Blade transport vehicle, monitoring system, monitoring method and electronic equipment

Abstract

The invention relates to a blade transport vehicle, a monitoring system, a monitoring method and electronic equipment. The blade transport vehicle comprises a trailer; the blades are fixed on the trailer through a mounting assembly; and the monitoring equipment comprises at least three area monitoring devices, the at least three area monitoring devices are installed on the trailer or the installation assembly, and monitoring areas of the at least three area monitoring devices cover the blades. According to the technical scheme provided by the invention, the private repair behavior can be monitored, and the installation quality of the wind power blade is ensured.

Description

Technical Field

[0001] This disclosure relates to the field of blade transport monitoring technology, and in particular to a blade transport vehicle, monitoring system, monitoring method and electronic equipment. Background Technology

[0002] Wind turbine blades may be damaged during transportation. Most of the damage comes from impacts or scrapes, and due to reasons such as liability determination and compensation for losses, some external parties involved in the accident tend to carry out repairs themselves.

[0003] Unauthorized blade repairs primarily focus on maintaining a uniform appearance to conceal damage, failing to guarantee repair quality and blade strength. Therefore, unauthorized blades may fail quickly after installation and operation, resulting in losses of up to millions of dollars and even personal injury incidents. Summary of the Invention

[0004] The purpose of this disclosure is to provide a blade transport vehicle, a monitoring system, a monitoring method, and electronic equipment that can monitor unauthorized activities and ensure the quality of wind turbine blade installation.

[0005] According to one aspect of this disclosure, a blade transport vehicle is provided, the blade transport vehicle comprising: a trailer; blades, the blades being fixed to the trailer by a mounting assembly; and monitoring equipment, the monitoring equipment comprising at least three area monitoring devices mounted on the trailer or the mounting assembly, the monitoring areas of the at least three area monitoring devices covering the blades.

[0006] The technical solution provided in this disclosure involves installing monitoring equipment on a blade transport vehicle, with the blade positioned within the monitoring area of ​​the equipment. This allows for real-time monitoring of the surrounding environment of the wind turbine blades. Based on the monitoring images, it can determine whether personnel are touching the blades and record or alert the user upon contact. This enables the monitoring of unauthorized actions, reducing the possibility of unauthorized actions going undetected and ensuring the quality of wind turbine blade installation.

[0007] Furthermore, compared to installing the area monitoring device on the blade, this disclosure installs the area monitoring device on the trailer or mounting assembly, which avoids damage to the blade caused by contact between the area monitoring device and the blade, and also simplifies the installation difficulty of the area monitoring device because the outer wall surface of the blade is curved and it is difficult to install the area monitoring device.

[0008] Meanwhile, this disclosure utilizes at least three regional monitoring devices to jointly form a monitoring area covering the blade, avoiding situations where the installation components obstruct the monitoring view of some regional monitoring devices, thus ensuring the reliability of monitoring.

[0009] Optionally, the mounting assembly includes a blade root bracket and a blade tip bracket, the blade root bracket and the blade tip bracket being adjacent to opposite ends of the trailer along its length; the blade is mounted on the blade root bracket and the blade tip bracket, with the blade root bracket being disposed adjacent to the blade root, and the blade tip passing through the blade tip bracket and extending away from the blade root bracket.

[0010] Optionally, the monitoring equipment includes a first area monitoring device, a second area monitoring device, a third area monitoring device, and a fourth area monitoring device; the first area monitoring device and the second area monitoring device are located above the blade and are mounted on the blade tip support, with the monitoring direction of the first area monitoring device facing the root of the blade and the monitoring direction of the second area monitoring device facing the tip of the blade; the third area monitoring device and the fourth area monitoring device are located below the blade and are mounted on the blade tip support, with the monitoring direction of the third area monitoring device facing the root of the blade and the monitoring direction of the fourth area monitoring device facing the tip of the blade.

[0011] Optionally, the blade tip support is also equipped with a photovoltaic panel and an energy storage device, and the energy storage device is electrically connected to the photovoltaic panel, the first area monitoring device, the second area monitoring device, the third area monitoring device and the fourth area monitoring device, respectively.

[0012] Optionally, the mounting assembly further includes a buffer component that fills the space between the trailer and the blade, and is located between the blade root support and the blade tip support; the monitoring equipment further includes a fifth area monitoring device located below the blade, the fifth area monitoring device being mounted on the blade root support or the trailer, and the monitoring direction of the fifth area monitoring device facing the blade tip direction.

[0013] Optionally, the monitoring equipment includes a first area monitoring device, a second area monitoring device, and a third area monitoring device; the first area monitoring device is located above the blade, the first area monitoring device is mounted on the blade root support, and the monitoring direction of the first area monitoring device is towards the blade tip; the second area monitoring device and the third area monitoring device are located below the blade, the second area monitoring device and the third area monitoring device are mounted on the trailer and / or the blade tip support, and the monitoring direction of the second area monitoring device is towards the blade root, and the monitoring direction of the third area monitoring device is towards the blade tip.

[0014] Optionally, the monitoring equipment includes a first area monitoring device, a second area monitoring device, a third area monitoring device, and a fourth area monitoring device; the first area monitoring device and the second area monitoring device are located above the blade and are mounted on the blade tip support, with the monitoring direction of the first area monitoring device facing the root of the blade and the monitoring direction of the second area monitoring device facing the tip of the blade; the third area monitoring device and the fourth area monitoring device are located below the blade, with the third area monitoring device mounted on the blade tip support and the fourth area monitoring device mounted on the blade root support, with the monitoring directions of both the third and fourth area monitoring devices facing the tip of the blade.

[0015] Optionally, the area monitoring device may be one or more of a visual sensor, millimeter-wave radar, lidar, and ultrasonic sensor.

[0016] Optionally, the area monitoring device is a visual sensor with night vision capability.

[0017] According to another aspect of this disclosure, a blade transportation monitoring system is provided, the blade transportation monitoring system comprising: a blade transportation vehicle; a server, the server being communicatively connected to the monitoring equipment and used to acquire monitoring images captured by the monitoring equipment and analyze the monitoring images to detect the transportation safety of the blades.

[0018] According to another aspect of this disclosure, a blade transport monitoring method is provided, applied to a server of the aforementioned blade transport monitoring system, the method comprising: Acquire surveillance images captured by monitoring equipment; Based on the surveillance images, detect whether there are personnel within the monitoring area of ​​the monitoring equipment; When personnel are present in the monitored area, the risk event is recorded and / or an alert is triggered by the control and alert device.

[0019] Optionally, detecting whether there are personnel within the monitoring area of ​​the monitoring device based on the monitoring image includes: The monitoring image is input into a first target detection model, so that the first target detection model can detect whether there is a moving target in the monitoring image, and if there is a moving target in the monitoring image, output the moving target area of ​​the monitoring image; The second target detection model is used to identify the moving target region, classify the moving targets in the moving target region, and output the moving target classification result; Based on the classification results of the moving targets, determine whether there are any people among the moving targets; If there are people among the moving targets, it is determined that there are people in the monitored area.

[0020] Optionally, the step of recording risk events and / or triggering alerts by the control and alerting device when personnel are present in the monitored area includes: Once a person is present within the monitored area, it is determined whether the person has come into contact with the blade. When the personnel come into contact with the blade, a risk event is recorded and / or a control alert is triggered.

[0021] According to another aspect of this disclosure, a blade transport monitoring method is provided, applied to a server of the aforementioned blade transport monitoring system, the method comprising: Define the safe zone range for the blades within the monitoring area of ​​the monitoring equipment; Acquire surveillance images captured by monitoring equipment; Based on the monitoring image, determine whether the blade in the monitoring image has jumped out of the safe area. When the blade jumps out of the safe zone, a risk event is recorded and / or a warning is issued by the control and alert device.

[0022] According to another aspect of this disclosure, a blade transport monitoring method is provided, applied to a server of the aforementioned blade transport monitoring system, the method comprising: Define the safe zone range for the blades within the monitoring area of ​​the monitoring equipment; Acquire surveillance images captured by monitoring equipment; Based on the surveillance image, determine whether there is any foreign object intruding into the safe area. If a foreign object intrudes into the security area, the risk event is recorded and / or an alert is triggered by the control and warning device.

[0023] According to another aspect of this disclosure, an electronic device is provided, including a processor and a memory storing program instructions, the processor being configured to execute the blade transport monitoring method described above when the program instructions are executed. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 A schematic diagram of a blade transport monitoring system according to an embodiment of the present disclosure is shown; Figure 2 A schematic diagram of a blade transport vehicle according to an embodiment of the present disclosure is shown; Figure 3 A schematic diagram showing the connection between a monitoring device and a blade tip support according to an embodiment of the present disclosure is shown; Figure 4 A schematic diagram of a blade transport vehicle according to another embodiment of the present disclosure is shown; Figure 5 A schematic diagram of a blade transport vehicle according to yet another embodiment of the present disclosure is shown; Figure 6 A schematic diagram of a blade transport vehicle according to another embodiment of the present disclosure is shown; Figure 7 A schematic diagram showing the connection between a monitoring device and a leaf root support according to an embodiment of the present disclosure is shown; Figure 8 A schematic diagram of an electronic device according to an embodiment of the present disclosure is shown. Detailed Implementation

[0026] Wind turbine blades are highly susceptible to hidden damage during transportation due to road height restrictions and sudden braking by vehicles, such as impacts and scrapes. Because the chain of liability determination is long and the compensation amounts are high, some transport fleets, in order to evade insurance claims and contractual compensation, often choose to simply cover up dents and cracks on-site with putty, hand-laid fiberglass, or even spray paint, and then take photos to prove that the blades are in good condition before delivery. Such repairs only aim to make them indistinguishable to the naked eye; they do not follow the original blade design for layering, nor do they involve structural grinding, vacuum infusion, heat curing, or mechanical testing, let alone restore the airfoil's aerodynamic performance and fatigue life. After damaged blades are installed and connected to the grid, under the complex operating environment, the repair interface quickly debonds, and micro-cracks propagate rapidly along the main beam or leading edge shear band. Within a few weeks to a maximum of two seasons, fractures, tears, or stalls occur, not only causing the entire unit to shut down and lose power, but also potentially scattering debris that damages the tower, transformer, and even injures inspection personnel. The direct repair costs, power claims, and reputational losses from a single incident can reach millions of yuan.

[0027] To this end, this disclosure involves installing monitoring equipment on the blade transport vehicle, placing the blade within the monitoring area of ​​the equipment. This allows for real-time monitoring of the surrounding environment of the wind turbine blades, determining whether personnel are touching the blades based on the monitoring images, and recording or alerting personnel upon contact. This enables the monitoring of unauthorized actions, reduces the possibility of unauthorized actions going undetected, and ensures the quality of wind turbine blade installation.

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this disclosure, but not all embodiments.

[0029] This disclosure provides a blade transport vehicle, which can be understood as a mobile device integrating blades 200 and capable of moving the blades 200 together. Specifically, as... Figure 1 and Figure 3 As shown, the blade transport vehicle may include a trailer 100, a blade 200, a mounting assembly 300, and monitoring equipment 400. The trailer 100 serves as the main load-bearing component of the blade 200, carrying and moving the blade 200 along with it. The blade 200 is fixed to the trailer 100 by the mounting assembly 300, which separates the blade 200 from the trailer 100 to prevent collisions and damage to the blade 200 during transport. The monitoring equipment 400 includes at least three area monitoring devices, mounted on the trailer 100 or the mounting assembly 300. The monitoring area of ​​the at least three area monitoring devices covers the blade 200; in other words, the blade 200 is located within the monitoring area formed by the at least three area monitoring devices. In this way, by installing a monitoring device 400 on the blade transport vehicle and placing the blade 200 within the monitoring area of ​​the monitoring device 400, the surrounding environment of the wind turbine blade 200 can be monitored in real time through the monitoring device 400. Based on the monitoring images of the monitoring device 400, it can be determined whether personnel have touched the blade, and the behavior can be recorded or alerted after the personnel touch the blade. This can realize the monitoring of unauthorized actions, reduce the possibility of unauthorized actions going undetected, and ensure the installation quality of wind turbine blades.

[0030] Furthermore, compared to installing the area monitoring device on the blade 200, this disclosure installs the area monitoring device on the trailer 100 or the mounting assembly 300, which can avoid the area monitoring device from contacting the blade 200 and causing damage to the blade 200, and the outer wall surface of the blade 200 is curved, making it difficult to install the area monitoring device, thereby simplifying the installation difficulty of the area monitoring device.

[0031] Meanwhile, this disclosure utilizes at least three regional monitoring devices to jointly form a monitoring area covering the blade 200, avoiding the situation where the installation component 300 obstructs the monitoring view of some regional monitoring devices, thus ensuring the reliability of monitoring.

[0032] In practical applications, the blade transport vehicle may also include a tractor unit, with the trailer 100 fixedly or detachably connected to the tractor unit, and the trailer 100 being towed by the tractor unit. A cushioning component such as rubber may be provided on the side of the mounting assembly 300 that contacts the blade 200 to prevent damage from hard contact.

[0033] Regarding the specific structure of the mounting component 300, in some embodiments, such as Figure 1 , Figure 3 and Figure 7 As shown, the mounting assembly 300 may include a root support 310 and a tip support 320, which are located adjacent to opposite ends of the trailer 100 along its length. The blade 200 is mounted on the root support 310 and the tip support 320, with the root support 310 positioned adjacent to the root of the blade 200. The tip of the blade 200 passes through the tip support 320 and extends away from the root support 310, thereby supporting and limiting the blade 200 to securely fix it to the trailer 100. Simultaneously, through two-point limiting and a synergistic design of rigid limiting and elastic deformation release, the impact load generated by transport bumps is converted into controllable elastic strain of the blade 200, avoiding structural damage caused by localized stress concentration.

[0034] In practical applications, the blade root support 310 can support the blade root part of the blade 200 and limit and fix it by bolt connection. The blade tip support 320 can be arranged around the circumference of the blade 200, and a buffer is provided on the contact surface between the blade tip support 320 and the blade 200 to avoid contact pressure damage.

[0035] Regarding the specific arrangement of the monitoring equipment 400, this disclosure provides four feasible embodiments for reference.

[0036] Example 1, such as Figure 2As shown, the monitoring device 400 has four area monitoring devices. Specifically, the four area monitoring devices are a first area monitoring device 410, a second area monitoring device 420, a third area monitoring device 430, and a fourth area monitoring device 440. The first area monitoring device 410 and the second area monitoring device 420 are located above the blade 200 and are mounted on the blade tip support 320. The monitoring direction of the first area monitoring device 410 is towards the root of the blade 200, and the monitoring direction of the second area monitoring device 420 is towards the tip of the blade 200. The third area monitoring device 430 and the fourth area monitoring device 440 are located below the blade 200 and are mounted on the blade tip support 320. The monitoring direction of the third area monitoring device 430 is towards the root of the blade 200, and the monitoring direction of the fourth area monitoring device 440 is towards the tip of the blade 200. In this way, the monitoring areas of the first area monitoring device 410, the second area monitoring device 420, the third area monitoring device 430, and the fourth area monitoring device 440 can completely cover the entire blade 200, avoiding situations where some areas cannot be monitored and ensuring the reliability and accuracy of monitoring. At the same time, the first area monitoring device 410, the second area monitoring device 420, the third area monitoring device 430, and the fourth area monitoring device 440 are all mounted on the trailer 100 along with the blade tip support 320, simplifying the installation process.

[0037] Example 2, as follows Figure 4 As shown, the monitoring device 400 has five area monitoring devices. Specifically, based on Embodiment 1, the mounting assembly 300 may also include a buffer component 330, which is filled between the trailer 100 and the blade 200, and located between the blade root support 310 and the blade tip support 320. The buffer component 330 is used to support the bottom of the blade 200, preventing the blade 200 from colliding with the trailer 400 during elastic deformation. Correspondingly, the buffer component 330 may obstruct the third area monitoring device 430. Therefore, the monitoring device 400 also includes a fifth area monitoring device 450, which is located below the blade 200. The fifth area monitoring device 450 is mounted on the blade root support 310 or the trailer 100, and the monitoring direction of the fifth area monitoring device 450 is towards the blade tip of the blade 200. In this way, the monitoring areas of the first area monitoring device 410, the second area monitoring device 420, the third area monitoring device 430, the fourth area monitoring device 440 and the fifth area monitoring device 450 can completely cover the entire blade 200, avoiding the situation where some areas cannot be monitored, and ensuring the reliability and accuracy of monitoring.

[0038] In practical applications, the buffer component 330 can be an airbag, which can be fixed to the trailer 100 by strapping to prevent the airbag from detaching from the trailer 100 and the blade 200. There can be multiple buffer components 300, which are arranged along the length of the blade 100.

[0039] Example 3, as follows Figure 5 As shown, the monitoring device 400 has three area monitoring devices. Specifically, the monitoring device 400 includes a first area monitoring device 410, a second area monitoring device 420, and a third area monitoring device 430. The first area monitoring device 410 is located above the blade 200 and is mounted on the blade root support 310. The monitoring direction of the first area monitoring device 410 is towards the tip of the blade 200. The height of the first area monitoring device 410 is higher than the top of the blade tip support 320, thereby avoiding obstruction of the monitoring by the top of the blade tip support 320. The second area monitoring device 420 and the third area monitoring device 430 are located below the blade 200 and are mounted on the trailer 100 and / or the blade tip support 320. The monitoring direction of the second area monitoring device 420 is towards the root of the blade 200, and the monitoring direction of the third area monitoring device 430 is towards the tip of the blade 200. In this way, the monitoring areas of the first area monitoring device 410, the second area monitoring device 420 and the third area monitoring device 430 can completely cover the entire blade 200, avoiding the situation where some areas cannot be monitored, and ensuring the reliability and accuracy of monitoring.

[0040] Example 4, as follows Figure 6 and Figure 7As shown, the monitoring device 400 includes a first area monitoring device 410, a second area monitoring device 420, a third area monitoring device 430, and a fourth area monitoring device 440. The first area monitoring device 410 and the second area monitoring device 420 are located above the blade 200, and are mounted on the blade tip support 320. The monitoring direction of the first area monitoring device 410 is towards the root of the blade 200, and the monitoring direction of the second area monitoring device 420 is towards the tip of the blade 200. The third area monitoring device 430 and the fourth area monitoring device 440 are located below the blade 200. The third area monitoring device 430 is mounted on the blade tip support 320, and the fourth area monitoring device 440 is mounted on the blade root support 310. The monitoring directions of both the third area monitoring device 430 and the fourth area monitoring device 440 are towards the tip of the blade 200. In this way, the monitoring areas of the first area monitoring device 410, the second area monitoring device 420, the third area monitoring device 430, and the fourth area monitoring device 440 can completely cover the entire blade 200, avoiding situations where some areas cannot be monitored and ensuring the reliability and accuracy of monitoring. At the same time, only three area monitoring devices are set at the blade tip support 320, which can reduce the energy supply from nearby energy storage devices and ensure the sustainability of energy supply.

[0041] In some embodiments, the power supply of at least some of the monitoring devices described above can be connected to the power supply of the vehicle in which they are located, so that they are powered by the vehicle.

[0042] In some other embodiments, the leaf tip support 320 is also equipped with a photovoltaic panel 321 and an energy storage device 322. The energy storage device 322 is electrically connected to the photovoltaic panel 321 and the area monitoring devices (e.g., the first area monitoring device 410, the second area monitoring device 420, the third area monitoring device 430, and the fourth area monitoring device 440). The photovoltaic panel 321 converts solar energy into electrical energy to charge the energy storage device 322, which in turn powers the area monitoring devices to record video of the entire transportation process. Furthermore, the monitoring power supply is separate from the vehicle power supply, thus adapting to different vehicles and avoiding limitations imposed by vehicle selection. Simultaneously, it avoids the monitoring power supply being affected by vehicle start-stop or battery power, further ensuring monitoring reliability.

[0043] In practical applications, the photovoltaic panel 321 and the energy storage device 322 can also be installed in other locations on the vehicle, such as the rear, side, or top of the vehicle, without specific limitations. When both the blade root support 310 and the blade tip support 320 are equipped with area monitoring devices, the photovoltaic panel 321 and the energy storage device 322 can be installed at the blade root support 310 and the blade tip support 320 respectively, so that the area monitoring device can be connected to the energy storage device 322 nearby, reducing the wiring harness layout.

[0044] The aforementioned area monitoring device is one or more of a visual sensor, millimeter-wave radar, lidar, and ultrasonic sensor.

[0045] Preferably, the area monitoring device is a visual sensor, that is, a camera, which can reduce equipment costs and reduce the difficulty of subsequent data analysis.

[0046] Furthermore, the visual sensor has night vision capabilities, enabling it to perform monitoring at night or in other dark environments.

[0047] Furthermore, the visual sensor can be a wide-angle camera, thus ensuring that the visual sensor has a large shooting range.

[0048] Based on the same inventive concept, this disclosure also provides a blade transportation monitoring system, which includes the aforementioned blade transportation vehicle and a server 500. The server 500 is communicatively connected to the monitoring device 400 and is used to acquire monitoring images captured by the monitoring device 400 and analyze the monitoring images to detect the transportation safety of the blade 200.

[0049] In this embodiment, based on the computing power resources provided by the server 500, the monitoring images captured by the monitoring device 400 can be analyzed in real time to detect whether there are personnel in the monitoring area of ​​the monitoring device 400, thereby realizing the monitoring of personnel in the environment around the blade 200 and determining whether there is any unauthorized activity.

[0050] In practical applications, server 500 can be installed on the blade transport vehicle and communicate with monitoring equipment 400. Of course, server 500 can also be used as a remote device, where the data acquisition terminal on the blade transport vehicle can receive data from monitoring equipment 400 and send the data to server 500 for data processing.

[0051] When the server 500 is a remote device, the blade transport vehicle can also be equipped with a near-end processor. The near-end processor can perform preliminary calculations and filtering on the data received by the data acquisition terminal, such as filtering out monitoring images without personnel and uploading monitoring images with personnel, thereby saving traffic and improving transmission efficiency.

[0052] The following section explains the methods for monitoring blade transport.

[0053] In some embodiments, this disclosure provides a blade transport monitoring method, which is applied to the server 500 of the blade transport monitoring system described above, for monitoring whether unauthorized activities exist. The method includes the following steps: S11. The server acquires monitoring images captured by the monitoring device 400.

[0054] The monitoring device 400 captures real-time video of the monitored area, which includes the blades 200. The monitored images refer to the individual video frames within the video feed. The server can acquire these images in real-time while the monitoring device 400 is capturing the video. The server can also periodically acquire these images; however, to ensure timely analysis, the periodic acquisition time should not be too long. For example, the periodic time can be set to within 20 seconds, specifically 2 seconds, 5 seconds, 8 seconds, 10 seconds, 15 seconds, or 18 seconds.

[0055] S12. The server detects whether there are personnel within the monitoring area of ​​the monitoring device 400 based on the monitoring images.

[0056] By performing motion analysis on surveillance images, the server can detect moving targets within the images and determine whether these targets are people, thereby assessing the presence of individuals within the monitoring area of ​​the surveillance equipment 400. Motion analysis of surveillance images refers to the process of extracting and analyzing moving targets within the images.

[0057] S13. When personnel are present in the monitored area, the server records the risk event and / or the control and alert device issues an alert.

[0058] When personnel are present within the monitored area, the server can send control commands to the alerting device, causing the device to execute control and issue an alert. This application embodiment does not limit the alerting method of the alerting device. For example, if the alerting device is a warning light or a speaker, then if it is a warning light, it can emit a bright light to remind the driver to slow down when personnel are present within the monitored area. If it is a speaker, it can play a warning message when personnel are present within the monitored area.

[0059] It should be noted that the above-mentioned alert method involves the server directly controlling the alert device to issue an alert when personnel are present in the monitored area. Alternatively, the alert can be controlled by maintenance personnel at the operations and maintenance center. Specifically, the server can establish a network connection with the control equipment at the operations and maintenance center. When personnel are present in the monitored area, the server can transmit the monitoring information back to the control equipment via the network connection. After reviewing the monitoring information through the control equipment, the maintenance personnel can indirectly control the server, thereby controlling whether the alert device issues an alert.

[0060] Using the wind turbine control method provided in this application embodiment, the server can detect whether there are personnel in the monitoring area of ​​the monitoring device 400 by analyzing the monitoring images captured by the monitoring device 400. If there are personnel in the monitoring area, the server can control the reminder device to issue a reminder or record the unauthorized repair event, thereby reducing the situation where unauthorized repairs go undetected.

[0061] Optionally, in step S12 above, detecting whether there are personnel within the monitoring area of ​​the monitoring device 400 based on the monitoring image includes the following steps: S31, input the monitoring image into the first target detection model so that the first target detection model can detect whether there is a moving target in the monitoring image.

[0062] S32, when there is a moving target in the monitoring image, the first target detection model outputs the moving target area of ​​the monitoring image.

[0063] S33, if no moving target is found in the monitored image, the detection process ends.

[0064] S34, use the second target detection model to identify the moving target region, classify the moving targets in the moving target region, and output the moving target classification result.

[0065] S35, Based on the moving target classification results, determine whether there are personnel among the moving targets.

[0066] S36, if there are people among the moving targets, determine that there are people within the monitoring range.

[0067] S37, if there are no people in the moving target, determine that there are no people within the monitoring range.

[0068] In this implementation, the server can use moving target detection algorithms and small target detection algorithms to detect whether there are people in the monitoring images of the monitoring device, thereby determining whether there are people within the monitoring range of the monitoring device. Specifically, the target detection algorithm and the small target detection algorithm can be deployed as algorithm models on the server. The first target detection model can be a target detection algorithm model, and the second target detection model can be a small target detection algorithm model. Both the first target detection model and the second target detection model are deployed on the server.

[0069] In step S31 above, the monitoring image is input into the first target detection model, and the first target detection model performs motion analysis on the monitoring image to filter out the static background in the monitoring image, thereby determining whether there is a moving target in the monitoring image.

[0070] In step S32 above, when there is a moving target in the monitoring image, the first target detection model can mark the moving target area corresponding to the moving target and extract the moving target area from the monitoring image for output.

[0071] In step S33 above, if there is no moving target in the monitored image, it means that there is no moving target within the monitored range, and also that there are no people within the monitored range. Therefore, the detection process can be terminated to avoid wasting server operating resources.

[0072] In steps S34 to S37 above, the moving target area is input into the second target detection model, which then classifies the moving targets within the moving target area to obtain a classification result. This classification result represents the probability that the moving target belongs to the "personnel" category. When the probability of a moving target belonging to the "personnel" category reaches a preset probability threshold (e.g., 0.7), the moving target is considered a person. Thus, if a person is present among the moving targets, it indicates that the monitoring device has captured a monitoring image containing a person, thereby determining that a person exists within the monitoring range of the monitoring device. Conversely, if a person is present among the moving targets, it indicates that the monitoring image captured by the monitoring device does not contain a person, thereby determining that no person exists within the monitoring range of the monitoring device.

[0073] This implementation method allows for the initial coarse identification of moving targets in the surveillance image using a first target detection model, followed by a more detailed identification of individuals within the moving targets using a second target detection model. This progressive identification approach, combining coarse and fine detection, improves the accuracy of identifying the presence of individuals in the surveillance image, thereby enhancing the overall accuracy of detecting the presence of individuals within the monitored area.

[0074] Optionally, in step S13 above, when personnel are present in the monitored area, recording the risk event and / or triggering an alert from the control and alerting device includes the following steps: Once personnel are present within the monitored area, determine whether the personnel have come into contact with the blades; When personnel come into contact with the blades, the risk event is recorded and / or a control alert is triggered.

[0075] This implementation method can eliminate situations where personnel are present and in contact with the blades, thereby improving monitoring accuracy and reducing false alarms.

[0076] In some other embodiments, this disclosure provides a blade transport monitoring method, which is applied to the server 500 of the blade transport monitoring system described above, and is used to monitor the blade's movement during transport to determine whether the blade has been damaged. Specifically, the method includes the following steps: Define the safe zone range of the blades within the monitoring area of ​​the monitoring equipment 400; Acquire surveillance images captured by the 400 surveillance equipment; Based on the monitoring images, determine whether the blades in the images have jumped out of the safe zone. When the blade jumps out of the safe zone, the risk event is recorded and / or a warning is issued by the control alert device.

[0077] In this embodiment, the safe deformation range of the blade can be defined through simulation, and the safe zone range can be determined based on the safe deformation range. When it is determined from the monitoring image that the blade jumps out of the safe zone range, it indicates that the blade has formed too much and there is a risk of damage, thereby recording the risk event and / or triggering an alert from the control and warning device.

[0078] This implementation method allows for real-time monitoring of the blade's deformation during transport, preventing undetected damage caused by turbulence, wind, or sudden speed changes.

[0079] In some other embodiments, this disclosure provides a blade transport monitoring method, which is applied to the server 500 of the blade transport monitoring system described above, for monitoring whether foreign objects cause damage to the blades. Specifically, the method includes the following steps: Define the safe zone range of the blades within the monitoring area of ​​the monitoring equipment 400; Acquire surveillance images captured by the 400 surveillance equipment; Based on the surveillance images, determine whether any foreign objects have intruded into the safe area. If a foreign object intrudes into the safe area, the risk event is recorded and / or an alert is triggered by the control and warning device.

[0080] In this embodiment, the safe deformation range of the blade can be defined through simulation, and the safe area range can be determined based on the safe deformation range. When it is determined from the monitoring image that a foreign object has intruded into the safe area range, it indicates that the foreign object may have come into contact with and damaged the blade, thereby recording the risk event and / or triggering an alert from the control and warning device.

[0081] This implementation method allows for real-time monitoring of whether foreign objects, such as branches, flying pebbles, or falling rocks, damage the blades during transport, thus preventing undetected damage caused by contact with foreign objects.

[0082] Furthermore, monitoring images of recorded risk events are acquired to determine whether foreign objects come into contact with the blades. If foreign objects come into contact with the blades, it is defined as a high-risk event.

[0083] Combination Figure 8As shown, this application embodiment provides an electronic device 10, including a processor 11 and a memory 12. Optionally, the electronic device 10 may further include a communication interface 13 and a bus 14. The processor 11, communication interface 13, and memory 12 can communicate with each other via the bus 14. The communication interface 13 can be used for information transmission. The processor 11 can call logical instructions in the memory 12 to execute the wind turbine control method described in the above embodiment.

[0084] Furthermore, the logical instructions in the aforementioned memory 12 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium.

[0085] The memory 12, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as program instructions / modules corresponding to the methods in the embodiments of this application. The processor 11 executes functional applications and data processing by running the program instructions / modules stored in the memory 12, thereby realizing the control of the wind turbine in the above embodiments.

[0086] The memory 12 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the terminal device. Furthermore, the memory 12 may include high-speed random access memory and may also include non-volatile memory.

[0087] This application provides a storage medium storing computer-executable instructions, which are configured to execute the control method for the wind turbine generator described in the above embodiments.

[0088] The aforementioned storage medium can be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0089] The technical solutions of this application embodiment can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes one or more instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in this application embodiment. The aforementioned storage medium can be a non-transitory storage medium, including: USB flash drive, portable hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, and other media capable of storing program code; it can also be a transient storage medium.

[0090] The foregoing description and accompanying drawings fully illustrate embodiments of this disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the terminology used in this application is for describing embodiments only and is not intended to limit the claims. As used in the description of embodiments and claims, the singular forms "a," "an," and "the" are intended to equally include the plural forms unless the context clearly indicates otherwise. Similarly, the term "and / or" as used in this application means including one or more of the associated listed items and all possible combinations thereof. Additionally, when used in this application, the terms "comprise" and its variations "comprises" and / or "comprising" refer to the presence of stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof. Without further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element. In this document, each embodiment may focus on the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section disclosed in the embodiments, the relevant parts can be referred to the description of the method section.

[0091] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0092] The methods and products disclosed in the embodiments herein (including but not limited to devices and equipment) can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units may be merely a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the coupling or direct coupling or communication connection shown or discussed between each other may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to implement this embodiment according to actual needs. In addition, the functional units in the embodiments of this application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0093] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description; sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in a block diagram and / or flowchart, and combinations of blocks in a block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

Claims

1. A blade transport vehicle, characterized in that... The blade transport vehicle includes: Trailer (100); Blade (200), the blade (200) is fixed to the trailer (100) by mounting assembly (300); The monitoring equipment (400) includes at least three area monitoring devices, which are mounted on the trailer (100) or the mounting assembly (300) and the monitoring area of ​​the at least three area monitoring devices covers the blade (200).

2. The blade transport vehicle according to claim 1, characterized in that... The mounting assembly (300) includes a blade root support (310) and a blade tip support (320), the blade root support (310) and the blade tip support (320) being respectively adjacent to opposite ends of the trailer (100) along its length; The blade (200) is mounted on the leaf root support (310) and the leaf tip support (320), and the leaf root support (310) is arranged adjacent to the leaf root of the blade (200). The leaf tip of the blade (200) passes through the leaf tip support (320) and extends away from the leaf root support (310).

3. The blade transport vehicle according to claim 2, characterized in that... The monitoring equipment (400) includes a first area monitoring device (410), a second area monitoring device (420), a third area monitoring device (430), and a fourth area monitoring device (440); The first area monitoring device (410) and the second area monitoring device (420) are located above the blade (200), and are mounted on the blade tip support (320). The monitoring direction of the first area monitoring device (410) is towards the root of the blade (200), and the monitoring direction of the second area monitoring device (420) is towards the tip of the blade (200). The third area monitoring device (430) and the fourth area monitoring device (440) are located below the blade (200). The third area monitoring device (430) and the fourth area monitoring device (440) are arranged on the blade tip support (320). The monitoring direction of the third area monitoring device (430) is towards the root of the blade (200), and the monitoring direction of the fourth area monitoring device (440) is towards the tip of the blade (200).

4. The blade transport vehicle according to claim 3, characterized in that... The blade tip support (320) is also equipped with a photovoltaic panel (321) and an energy storage device (322). The energy storage device (322) is electrically connected to the photovoltaic panel (321), the first area monitoring device (410), the second area monitoring device (420), the third area monitoring device (430), and the fourth area monitoring device (440), respectively.

5. The blade transport vehicle according to claim 3, characterized in that... The mounting assembly (300) further includes a buffer component (330) that fills between the trailer (100) and the blade (200) and is located between the blade root support (310) and the blade tip support (320). The monitoring equipment (400) further includes a fifth area monitoring device (450), which is located below the blade (200). The fifth area monitoring device (450) is mounted on the blade root support (310) or the trailer (100), and the monitoring direction of the fifth area monitoring device (450) is towards the tip of the blade (200).

6. The blade transport vehicle according to claim 2, characterized in that... The monitoring equipment (400) includes a first area monitoring device (410), a second area monitoring device (420), and a third area monitoring device (430); The first area monitoring device (410) is located above the blade (200), the first area monitoring device (410) is mounted on the leaf root support (310), and the monitoring direction of the first area monitoring device (410) is towards the tip of the blade (200); The second area monitoring device (420) and the third area monitoring device (430) are located below the blade (200). The second area monitoring device (420) and the third area monitoring device (430) are arranged on the trailer (100) and / or the blade tip support (320). The monitoring direction of the second area monitoring device (420) is towards the root of the blade (200), and the monitoring direction of the third area monitoring device (430) is towards the tip of the blade (200).

7. The blade transport vehicle according to claim 2, characterized in that... The monitoring equipment (400) includes a first area monitoring device (410), a second area monitoring device (420), a third area monitoring device (430), and a fourth area monitoring device (440); The first area monitoring device (410) and the second area monitoring device (420) are located above the blade (200), and are mounted on the blade tip support (320). The monitoring direction of the first area monitoring device (410) is towards the root of the blade (200), and the monitoring direction of the second area monitoring device (420) is towards the tip of the blade (200). The third area monitoring device (430) and the fourth area monitoring device (440) are located below the blade (200). The third area monitoring device (430) is mounted on the blade tip support (320), and the fourth area monitoring device (440) is mounted on the blade root support (310). The monitoring directions of the third area monitoring device (430) and the fourth area monitoring device (440) are both oriented towards the blade tip of the blade (200).

8. The blade transport vehicle according to any one of claims 1 to 7, characterized in that... The area monitoring device is one or more of a visual sensor, millimeter-wave radar, lidar, and ultrasonic sensor.

9. The blade transport vehicle according to any one of claims 1 to 7, characterized in that... The area monitoring device is a visual sensor, which has night vision capabilities.

10. A blade transport monitoring system, characterized in that... The blade transport monitoring system includes: The blade transport vehicle as described in claim 8 or 9; Server (500), which is communicatively connected to the monitoring device (400), is used to acquire monitoring images captured by the monitoring device (400) and analyze the monitoring images to detect the transportation safety of the blade (200).

11. A method for monitoring blade transport, characterized in that... The method, applied to the server (500) of the blade transport monitoring system as described in claim 10, includes: Acquire surveillance images captured by the monitoring equipment (400); Based on the surveillance image, detect whether there are personnel within the monitoring area of ​​the surveillance device (400); When personnel are present in the monitored area, the risk event is recorded and / or an alert is triggered by the control and alert device.

12. The method according to claim 11, characterized in that... The step of detecting whether there are personnel within the monitoring area of ​​the monitoring device (400) based on the monitoring image includes: The monitoring image is input into a first target detection model, so that the first target detection model can detect whether there is a moving target in the monitoring image, and if there is a moving target in the monitoring image, output the moving target area of ​​the monitoring image; The second target detection model is used to identify the moving target region, classify the moving targets in the moving target region, and output the moving target classification result; Based on the classification results of the moving targets, determine whether there are any people among the moving targets; If there are people among the moving targets, it is determined that there are people in the monitored area.

13. The method according to claim 11, characterized in that... The step of recording risk events and / or triggering alerts by control and alerting devices when personnel are present in the monitored area includes: Once a person is present within the monitored area, it is determined whether the person has come into contact with the blade. When the personnel come into contact with the blade, a risk event is recorded and / or a control alert is triggered.

14. A method for monitoring blade transport, characterized in that... The method, applied to the server (500) of the blade transport monitoring system as described in claim 10, includes: Define the safe zone range of the blade within the monitoring area of ​​the monitoring equipment (400); Acquire surveillance images captured by the monitoring equipment (400); Based on the monitoring image, determine whether the blade in the monitoring image has jumped out of the safe area. When the blade jumps out of the safe zone, a risk event is recorded and / or a warning is issued by the control and alert device.

15. A method for monitoring blade transport, characterized in that... The method, applied to the server (500) of the blade transport monitoring system as described in claim 10, includes: Define the safe zone range of the blade within the monitoring area of ​​the monitoring equipment (400); Acquire surveillance images captured by the monitoring equipment (400); Based on the surveillance image, determine whether there is any foreign object intruding into the safe area. If a foreign object intrudes into the security area, the risk event is recorded and / or an alert is triggered by the control and warning device.

16. An electronic device comprising a processor and a memory storing program instructions, characterized in that... The processor is configured to execute the blade transport monitoring method as described in any one of claims 11 to 15 when running the program instructions.

Images