Calibration system for fan and control method

Abstract

The invention relates to the technical field of wind power generation, in particular to a calibration system for a fan and a control method, and the control method comprises the following steps: measuring at least three beams of first laser to obtain a distance measurement value between a fan hub and the calibration system for the fan, and adjusting the posture of a laser emission mechanism according to the distance measurement value; and in the state, the second laser emitted by the laser emitting mechanism is perpendicular to the plane where the fan hub is located, and the wind indicator is installed or adjusted according to the routing position of the second laser on the plane where the fan cabin is located. The positioning line position of the wind indicator coincides with the routing position of the second laser on the plane where the fan cabin is located, automatic zero calibration of the fan and the wind indicator is achieved, dependence on manpower is reduced, the calibration error is small, and reduction of the power generation loss of the fan is facilitated; meanwhile, at least three beams of first laser are adopted for distance measurement, and the calibration precision and the anti-stability are improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of wind power generation, and in particular to a calibration system and control method for a wind turbine. Background Art

[0002] Controlling wind turbine wind accuracy relies on zero calibration and northing accuracy between the wind vane and the turbine. During on-site installation, wind vanes are typically calibrated visually or using laser ranging. Successful zero alignment is achieved when the vane's positioning line is aligned parallel to the turbine hub's centerline.

[0003] However, visual inspection suffers from significant errors and cannot meet the wind vane zero calibration requirement of less than ±2°. Initial calibration using the laser ranging method requires a technician to visually observe the alignment of the laser line with the positioning line. This is time-consuming, and accuracy relies on the technician's experience. Visual interpretation can lead to visual errors, making dynamic calibration difficult. Furthermore, these large errors can lead to significant errors in the wind turbine's wind direction accuracy, severely impacting the turbine's power curve and resulting in significant power loss. Summary of the Invention

[0004] In order to solve the above technical problems, the present disclosure provides a calibration system and control method for a wind turbine.

[0005] In one aspect, the present disclosure provides a control method for a wind turbine calibration system, wherein the wind turbine calibration system includes a mounting mechanism, a controller, a transmission mechanism, and a laser emitting mechanism, wherein a housing of the controller is fixedly connected to the mounting mechanism, and the laser emitting mechanism is connected to the housing via the transmission mechanism. The mounting mechanism is used to fix the wind turbine calibration system to an installation position outside the wind turbine nacelle, and a light emitting surface of the laser emitting mechanism faces the wind turbine hub.

[0006] The control method includes:

[0007] In response to a start-up operation, adjusting the transmission mechanism to adjust the posture of the laser emitting mechanism to an absolute level;

[0008] Controlling the laser emitting mechanism to emit at least three first laser beams, and calculating a distance measurement value corresponding to each first laser beam;

[0009] Based on the distance measurement value, the posture of the laser emitting mechanism is adjusted until the plane where the fan hub is located is parallel to a preset virtual reference plane, thereby locking the transmission mechanism;

[0010] The laser emitting mechanism is controlled to emit a second laser in a direction perpendicular to the virtual reference plane, and a line position where the second laser is struck on the plane where the wind turbine nacelle is located is determined to be the positioning line position of the wind vane.

[0011] On the other hand, the present disclosure further provides a wind turbine calibration system, comprising: a mounting mechanism, a controller, a transmission mechanism, and a laser emitting mechanism; the housing of the controller is fixedly connected to the mounting mechanism, the laser emitting mechanism is connected to the housing via the transmission mechanism, the mounting mechanism is used to fix the wind turbine calibration system to a mounting point located outside the wind turbine nacelle, and the light emitting surface of the laser emitting mechanism faces the wind turbine hub;

[0012] The controller is used to adjust the transmission mechanism in response to a startup operation, and adjust the posture of the laser emitting mechanism to an absolute level; control the laser emitting mechanism to emit at least three first laser beams, and calculate the ranging values ​​corresponding to the three first laser beams, and determine the plane where the wind turbine hub is located based on the ranging values; adjust the posture of the laser emitting mechanism until the plane where the wind turbine hub is located is parallel to a preset virtual reference plane, and lock the transmission mechanism; control the laser emitting mechanism to emit a second laser in a direction perpendicular to the virtual reference plane, and determine that the line position of the second laser on the plane where the wind turbine nacelle is located is the positioning line position of the wind vane.

[0013] The technical solution provided by the present disclosure has the following advantages compared with the existing technology:

[0014] The present disclosure provides a calibration system and control method for a wind turbine. The calibration system for a wind turbine includes a mounting mechanism, a controller, a transmission mechanism and a laser emitting mechanism. The housing of the controller is fixedly connected to the mounting mechanism, and the laser emitting mechanism is connected to the controller through the transmission mechanism. The mounting mechanism is used to fix the calibration system for the wind turbine at an installation position outside the wind turbine nacelle, and the light-emitting surface of the laser emitting mechanism faces the wind turbine hub. The control method includes: in response to a start-up operation, adjusting the transmission mechanism to adjust the posture of the laser emitting mechanism to an absolute level; controlling the laser emitting mechanism to emit at least three beams of first laser light, and calculating the ranging value corresponding to each beam of first laser light; based on the ranging value, adjusting the posture of the laser emitting mechanism until the plane where the wind turbine hub is located is parallel to a preset virtual reference plane, and locking the transmission mechanism; controlling the laser emitting mechanism to emit a second laser light in a direction perpendicular to the virtual reference plane, and determining that the line position of the second laser light in the plane where the wind turbine nacelle is located is the positioning line position of the wind vane. Thus, at least three beams of the first laser are used for measurement to obtain the distance measurement value between the wind turbine hub and the calibration system for the wind turbine, and the posture of the laser emitting mechanism is adjusted based on the distance measurement value until the plane where the wind turbine hub is located is parallel to the preset virtual reference plane. In this state, the second laser emitted by the laser emitting mechanism is perpendicular to the plane where the wind turbine hub is located. The wind vane is installed or adjusted according to the line position of the second laser on the plane where the wind turbine cabin is located, so that the positioning line position of the wind vane coincides with the line position of the second laser on the plane where the wind turbine cabin is located, thereby realizing automatic zero calibration of the wind turbine and the wind vane, reducing dependence on manual labor, and having a smaller calibration error, which is beneficial to reducing the loss of wind turbine power generation; at the same time, at least three beams of the first laser are used for distance measurement, which improves calibration accuracy and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0016] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] Figure 1 A schematic diagram of the three-dimensional structure of a calibration system for a wind turbine provided in an embodiment of the present disclosure;

[0018] Figure 2 for Figure 1 The schematic diagram of the front view of the calibration system for the fan shown;

[0019] Figure 3 for Figure 1A schematic side view of the structure of the calibration system for the fan shown;

[0020] Figure 4 for Figure 1 The schematic diagram of the top view of the calibration system for the fan shown;

[0021] Figure 5 A flow chart of a control method for a calibration system for a wind turbine provided in an embodiment of the present disclosure;

[0022] Figure 6 A schematic diagram of the principle of determining whether the plane where the wind turbine hub is located is parallel to the virtual reference plane in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0023] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features therein can be combined with each other in the absence of conflict.

[0024] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0025] The disclosed embodiments provide a wind turbine calibration system and control method. The control method is executed by the system's controller and is used to perform zero calibration and north-finding between the wind turbine and the wind vane. The wind turbine calibration system and control method are suitable for large-scale offshore and onshore wind farms, particularly in areas with high turbulence and dust.

[0026] like Figure 1-4 As shown, the wind turbine calibration system 100 includes: a mounting mechanism 10 , a controller 20 , a transmission mechanism 30 and a laser emitting mechanism 40 .

[0027] The controller 20 includes a microcontroller unit (MCU), which is in communication with the drive device of the transmission mechanism 30 and the laser emitting mechanism 40. The controller 20 also includes a housing 21, in which the laser beam generator is built.

[0028] The laser emitting mechanism 40 is connected to the housing 21 of the controller 20 through the transmission mechanism 30. The single chip microcomputer controls the driving device of the transmission mechanism 30 to drive the transmission mechanism 30 to adjust the attitude parameters of the laser emitting mechanism 40. The attitude parameters include at least roll angle, pitch angle and yaw angle. The laser emitting mechanism 40 is used to emit a ranging laser (i.e., a first laser) and a positioning laser (i.e., a second laser). The wind turbine calibration system 100 also includes a gyroscope, which is used to obtain the attitude parameters of the laser emitting mechanism 40. Exemplarily, the gyroscope is set on the side surface of the laser emitting mechanism 40 away from the transmission mechanism 30. When the roll angle, pitch angle and yaw angle of the laser emitting mechanism 40 are all equal to 0°, the laser emitting mechanism 40 is in an absolutely horizontal state.

[0029] In some embodiments, as Figure 1-4 As shown, the transmission mechanism 30 includes a universal joint structure 31, a slide 33, and a bolt handle 32. The slide 33 is located on the side of the universal joint structure 31 facing the controller 20, and the laser emitting mechanism 40 is located on the side of the universal joint structure 31 facing away from the slide 33. The bolt handle 32 is tightened at the connection of the universal joint structure 31. The universal joint structure 31 can adjust the roll angle, pitch angle, and yaw angle of the laser emitting mechanism 40. The housing 21 is provided with a slide groove 22, which extends from the wind turbine calibration system 100 to the wind turbine hub. The slide 33 is located in the slide groove 22 and slides along the slide groove 22 to adjust the front-to-back distance of the laser emitting mechanism 40.

[0030] The housing 21 is fixedly connected to the mounting mechanism 10, which is used to fix the wind turbine calibration system 100 to a mounting position outside the wind turbine nacelle so that the light-emitting surface of the laser emitting mechanism 40 faces the wind turbine hub (or wind turbine unit). For example, Figure 1 As shown, the mounting mechanism 10 includes two mechanical clips 11 arranged in parallel, and at least one through hole is provided on the mechanical clip 11 along the arrangement direction of the two mechanical clips 11; a fixing mechanism matching the mechanical clip is provided at the installation position outside the wind turbine cabin, and the fixing mechanism is strip-shaped, and the mechanical clip 11 is clamped and fixed to the fixed structure by bolts.

[0031] There is a red reference line on the wind turbine nacelle, which is parallel to the central axis of the nacelle. The installation position of the wind turbine calibration system and the installation position of the wind vane are both located on the red reference line. In theory, the line connecting the installation position of the wind turbine calibration system and the installation position of the wind vane is perpendicular to the wind turbine hub. However, in reality, due to installation errors, the line connecting the installation position of the wind turbine calibration system and the installation position of the wind vane is not perpendicular to the wind turbine hub, so it is necessary to perform zero calibration of the wind turbine and the wind vane.

[0032] The controller 20 is used to adjust the transmission mechanism 30 in response to the start-up operation, adjust the posture of the laser emitting mechanism 40 to an absolutely horizontal state; control the laser emitting mechanism 40 to emit at least three first laser beams, and calculate the distance measurement values ​​corresponding to the three first laser beams, and determine the plane where the wind turbine hub is located based on the distance measurement values; adjust the posture of the laser emitting mechanism 40 until the plane where the wind turbine hub is located is parallel to the preset virtual reference plane, and lock the transmission mechanism 30; control the laser emitting mechanism 40 to emit a second laser in a direction perpendicular to the virtual reference plane, and determine the line position of the second laser in the plane where the wind turbine cabin is located, which is the positioning line position of the wind vane. The controller 20 is the core of the wind turbine calibration system 100 and is used to execute the steps of the control method of the wind turbine calibration system. The specific steps of the control method are not explained here. Please refer to the embodiment of the control method below for details. The second laser is a line laser with a large line distribution range.

[0033] The wind turbine calibration system provided by the embodiment of the present disclosure uses at least three first laser beams for measurement to obtain the distance measurement value between the wind turbine hub and the wind turbine calibration system, and adjusts the posture of the laser emitting mechanism based on the distance measurement value until the plane where the wind turbine hub is located is parallel to the preset virtual reference plane. In this state, the second laser emitted by the laser emitting mechanism is perpendicular to the plane where the wind turbine hub is located. The wind vane is installed or adjusted according to the line position of the second laser on the plane where the wind turbine cabin is located, so that the positioning line position of the wind vane coincides with the line position of the second laser on the plane where the wind turbine cabin is located, thereby realizing automatic zero calibration of the wind turbine and the wind vane, reducing dependence on manual labor, and having a small calibration error, which is beneficial to reducing the loss of wind turbine power generation; at the same time, at least three first laser beams are used for ranging, which improves calibration accuracy and stability.

[0034] In some embodiments, as Figure 1-4 As shown, the laser emitting mechanism 40 includes at least three first laser parts 41, and the connecting line figure of the positions of the at least three first laser parts 41 is a polygon; the at least three first laser parts 41 are controlled by the controller 20, and are used to emit the first laser at a preset emission angle; the emission angle of each beam of the first laser is different; the controller 20 is also used to correct the ranging value based on the emission angle of each beam of the first laser and the distance between the first laser part and the virtual focus; the virtual focus is determined based on the intersection of the first laser extended in the reverse direction from the light emitting surface of the first laser part.

[0035] The distance between the first laser unit and the virtual focus is pre-set by the designer. According to the structural parameters of the laser emitting mechanism 40, using the simulation model, at least three first laser beams are extended in the reverse direction from the light-emitting surface of the first laser unit 41. The intersection of the reverse extension lines is the position of the virtual focus. The distance between the first laser unit and the virtual focus is determined to be equal to the vertical distance from the virtual focus to the light-emitting surface of the first laser unit (e.g. Figure 6Based on the emission angle of each first laser beam and the distance between the first laser portion and the virtual focus, the cosine formula is used to calculate the length of the first laser's reverse extension line. The actual distance measurement value is added to the length of the first laser's reverse extension line to obtain the corrected distance measurement value.

[0036] For example, Figure 1-4 As shown, the housing of the laser emitting mechanism 40 is provided with an arc-shaped opening, and the first laser unit and the second laser unit are arranged in the housing. The emitted first laser and the second laser pass through the arc-shaped opening. This arrangement has a high adaptability and can meet the requirements of various types of lasers.

[0037] In some embodiments, the laser emitting mechanism 40 further includes a second laser unit configured to emit a second laser.

[0038] The light emitting direction of the second laser is perpendicular to the virtual reference plane. This embodiment does not limit the position of the second laser unit, which is located inside, outside or on the side line of the polygon formed by the connection of at least three first laser units.

[0039] For example, Figure 6 As shown, the second laser portion is located inside the polygon, the light emitting direction of the second laser is OG, and OG is perpendicular to the virtual reference plane S0.

[0040] In some embodiments, the laser emitting mechanism 40 includes three first laser units 41, the connecting line figure of the positions of the three first laser units 41 is an equilateral triangle, the second laser unit is located at the centroid position (or center position) of the polygon, and when the plane where the wind turbine hub is located is parallel to the preset virtual reference plane, the second laser emitted by the second laser unit is perpendicular to the virtual reference plane.

[0041] In some embodiments, as Figure 6 As shown, the virtual reference plane S0 includes at least three reference points, and the number of the reference points is equal to the number of the first lasers; the controller is also used to calculate the ratio of each corrected distance measurement value to the corresponding reference distance; the reference distance is the distance from the reference point to the virtual focus; the difference between each ratio is calculated; based on the difference being less than or equal to a preset difference threshold, it is determined that the plane where the wind turbine hub is located is parallel to the virtual reference plane.

[0042] In this embodiment, the preset difference threshold is an error range acceptable to those skilled in the art. For example, the preset difference threshold is equal to 0.

[0043] For example, Figure 1-4 As shown, the laser emitting mechanism 40 includes three first laser units 41 and one second laser unit. The line graph of the positions of the three first laser units 41 is a triangle, and the second laser unit is located inside the triangle. Figure 6The three first laser units 41 are controlled by the controller 20 and are configured to emit first laser beams at preset emission angles. The emission angles include ∠α and ∠β. ∠α is the ranging opening and closing angle, which is the angle between the first laser beam da or fc and the midline between them. ∠β is the ranging elevation angle, which is the angle between the first laser beam eb and the aforementioned midline. The controller 20 is further configured to calculate the lengths od, oe, and of the reverse extensions of the first laser beams based on the emission angles of each first laser beam and the distance between the first laser unit and the virtual focus using the cosine formula, and to correct the ranging values ​​da, eb, and fc. The corrected ranging values ​​are oa, ob, and oc. The controller 20 is also used to calculate the ratio k1 of oa and oa', the ratio k2 of ob and ob', and the ratio k3 of oc and oc', and calculate the difference Δk between each ratio k1, k2 and k3; the virtual reference plane S0 and the plane S1 where the wind turbine hub is located are both triangles, and the lines connecting the two and the virtual focus o are both triangular pyramids. According to the similarity principle, when the difference Δk is less than or equal to the preset difference threshold, it is determined that the plane S1 where the wind turbine hub is located is parallel to the virtual reference plane S0, and the second laser is a perpendicular line to the bottom of the triangular pyramid, perpendicular to the plane S1 where the wind turbine hub is located and the virtual reference plane S0.

[0044] In some embodiments, the calibration system for the wind turbine also includes: an image acquisition and recognition module, which is located on the side of the laser emitting mechanism away from the transmission mechanism, and the image acquisition and recognition module is used to obtain first image information; the controller is also used to determine the distance value between the wind turbine hub and the calibration system for the wind turbine based on the first image information, and based on the distance value, perform error compensation on the distance measurement value.

[0045] In this embodiment, the image acquisition and recognition module acquires first image information, which includes at least a photograph or video of the wind turbine hub. Compared to the human eye, the image acquisition and recognition module has a wider visible light wavelength range, enabling real-time monitoring of the first laser's measurement path. Data from laser ranging and image ranging are fused, and errors are analyzed using both ranging methods. Each measurement data is stored and learned through an analytical model. Error cancellation parameters are introduced to further reduce errors, and pixel ranging analysis is used to compensate for laser ranging errors.

[0046] In some embodiments, the controller is further used to optimize the emission angle of the first laser in real time based on the first image information, input the laser ranging algorithm with the minimum error angle, and minimize the interference caused by device shaking and environmental wind.

[0047] In some embodiments, the controller is further configured to determine a pixel length of the fan hub based on the first image information; and determine a distance value between the fan hub and a calibration system for the fan based on the pixel length.

[0048] In some embodiments, as Figure 1-4 As shown, the wind turbine calibration system 100 also includes: an auxiliary positioning laser unit 50, which is located on the side of the laser emitting mechanism 40 away from the transmission mechanism 30, and the auxiliary positioning laser unit 50 can rotate 360° along its own axis, and the axis of the auxiliary positioning laser unit 50 is perpendicular to the plane where the laser emitting mechanism 40 is located.

[0049] The auxiliary positioning laser unit 50 is controlled by the controller 20 and is used to emit a third laser toward the location of the anemometer.

[0050] The image acquisition and recognition module is further used to obtain second image information, which at least includes a photo or video of the anemometer.

[0051] The controller is further configured to determine a first angle between the anemometer's positioning line and the third laser beam based on the second image information, and to adjust the rotation angle of the auxiliary positioning laser unit 50 until the first angle is less than or equal to a first angle threshold; the first angle threshold is less than or equal to an error angle acceptable to those skilled in the art. For example, when the first angle threshold is 0°, i.e., the first angle is 0°, the anemometer's positioning line coincides with the position of the third laser beam.

[0052] The image acquisition and recognition module is further used to obtain third image information; the third image information at least includes photos or videos of the anemometer and wind vane.

[0053] The controller is further configured to determine a second angle between the third laser and the second laser based on the third image information.

[0054] In this embodiment, the second angle is the angle between the positioning line of the anemometer and the positioning line of the wind vane. The direction of the positioning line of the anemometer is parallel to the actual direction of the wind. The current direction of the wind turbine head can be adjusted according to the second angle so that the wind turbine head is in a windward state, which is beneficial to improving the power generation efficiency of the wind turbine.

[0055] In some embodiments, the auxiliary positioning laser unit includes a high-precision servo motor-driven 360° rotating laser anemometer positioning mechanism with no blind spots, equipped with an IP67-rated industrial-grade laser transmitter (wavelength 635nm, output power <5mW). The auxiliary positioning laser unit is linked to the controller via a serial bus, achieving a positioning accuracy of ±0.5°. Combined with a machine vision-based dynamic compensation algorithm, it effectively overcomes the azimuth hysteresis problem of traditional mechanical wind vanes.

[0056] In some embodiments, the controller obtains data from the image acquisition and recognition module through Modbus and I2C protocols, and the controller analyzes the data in real time to automatically adjust the marking angle of the third laser and perform PID closed-loop control.

[0057] In some embodiments, the image acquisition and recognition module includes an industrial-grade complementary metal oxide semiconductor (CMOS) image sensor and an edge computing unit. The CMOS image sensor has a resolution of 1280×1024 and a sampling rate of 60fps. A dedicated image processing algorithm developed using the YOLOV6 architecture can analyze laser positioning angles in real time. The wind turbine calibration system also includes a deep learning-based pattern recognition model that can automatically identify abnormal operating conditions such as anemometer bracket deformation and icing, and achieve pixel-level angle analysis through feature matching technology, with a theoretical accuracy of 0.1°.

[0058] In some embodiments, the wind turbine calibration system further includes a host computer, which is communicatively connected to the controller and is located at a user end. A user remotely operates the wind turbine calibration system via the host computer. The user performs control operations via the host computer, and the host computer sends control instructions to the controller in response to the user's control operations.

[0059] In some embodiments, the blower calibration system further includes a voice guidance module, which is electrically connected to the controller.

[0060] In this embodiment, the voice guidance module is controlled by the controller. Each time the controller executes an operation procedure, the voice guidance module provides simultaneous voice prompts. For users unfamiliar with the wind turbine calibration system, the voice guidance module provides real-time information on the current process and determines whether the operation meets the requirements. It also provides real-time notification of manual adjustments and the current operating status of the wind turbine calibration system. The voice guidance module also informs the user of completion status, reminding the user that wind vane calibration is complete and the next step can be carried out.

[0061] For example, after the controller determines the first angle, the voice guidance module broadcasts the first angle, and the user can make appropriate adjustments based on the voice broadcast until the anemometer is positioned to the position with the smallest error, thereby reducing the mismatch between wind speed and power, wind speed collection deviation, and affecting the output of the wind turbine.

[0062] The embodiment of the present application does not limit the type and setting location of the voice guidance module, and can be flexibly set according to needs. For example, the voice guidance module is set inside the housing of the controller.

[0063] In some embodiments, the controller is also used to obtain fourth image information through the image acquisition and recognition module, and based on the fourth image, determine the third angle between the second laser and the wind vane positioning line; based on the comparison result of the third angle and the second angle threshold, control the voice guidance module to broadcast the corresponding prompt content.

[0064] In this embodiment, which is applicable to situations where the wind vane is not installed for the first time, the image acquisition and recognition module is also used to obtain fourth image information, and the controller is also used to identify the fourth image information, determine the third angle between the second laser and the wind vane positioning line, and compare the third angle with the second angle threshold. When the third angle is less than or equal to the second angle threshold, the error between the line position of the second laser and the wind vane positioning line meets the calibration error requirement, and the control voice guidance module announces "the wind turbine and wind vane are zeroed". When the third angle is greater than the second angle threshold, it indicates that the zero calibration deviation of the wind turbine and the wind vane is large, and the control voice prompt module announces "the position of the wind vane is offset". Exemplarily, the second angle threshold is less than or equal to 2°.

[0065] The greater the degree to which the third angle exceeds the second angle threshold, the more serious the deviation of the wind vane position. For example, when the third angle is not greater than the second angle threshold, that is, the third angle is less than or equal to the second angle threshold, the control voice guidance module announces "the position of the wind vane has not deviated"; when the degree to which the third angle exceeds the second angle threshold is between 0° and 2°, the control voice guidance module announces "the position of the wind vane has slightly deviated"; when the degree to which the third angle exceeds the second angle threshold is between 2° and 10°, the control voice guidance module announces "the position of the wind vane has moderately deviated"; and when the degree to which the third angle exceeds the second angle threshold is more than 10°, the control voice guidance module announces "the position of the wind vane has been seriously misaligned."

[0066] In some embodiments, the controller is also used to control the voice guidance module to broadcast the corresponding prompt content based on the comparison result of the third angle and the second angle threshold, including: determining the position offset level based on the degree to which the third angle is greater than the second angle threshold; and controlling the voice guidance module to broadcast the corresponding prompt content based on the position offset level.

[0067] In this embodiment, the wind turbine calibration system establishes a dynamic error model based on standards. When it detects that the third angle exceeds the second angle threshold, it automatically triggers a graded voice prompt to assist operators in achieving precise fine-tuning. Specifically, the controller is further configured to classify position deviation levels based on the degree to which the third angle exceeds the second angle threshold. Based on the position deviation level, the voice guidance module then outputs the corresponding prompt.

[0068] Exemplarily, the voice prompt levels include: "no offset", "slight offset", "moderate offset" and "severe imbalance". When the third angle is not greater than the second angle threshold, that is, the third angle is less than or equal to the second angle threshold, the position offset level is determined to be "no offset", and the voice guidance module is controlled to broadcast "the position of the wind vane has not offset"; when the degree to which the third angle is greater than the second angle threshold is between 0° and 2°, the position offset level is determined to be "slight offset", and the voice guidance module is controlled to broadcast "the position of the wind vane has offset slightly"; when the degree to which the third angle is greater than the second angle threshold is between 2° and 10°, the position offset level is determined to be "moderate offset", and the voice guidance module is controlled to broadcast "the position of the wind vane has offset moderately"; when the degree to which the third angle is greater than the second angle threshold is more than 10°, the position offset level is determined to be "severe imbalance", and the voice guidance module is controlled to broadcast "the position of the wind vane has offset seriously".

[0069] In some embodiments, the wind turbine calibration system also includes a storage module for storing wind turbine calibration data. This module can adjust the calibration strategy based on historical data, thereby shortening calibration time and reducing calibration errors. This effectively addresses the issue of unit output fluctuations caused by wind speed data collection deviations.

[0070] In some embodiments, the wind turbine calibration system further includes a self-diagnosis module, which has the functions of tracing data anomalies and automatically archiving calibration logs, providing reliable data support for wind turbine performance optimization.

[0071] In some embodiments, as Figure 1-4 As shown, the wind turbine calibration system further includes a display panel 60 , which is used to display measurement data in real time.

[0072] The display panel 60 includes all types of display panels known to those skilled in the art, such as a liquid crystal display panel, which is not limited here.

[0073] On the basis of the above-mentioned embodiments, the embodiment of the present disclosure further provides a control method for a calibration system for a fan, which is applied to the controller of any of the above-mentioned calibration systems for a fan and has corresponding beneficial effects, which will not be described in detail here.

[0074] like Figure 5 Said control method comprises the following steps:

[0075] S110 , in response to the start-up operation, adjusting the transmission mechanism to adjust the posture of the laser emitting mechanism to an absolutely horizontal state.

[0076] like Figure 1-4As shown, before this step, the wind turbine calibration system 100 is fixed to the installation position outside the wind turbine nacelle using the installation mechanism 10, so that the light-emitting surface of the laser emitting mechanism 40 faces the wind turbine hub (or wind turbine unit). Exemplarily, the wind turbine calibration system is fixed to the installation position outside the wind turbine nacelle by means of a mechanical clip 11 and bolts, so that the light-emitting surface of the laser emitting mechanism 40 faces the wind turbine hub (or wind turbine unit). A fixing mechanism that matches the mechanical clip is provided at the installation position outside the wind turbine nacelle. The fixing mechanism is in the form of a strip, and the mechanical clip 11 is clamped and fixed to the fixed structure by bolts. A red reference line is provided on the wind turbine cabin, which is parallel to the central axis of the cabin. The installation position of the wind turbine calibration system 100 and the installation position of the wind vane are both located on the red reference line. In theory, the line connecting the installation position of the wind turbine calibration system 100 and the installation position of the wind vane coincides with the red line, that is, the positioning line of the wind vane is perpendicular to the wind turbine hub. However, in reality, due to installation errors, the line connecting the installation position of the wind turbine calibration system 100 and the installation position of the wind vane is not perpendicular to the wind turbine hub, and the wind turbine and the wind vane need to be zero-calibrated.

[0077] In this step, the user clicks the power switch of the fan calibration system 100 to start the fan calibration system 100. The user can also remotely start the fan calibration system 100 through a host computer. In some embodiments, the fan calibration system 100 also includes a voice guidance module that plays a prompt saying "Starting up, do not touch."

[0078] After the wind turbine calibration system 100 is officially started, it executes an initialization procedure. By adjusting the transmission mechanism 30, the laser emitting mechanism 40 is brought to an absolutely horizontal position. The laser emitting mechanism's position information is then recorded. The laser emitting mechanism's position parameters are acquired using a gyroscope. These parameters include at least roll, pitch, and yaw angles. When the roll, pitch, and yaw angles of the laser emitting mechanism 40 are all equal to 0°, the laser emitting mechanism 40 is in an absolutely horizontal position. The voice guidance module then plays the prompt "Initializing leveling. Do not touch."

[0079] S120 , controlling the laser emitting mechanism to emit at least three first laser beams, and calculating a distance measurement value corresponding to each first laser beam.

[0080] In this step, the laser emitting mechanism emits at least three first laser beams toward the wind turbine hub. The first laser is projected onto the wind turbine hub and reflected back. The reflected first laser is received by the laser receiving mechanism. The controller determines the distance value between the wind turbine calibration system and the plane where the wind turbine hub is located based on the flight time of the first laser.

[0081] S130. Based on the distance measurement value, adjust the posture of the laser emitting mechanism until the plane where the wind turbine hub is located is parallel to the preset virtual reference plane, and lock the transmission mechanism.

[0082] In this step, the laser emitting mechanism 40 is adjusted in posture by the transmission mechanism 30 so that the plane where the fan hub is located is parallel to the preset virtual reference plane. The voice guidance module plays a prompt content "Measuring distance and positioning, please do not touch".

[0083] When the plane of the fan hub is stably parallel to the virtual reference plane, the transmission mechanism 30 is locked, and the posture of the laser emitting mechanism 40 remains stable, at which point positioning is complete. The virtual reference plane is pre-set by the designer, and the corresponding virtual reference plane is set according to different fan models. It is possible to store only one virtual reference plane in the fan calibration system, and the fan calibration system is only used to locate a specific fan model. It is also possible to store multiple virtual reference planes in the fan calibration system, and establish a mapping relationship between the virtual reference planes and the fan models, and the fan calibration system can be used to locate multiple fan models.

[0084] S140, controlling the laser emitting mechanism to emit a second laser in a direction perpendicular to the virtual reference plane, and determining the line position of the second laser on the plane where the wind turbine nacelle is located as the positioning line position of the wind vane.

[0085] In this step, the laser emitting mechanism 40 emits a second laser. The second laser is perpendicular to the virtual reference plane. If the screen surface on which the wind turbine hub is located is parallel to the virtual reference plane, then the second laser is perpendicular to the plane on which the wind turbine hub is located. The second laser is a line laser with a large line distribution range. For example, the second laser is a green laser, and the line positions of the second laser are located in the plane on which the wind turbine hub is located and in the plane on which the wind turbine nacelle is located. The line position of the second laser in the plane on which the wind turbine nacelle is located is the positioning line position of the wind vane. The voice guidance module plays the prompt "Positioning completed. Please install the wind vane according to the green laser."

[0086] For the case where the wind vane is not installed for the first time, when the marking position of the second laser does not coincide with the positioning line position of the wind vane, that is, there is a large angle between the two, which does not meet the zero calibration deviation requirement of ±2°, adjust the position of the wind vane so that the angle between the positioning line position of the wind vane and the marking position of the second laser meets the requirement of zero calibration deviation.

[0087] It should be noted that this embodiment merely illustrates, for example, that after locking the transmission mechanism, laser emitting mechanism 40 is controlled to emit a second laser beam. This does not limit the control method for a wind turbine calibration system provided by the disclosed embodiments. In other embodiments, during step S120, the laser emitting mechanism may be controlled to emit at least three beams of the first laser beam while simultaneously controlling the laser emitting mechanism to emit a second laser beam perpendicular to the virtual reference plane. This is not a limitation herein.

[0088] In some embodiments, the laser emitting mechanism includes at least three first laser units, the connection line graph of the positions of the at least three first laser units is a polygon, and the first laser unit is used to emit a first laser.

[0089] In this embodiment, at least three first laser portions are arranged nonlinearly, and the line graph connecting the positions thereof is a polygon.

[0090] In some embodiments, the laser emitting mechanism 40 further includes a second laser unit configured to emit a second laser.

[0091] The light emitting direction of the second laser is perpendicular to the virtual reference plane. This embodiment does not limit the position of the second laser unit, which is located inside, outside or on the side line of the polygon formed by the connection of at least three first laser units.

[0092] For example, Figure 6 As shown, the second laser portion is located inside the polygon, the light emitting direction of the second laser is OG, and OG is perpendicular to the virtual reference plane S0.

[0093] In some embodiments, the laser emitting mechanism 40 includes three first laser units 41, the connecting line figure of the positions of the three first laser units 41 is an equilateral triangle, the second laser unit is located at the centroid position (or center position) of the polygon, and when the plane where the wind turbine hub is located is parallel to the preset virtual reference plane, the second laser emitted by the second laser unit is perpendicular to the virtual reference plane.

[0094] “Controlling the laser emitting mechanism to emit at least three first laser beams” comprises the following steps:

[0095] Controlling at least three first laser units to emit first laser beams at a preset emission angle; the emission angle of each first laser beam is different;

[0096] The control method further comprises the following steps:

[0097] The distance measurement value is corrected based on the emission angle of each first laser beam and the distance between the first laser unit and the virtual focus; the virtual focus is determined based on the intersection of the first laser beam extended in the reverse direction from the light emitting surface of the first laser unit.

[0098] The distance between the first laser unit and the virtual focus is pre-set by the designer. According to the structural parameters of the laser emitting mechanism 40, using the simulation model, at least three first laser beams are extended in the reverse direction from the light-emitting surface of the first laser unit 41. The intersection of the reverse extension lines is the position of the virtual focus. The distance between the first laser unit and the virtual focus is determined to be equal to the vertical distance from the virtual focus to the light-emitting surface of the first laser unit (e.g. Figure 6 Based on the emission angle of each first laser beam and the distance between the first laser portion and the virtual focus, the cosine formula is used to calculate the length of the first laser's reverse extension line. The actual distance measurement value is added to the length of the first laser's reverse extension line to obtain the corrected distance measurement value.

[0099] In some embodiments, as Figure 6 As shown, the virtual reference surface S0 includes at least three reference points, and the number of the reference points is equal to the number of the first lasers.

[0100] "Based on the distance measurement value, adjusting the posture of the laser emission mechanism until the plane where the wind turbine hub is located is parallel to the preset virtual reference plane" includes the following steps:

[0101] Calculate the ratio of each corrected distance value to the corresponding reference distance; the reference distance is the distance from the reference point to the virtual focus;

[0102] Calculate the difference between the ratios;

[0103] Based on the difference being less than or equal to a preset difference threshold, it is determined that the plane where the fan hub is located is parallel to the virtual reference plane.

[0104] For example, Figure 1-4 As shown, the laser emitting mechanism 40 includes three first laser units 41 and one second laser unit. The line graph of the positions of the three first laser units 41 is a triangle, and the second laser unit is located at the center of the triangle. Figure 6The three first laser units 41 are controlled by the controller 20 and are configured to emit first laser beams at preset emission angles. The emission angles include ∠α and ∠β. ∠α is the ranging opening and closing angle, which is the angle between the first laser beam da or fc and the midline (oH) between them. ∠β is the ranging elevation angle, which is the angle between the first laser beam eb and the aforementioned midline. The controller 20 is further configured to calculate the lengths od, oe, and of the reverse extensions of the first laser beams based on the emission angles of each first laser beam and the distance between the first laser unit and the virtual focus using the cosine formula, and to correct the ranging values ​​da, eb, and fc. The corrected ranging values ​​are oa, ob, and oc. The controller 20 is further configured to calculate the ratio k1 of oa to oa', the ratio k2 of ob to ob', and the ratio k3 of oc to oc', and the difference Δk between each of the ratios k1, k2, and k3. The virtual reference plane S0 and the plane S1 on which the wind turbine hub resides are both triangles, and the line connecting them and the virtual focus o is a triangular pyramid. Based on the principle of similarity, when the difference Δk is less than or equal to a preset difference threshold, the plane S1 on which the wind turbine hub resides is determined to be parallel to the virtual reference plane S0. Furthermore, the second laser is a perpendicular line to the base of the triangular pyramid, passing through the center of gravity G of the virtual reference plane S0 (and also through the center of gravity of the plane S1 on which the wind turbine hub resides). Therefore, the first laser is perpendicular to the plane S1 on which the wind turbine hub resides and the virtual reference plane S0.

[0105] It should be noted that Figure 6 The virtual reference plane S0 is shown for illustrative purposes only, being located between the wind turbine hub plane S1 (i.e., the actual measurement plane) and the laser emitting mechanism 40. This does not limit the wind turbine calibration system provided herein. In other embodiments, the virtual reference plane S0 may also be located on the side of the wind turbine hub plane S1 facing away from the laser emitting mechanism 40, which is not a limitation herein.

[0106] In some embodiments, as Figure 6 As shown, the virtual reference plane S0 is an isosceles triangle, the projection of the second laser on the triangle oac is oH, and oH is the perpendicular bisector of ∠aoc.

[0107] In some embodiments, the wind turbine calibration system further includes an image acquisition and recognition module, which is located on a side of the laser emission mechanism away from the transmission mechanism;

[0108] The control method further comprises the following steps:

[0109] Acquire first image information through an image acquisition and recognition module;

[0110] determining a distance value between a wind turbine hub and a wind turbine calibration system based on the first image information;

[0111] Based on the distance value, the distance measurement value is compensated for errors.

[0112] In this embodiment, the image acquisition and recognition module acquires first image information, which includes at least a photograph or video of the wind turbine hub. Compared to the human eye, the image acquisition and recognition module has a wider visible light wavelength range, enabling real-time monitoring of the first laser's measurement path. Data from laser ranging and image ranging are fused, and errors are analyzed using both ranging methods. Each measurement data is stored and learned through an analytical model. Error cancellation parameters are introduced to further reduce errors, and pixel ranging analysis is used to compensate for laser ranging errors.

[0113] In some embodiments, “determining a distance between a wind turbine hub and a wind turbine calibration system based on the first image information” comprises the following steps:

[0114] determining a pixel length of a wind turbine hub based on the first image information;

[0115] Based on the pixel length, the distance value between the wind turbine hub and the wind turbine calibration system is determined.

[0116] In this embodiment, the first image information is identified to determine the pixel length of the wind turbine hub, and based on the pixel length and a preset mapping relationship between the pixel length and the distance value, the distance value between the wind turbine hub and the wind turbine calibration system is determined.

[0117] It should be noted that the mapping relationship between pixel length and distance value was determined by R&D personnel after multiple statistical experiments. Pixel length and distance value are negatively correlated. The longer the pixel length, the shorter the corresponding distance value, and the shorter the pixel length, the longer the corresponding distance value.

[0118] In some embodiments, the wind turbine calibration system further includes an auxiliary positioning laser unit, which is located on a side of the laser emitting mechanism away from the transmission mechanism. The auxiliary positioning laser unit is rotatable 360° along its own axis, and the axis of the auxiliary positioning laser unit is perpendicular to the plane where the laser emitting mechanism is located. The control method further includes the following steps:

[0119] Controlling the auxiliary positioning laser unit to emit a third laser toward the location of the anemometer;

[0120] Acquire second image information through the image acquisition and recognition module, and determine a first angle between the positioning line of the anemometer and the third laser based on the second image information;

[0121] Adjusting the rotation angle of the auxiliary positioning laser unit until the first angle is less than or equal to the first angle threshold;

[0122] The third image information is acquired through the image acquisition and recognition module, and based on the third image information, a second angle between the third laser and the second laser is determined.

[0123] The first angle threshold is less than or equal to an error angle acceptable to those skilled in the art. For example, the first angle threshold is equal to 0°, that is, the first angle is equal to 0°, and the anemometer positioning line position coincides with the third laser marking line position.

[0124] In this embodiment, after the wind vane is positioned, the anemometer can also be positioned using the auxiliary positioning laser unit. The specific process is as follows: the auxiliary positioning laser unit emits a third laser in the direction of the anemometer so that the lines of the third laser are distributed on the anemometer; the image acquisition and recognition module is used to obtain second image information, the second image information is recognized, and the angle between the third laser and the anemometer positioning line (i.e., the first angle) is determined; when the first angle is greater than the first angle threshold, the rotation angle of the auxiliary positioning laser unit is adjusted until the first angle is less than or equal to the first angle threshold; the image acquisition and recognition module is used to obtain third image information, the third image information is recognized, the angle between the third laser and the second laser (i.e., the second angle) is determined, and the second angle is stored in the storage module.

[0125] The second angle is equal to the angle between the anemometer positioning line and the wind vane positioning line. The direction of the anemometer positioning line is parallel to the actual wind direction. Therefore, the current wind turbine head direction can be adjusted according to the second angle so that the wind turbine head is in a windward state, which is beneficial to improving the power generation efficiency of the wind turbine.

[0126] In some embodiments, the fan calibration system further includes a voice guidance module electrically connected to the controller; the control method further includes the following steps:

[0127] Control the voice guidance module to broadcast each operation step.

[0128] In this embodiment, the voice guidance module is controlled by the controller. Each time the controller executes an operation procedure, the voice guidance module provides simultaneous voice prompts. For users unfamiliar with the wind turbine calibration system, the voice guidance module provides real-time information on the current process and determines whether the operation meets the requirements. It also provides real-time notification of manual adjustments and the current operating status of the wind turbine calibration system. The voice guidance module also informs the user of completion status, reminding the user that wind vane calibration is complete and the next step can be carried out.

[0129] For example, after the controller determines the first angle, the voice guidance module broadcasts the first angle, and the user can make appropriate adjustments based on the voice broadcast until the anemometer is positioned to the position with the smallest error, thereby reducing the mismatch between wind speed and power, wind speed collection deviation, and affecting the output of the wind turbine.

[0130] The embodiment of the present application does not limit the type and setting location of the voice guidance module, and can be flexibly set according to needs. For example, the voice guidance module is set inside the housing of the controller.

[0131] In some embodiments, the control method further includes the following steps:

[0132] Acquiring fourth image information through the image acquisition and recognition module;

[0133] determining a third angle between the second laser and the wind vane positioning line based on the fourth image information;

[0134] Based on the comparison result of the third angle and the second angle threshold, the voice guidance module is controlled to broadcast corresponding prompt content.

[0135] In this embodiment, which is applicable to the case where the wind vane is not installed for the first time, the image acquisition and recognition module is also used to obtain the fourth image information, and the controller is also used to identify the fourth image information, determine the third angle between the second laser and the wind vane positioning line, and compare the third angle with the second angle threshold. When the third angle is less than or equal to the second angle threshold, the error between the line position of the second laser and the positioning line position of the wind vane meets the calibration error requirement, and the control voice guidance module broadcasts "The wind turbine and wind vane have been zero-calibrated". When the third angle is greater than the second angle threshold, it indicates that the zero calibration deviation of the wind turbine and the wind vane is large, and the control voice prompt module broadcasts "The position of the wind vane has shifted". Exemplarily, the second angle threshold is less than or equal to 2°.

[0136] The greater the degree to which the third angle exceeds the second angle threshold, the more serious the deviation of the wind vane position. For example, when the third angle is not greater than the second angle threshold, that is, the third angle is less than or equal to the second angle threshold, the control voice guidance module announces "the position of the wind vane has not deviated"; when the degree to which the third angle exceeds the second angle threshold is between 0° and 2°, the control voice guidance module announces "the position of the wind vane has slightly deviated"; when the degree to which the third angle exceeds the second angle threshold is between 2° and 10°, the control voice guidance module announces "the position of the wind vane has moderately deviated"; and when the degree to which the third angle exceeds the second angle threshold is more than 10°, the control voice guidance module announces "the position of the wind vane has been seriously misaligned."

[0137] In some embodiments, “controlling the voice guidance module to broadcast corresponding prompt content based on the comparison result of the third angle and the second angle threshold” includes the following steps:

[0138] determining a position offset level based on the extent to which the third angle is greater than the second angle threshold;

[0139] Based on the position offset level, the voice guidance module is controlled to broadcast the corresponding prompt content.

[0140] In this embodiment, the wind turbine calibration system establishes a dynamic error model based on standards. When it detects that the third angle exceeds the second angle threshold, it automatically triggers a graded voice prompt to assist operators in achieving precise fine-tuning. Specifically, the controller is further configured to classify position deviation levels based on the degree to which the third angle exceeds the second angle threshold. Based on the position deviation level, the voice guidance module then outputs the corresponding prompt.

[0141] Exemplarily, the position offset levels include: "no offset", "slight offset", "moderate offset" and "severe misalignment". When the third angle is not greater than the second angle threshold, that is, the third angle is less than or equal to the second angle threshold, the position offset level is determined to be "no offset", and the control voice guidance module broadcasts "the position of the wind vane has not shifted"; when the degree to which the third angle is greater than the second angle threshold is between 0° and 2°, the position offset level is determined to be "slight offset", and the control voice guidance module broadcasts "the position of the wind vane has shifted slightly"; when the degree to which the third angle is greater than the second angle threshold is between 2° and 10°, the position offset level is determined to be "moderate offset", and the control voice guidance module broadcasts "the position of the wind vane has shifted moderately"; when the degree to which the third angle is greater than the second angle threshold is more than 10°, the position offset level is determined to be "severe misalignment", and the control voice guidance module broadcasts "the position of the wind vane has shifted seriously".

[0142] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further restrictions, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0143] The foregoing description is intended only to provide specific embodiments of the present disclosure, intended to enable those skilled in the art to understand and implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the embodiments described herein, but rather to be construed in the broadest manner consistent with the principles and novel features disclosed herein.

Claims

1. A control method for a calibration system for a fan, characterized in that: The wind turbine calibration system includes a mounting mechanism, a controller, a transmission mechanism, and a laser emitting mechanism. The housing of the controller is fixedly connected to the mounting mechanism. The laser emitting mechanism is connected to the housing via the transmission mechanism. The mounting mechanism is used to fix the wind turbine calibration system to an installation position outside the wind turbine nacelle. The light emitting surface of the laser emitting mechanism faces the wind turbine hub. The control method includes: In response to a start-up operation, adjusting the transmission mechanism to adjust the posture of the laser emitting mechanism to an absolutely horizontal state; Controlling the laser emitting mechanism to emit at least three first laser beams, and calculating a distance measurement value corresponding to each first laser beam; Based on the distance measurement value, the posture of the laser emitting mechanism is adjusted until the plane where the fan hub is located is parallel to a preset virtual reference plane, thereby locking the transmission mechanism; The laser emitting mechanism is controlled to emit a second laser in a direction perpendicular to the virtual reference plane, and a line position where the second laser is struck on the plane where the wind turbine nacelle is located is determined to be the positioning line position of the wind vane.

2. The control method according to claim 1, characterized in that: The laser emitting mechanism includes at least three first laser parts, and the connection line graph of the positions of at least three first laser parts is a polygon; The controlling the laser emitting mechanism to emit at least three first laser beams includes: Controlling at least three of the first laser units to emit first laser light at a preset emission angle; each beam of the first laser light has a different emission angle; The control method further includes: The distance measurement value is corrected based on the emission angle of each beam of the first laser and the distance between the first laser unit and a virtual focus; the virtual focus is determined based on the intersection of the first laser extending in the reverse direction from the light emitting surface of the first laser unit.

3. The control method according to claim 2, characterized in that: The virtual reference plane includes at least three reference points, and the number of the reference points is equal to the number of the first lasers; The adjusting the posture of the laser emitting mechanism based on the ranging value until the plane where the wind turbine hub is located is parallel to a preset virtual reference plane includes: Calculating the ratio of each corrected distance measurement value to the corresponding reference distance; the reference distance is the distance from the reference point to the virtual focus; Calculate the difference between the ratios; Based on the difference being less than or equal to a preset difference threshold, it is determined that the plane where the wind turbine hub is located is parallel to the virtual reference plane.

4. The control method according to claim 1, wherein: The wind turbine calibration system further includes an image acquisition and recognition module, which is located on a side of the laser emitting mechanism away from the transmission mechanism; The control method further includes: Acquiring first image information through the image acquisition and recognition module; determining a distance value between the wind turbine hub and the wind turbine calibration system based on the first image information; Based on the distance value, error compensation is performed on the distance measurement value.

5. The control method according to claim 4, characterized in that: The determining, based on the first image information, a distance value between the wind turbine hub and the wind turbine calibration system includes: determining a pixel length of the wind turbine hub based on the first image information; Based on the pixel length, a distance value between the wind turbine hub and the wind turbine calibration system is determined.

6. The control method according to claim 4, characterized in that: The wind turbine calibration system further includes an auxiliary positioning laser unit, which is located on a side of the laser emitting mechanism away from the transmission mechanism. The auxiliary positioning laser unit is rotatable 360° along its own axis, and the axis of the auxiliary positioning laser unit is perpendicular to the plane where the laser emitting mechanism is located. The control method further includes: Controlling the auxiliary positioning laser unit to emit a third laser toward the location of the anemometer; Acquiring second image information through the image acquisition and recognition module, and determining a first angle between the positioning line of the anemometer and the third laser based on the second image information; Adjusting the rotation angle of the auxiliary positioning laser unit until the first angle is less than or equal to a first angle threshold; The third image information is acquired by the image acquisition and recognition module, and a second angle between the third laser and the second laser is determined based on the third image information.

7. The control method according to claim 4, characterized in that: The fan calibration system further includes a voice guidance module, and the voice guidance module is electrically connected to the controller; the control method further includes: Acquiring fourth image information through the image acquisition and recognition module, and determining a third angle between the second laser and the wind vane positioning line based on the fourth image information; Based on the comparison result of the third angle and the second angle threshold, the voice guidance module is controlled to broadcast corresponding prompt content.

8. A calibration system for a fan, characterized in that: include: A mounting mechanism, a controller, a transmission mechanism, and a laser emitting mechanism; the housing of the controller is fixedly connected to the mounting mechanism, the laser emitting mechanism is connected to the housing via the transmission mechanism, the mounting mechanism is used to fix the wind turbine calibration system at an installation position outside the wind turbine nacelle, and the light emitting surface of the laser emitting mechanism faces the wind turbine hub; The controller is used to adjust the transmission mechanism in response to a startup operation, and adjust the posture of the laser emitting mechanism to an absolutely horizontal state; control the laser emitting mechanism to emit at least three first laser beams, and calculate the ranging values ​​corresponding to the three first laser beams, and determine the plane where the wind turbine hub is located based on the ranging values; adjust the posture of the laser emitting mechanism until the plane where the wind turbine hub is located is parallel to a preset virtual reference plane, and lock the transmission mechanism; control the laser emitting mechanism to emit a second laser in a direction perpendicular to the virtual reference plane, and determine that the line position of the second laser on the plane where the wind turbine nacelle is located is the positioning line position of the wind vane.

9. The calibration system for a blower according to claim 8, characterized in that: The laser emitting mechanism includes at least three first laser units and one second laser unit, and the line graph connecting the positions of at least three first laser units is a polygon; At least three of the first laser units are controlled by the controller and are configured to emit first laser beams at a preset emission angle; each beam of the first laser beam has a different emission angle; The controller is also used to correct the distance measurement value based on the emission angle of each beam of the first laser and the distance between the first laser unit and the virtual focus; the virtual focus is determined based on the intersection of the first laser extended in the reverse direction from the light emitting surface of the first laser unit.

10. The calibration system for a blower according to claim 8, characterized in that: Also includes: An image acquisition and recognition module, located on a side of the laser emitting mechanism away from the transmission mechanism; The image acquisition and recognition module is used to obtain first image information; The controller is further configured to determine a distance value between the wind turbine hub and the wind turbine calibration system based on the first image information, and perform error compensation on the distance measurement value based on the distance value.

11. The calibration system for a wind turbine according to claim 10, characterized in that: Also includes: An auxiliary positioning laser unit, the auxiliary positioning laser unit is located on a side of the laser emitting mechanism away from the transmission mechanism, the auxiliary positioning laser unit is rotatable 360° along its own axis, and the axis of the auxiliary positioning laser unit is perpendicular to the plane where the laser emitting mechanism is located; The auxiliary positioning laser unit is controlled by the controller and is used to emit a third laser toward the location of the anemometer; The image acquisition and recognition module is further used to obtain second image information and third image information; The controller is also used to determine a first angle between the positioning line of the anemometer and the third laser based on the second image information, and to adjust the rotation angle of the auxiliary positioning laser unit until the first angle is less than or equal to a first angle threshold, and to determine a second angle between the third laser and the second laser based on the third image information.

12. The calibration system for a blower according to claim 10, characterized in that: Also includes: a voice guidance module, the voice guidance module being electrically connected to the controller; The controller is also used to obtain fourth image information through the image acquisition and recognition module, and determine the third angle between the second laser and the wind vane positioning line based on the fourth image; based on the comparison result of the third angle and the second angle threshold, control the voice guidance module to broadcast the corresponding prompt content.

Images