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 blade is fixed on the trailer through a mounting assembly, and at least one dangerous position exists on the trailer; the distance measuring sensor is installed at the dangerous position of the trailer and located under the blade, and the monitoring direction of the distance measuring sensor faces the blade so as to monitor the distance between the distance measuring sensor and the blade. According to the technical scheme provided by the invention, whether the blade is collided in the transportation process 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 are typically transported using telescopic hydraulic flatbed trucks. This method ensures that the blades bear almost only their own weight on the truck, without generating tensile stress, compressive stress, or additional bending and torque moments. The transportation process is relatively safe, and damage to the blades is minimized.

[0003] However, wind turbines are often installed in complex terrains such as mountainous areas, and the blades need to pass through bumpy and poor road conditions during transportation. When vehicles travel on such roads, the vehicle body itself will deform, and the blades will also deform to a certain extent. This will reduce the gap between the vehicle body and the blades, and there is a possibility that they will touch each other, which may ultimately cause blade damage and affect the quality of the installed unit. 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 whether a collision occurs during blade transport, thereby ensuring the installation quality of wind turbine blades.

[0005] According to one aspect of this disclosure, a blade transport vehicle is provided, the blade transport vehicle comprising: a trailer; a blade, the blade being fixed to the trailer by a mounting assembly, the trailer having at least one hazardous location; and at least one ranging sensor mounted on the trailer at the hazardous location and directly below the blade, the ranging sensor having a monitoring direction toward the blade to monitor the distance to the blade.

[0006] This disclosure involves installing distance sensors on blade transport vehicles to monitor the distance between the trailer and the blades. Based on the monitored distance, it determines whether a collision has occurred, records the event, or issues a warning. This prevents undetected blade damage from escalating into an accident and ensures the quality of blade installation. Furthermore, the monitored distance can also indicate a potential collision or excessive deformation between the trailer and the blades, prompting the driver to slow down and reduce blade damage.

[0007] Optionally, the top surface of the ranging sensor does not exceed the top surface of the trailer located at the dangerous position.

[0008] Optionally, the trailer includes a front panel, a rear panel, and a telescopic beam connecting the front panel and the rear panel; the mounting assembly includes a blade root bracket and a blade tip bracket, the blade root bracket being mounted on the front panel, the blade tip bracket being mounted on the rear panel, and the blades being mounted on the blade root bracket and the blade tip bracket; the dangerous location is at least one of the connection points between two adjacent telescopic sections of the telescopic beam and the connection point between the telescopic beam and the rear panel.

[0009] Optionally, the telescopic beam has two telescopic sections; there are two distance measuring sensors, one of which is located at the connection between two adjacent telescopic sections, and the other is located at the connection between the telescopic beam and the rear vehicle panel.

[0010] Optionally, the ranging sensor is detachably connected to the telescopic beam.

[0011] Optionally, the blade transport vehicle further includes a support frame; the support frame is constructed in an inverted L-shape, the horizontal section of the support frame is supported above the telescopic beam, the vertical section of the support frame is located on one side of the telescopic beam, the ranging sensor is installed on the vertical section of the support frame, and the support frame is magnetically connected to the telescopic beam.

[0012] Optionally, the support frame is provided with binding holes at both ends, and a rope is passed through the binding holes to bind the support frame to the telescopic beam.

[0013] Optionally, the ranging sensor can be any one of a laser ranging sensor, an ultrasonic ranging sensor, or an infrared ranging sensor.

[0014] Optionally, the blade transport vehicle further includes a photovoltaic panel and an energy storage device, wherein the energy storage device is electrically connected to the photovoltaic panel and the ranging sensor, respectively.

[0015] According to another aspect of this disclosure, a blade transport monitoring system is provided, the blade transport monitoring system comprising: the aforementioned blade transport vehicle; and a server, the server being communicatively connected to the ranging sensor and configured to acquire the distance monitored by the ranging sensor and analyze the distance to detect the transport safety of the blade.

[0016] 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: Obtain the distance monitored by the ranging sensor; Determine whether the distance is less than or equal to a preset distance; If the distance is less than the preset distance, the risk event is recorded and / or the control and reminder device issues an alert.

[0017] 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

[0018] 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.

[0019] 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 a blade transport vehicle according to another embodiment of the present disclosure is shown; Figure 9 A schematic diagram showing a ranging sensor installed at the connection between two adjacent telescopic sections according to another embodiment of the present disclosure is provided. Figure 10 A schematic diagram is shown showing a distance sensor installed at the connection between the telescopic section and the rear deck according to another embodiment of the present disclosure; Figure 11 A schematic diagram of a ranging sensor connected to a support frame according to another embodiment of the present disclosure is shown; Figure 12 A schematic diagram of an electronic device according to an embodiment of the present disclosure is shown. Detailed Implementation

[0020] In the transportation of wind turbine generator sets, the turbine blades, as core components, directly impact the installation and operational stability of the subsequent units due to their transportation safety. Currently, the industry widely adopts telescopic hydraulic flatbed trucks as the primary equipment for blade transportation. This transportation solution, through precise support structure design, allows the blades to bear almost only their own weight load throughout the transportation process, effectively avoiding the generation of tensile and compressive stresses during transportation. It also significantly reduces the risk of damage to the blade structure from additional bending moments and torques, making it the safest and least damaging mature solution in the current blade transportation field. Although telescopic hydraulic flatbed trucks have significant advantages under normal road conditions, wind turbine projects are often located in complex terrain areas such as mountains and hills. The blade transportation routes often need to traverse areas with poor road conditions, such as steep slopes, sharp bends, and bumpy sections. When vehicles travel on such complex road sections, the flatbed structure of the truck will undergo elastic deformation due to the impact of road undulations and bumps. As large-sized, flexible composite material components, the blades will also undergo a certain degree of bending or torsional deformation. This synchronous deformation can cause the reserved safety gap between the blade and the car body to shrink drastically. In extreme cases, it may cause local contact or even compression between the two, resulting in irreversible damage such as scratches on the blade surface and cracking of the resin layer. In severe cases, it may also affect the aerodynamic performance and fatigue life of the blade.

[0021] Currently, the industry mainly relies on two passive prevention methods to address such transportation risks: route planning optimization and driver operating procedures. Before transportation, on-site surveys are conducted to select the optimal route based on road conditions. During transportation, drivers are required to strictly control speed and drive smoothly to reduce bumps and impacts. However, these methods have significant limitations. They lack the ability to monitor the relative position and gap changes between the vehicle body and blades during transportation, making it impossible to promptly detect early signs of collision risks, let alone provide warnings and intervention immediately after a collision. Therefore, it is difficult to fundamentally eliminate the potential for blade damage during transportation.

[0022] To address this issue, this disclosure involves installing a distance measuring sensor on the blade transport vehicle. This sensor monitors the distance between the trailer and the blade, determining whether a collision has occurred based on the monitored distance. The event is then recorded or an alert is issued, preventing the risk of undetected blade damage leading to escalation and ensuring the quality of blade installation. Furthermore, the monitored distance can also be used to determine the potential for a collision between the trailer and the blade, prompting the driver to slow down and reduce blade damage.

[0023] 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.

[0024] 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 shown... 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 after touching the blade can be recorded or reminded. 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.

[0025] 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.

[0026] 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.

[0027] 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. The side of the mounting assembly 300 that contacts the blade 200 may be fitted with a cushioning component such as rubber to prevent damage from hard contact.

[0028] Regarding the specific structure of the mounting component 300, in some embodiments, such as Figure 1 , Figure 3 and Figure 7As shown, the mounting assembly 300 may include a blade root support 310 and a blade tip support 320, which are located adjacent to opposite ends of the trailer 100 along its length. The blade 200 is mounted on the blade root support 310 and the blade tip support 320, with the blade root support 310 positioned adjacent to the root of the blade 200. The blade tip of the blade 200 passes through the blade tip support 320 and extends away from the blade root support 310. Thus, the blade root support 310 and the blade tip support 320 support and limit the blade 200, securely fixing 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.

[0029] In practical applications, the blade root support 310 can support the blade root 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.

[0030] Regarding the specific arrangement of the monitoring equipment 400, this disclosure provides four possible embodiments for reference.

[0031] 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.

[0032] Example 2, as 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.

[0033] 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.

[0034] 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.

[0035] 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 and second area monitoring devices 410 and 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 and fourth area monitoring devices 430 and 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 and fourth area monitoring devices 430 and 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.

[0036] 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.

[0037] 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.

[0038] 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 layout.

[0039] The aforementioned area monitoring device is one or more of the following: visual sensor, millimeter-wave radar, lidar, and ultrasonic sensor.

[0040] 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.

[0041] Furthermore, the visual sensor has night vision capabilities, enabling it to perform surveillance even at night or in other dark environments.

[0042] Furthermore, the visual sensor can be a wide-angle camera, thus ensuring that the visual sensor has a large shooting range.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] In addition, the blade transport vehicle can also be equipped with at least one distance sensor 600, which detects the distance between the blade 200 and the trailer 100 to determine whether a collision has occurred or if there is a tendency for a collision. It should be noted that the distance sensor 600 can be used alone or in conjunction with the aforementioned monitoring equipment 400 to achieve dual monitoring, ensuring monitoring reliability and reducing the probability of missed detections.

[0048] Specifically, such as Figure 1 and Figure 8 As shown, there is at least one hazardous location on the trailer 100. A hazardous location can be understood as the position on the trailer 100 with the highest probability of contact with the blade 200 when there is only one hazardous location; when there are two hazardous locations, one is the position on the trailer 100 with the highest probability of contact with the blade 200, and the other is the position on the trailer 100 with the second highest probability of contact with the blade 200. In practical applications, hazardous locations can be identified before transportation based on multibody dynamics simulations of the blade, transport vehicle model, and road spectrum.

[0049] Typically, the number of distance sensors 600 can be the same as or less than the number of pre-identified hazardous locations, and each distance sensor 600 can be installed at a different hazardous location on the trailer 100. The monitoring direction of the distance sensor 600 is towards the blade 200 to monitor the distance between the distance sensor 600 and the blade 200, thereby determining the distance between the trailer 100 and the blade 200. In other words, this disclosure, by installing distance sensors 600 on the blade transport vehicle, uses the distance sensors 600 to monitor the distance between the trailer 100 and the blade 200, determines whether a collision has occurred between the trailer 100 and the blade 200 based on the monitored distance, and then records the event or issues a warning, avoiding the risk of the accident escalating due to undetected damage to the blade 200, and ensuring the quality of blade installation. In addition, the monitored distance can also be used to determine whether there is a collision tendency or excessive deformation between the trailer 100 and the blade 200, thereby reminding the driver to slow down to reduce the occurrence of blade damage.

[0050] In practical applications, the number of ranging sensors 600 can be one, two, three, etc. The ranging sensor 600 can be any one of a laser ranging sensor, an ultrasonic ranging sensor, or an infrared ranging sensor. Preferably, the ranging sensor 600 is an infrared ranging sensor, which has a simple structure and low cost.

[0051] The top surface of the ranging sensor 600 may not exceed the top surface of the dangerous position of the trailer 100 where it is located. This can prevent the ranging sensor 600 from contacting the blade 200, prevent the ranging sensor 600 from being damaged by collision, and avoid further loss.

[0052] In practical applications, the probe end of the ranging sensor 600 can be flush with the top surface of the dangerous position of the trailer 100 where it is located, so that the distance detected by the ranging sensor 600 is the distance between the blade 200 and the trailer 100; the probe end of the ranging sensor 600 can also be lower than the top surface of the dangerous position of the trailer 100 where it is located, and correspondingly, the distance between the blade 200 and the trailer 100 is the distance detected by the ranging sensor 600 minus the distance between the probe end of the ranging sensor 600 and the top surface of the dangerous position of the trailer 100.

[0053] In some embodiments, such as Figure 8 As shown, the trailer 100 may include a front platform 110, a rear platform 120, and a telescopic beam 130 connecting the front platform 110 and the rear platform 120. The telescopic beam 130 has at least two telescopic sections, which can be deployed or retracted hydraulically or electrically to accommodate blades 200 of different lengths. A blade root support 310 is mounted on the front platform 110, and a blade tip support 320 is mounted on the rear platform 120. Correspondingly, the hazardous locations are at least one of the connections between two adjacent telescopic sections of the telescopic beam 130 and at the connection between the telescopic beam 130 and the rear platform 120.

[0054] For example, such as Figures 8 to 10 As shown, taking the telescopic beam 130 with two telescopic sections and two distance sensors 600 as an example, one of the distance sensors 600 is located at the connection between two adjacent telescopic sections, so as to fully monitor the relative position change between the blade 200 and the trailer 100, reduce the occurrence of blade damage, avoid the risk of the accident escalating due to the failure to detect the damage to the blade 200 in time, and ensure the quality of blade installation.

[0055] Preferably, the ranging sensor 600 is connected to the telescopic beam 130. The telescopic beam 130 is narrower than the front plate 110 and the rear plate 120, so the ranging sensor 600 can be installed on the side of the telescopic beam 130 for monitoring without the need for drilling, which is convenient for installation and operation.

[0056] In some embodiments, the ranging sensor 600 can be detachably connected to the telescopic beam 130 to facilitate subsequent maintenance and replacement. Furthermore, when the telescopic beam 130 retracts, the ranging sensor 600 can be removed from the telescopic beam 130 beforehand to avoid affecting the retraction action of the telescopic beam 130.

[0057] In some embodiments, such as Figure 9 and Figure 11As shown, the blade transport vehicle may also include a support frame 610, which is constructed in an inverted L-shape. The horizontal section of the support frame 610 is supported above the telescopic beam 130, and the vertical section of the support frame 610 is located on one side of the telescopic beam 130. This allows the horizontal and vertical sections to be positioned against the telescopic beam 130, ensuring installation stability. Correspondingly, a ranging sensor 600 is mounted on the vertical section of the support frame 610. The support frame 610 is magnetically connected to the telescopic beam 130. This magnetic connection not only enables the connection between the support frame 610 and the telescopic beam 130 but also reduces relative sway between them, ensuring monitoring stability.

[0058] In practical applications, magnets can be connected to the inner walls of both the horizontal and vertical sections of the support frame 610, so that they can be magnetically attracted to the telescopic beam 130 for easy disassembly and replacement.

[0059] In order to prevent the support frame 610 from detaching from the telescopic beam 130 due to bumps, in some embodiments, the two ends of the support frame 610 are respectively provided with binding holes 611. The rope passes through the binding holes 611 to bind the support frame 610 to the telescopic beam 130, thereby providing a double connection and fixation between the support frame 610 and the telescopic beam 130, and preventing the support frame 610 from detaching from the telescopic beam 130 due to bumps.

[0060] In some embodiments, the blade transport vehicle may also include 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 ranging sensor 600, respectively. The photovoltaic panel 321 converts solar energy into electrical energy to charge the energy storage device 322, and the energy storage device 322 supplies power to the ranging sensor 600, thereby implementing monitoring of the entire transportation process.

[0061] It should be noted that the ranging sensor 600 can share the same energy storage device 322 and photovoltaic panel 321 with the aforementioned monitoring device 400, or the ranging sensor 600 can use an independent energy storage device 322 and photovoltaic panel 321.

[0062] Based on the same inventive concept, this disclosure also provides a blade transport monitoring system, which includes the aforementioned blade transport vehicle and a server 500. The server 500 is communicatively connected to a ranging sensor 600 and is used to acquire the distance monitored by the ranging sensor 600 and analyze the distance to detect the transport safety of the blade 200.

[0063] In this embodiment, based on the computing power resources provided by the server 500, the distance monitored by the ranging sensor 600 can be analyzed in real time to monitor whether the distance is too large or too small, and to determine whether the blade 200 is damaged during transportation.

[0064] In practical applications, the aforementioned monitoring device 400 and ranging sensor 600 can be connected to the same server 500, or they can be connected to different servers 500. The server 500 can be installed on the blade transport vehicle. Of course, the server 500 can also be used as a remote device, where the data acquisition terminal on the blade transport vehicle can receive data from the ranging sensor 600 and send the data to the server 500 for data processing.

[0065] When the server 500 is a remote device, a near-end processor can also be installed on the blade transport vehicle. The near-end processor can perform preliminary calculations and filtering on the data received by the data acquisition terminal. For example, when the probe end of the distance sensor 600 is lower than the top surface of the dangerous position of the trailer 100 where it is located, the near-end processor can subtract the distance between the probe end of the distance sensor 600 and the top surface of the dangerous position of the trailer 100 from the distance detected by the distance sensor 600 to obtain the distance between the blade 200 and the trailer 100.

[0066] The following section explains the methods for monitoring blade transport.

[0067] 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.

[0068] 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 interval should not be too long. For example, the interval can be set to within 20 seconds, specifically 2 seconds, 5 seconds, 8 seconds, 10 seconds, 15 seconds, or 18 seconds.

[0069] S12. The server detects whether there are personnel within the monitoring area of ​​the monitoring device 400 based on the monitoring images.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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, the monitoring image is input 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.

[0076] 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.

[0077] S33, if no moving target is found in the monitored image, the detection process ends.

[0078] 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.

[0079] S35, Based on the moving target classification results, determine whether there are personnel among the moving targets.

[0080] S36, if there are people among the moving targets, determine that there are people within the monitoring range.

[0081] S37, if there are no people in the moving target, determine that there are no people in the monitoring range.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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 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 an image containing a person, thereby determining that a person exists within the monitoring range of the device. Conversely, if a person is present among the moving targets, it indicates that the monitoring image captured by the device does not contain a person, thereby determining that no person exists within the monitoring range of the device.

[0087] 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.

[0088] Optionally, in step S13 above, recording the risk event and / or triggering an alert from the control alert device when personnel are present in the monitored area 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.

[0089] This implementation method eliminates the possibility of personnel being in contact with the blades, thereby improving monitoring accuracy and reducing false alarms.

[0090] 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 vibration of the blade during transport to determine whether the blade is damaged. Specifically, the method includes the following steps: Define the safe zone range of the blade 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 monitoring images have jumped out of the safe area; 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.

[0091] 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 has jumped 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.

[0092] This implementation method allows for real-time monitoring of blade deformation during transport, preventing undetected damage caused by turbulence, wind, or sudden speed changes.

[0093] 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 blade 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 there are any foreign objects intruding 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.

[0094] 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.

[0095] This implementation method allows for real-time monitoring of whether foreign objects, such as branches, flying stones, or falling rocks, damage the blades during transport, thus preventing undetected damage caused by contact with foreign objects.

[0096] 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.

[0097] 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 the blade 200 is in contact with the trailer 100, and / or whether it has excessively bent downwards, causing damage. Specifically, the method includes the following steps: Obtain the distance monitored by the ranging sensor 600; Determine whether the distance is less than a first preset distance; If the distance is less than or equal to the first preset distance, the risk event is recorded and / or the control and reminder device issues an alert.

[0098] In this embodiment, the first preset distance is set based on whether the blade 200 contacts the trailer 100. When the probe end of the ranging sensor 600 is flush with the top surface of the dangerous position of the trailer 100, the first preset distance can be 0. When the probe end of the ranging sensor 600 is lower than the top surface of the dangerous position of the trailer 100, the first preset distance is the distance between the probe end of the ranging sensor 600 and the top surface of the dangerous position of the trailer 100. When the distance is equal to the first preset distance, it indicates that the blade 200 has collided with the trailer 100, thereby recording the risk event and / or triggering an alert from the control and warning device.

[0099] Of course, the first preset distance can be set according to the distance between the blade 200 and the trailer 100 when the blade 200 bends downward to its maximum. In this way, when the detected distance is less than the first preset distance, it indicates that the blade 200 may be bent downward too much. In this case, the blade 200 may also be damaged, thereby recording the risk event and / or the control reminder device will issue a reminder, such as reminding the driver to slow down, reduce bumps, and avoid aggravating the damage to the blade 200.

[0100] Using this implementation method, it is possible to monitor in real time whether the blade collides with the trailer 100 during the transport process, and / or whether excessive downward bending causes damage to the blade.

[0101] 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, to monitor whether the blade jumps or bends excessively upwards during transport, causing damage. Specifically, the method includes the following steps: Obtain the distance monitored by the ranging sensor 600; Determine whether the distance is greater than a second preset distance, and the second preset distance is greater than a first preset distance; If the distance is greater than the second preset distance, the risk event is recorded and / or the control and reminder device issues an alert.

[0102] In this embodiment, the second preset distance can be set according to the distance between the blade 200 and the trailer 100 when the blade 200 bends upward to its maximum. In this way, when the detected distance is greater than the second preset distance, it indicates that the blade 200 may bend upward too much. In this case, the blade 200 may also be damaged, thereby recording the risk event and / or triggering a warning from the control and reminder device.

[0103] Combination Figure 12 As 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.

[0104] Furthermore, the logic 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] The aforementioned storage medium can be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0109] 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.

[0110] 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 term "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 "comprises 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.

[0111] 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.

[0112] The methods and products (including but not limited to devices and equipment) disclosed in the embodiments herein 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 mutual coupling or direct coupling or communication connection shown or discussed 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.

[0113] 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); A blade (200) is fixed to the trailer (100) by a mounting assembly (300), and there is at least one dangerous location on the trailer (100); At least one distance sensor (600) is mounted at the dangerous location of the trailer (100) and directly below the blade (200), the distance sensor (600) being directed toward the blade (200) to monitor the distance to the blade (200).

2. The blade transport vehicle according to claim 1, characterized in that, The top surface of the ranging sensor (600) does not exceed the top surface of the trailer (100) at the dangerous location.

3. The blade transport vehicle according to claim 1, characterized in that, The trailer (100) includes a front platform (110), a rear platform (120), and a telescopic beam (130) connecting the front platform (110) and the rear platform (120). The mounting assembly (300) includes a blade root support (310) and a blade tip support (320), the blade root support (310) being mounted on the front panel (110), the blade tip support (320) being mounted on the rear panel (120), and the blade (200) being mounted on the blade root support (310) and the blade tip support (320); The dangerous locations are at least one of the connections between two adjacent telescopic sections of the telescopic beam (130) and the connection between the telescopic beam (130) and the rear panel (120).

4. The blade transport vehicle according to claim 3, characterized in that, The telescopic beam (130) has two telescopic sections; There are two distance sensors (600), one of which is located at the connection between two adjacent telescopic sections, and the other is located at the connection between the telescopic beam (130) and the rear panel (120).

5. The blade transport vehicle according to claim 3 or 4, characterized in that, The distance sensor (600) is detachably connected to the telescopic beam (130).

6. The blade transport vehicle according to claim 5, characterized in that, The blade transport vehicle also includes a support frame (610). The support frame (610) is constructed in an inverted L shape. The horizontal section of the support frame (610) is supported above the telescopic beam (130). The vertical section of the support frame (610) is located on one side of the telescopic beam (130). The distance sensor (600) is installed on the vertical section of the support frame (610). The support frame (610) is magnetically connected to the telescopic beam (130).

7. The blade transport vehicle according to claim 6, characterized in that, The support frame (610) has binding holes (611) at both ends. A rope passes through the binding holes (611) to bind the support frame (610) to the telescopic beam (130).

8. The blade transport vehicle according to claim 3 or 4, characterized in that, The ranging sensor (600) can be any one of a laser ranging sensor, an ultrasonic ranging sensor, or an infrared ranging sensor.

9. The blade transport vehicle according to claim 3 or 4, characterized in that, The blade transport vehicle also includes a photovoltaic panel (321) and an energy storage device (322), the energy storage device (322) being electrically connected to the photovoltaic panel (321) and the ranging sensor (600) respectively.

10. A blade transport monitoring system, characterized in that, The blade transport monitoring system includes: The blade transport vehicle according to any one of claims 1 to 9; Server (500), which is communicatively connected to the ranging sensor (600) and is used to acquire the distance monitored by the ranging sensor (600) and analyze the distance to detect the transport safety of the blade (200).

11. A method for monitoring blade transport, characterized in that, The method, applied to a server (500) of the blade transport monitoring system as described in claim 10, comprises: Obtain the distance monitored by the ranging sensor (600); Determine whether the distance is less than or equal to a preset distance; If the distance is less than the preset distance, the risk event is recorded and / or the control and reminder device issues an alert.

12. 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 claim 11 when running the program instructions.

Images