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

Abstract

The disclosure relates to a blade transport vehicle, a monitoring system, a monitoring method and an electronic device, the blade transport vehicle comprising: a trailer having a length direction, a width direction and a height direction; the blades are fixed on the trailer through a mounting assembly; the vibration sensor is arranged on the trailer or the installation assembly, the vibration sensor is provided with at least one detection direction, and the at least one detection direction is parallel to at least one of the length direction, the width direction and the height direction of the trailer. According to the technical scheme, the possibility that the blades are damaged can be reduced, and the installation quality of the wind power blades is guaranteed.

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 ultra-long, ultra-thin, and high-rigidity composite material components. Their structural characteristics make them extremely sensitive to vibration, impact, and torsion during transportation. Once the threshold is exceeded, irreversible damage will occur.

[0003] Currently, the inspection of wind turbine blades is mostly done visually, which often leads to the omission of minute cracks that occur during transportation. These minute cracks can then rapidly expand during operation, eventually causing the blades to become unusable. Summary of the Invention

[0004] The purpose of this disclosure is to provide a blade transport vehicle, monitoring system, monitoring method, and electronic equipment that can reduce the possibility of blade damage during transport and ensure 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, wherein the trailer has a length direction, a width direction and a height direction; Blades, which are secured to the trailer by mounting components; A vibration sensor is disposed on the trailer or the mounting assembly, the vibration sensor having at least one detection direction, and the at least one detection direction being parallel to at least one of the length direction, width direction and height direction of the trailer.

[0006] This disclosure involves installing vibration sensors on blade transport vehicles. These sensors can detect vibration data during transport, allowing for the assessment of the vehicle's vibration level. Based on this data, the driver can be proactively alerted, ensuring blade transport safety, reducing cargo damage costs, guaranteeing installation quality, and recording abnormal or threshold-exceeding vibration conditions for easier allocation of responsibility for transport damage.

[0007] Optionally, the vibration sensor is a triaxial vibration sensor, which has three detection directions: the X-axis, the Y-axis, and the Z-axis. The X-axis of the vibration sensor is parallel to one of the three directions of the trailer: length, width, and height. The Y-axis of the vibration sensor is parallel to another of the three directions of the trailer: length, width, and height. The Z-axis of the vibration sensor is parallel to yet another of the three directions of the trailer: length, width, and height.

[0008] 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.

[0009] Optionally, the trailer includes a front panel, a rear panel, and a telescopic beam connecting the front panel and the rear panel; the blade root bracket is mounted on the front panel, and the blade tip bracket is mounted on the rear panel; there are two vibration sensors, which are respectively mounted on the blade root bracket and the blade tip bracket.

[0010] Optionally, the vibration sensor is magnetically attached to the trailer or the mounting assembly; and / or, the blade transport vehicle further includes a mounting bracket connected to the trailer or the mounting assembly to clamp the vibration sensor onto the trailer or the mounting assembly.

[0011] Optionally, the blade transport vehicle further includes a positioning module for locating the position of the trailer.

[0012] Optionally, the blade transport vehicle is also equipped with a photovoltaic panel and an energy storage device, the energy storage device being electrically connected to the photovoltaic panel and the vibration sensor respectively.

[0013] According to another aspect of this disclosure, a blade transport monitoring system is provided, the blade transport monitoring system comprising: The aforementioned blade transport vehicles; The server is communicatively connected to the vibration sensor and is used to acquire vibration data monitored by the vibration sensor and analyze the vibration data to detect the transportation safety of the blade.

[0014] 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 acceleration amplitude monitored by the vibration sensor; Based on the acceleration amplitude, determine whether the acceleration amplitude exceeds a first threshold. When the acceleration amplitude exceeds the first threshold, a risk event is recorded.

[0015] Optionally, the blade transport vehicle further includes a positioning module, and the recording of risk events includes: Record the vibration data exceeding the first threshold, as well as the positioning information obtained through the positioning module.

[0016] According to another aspect of this disclosure, a blade transport monitoring method is provided, applied to a server of a blade transport monitoring system as described above. The trailer includes a front trailer and a rear trailer. The blade root is mounted on a blade root support on the front trailer, and the blade tip passes through a blade tip support on the rear trailer and extends away from the blade root support. Two vibration sensors are provided, each mounted on a blade root support and a blade tip support, respectively. The method includes: Acquire vibration data from two vibration sensors in the same detection direction; Determine the phase difference between two vibration sensors in the same detection direction; Determine whether the phase difference is greater than the second threshold; When the phase difference is greater than the second threshold, a risk event is recorded.

[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 8It shows Figure 7 Enlarged schematic diagram of some of the structures in the diagram; Figure 9 A schematic diagram of a blade transport vehicle according to another embodiment of the present disclosure is shown; Figure 10 A schematic diagram of an electronic device according to an embodiment of the present disclosure is shown. Detailed Implementation

[0020] Wind turbine blades, as core components of modern wind power systems, are typical ultra-long, ultra-thin, and high-rigidity composite material components. Their length typically ranges from 40 to 80 meters, while their thickness is only the minimum required for material strength. They are primarily made of glass fiber / carbon fiber reinforced resin matrix composites through vacuum casting. This unique structural characteristic makes them extremely sensitive to external excitations during transportation, particularly vibration, impact, and torsion. When transport vehicles traverse bumpy roads, the blades may exhibit resonance; they will withstand instantaneous impact loads when encountering sudden braking or road obstacles; and they are prone to torsional deformation during cornering. Once these mechanical parameters exceed the material's fatigue limit or strength threshold, irreversible damage such as internal fiber breakage and resin matrix cracking will occur, severely impacting the blade's structural integrity and service life. Currently, the industry still relies on manual visual inspection before and after loading and unloading to monitor the safety of wind turbine blades during transportation. This method is limited by the resolution of the human eye (which can usually only identify surface defects larger than 0.2mm) and blind spots in the inspection angle. For micron-level cracks or internal delamination defects caused by continuous dynamic loads during transportation, there is often a missed detection rate of more than 30%.

[0021] Undetected minor damage can continue to expand under the cyclical effects of wind loads after the blades are installed and put into operation. When the blades rotate at high speeds, micron-sized cracks can develop into penetrating fractures within months, leading to sudden blade failure. Internal delamination defects can significantly reduce structural stiffness, causing blade resonant frequency shifts and exacerbating the dynamic coupling effect with other components of the unit. Latent damage can also alter the aerodynamic shape of the blades, causing a 15%-20% decrease in wind energy conversion efficiency, directly impacting power generation revenue. Furthermore, if undetected defects are exposed during the warranty period, the manufacturer will face hefty claims. If discovered during operation and maintenance, high-altitude repairs are required, with single repair costs reaching hundreds of thousands of yuan, and a daily power generation loss of approximately 50,000 to 80,000 kilowatt-hours during downtime.

[0022] To this end, this disclosure involves installing vibration sensors on blade transport vehicles. These sensors can detect vibration data during transport, thereby determining the vibration status of the transport vehicle and proactively alerting the driver based on the vibration levels. This ensures blade transport safety, reduces cargo damage costs, guarantees installation quality, and records abnormal or threshold-exceeding vibration conditions for easier allocation of responsibility for transport damage.

[0023] Furthermore, the vibration sensor adopts a triaxial vibration sensor, which can monitor the vibration of the transport vehicle in three directions: length, width, and height, thus preventing missed detections.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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 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.

[0030] 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.

[0031] Regarding the specific arrangement of the monitoring equipment 400, this disclosure provides four possible embodiments for reference.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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 area monitoring devices are installed at both the blade root support 310 and the blade tip support 320, the photovoltaic panel 321 and the energy storage device 322 can be installed at the blade root support 310 and the blade tip support 322 respectively, so that the area monitoring device can be connected to the energy storage device 322 nearby, reducing the wiring layout.

[0040] The aforementioned area monitoring device is one or more of a visual sensor, millimeter-wave radar, lidar, and ultrasonic sensor.

[0041] 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.

[0042] Furthermore, the visual sensor has night vision capabilities, enabling it to perform real-time monitoring even at night or in other dark environments.

[0043] Furthermore, the visual sensor can be a wide-angle camera, thus ensuring that the visual sensor has a large shooting range.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] In some embodiments, such as Figure 1 and Figure 3As shown, the blade transport vehicle may also include a vibration sensor 800, which is mounted on the trailer or mounting assembly 300. The vibration sensor 800 may have at least one detection direction, and this detection direction is parallel to at least one of the length, width, and height directions of the trailer 100. That is, the vibration sensor 800 can be a single-axis, dual-axis, or triaxial vibration sensor, with each axis corresponding to a detection direction, used to detect at least one of the length, width, and height directions of the trailer 100. Thus, the vibration sensor 800 can detect vibration data of the transport vehicle during transportation, thereby determining the vibration condition of the transport vehicle during transportation. Based on the detected vibration data, the driver can be proactively alerted, ensuring blade transportation safety, reducing cargo damage costs, ensuring installation quality, and recording abnormal or threshold-exceeding vibration conditions for easier allocation of responsibility for transportation damage.

[0049] For example, when the detection direction of the vibration sensor 800 is parallel to the length direction of the trailer 100, the vibration sensor 800 can monitor the inertial impact generated by the rapid acceleration and braking of the transport vehicle. Specifically, the blade 200 is fixed on the trailer 100 by the mounting assembly 300. During rapid braking, the blade 200 will generate a huge inertial force forward, which may cause the mounting assembly 300 to loosen and the fibers at the blade root to tear. Rapid acceleration will cause the blade tip to swing and impact.

[0050] When the detection direction of the vibration sensor 800 is parallel to the width direction of the trailer 100, the vibration sensor 800 can monitor the torsional and oscillating vibrations caused by the centrifugal force of the transport vehicle during turning and the lateral wind load from passing vehicles. Specifically, when the ultra-long blades turn, they form a "cantilever beam" structure. Excessive lateral vibration can cause alternating bending moments in the middle of the blades, leading to delamination of the composite materials.

[0051] When the detection direction of the vibration sensor 800 is parallel to the height direction of the trailer 100, the vibration sensor 800 can monitor the vertical impact generated by road potholes, speed bumps, and bridge joints. These are the most common vibration sources in the transportation of wind turbine blades. Excessive vertical vibration peaks can directly cause the resin on the blade surface to crack, especially in weak parts such as the blade tip. Micro-cracks will rapidly expand during subsequent operation, eventually leading to the scrapping of the blade.

[0052] Considering that damage to the blades 200 is mostly caused by vibration coupling in multiple directions, single-axis or dual-axis sensors cannot comprehensively monitor the risks. Therefore, a triaxial vibration sensor is preferred for the vibration sensor 800. Accordingly, the vibration sensor 800 has three detection directions: X-axis, Y-axis, and Z-axis. The X-axis of the vibration sensor 800 is parallel to one of the length, width, and height directions of the trailer 100; the Y-axis is parallel to another of the length, width, and height directions of the trailer 100; and the Z-axis is parallel to yet another of the length, width, and height directions of the trailer 100. This allows for comprehensive detection of the transport vehicle's vibration. By setting safety thresholds for the vibration data in each axis of the vibration sensor 800, or safety thresholds for the vibration data in each detection direction (e.g., the Z-axis vibration threshold is typically ≤2g), real-time warnings can be issued based on the analyzed vibration data, reminding the driver to slow down and avoid potholes, thus preventing blade damage at its source.

[0053] It should be noted that the specific structure of the triaxial vibration sensor can refer to existing technology, and the X-axis, Y-axis and Z-axis directions of the triaxial vibration sensor described in this article can be referred to the schematic diagram marked on the surface of the triaxial vibration sensor.

[0054] It is worth mentioning that the vibration sensor 800 can be used independently of the monitoring device 400 for detecting the blade's transport process, or the two can be used together to verify each other, ensuring the accuracy and comprehensiveness of the detection of blade transport damage and reducing the probability of missed detection.

[0055] Regarding the specific structure of trailer 100, such as Figure 9 As shown, in some embodiments, 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.

[0056] Correspondingly, such as Figure 3 , Figure 8 and Figure 9As shown, there may be two vibration sensors 800, which are respectively mounted on the blade root support 310 and the blade tip support 320. That is, triaxial vibration sensors are installed on the front plate 110 and the rear plate 120, respectively, so as to accurately capture the differentiated vibration response at both ends of the blade 200, realize the full-range monitoring of the vibration state of the entire blade 200, and avoid missing critical damage risks due to the limitations of single-point monitoring.

[0057] Specifically, during transportation, the vibration of the front deck 110 is mainly low-frequency, high-load rigid body vibration, primarily affected by the trailer's start-stop, steering, and suspension system performance. The vibration direction is mainly along the length and height, directly reflecting the connection stability between the trailer 100 and the mounting assembly 300. The rear deck 120 is a flexible vibration end. Due to its extremely long blades and low stiffness, it generates high-frequency, high-amplitude oscillating and torsional vibrations during operation. Especially when encountering crosswinds or bumpy roads, the amplitude of the width-direction vibration at the blade tip is much greater than that at the blade root, making it a high-risk area for blade material cracking. Therefore, if only a vibration sensor 800 is installed on one side, only vibration data from one end can be obtained, making it impossible to determine the vibration peak value at the other end of the blade. For example, if the lateral vibration at the blade tip exceeds the standard but the data at the blade root is normal, the risk of localized damage is easily missed.

[0058] Furthermore, fatal damage to wind turbine blades is often caused by torsional and bending vibrations, and monitoring these vibration changes relies on vibration data detected by sensors at both ends. When a blade twists, the longitudinal vibrations of the front and rear blades will show twisting. By comparing the frequency and amplitude along the longitudinal direction at both ends, the phase difference of the blade can be calculated, thus obtaining the twist angle. When a blade bends, the amplitude of the vertical vibrations of the front and rear blades will show a gradient difference. If this difference exceeds a threshold, it indicates that the bending stress in the middle of the blade is excessive, posing a risk of permanent deformation. Obviously, a single-sided sensor cannot capture this spatially coupled vibration and cannot determine whether the blade is in a dangerous state of twisting or excessive bending.

[0059] It should be noted that vibration data may include one or more of the following: instantaneous acceleration value, acceleration amplitude, vibration acceleration time-domain data, peak acceleration, and vibration frequency.

[0060] In some embodiments, such as Figure 8 As shown, the vibration sensor 800 can be magnetically fixed to the trailer 100 or the mounting assembly 300, making it easy to install and remove. The magnetic attraction also ensures a more stable contact between the two, which can better transmit vibration and ensure the accuracy of detection.

[0061] In some other embodiments, such as Figure 8As shown, the blade transport vehicle may also include a mounting frame 810, which is connected to the trailer 100 or the mounting assembly 300 to clamp the vibration sensor 800 onto the trailer 100 or the mounting assembly 300.

[0062] Of course, the vibration sensor 800 can also be magnetically fixed to the trailer 100 or the mounting component 300, and then clamped by the fixing bracket 810 to achieve double fixation, thereby further reducing the possibility of displacement or falling off.

[0063] In some embodiments, the blade transport vehicle may further include a positioning module for locating the position of the trailer 100. This positioning module can be combined with the vibration sensor 800 to collect and record road spectrum information, establish a road spectrum database for each project segment, improve product transportation dynamic simulation and product and transportation tooling design verification. Furthermore, it can combine risk events with the positioning information from the positioning module to form a complete chain of evidence for liability determination, effectively resolving cargo damage disputes between supply and demand parties, avoiding the transporter from bearing no-fault liability, and reducing enterprise operational risks.

[0064] For example, the positioning module can be GPS positioning, or other devices that can locate the vehicle in real time.

[0065] 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 vibration sensor 800, 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 vibration sensor 800 to implement monitoring of the entire transportation process.

[0066] It should be noted that the vibration sensor 800 can share the same energy storage device 322 and photovoltaic panel 321 with the aforementioned monitoring device 400, or the vibration sensor 800 can use an independent energy storage device 322 and photovoltaic panel 321.

[0067] 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 vibration sensor 800 and is used to acquire vibration data monitored by the vibration sensor 800 and analyze the vibration data to detect the transport safety of the blade 200.

[0068] In this embodiment, based on the computing power provided by the server 500, the vibration data from the vibration sensor 800 can be analyzed in real time to detect whether the blade 200 is damaged due to vibration. The server 500 can be installed on the blade transport vehicle and is communicatively connected to the vibration sensor 800. Alternatively, the server 500 can also function as a remote device, where a data acquisition terminal on the blade transport vehicle receives data from the vibration sensor 800 and sends it to the server 500 for data processing. When the server 500 is a remote device, a near-end processor can also be installed on the blade transport vehicle. This near-end processor can perform preliminary calculations and filtering on the data received by the data acquisition terminal, filtering data that does not exceed a threshold and only uploading data that exceeds the threshold, thereby saving bandwidth and improving transmission efficiency.

[0069] In practical applications, the vibration sensor 800 can continuously collect vibration data at a frequency of 10-100 times per second and transmit the data to the data acquisition end. A near-end processor can be integrated inside the data acquisition end, where it performs preliminary calculations and filtering, comparing the data with preset safety thresholds. This reduces the upload of invalid data, saves bandwidth, and improves efficiency. Then, it connects to a cloud platform via the MQTT protocol for data interconnection, wirelessly transmitting the sensor-collected data to the cloud platform. The cloud platform can then perform secondary processing on the data, generating data analysis reports, visualizations, and more.

[0070] The following section explains the methods for monitoring blade transport.

[0071] 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.

[0072] 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.

[0073] S12. The server detects whether there are personnel within the monitoring area of ​​the monitoring device 400 based on the monitoring images.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] S33, if no moving target is found in the monitored image, the detection process ends.

[0082] 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.

[0083] S35, Based on the moving target classification results, determine whether there are personnel among the moving targets.

[0084] S36, if there are people among the moving targets, determine that there are people within the monitoring range.

[0085] S37, if there are no people among the moving targets, determine that there are no people within the monitoring range.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] This implementation method eliminates the possibility of personnel being in contact with the blades, thereby improving monitoring accuracy and reducing false alarms.

[0094] 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.

[0095] 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.

[0096] This implementation method allows for real-time monitoring of blade deformation during transport, preventing undetected damage caused by turbulence, wind, or sudden speed changes.

[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 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] In some other embodiments, this disclosure provides a blade transportation monitoring method, which is applied to the server 500 of the blade transportation monitoring system described above, for monitoring the transportation safety of blades. Specifically, the method includes the following steps: The acceleration amplitude monitored by the vibration sensor is obtained, where the acceleration amplitude refers to the maximum absolute value of the acceleration deviating from the equilibrium position during the vibration process; Based on the acceleration amplitude, determine whether the acceleration amplitude exceeds a first threshold. When the acceleration amplitude exceeds the first threshold, a risk event is recorded.

[0102] It should be noted that different first thresholds are used for different vibration sensors 800 in different detection directions. For example, the first threshold in the height direction is 2g, the first threshold in the length direction is 1.5g, and the first threshold in the width direction is 1g. When the acceleration amplitude in different detected directions exceeds the corresponding first threshold, a risk event is recorded.

[0103] In practical applications, vibration levels exceeding the first threshold can be categorized into three levels of warning. Level 1 warning occurs when the vibration amplitude exceeds the threshold by 50%, triggering a mandatory audible and visual alarm, requiring the driver to immediately stop and inspect for issues such as loose components or suspension failure. Level 2 warning occurs when the vibration amplitude exceeds the threshold by 20%-50%, automatically recording the abnormal location and sending a warning to the monitoring center, allowing monitoring personnel to remotely guide the driver to adjust their route. Level 3 warning occurs when the vibration amplitude exceeds the threshold by 10%-20%, with the vehicle terminal sending a voice prompt to the driver, suggesting slowing down and avoiding potholes.

[0104] Furthermore, the blade transport vehicle also includes an imperial module, and correspondingly, the aforementioned recorded risk events include: recording vibration data exceeding the first threshold, and positioning information obtained through the positioning module.

[0105] In some other embodiments, this disclosure provides a blade transportation monitoring method, which is applied to the server 500 of the blade transportation monitoring system described above, for monitoring the transportation safety of blades. Specifically, the method includes the following steps: The trailer 100 includes a front platform 110 and a rear platform 120. The blade root of the blade 200 is mounted on the blade root support 310 of the front platform 110, and the blade tip of the blade 200 passes through the blade tip support 320 of the rear platform 120 and extends away from the blade root support 310. Two vibration sensors 800 are provided, and the two vibration sensors 800 are respectively mounted on the blade root support 310 and the blade tip support 320. The method includes: Acquire vibration data from two vibration sensors 800 in the same detection direction; Determine the phase difference between the two vibration sensors 800 in the same detection direction; Determine whether the phase difference is greater than the second threshold; When the phase difference is greater than the second threshold, a risk event is recorded.

[0106] In this embodiment, the vibration data includes vibration acceleration time-domain data, i.e., raw monitoring data with time as the horizontal axis and vibration acceleration as the vertical axis. Two vibration sensors 800 simultaneously acquire vibration acceleration time-domain data in the same detection direction using the same sampling frequency. The two time-domain signals are converted into frequency-domain signals using a Fast Fourier Transform (FFT) to identify their dominant vibration frequencies. The phase angles corresponding to the two signals at their dominant frequencies are extracted. The difference between the two phase angles is normalized to the range [-180°, 180°], which is the phase difference. When the phase difference exceeds a preset second threshold, it indicates a risk of blade torsion, and the risk event is recorded.

[0107] For example, the detection direction is the width direction, the second threshold is 15°, and when the obtained phase difference is greater than 15°, it indicates that the blade has a risk of torsion.

[0108] Combination Figure 10 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.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] The aforementioned storage medium can be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] 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), said trailer (100) having a length direction, a width direction and a height direction; Blade (200), the blade (200) is fixed to the trailer (100) by mounting assembly (300); A vibration sensor (800) is disposed on the trailer (100) or the mounting assembly (300), the vibration sensor (800) having at least one detection direction, and the at least one detection direction being parallel to at least one of the length direction, width direction and height direction of the trailer (100).

2. The blade transport vehicle according to claim 1, characterized in that, The vibration sensor (800) is a triaxial vibration sensor, and the vibration sensor (800) has three detection directions, namely the X-axis direction, the Y-axis direction and the Z-axis direction; The X-axis of the vibration sensor (800) is parallel to one of the three directions of the length, width, and height of the trailer (100); the Y-axis of the vibration sensor (800) is parallel to another of the three directions of the length, width, and height of the trailer (100); and the Z-axis of the vibration sensor (800) is parallel to yet another of the three directions of the length, width, and height of the trailer (100).

3. The blade transport vehicle according to claim 2, 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 adjacent to opposite ends of the trailer (100) along the length direction, respectively; The blade (200) is mounted on the leaf root support (310) and the leaf tip support (320), and the leaf root support (310) is located 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).

4. The blade transport vehicle according to claim 3, 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 blade root support (310) is mounted on the front plate (110), and the blade tip support (320) is mounted on the rear plate (120); There are two vibration sensors (800), which are respectively mounted on the leaf root support (310) and the leaf tip support (320).

5. The blade transport vehicle according to claim 1, characterized in that, The vibration sensor (800) is magnetically attached to the trailer (100) or the mounting assembly (300); and / or, The blade transport vehicle also includes a mounting bracket (810) connected to the trailer (100) or the mounting assembly (300) to clamp the vibration sensor (800) onto the trailer (100) or the mounting assembly (300).

6. The blade transport vehicle according to any one of claims 1 to 5, characterized in that, The blade transport vehicle also includes a positioning module, which is used to locate the position of the trailer (100).

7. The blade transport vehicle according to any one of claims 1 to 5, characterized in that, The blade transport vehicle is also equipped with 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 vibration sensor (800) respectively.

8. 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 7; Server (500), which is communicatively connected to vibration sensor (800) and used to acquire vibration data monitored by vibration sensor (800) and analyze the vibration data to detect the transportation safety of blade (200).

9. 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 8, comprises: Acquire the acceleration amplitude monitored by the vibration sensor (800); Based on the acceleration amplitude, determine whether the acceleration amplitude exceeds a first threshold. When the acceleration amplitude exceeds the first threshold, a risk event is recorded.

10. The blade transport monitoring method according to claim 9, characterized in that, The blade transport vehicle also includes a positioning module, and the recorded risk events include: Record the vibration data exceeding the first threshold, as well as the positioning information obtained through the positioning module.

11. A method for monitoring blade transport, characterized in that, A server (500) applied to the blade transport monitoring system as described in claim 8, wherein the trailer (100) includes a front platform (110) and a rear platform (120), the blade root of the blade (200) is mounted on a blade root support (310) of the front platform (110), and the blade tip of the blade (200) passes through a blade tip support (320) of the rear platform (120) and extends away from the blade root support (310), and two vibration sensors (800) are respectively mounted on the blade root support (310) and the blade tip support (320); the method includes: Acquire vibration data from two vibration sensors (800) in the same detection direction; Determine the phase difference between the two vibration sensors (800) in the same detection direction; Determine whether the phase difference is greater than the second threshold; When the phase difference is greater than the second threshold, a risk event is recorded.

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 any one of claims 9 to 11 when running the program instructions.

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