Blade deicing adaptive positioning method based on multi-source information fusion

Abstract

The invention relates to a blade deicing self-adaptive positioning method based on multi-source information fusion, and the method comprises the steps: firstly constructing a deicing mode of a main control system of a wind turbine generator, and enabling an ice-coated blade to run to a designated position; secondly, the blade form is detected through video target detection equipment, and the distance between each node of the blade and the tower drum is obtained; detecting blade icing position nodes through infrared ice melting equipment, and calculating the projection direction and distance by combining data such as equipment coordinates, the impeller position, the tower height and the blade form; according to the method, self-adaptive positioning of blade deicing is achieved, deicing can be rapidly and efficiently conducted, and the method is an innovation in wind turbine generator blade deicing methods.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power generation blade deicing, and in particular to a blade deicing adaptive positioning method based on multi-source information fusion. Background Art

[0002] Wind farms often experience freezing temperatures in winter and spring, and icing on wind turbine blades is a prominent problem. This can significantly reduce the actual power output of the turbines and even cause long-term icing-related downtime, resulting in significant economic losses for the wind farms. Deicing iced wind turbine blades has long been a major pain point in the new energy industry. The infrared deicing equipment, jointly developed by Jiangxi Datang International New Energy Co., Ltd. and Suzhou Chu Neng Intelligent Manufacturing Technology Co., Ltd., eliminates the technical pain points of traditional electric heating, which suffers from high energy consumption, low efficiency of gas heating, and a short lifespan of anti-icing coatings. This equipment achieves contactless deicing without requiring structural modifications to the blades. It offers significant advantages such as equipment safety, energy efficiency, and high efficiency, making it particularly suitable for the complex environments of high-altitude and cold mountain wind farms. However, current infrared deicing equipment requires manual operation, cannot achieve fully automatic deicing, and requires a long time to position the blades. Therefore, improvements and innovations are imperative. Summary of the Invention

[0003] In view of the above situation, in order to overcome the shortcomings of the existing technology, the purpose of the present invention is to provide a blade de-icing adaptive positioning method based on multi-source information fusion. For icing units, it can effectively realize the positioning and position identification of ice-covered blades, determine the projection direction and distance of infrared ice-melting equipment, and improve de-icing efficiency.

[0004] The technical solution provided by the present invention is:

[0005] A blade deicing adaptive positioning method based on multi-source information fusion includes the following steps:

[0006] S1. Set the coordinates of the center position of the bottom of the wind turbine tower to (0, 0, 0);

[0007] S2. The infrared ice-melting device is deployed at a distance of at least 1.1 times the impeller radius from the tower. The coordinate center of the infrared ice-melting device transmitter is set to (0, y, h1), where y is the vertical distance from the center of the infrared ice-melting device transmitter to the center of the tower, and h1 is the vertical distance from the center of the infrared ice-melting device transmitter to the bottom of the tower.

[0008] S3. The video target detection device uses a high-speed camera to collect the video stream of the blade area; the device is deployed at a distance of not less than 1.1 times the impeller radius from the tower, and the angle between the infrared de-icing device, the tower and the video target detection device is 90 degrees; the coordinates of the video target detection device are set to (x, 0, h2), where x is the vertical distance from the center of the video target detection device transmitter to the center of the tower, and h2 is the vertical distance from the center of the video target detection device transmitter to the bottom of the tower.

[0009] S4. The wind turbine main control system monitors blade ice coverage based on wind speed, generator power, impeller speed, and ambient temperature. If blade ice coverage is detected, the system enters blade de-icing mode.

[0010] S5: The wind turbine enters the blade de-icing mode and performs a yaw action, with the nose yawed to face the infrared de-icing equipment.

[0011] S6. The wind turbine main control system issues a command for blade No. 1 to open to 30 degrees. When blade No. 1 is within 60 degrees below the hub, the brake system is activated to stop the impeller from idling.

[0012] S7. The wind turbine main control system issues a command to open blade No. 1 to the 0-degree position. When the blade No. 1 is opened to the 0-degree position, the main control system sends the impeller angle position signal w and the unit accurate de-icing signal to the infrared de-icing device.

[0013] S8. The video target detection device detects the shape of the blade 1 and sends the shape of the blade 1 to the infrared ice melting device;

[0014] S9. The infrared ice melting device detects the ice-covered position m of the blade 1. According to the shape of the blade 1, the projection direction and distance of the infrared ice melting device are determined. The x-axis coordinate of the m node is -sin(w)*R m , the y-axis coordinate is -y m , the z-axis coordinate is H rotor -cos(w)*R m ; As shown in the following table:

[0015]

[0016] The angle of the projection direction toward the positive direction of the z-axis is:

[0017]

[0018] The angle towards the positive x-axis is:

[0019]

[0020] Throw distance:

[0021]

[0022] Where w is the impeller angular position, R m is the distance from blade node m to hub center, H rotor is the vertical height of the hub center from the tower bottom, h1 is the vertical distance from the center of the infrared de-icing equipment transmitter to the tower bottom, y is the vertical distance from the center of the infrared de-icing equipment transmitter to the center of the tower, m The distance between the mth node of the blade and the center of the tower;

[0023] S10, after the infrared de-icing device completes de-icing of the blade, it sends a de-icing completion signal for blade No. 1 to the wind turbine main control system;

[0024] S11. After the wind turbine main control system receives the de-icing completion signal for blade No. 1, the angle of blade No. 1 is adjusted from 0 degrees to a safe position of 90 degrees, and the brake is released, so that the impeller is in an idling state.

[0025] S12, the wind turbine main control system issues a command to open the No. 2 blade to a position of 30 degrees. When the No. 2 blade is within 60 degrees below the hub, the brake system is activated to stop the impeller from idling.

[0026] S13, the wind turbine main control system opens the blade angle No. 2 to 0 degrees, and sends the impeller position signal and the accurate de-icing signal of the unit to the infrared de-icing equipment;

[0027] S14, the video target detection device detects the shape of blade No. 2 and sends the shape of blade No. 2 to the infrared ice melting device;

[0028] S15. The infrared ice melting device detects the ice-covered position of the blade and determines the projection direction and distance of the device based on the shape of blade No. 2. The specific calculation method is the same as step S9.

[0029] S16. After the infrared ice melting device completes de-icing of the blade, it sends a de-icing completion signal for blade No. 2 to the wind turbine main control system;

[0030] S17. After the wind turbine main control system receives the de-icing completion signal for blade No. 2, the angle of blade No. 2 is adjusted from 0 degrees to a safe position, and the brake is released, so that the impeller is in an idling state.

[0031] S18, the wind turbine main control system issues a command to open the No. 3 blade to a position of 30 degrees. When the No. 3 blade is within 60 degrees below the hub, the brake system is activated to stop the impeller from idling.

[0032] S19, the wind turbine main control system opens the blade angle No. 3 to 0 degrees, and sends the impeller position signal and the accurate de-icing signal of the unit to the infrared de-icing equipment;

[0033] S20, the video target detection device detects the shape of blade No. 3 and sends the shape of blade No. 3 to the infrared ice melting device;

[0034] S21. The infrared ice melting device detects the ice-covered position of the blade and determines the device projection direction and distance based on the shape of blade No. 3. The specific calculation method is the same as step S9.

[0035] S22. After the infrared ice melting device completes de-icing of the blade, it sends a de-icing completion signal for blade 3, number 3, to the wind turbine main control system;

[0036] S23. After the wind turbine main control system receives the de-icing completion signal for blade No. 3, the angle of blade No. 3 is adjusted from 0 degrees to a safe position, and the brake is released, so that the impeller is in an idling state.

[0037] This invention utilizes an adaptive blade de-icing positioning method based on multi-source information fusion. First, a de-icing mode is established for the wind turbine master control system, directing ice-covered blades to a specified position. Next, a video target detection device detects blade morphology and determines the distance between each blade node and the tower. Finally, an infrared de-icing device detects the ice-covered location nodes and calculates the projection direction and distance based on the coordinates of each device, impeller position, tower height, and blade morphology. This method achieves adaptive blade de-icing positioning, enabling rapid and efficient de-icing, and represents an innovation in wind turbine blade de-icing methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 The figure is a schematic diagram of the adaptive positioning process of blade deicing based on multi-source information fusion according to the present invention.

[0039] Figure 2 This is a deployment diagram of the infrared ice melting equipment according to an embodiment of the present invention.

[0040] Figure 3 This is a schematic diagram of a blade in a de-icing position according to an embodiment of the present invention.

[0041] Figure 4 Schematic diagram of device communication according to an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The specific implementation of the present invention is further described in detail below with reference to the accompanying drawings and examples.

[0043] See also Figure 1 , a blade adaptive positioning method based on multi-source information fusion in this embodiment includes the following steps:

[0044] S1. Take a wind farm in Jiangxi as an example. This wind farm is a mountain wind farm. The wind turbine tower height is 90 meters, the blade length is 65.5 meters, and the distance between the hub center and the top of the tower in the vertical direction is 2 meters. Infrared ice melting equipment and video target detection equipment are deployed. The layout is as follows: Figure 2 ;

[0045] The infrared ice melting equipment is an existing technology, such as the infrared ice melting equipment jointly developed by Jiangxi Datang International New Energy Co., Ltd. and Suzhou Chuneng Intelligent Manufacturing Technology Co., Ltd.

[0046] The high-speed camera has blade morphology image processing capabilities and data communication capabilities, and can transmit data and signals with infrared ice melting equipment. It is an existing technology, such as the BOSMA Boguan 8K+AI wind power intelligent inspection system produced by Guangzhou Boguan Optoelectronics Technology Co., Ltd.

[0047] S2. Set the coordinates of the center position of the bottom of the wind turbine tower to (0, 0, 0);

[0048] S3. The distance from the infrared ice melting device to the center of the tower bottom is 80 meters. The coordinates of the infrared ice melting device are set to (0, -80, 2).

[0049] S4. The distance from the video target detection device to the center of the tower bottom is 80 meters. The coordinates of the video target detection device are set to (80, 0, 2).

[0050] S5. The wind turbine main control system monitors blade ice coverage based on wind speed, generator power, impeller speed, and ambient temperature; if blade ice coverage is detected, the system enters blade de-icing mode;

[0051] S6: The wind turbine enters the blade de-icing mode and performs a yaw action, with the nose yawed to face the infrared de-icing equipment.

[0052] S7. The wind turbine main control system issues a command to open the No. 1 blade to 30 degrees. When the No. 1 blade is within 60 degrees below the hub, the brake system is activated to stop the impeller from idling. The impeller position is -19 degrees, that is, the angle between the No. 1 blade and the tower is -19 degrees. Figure 3 ;

[0053] S8, the wind turbine main control system opens the blade angle No. 1 to 0 degrees, sends the impeller angle position signal w and the unit de-icing preparation signal to the infrared de-icing equipment, such as Figure 4 As shown;

[0054] S9, the video target detection device detects the shape of blade No. 1 and sends the shape of blade No. 1 to the infrared ice melting device;

[0055]

[0056]

[0057] S10. The infrared de-icing device detects the 30th node of the ice-covered position of blade 1. The distance from the 30th node of blade 1 to the hub center is 48.91 meters. Based on the shape of blade 1, the device's projection direction and distance are determined. The x-axis coordinate of the 30th node is 15.9235, the y-axis coordinate is -8.43, and the z-axis coordinate is 45.75. The projection direction has an angle of 31.7248 degrees toward the positive direction of the z-axis and 10.7162 degrees toward the positive direction of the x-axis. The projection distance is 85.64 meters.

[0058] S11. The infrared ice melting device de-ices the blade. After completion, a de-icing completion signal for blade No. 1 is sent to the main control system of the wind turbine generator set.

[0059] S11. After the wind turbine main control system receives the de-icing completion signal for blade No. 1, the angle of blade No. 1 is adjusted from 0 degrees to a safe position, and the brake is released, so that the impeller is in an idling state.

[0060] S12, the wind turbine main control system issues a command to open the No. 2 blade to a position of 30 degrees. When the No. 2 blade is within 60 degrees below the hub, the brake system is activated to stop the impeller from idling.

[0061] S13, the wind turbine main control system opens the blade angle No. 2 to 0 degrees, and sends the impeller position signal and the accurate de-icing signal of the unit to the infrared de-icing equipment;

[0062] S14, the video target detection device detects the shape of blade No. 2 and sends the shape of blade No. 2 to the infrared ice melting device;

[0063] S15. The infrared ice melting device detects the ice-covered position of the blade and determines the projection direction and distance of the device based on the shape of blade No. 2;

[0064] S16. After the infrared ice melting device completes de-icing of the blade, it sends a de-icing completion signal for blade No. 2 to the main control system of the wind turbine generator set.

[0065] S17. After the wind turbine main control system receives the de-icing completion signal for blade No. 2, the angle of blade No. 2 is adjusted from 0 degrees to a safe position, and the brake is released, so that the impeller is in an idling state.

[0066] S18. The main control system of the wind turbine generator set issues a command to open the angle of blade No. 3 to 30 degrees. When blade No. 3 is within an opening angle of 60 degrees below the hub, the brake system is activated to stop the impeller from idling.

[0067] S19, the wind turbine main control system opens the blade angle No. 3 to 0 degrees, and sends the impeller position signal and the accurate de-icing signal of the unit to the infrared de-icing equipment;

[0068] S20. The video target detection device detects the shape of blade No. 3 and sends the shape of blade No. 3 to the infrared ice melting device.

[0069] S21. The infrared ice melting device detects the ice-covered position of the blade and determines the projection direction and distance of the device based on the shape of blade No. 3;

[0070] S22. After the infrared ice melting device completes de-icing of the blade, it sends a de-icing completion signal for blade No. 3 to the main control system of the wind turbine generator set.

[0071] S23. After the wind turbine main control system receives the signal that the de-icing of blade No. 3 is completed, the angle of blade No. 3 is adjusted from 0 degrees to a safe position, and the brake is released to put the impeller in an idling state; after de-icing by the infrared equipment, the unit operates normally. This application addresses the problem that it is difficult for the infrared de-icing equipment of the wind turbine to locate the ice-covered blades. The wind turbine main control system actively locates the blades, and the video target detection equipment accurately locates the blade shape, providing position coordinates for blade de-icing. Therefore, for the ice-covered unit, the positioning and position identification of the ice-covered blades can be effectively realized, the projection direction and distance of the infrared ice-melting equipment can be determined, the de-icing efficiency is improved, and the automatic de-icing of the ice-covered unit blades is realized.

Claims

1. A blade deicing adaptive positioning method based on multi-source information fusion, characterized in that: The following steps are involved: S1. Set the coordinates of the center position of the bottom of the wind turbine tower to (0, 0, 0); S2. The infrared ice-melting device is deployed at a distance of at least 1.1 times the impeller radius from the tower. The coordinate center of the infrared ice-melting device transmitter is set to (0, y, h1), where y is the vertical distance from the center of the infrared ice-melting device transmitter to the center of the tower, and h1 is the vertical distance from the center of the infrared ice-melting device transmitter to the bottom of the tower. S3. The video target detection device uses a high-speed camera to collect the video stream of the blade area; the device is deployed at a distance of not less than 1.1 times the impeller radius from the tower, and the angle between the infrared de-icing device, the tower and the video target detection device is 90 degrees; the coordinates of the video target detection device are set to (x, 0, h2), where x is the vertical distance from the center of the video target detection device transmitter to the center of the tower, and h2 is the vertical distance from the center of the video target detection device transmitter to the bottom of the tower. S4. The wind turbine main control system monitors blade ice coverage based on wind speed, generator power, impeller speed, and ambient temperature. If blade ice coverage is detected, the system enters blade de-icing mode. S5: The wind turbine enters the blade de-icing mode and performs a yaw action, with the nose yawed to face the infrared de-icing equipment. S6. The wind turbine main control system issues a command for blade No. 1 to open to 30 degrees. When blade No. 1 is within 60 degrees below the hub, the brake system is activated to stop the impeller from idling. S7. The wind turbine main control system issues a command to open blade No. 1 to the 0-degree position. When the blade No. 1 is opened to the 0-degree position, the main control system sends the impeller angle position signal w and the unit accurate de-icing signal to the infrared de-icing device. S8. The video target detection device detects the shape of the blade 1 and sends the shape of the blade 1 to the infrared ice melting device; S9. The infrared ice melting device detects the ice-covered position m of the blade 1. According to the shape of the blade 1, the projection direction and distance of the infrared ice melting device are determined. The x-axis coordinate of the m node is -sin(w)*R m , the y-axis coordinate is -y m , the z-axis coordinate is H rotor -cos(w)*R m ; The angle of the projection direction toward the positive direction of the z-axis is: The angle towards the positive x-axis is: Throw distance: Where w is the impeller angular position, R m is the distance from blade node m to hub center, H rotor is the vertical height of the hub center from the tower bottom, h1 is the vertical distance from the center of the infrared de-icing equipment transmitter to the tower bottom, y is the vertical distance from the center of the infrared de-icing equipment transmitter to the center of the tower, m The distance between the mth node of the blade and the center of the tower; S10, after the infrared de-icing device completes de-icing of the blade, it sends a de-icing completion signal for blade No. 1 to the wind turbine main control system; S11. After the wind turbine main control system receives the de-icing completion signal for blade No. 1, the angle of blade No. 1 is adjusted from 0 degrees to a safe position of 90 degrees, and the brake is released, so that the impeller is in an idling state. S12, the wind turbine main control system issues a command to open the No. 2 blade to a position of 30 degrees. When the No. 2 blade is within 60 degrees below the hub, the brake system is activated to stop the impeller from idling. S13, the wind turbine main control system opens the blade angle No. 2 to 0 degrees, and sends the impeller position signal and the accurate de-icing signal of the unit to the infrared de-icing equipment; S14, the video target detection device detects the shape of blade No. 2 and sends the shape of blade No. 2 to the infrared ice melting device; S15. The infrared ice melting device detects the ice-covered position of the blade and determines the projection direction and distance of the device based on the shape of blade No.

2. The specific calculation method is the same as step S9. S16. After the infrared ice melting device completes de-icing of the blade, it sends a de-icing completion signal for blade No. 2 to the wind turbine main control system; S17. After the wind turbine main control system receives the de-icing completion signal for blade No. 2, the angle of blade No. 2 is adjusted from 0 degrees to a safe position, and the brake is released, so that the impeller is in an idling state. S18, the wind turbine main control system issues a command to open the No. 3 blade to a position of 30 degrees. When the No. 3 blade is within 60 degrees below the hub, the brake system is activated to stop the impeller from idling. S19, the wind turbine main control system opens the blade angle No. 3 to 0 degrees, and sends the impeller position signal and the accurate de-icing signal of the unit to the infrared de-icing equipment; S20, the video target detection device detects the shape of blade No. 3 and sends the shape of blade No. 3 to the infrared ice melting device; S21. The infrared ice melting device detects the ice-covered position of the blade and determines the device projection direction and distance based on the shape of blade No.

3. The specific calculation method is the same as step S9. S22. After the infrared ice melting device completes de-icing of the blade, it sends a de-icing completion signal for blade 3, number 3, to the wind turbine main control system; S23. After the wind turbine main control system receives the de-icing completion signal for blade No. 3, the angle of blade No. 3 is adjusted from 0 degrees to a safe position, and the brake is released, so that the impeller is in an idling state.

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