitate the determination of more limit planes in subsequent steps, thereby selecting the most inclined blade root end face, this application embodiment can also determine three bolt sleeve combinations. Similarly, each bolt sleeve combination includes three bolt sleeves, thus at least three bolt sleeve combinations can be determined: Bolt sleeve combination one includes the bolt sleeve with the highest height (e.g., the highest height is 10mm), the bolt sleeve with the second highest height (the second highest, only less than the highest height, for example, the second highest height among 108 bolt sleeves is 9mm), and the bolt sleeve with the lowest height (e.g., the lowest height is 1mm). Bolt sleeve combination two includes two bolt sleeves with the same height, the highest (e.g., both 10mm) and the lowest height (e.g., 1mm); bolt sleeve combination three includes three bolt sleeve combinations consisting of the highest bolt sleeve, one bolt sleeve with the lowest height (e.g., 1mm) and another bolt sleeve with the second lowest height (the second lowest height after the lowest bolt sleeve, e.g., 2mm); or three bolt sleeve combinations consisting of bolt sleeve combination one, bolt sleeve combination two and bolt sleeve combination four (i.e., including the highest bolt sleeve and two bolt sleeves with the lowest height).

[0059] In some embodiments, selecting at least two bolt sleeve combinations from the plurality of bolt sleeves based on the height data of the plurality of bolt sleeves includes: selecting four bolt sleeve combinations from the plurality of bolt sleeves based on the height data of the plurality of bolt sleeves, wherein the four bolt sleeve combinations include: a bolt sleeve combination consisting of a first bolt sleeve with the highest height, a second bolt sleeve with the lowest height, and a third bolt sleeve with the second highest height; a bolt sleeve combination consisting of a first bolt sleeve with the highest height, a second bolt sleeve with the lowest height, and a fourth bolt sleeve with the second lowest height; a bolt sleeve combination consisting of a first bolt sleeve with the highest height, a second bolt sleeve with the lowest height, and a fifth bolt sleeve with the same highest height; and a bolt sleeve combination consisting of a first bolt sleeve with the highest height, a second bolt sleeve with the lowest height, and a sixth bolt sleeve with the same lowest height.

[0060] For example, at least two bolt sleeve combinations are selected from the three-dimensional model. Each bolt sleeve combination includes a first bolt sleeve with the highest height and a second bolt sleeve with the lowest height. Since three points determine a plane, at least one bolt sleeve also needs to be selected. When there is no bolt sleeve with the same height as the first bolt sleeve, a bolt sleeve with the second highest height can be selected to form a third bolt sleeve with the second highest height. Thus, the bolt sleeve combination is formed by selecting the bolt sleeve with the highest height as the first bolt sleeve, the bolt sleeve with the lowest height as the second bolt sleeve, and the bolt sleeve combination with the second highest height as the third bolt sleeve. When there is no bolt sleeve with the same height as the second bolt sleeve, a bolt sleeve combination can be formed by selecting the bolt sleeve with the highest height as the first bolt sleeve, the bolt sleeve with the lowest height as the second bolt sleeve, and the bolt sleeve combination with the second lowest height as the fourth bolt sleeve. When there are two bolt sleeves with different positions but the same highest height, a bolt sleeve combination can be formed by selecting the bolt sleeve with the highest height as the first bolt sleeve, the bolt sleeve with the lowest height as the second bolt sleeve, and the bolt sleeve combination with the same highest height as the fifth bolt sleeve. Similarly, when there are two bolt sleeves with different positions but the same lowest height, a bolt sleeve combination can be formed by selecting the bolt sleeve with the highest height as the first bolt sleeve, the bolt sleeve with the lowest height as the second bolt sleeve, and the bolt sleeve combination with the same lowest height as the sixth bolt sleeve. Based on the above situations, four bolt sleeve combinations can be selected. The first, second, third, fourth, fifth, and sixth are used only to distinguish different bolt sleeves.

[0061] In step S14, based on the spatial coordinates of the bolt sleeves in each bolt sleeve assembly in the three-dimensional model of the leaf root, a limit plane is constructed for each bolt sleeve assembly.

[0062] A limiting plane is the plane with the largest inclination. This application utilizes the limit method and the theoretical basis of determining a plane using at least three points to select at least two bolt sleeve combinations from multiple bolt sleeves. Each bolt sleeve combination includes three bolt sleeves, two of which are the bolt sleeve with the highest height and the bolt with the lowest height, respectively. The third bolt sleeve can be the bolt sleeve with the same highest height (e.g., bolt sleeves with the same highest height in other locations), the bolt sleeve with the same lowest height (e.g., bolt sleeves with the same lowest height in other locations), or it can be the bolt sleeve with the second highest height or the bolt sleeve with the second lowest height (second only to the lowest height). After selecting at least two bolt sleeve combinations from multiple bolt sleeves, the spatial coordinates of the bolt sleeves in each combination can be determined in the leaf root 3D model. The limiting plane formed by each bolt sleeve combination is further constructed using the least squares method or the three-point plane method, resulting in at least two limiting planes. This application's embodiment utilizes the limit method, significantly reducing the workload and difficulty of data processing through range evaluation, which is more in line with the actual needs of industrial production.

[0063] The limit plane method processes less data, provides more representative data, and offers higher accuracy (the embodiments in this application only require measuring a small number of points to meet the requirements, while API equipment requires measuring a large number of points for processing, and is also affected by the sampling rules and quantity). Furthermore, the limit plane method, using offline data processing, is more adaptable to the factory environment. Compared to API equipment inspection, it does not require additional inspection time, shortening the product production cycle by approximately 2 hours per unit, which has a positive impact on production efficiency at the factory level.

[0064] This application embodiment uses the limit method to determine multiple limit planes with different poses. The limit planes can be quickly and accurately determined with less data, which can be used in subsequent steps to accurately determine the angle between them and the axis.

[0065] In step S15, the angle between each of the limiting planes and the axis is determined.

[0066] The at least two limiting planes determined by the above steps cannot be directly determined due to their different poses. Therefore, it is necessary to determine the angle between each limiting plane and the axis.

[0067] In some embodiments, obtaining the angle between each limiting plane and the axis based on the plurality of limiting planes and the three-dimensional model of the axis includes steps S151-S152.

[0068] In step S151, a three-dimensional model of each limit plane and axis is constructed based on the three-dimensional model of each limit plane and axis.

[0069] For example, based on the at least two limit planes obtained in the above steps, each limit plane is modeled in three dimensions with the axis three-dimensional model to construct a three-dimensional model of each limit plane and the axis. There are no specific restrictions on the choice of three-dimensional modeling software used here.

[0070] In step S152, the angle between each limit plane and the axis is obtained based on the three-dimensional model of each limit plane and the axis.

[0071] Specifically, the angle between each limiting plane and the leaf root axis can be directly measured using the built-in function of the 3D modeling software, or it can be calculated by referring to the following steps S1521-S1523.

[0072] The embodiments of this application utilize at least two limit planes and a three-dimensional model of the axis. The angle between each limit plane and the axis of the leaf root can be used in subsequent steps to accurately determine the angle between the end face of the actual leaf root and the axis of the leaf root.

[0073] In some embodiments, obtaining the angle between each limiting plane and the axis based on a three-dimensional model of each limiting plane and the axis includes steps S1521-S1523.

[0074] In step S1521, the normal vector of each of the limiting planes is obtained.

[0075] In step S1522, the first angle between the normal vector of each limiting plane and the axis is determined according to the vector dot product formula.

[0076] In step S1523, the angle between each of the limiting planes and the axis is obtained based on the difference between the right angle and the first included angle.

[0077] For example, in step S1521, given that each limit plane is known, vectors within the two planes can be constructed based on the position coordinates of the three numerical heights of the limit planes (obtained directly from the 3D model of the leaf root), and then the cross product (i.e., the normal vector) is calculated. In step S1522, after calculating the normal vector of each limit plane, the first angle between the normal vector of each limit plane and the axis can be determined according to the vector dot product formula. :

[0078] ,

[0079] in, Describes the normal vector of the limiting plane. This represents the direction vector of the axis. The direction vector of the axis is determined by the coordinates of any two points on the axis. For example, the coordinates of two points on the axis in three-dimensional coordinates are... and The direction vector of the axis can be determined as:

[0080] .

[0081] In step S1523, the angle (θ) between the plane and the axis refers to the complementary angle between the axis and the plane normal (i.e., 90° minus the angle between the normal and the axis): .

[0082] like Figure 3 This is an overall framework diagram of wind turbine blade inspection provided in this application embodiment. Step S31 involves encoding the bolt sleeve, which can be done before scanning the bolt sleeve or during the construction of the blade root 3D model. Step S32, determining the height of the bolt sleeve relative to the reference plane, can refer to step S11 and will not be repeated here. Step S33, the 3D modeling of the blade root, can refer to step S12 above and will not be repeated here. Step S34 can refer to step S13 above and will not be repeated here. Steps S35 and S36 can refer to step S15 above and will not be repeated here. Step S37 can refer to step S16 above and will not be repeated here.

[0083] According to the above method, the angle between each limiting plane and the axis can be quickly and accurately determined in the embodiments of this application, which can be used in subsequent steps to determine the angle after the actual assembly of the wind turbine blade.

[0084] In step S16, the target angle between the root axis of the wind turbine blade and the root end face is obtained based on the angles between at least two of the limiting planes and the axis.

[0085] In some embodiments, obtaining the target angle between the root axis of the wind turbine blade and the root end face based on the angles between at least two of the limiting planes and the axis includes: determining the angle with the smallest value among the angles between each of the limiting planes and the axis as the target angle between the root axis of the wind turbine blade and the root end face.

[0086] In this embodiment of the application, when the angle between each limiting plane and the axis is determined according to step S152 above, the tilting limiting plane cannot be accurately determined due to the different poses of each limiting plane. Therefore, it is necessary to further calculate the angle between each limiting plane and the axis, and utilize the theory that the limiting plane with the smallest angle between the limiting plane and the axis has the largest tilt, to determine the actual angle between the blade root axis and the blade root end face after installation (i.e., the target angle). For example, the smallest angle among the determined angles is 89.96° (i.e., the target angle). The obtained target angle is compared with the standard tolerance (e.g., 90±1°, set according to the actual needs of the product) to determine whether it meets the design requirements. If it meets the design requirements, the subsequent wind turbine blade assembly steps can proceed; if it does not meet the design requirements, the bolt sleeves on the blade root end face are ground or milled, and the above steps are repeated until the design requirements are met.

[0087] This application embodiment utilizes data from the flatness inspection process after blade end face grinding and 3D software to evaluate the angle between the blade axis and the end face. It does not require additional expensive equipment such as APIs, nor does it require separate inspection process time, thus shortening production time.

[0088] The wind turbine blade inspection method of this application constructs a three-dimensional model of the wind turbine blade root axis for subsequent steps to determine the angle between the model and the actual blade root end face. Based on the height of the bolt sleeves on the actual scanned blade root end face relative to a reference plane, the pitch circle dimension of the blade root end face, and the reference plane, a three-dimensional model of the blade root including the ground bolt sleeves is constructed. Based on the height data of multiple bolt sleeves, at least two bolt sleeve combinations are selected from the multiple bolt sleeves. Based on the spatial coordinates in the three-dimensional model of the blade root of each bolt sleeve combination, a limit plane is constructed for each bolt sleeve combination. According to the limit method, the most inclined limit plane must be one of at least two limit planes. This limit plane will be the actual inclined end face when the blade root is installed with the flange, and the angle between this actual inclined end face and the blade root axis is the minimum angle between the actual blade root end face and the blade root axis. Using the method of this application, the angle between the actual installed blade root end face and the blade root axis can be accurately determined, improving the accuracy of determining the angle between the blade root end face and the blade root axis of the wind turbine blade. Furthermore, the data for establishing the three-dimensional model of the leaf root obtained in this application is acquired incidentally during the end face flatness inspection process, thus eliminating the need for a separate process to acquire the corresponding data, thereby improving production efficiency.

[0089] Figure 4A schematic diagram of the structure of a wind turbine blade inspection device according to another embodiment of this application is shown. The wind turbine blade inspection device 40 includes: a construction module 401 for constructing a three-dimensional model of the axis of the wind turbine blade root; a first acquisition module 402 for sequentially scanning a plurality of bolt sleeves on the blade root using a plane parallel to a cross-section along the diameter direction of the blade root as a reference plane to obtain height data of the plurality of bolt sleeves relative to the reference plane; a second acquisition module 403 for constructing a three-dimensional model of the blade root including the bolt sleeves based on the end face pitch circle size of the blade root, the height data of the bolt sleeves relative to the reference plane, and the reference plane; and a third acquisition module 404 for selecting at least two bolt sleeve combinations from the plurality of bolt sleeves based on the height data of the plurality of bolt sleeves, wherein each bolt... Each set of bolt sleeves includes three bolt sleeves, two of which are the tallest and shortest bolt sleeves, and the other is either the tallest, shortest, second tallest, or second shortest bolt sleeve. A first construction module 405 is used to construct a limit plane formed by each bolt sleeve set based on the spatial coordinates of the bolt sleeves in the blade root 3D model. A first determination module 406 is used to determine the angle between each limit plane and the axis. A second determination module 407 is used to obtain the target angle between the wind turbine blade root axis and the blade root end face based on the angles between at least two limit planes and the axis.

[0090] Optionally, the construction module 401 is used to construct a three-dimensional model of the axis of the wind turbine blade root, including: constructing a three-dimensional model of the axis of the blade root based on the normal of the center point of any one of the end face pitch circle, theoretical inner circle or theoretical outer circle of the blade root.

[0091] Optionally, the third acquisition module 404 is used to select at least two bolt sleeve combinations from the plurality of bolt sleeves based on the height data of the plurality of bolt sleeves, including: selecting four bolt sleeve combinations from the plurality of bolt sleeves based on the height data of the plurality of bolt sleeves, the four bolt sleeve combinations including: a bolt sleeve combination consisting of the first bolt sleeve with the highest height, the second bolt sleeve with the lowest height, and the third bolt sleeve with the second highest height; a bolt sleeve combination consisting of the first bolt sleeve with the highest height, the second bolt sleeve with the lowest height, and the fourth bolt sleeve with the second lowest height; a bolt sleeve combination consisting of the first bolt sleeve with the highest height, the second bolt sleeve with the lowest height, and the fifth bolt sleeve with the same highest height; and a bolt sleeve combination consisting of the first bolt sleeve with the highest height, the second bolt sleeve with the lowest height, and the sixth bolt sleeve with the same lowest height.

[0092] Optionally, the first determining module 406 is used to determine the angle between each of the limiting planes and the axis, including: constructing a three-dimensional model of each limiting plane and the axis based on the three-dimensional model of each limiting plane and the axis; and obtaining the angle between each limiting plane and the axis based on the three-dimensional model of each limiting plane and the axis.

[0093] Optionally, obtaining the angle between each limit plane and the axis based on the three-dimensional model of each limit plane and the axis includes: obtaining the normal vector of each limit plane; determining the first angle between the normal vector of each limit plane and the axis according to the vector dot product formula; and obtaining the angle between each limit plane and the axis according to the difference between the right angle and the first angle.

[0094] Optionally, obtaining the target angle between the root axis of the wind turbine blade and the root end face based on the angles between at least two of the limiting planes and the axis respectively includes: determining the angle with the smallest value among the angles between each of the limiting planes and the axis as the target angle between the root axis of the wind turbine blade and the root end face.

[0095] Optionally, the method for determining the reference plane further includes: positioning the laser emitting device and the laser receiving device parallel to the blade root and at the same height; rotating the laser emitting device or the laser receiving device around the circumference of the blade root, and determining the surface formed by the path line during the rotation as the reference plane; wherein the laser emitting device and the laser receiving device are used to scan the height of the bolt sleeve relative to the reference plane.

[0096] The implementation principle and technical effects of the wind turbine blade testing device provided in this application embodiment are the same as those of the wind turbine blade testing method described above, and will not be repeated here.

[0097] Figure 5 A schematic diagram of the hardware structure of the electronic device provided in an embodiment of this application is shown.

[0098] An electronic device may include a processor 301 and a memory 302 storing computer program instructions.

[0099] Specifically, the processor 301 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0100] Memory 302 may include mass storage for data or instructions. For example, and not limitingly, memory 302 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 302 may include removable or non-removable (or fixed) media. Where appropriate, memory 302 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 302 is non-volatile solid-state memory.

[0101] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the methods according to one aspect of this disclosure.

[0102] The processor 301 reads and executes computer program instructions stored in the memory 302 to implement any of the wind turbine blade detection methods in the above embodiments.

[0103] In one example, the electronic device may also include a communication interface 303 and a bus 310. For example, Figure 5 As shown, the processor 301, memory 302, and communication interface 303 are connected through bus 310 and complete communication with each other.

[0104] The communication interface 303 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0105] Bus 310 includes hardware, software, or both, that couples components of an online data traffic metering device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 310 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0106] This electronic device can execute the online data traffic billing method described in this application embodiment based on currently blocked spam SMS messages and SMS messages reported by users, thereby achieving a combination of... Figure 1 Methods for testing wind turbine blades.

[0107] Furthermore, in conjunction with the wind turbine blade detection methods described in the above embodiments, this application embodiment can provide a computer storage medium for implementation. This computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the wind turbine blade detection methods described in the above embodiments.

[0108] This application also provides a computer program product, including a computer program that, when executed, implements any of the wind turbine blade detection methods described in the above embodiments.

[0109] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0110] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0111] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0112] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0113] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A method for detecting wind turbine blades, characterized in that, include: Construct a three-dimensional model of the axis of the wind turbine blade root; Using a plane parallel to the cross-section along the diameter direction of the blade root as a reference plane, the multiple bolt sleeves on the blade root are scanned sequentially to obtain the height data of the multiple bolt sleeves relative to the reference plane. Based on the end face pitch circle dimension of the blade root, the height data of the multiple bolt sleeves relative to the reference plane, and the reference plane, a three-dimensional model of the blade root including the bolt sleeves is constructed. Based on the height data of the multiple bolt sleeves, at least two bolt sleeve combinations are selected from the multiple bolt sleeves. Each bolt sleeve combination includes three bolt sleeves, and two of the three bolt sleeves are the bolt sleeve with the highest height and the bolt sleeve with the lowest height, respectively, and the other is the bolt sleeve that satisfies the condition of being closest in height to the bolt sleeve with the highest height or the bolt sleeve with the lowest height. Based on the spatial coordinates of the bolt sleeves in each bolt sleeve assembly in the three-dimensional model of the leaf root, a limit plane is constructed for each bolt sleeve assembly. Determine the angle between each of the limiting planes and the axis; The target angle between the root axis of the wind turbine blade and the root end face is obtained based on the angles between at least two of the limiting planes and the axis.

2. The method according to claim 1, characterized in that, Construct a 3D model of the axis of the wind turbine blade root, including: A three-dimensional model of the leaf root's axis is constructed based on the normal to the center point of any one of the end face pitch circle, theoretical inner circle, or theoretical outer circle of the leaf root.

3. The method according to claim 1, characterized in that, The step of selecting at least two bolt sleeve combinations from the plurality of bolt sleeves based on the height data of the plurality of bolt sleeves includes: Based on the height data of the plurality of bolt sleeves, four bolt sleeve combinations are selected from the plurality of bolt sleeves, the four bolt sleeve combinations comprising: The bolt sleeve combination consists of the tallest bolt sleeve (first bolt sleeve), the shortest bolt sleeve (second bolt sleeve), and the second tallest bolt sleeve (third bolt sleeve); The bolt sleeve combination consists of the first bolt sleeve with the highest height, the second bolt sleeve with the lowest height, and the fourth bolt sleeve with the second lowest height. The bolt sleeve combination consists of the tallest bolt sleeve (first bolt sleeve), the shortest bolt sleeve (second bolt sleeve), and the tallest bolt sleeve (fifth bolt sleeve); The bolt sleeve combination consists of the tallest bolt sleeve (first bolt sleeve), the shortest bolt sleeve (second bolt sleeve), and the shortest bolt sleeve (sixth bolt sleeve).

4. The method according to any one of claims 1-3, characterized in that, Determining the angle between each of the limiting planes and the axis includes: Construct a three-dimensional model of each of the limiting planes and the axis based on the three-dimensional model of each of the limiting planes and the axis; Based on the three-dimensional model of each limiting plane and the axis, the included angle between each limiting plane and the axis is obtained.

5. The method according to claim 4, characterized in that, The step of obtaining the angle between each limiting plane and the axis based on the three-dimensional model of each limiting plane and the axis includes: Obtain the normal vector of each of the limiting planes; The first angle between the normal vector of each limiting plane and the axis is determined according to the vector dot product formula; The angle between each of the limiting planes and the axis is obtained based on the difference between the right angle and the first included angle.

6. The method according to claim 5, characterized in that, The step of obtaining the target angle between the wind turbine blade root axis and the blade root end face based on the angles between at least two of the limiting planes and the axis includes: The angle with the smallest value among the angles between each of the limiting planes and the axis is determined as the target angle between the root axis of the wind turbine blade and the root end face.

7. The method according to claim 1, characterized in that, The method for determining the reference plane further includes: The laser emitting device and the laser receiving device are parallel to the leaf root and located at the same height; The laser emitting device or the laser receiving device is rotated around the circumference of the leaf root, and the surface formed by the path line during the rotation is defined as the reference surface; wherein, the laser emitting device and the laser receiving device are used to scan the height of the bolt sleeve relative to the reference surface.

8. A wind turbine blade testing device, characterized in that, The device includes: The building block is used to construct a 3D model of the axis of the wind turbine blade root: The first acquisition module is used to take a plane parallel to the cross-section along the diameter direction of the blade root as a reference plane, and scan multiple bolt sleeves on the blade root in sequence to obtain the height data of the multiple bolt sleeves relative to the reference plane. The second acquisition module is used to construct a three-dimensional model of the blade root containing the bolt sleeve based on the end face pitch circle size of the blade root, the height data of the bolt sleeve relative to the reference surface and the reference surface. The third acquisition module is used to select at least two bolt sleeve combinations from the multiple bolt sleeves based on the height data of the multiple bolt sleeves. Each bolt sleeve combination includes three bolt sleeves, and two of the three bolt sleeves are the bolt sleeve with the highest height and the bolt sleeve with the lowest height, respectively, and the other is the bolt sleeve that satisfies the condition of being closest in height to the bolt sleeve with the highest height or the bolt sleeve with the lowest height. The first construction module is used to construct the limit plane formed by each bolt sleeve assembly based on the spatial coordinates of the bolt sleeve in the leaf root three-dimensional model. The first determining module is used to determine the angle between each of the limiting planes and the axis; The second determining module is used to obtain the target angle between the root axis of the wind turbine blade and the root end face based on the angles between at least two of the limiting planes and the axis.

9. An electronic device, characterized in that, The device includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements the wind turbine blade detection method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions, which, when executed by a processor, implement the wind turbine blade detection method as described in any one of claims 1-7.

11. A computer program product, characterized in that, When the instructions in the computer program product are executed by the processor of the electronic device, the electronic device performs the wind turbine blade detection method as described in any one of claims 1-7.

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