Offset monitoring method and device for wind power generation tower and electronic equipment
By using AI visual monitoring devices networked inside wind turbine towers to identify target positions, construct a three-dimensional coordinate system, and calculate offset data, the problems of insufficient monitoring range and low accuracy in existing technologies are solved. This enables real-time and accurate tower offset monitoring, reduces costs, and minimizes monitoring blind spots.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- GUANGZHOU DIANTU TECH CO LTD
- Filing Date
- 2026-02-05
- Publication Date
- 2026-05-12
AI Technical Summary
Existing technologies for monitoring wind power tower offset suffer from problems such as insufficient monitoring range, limited accuracy, and the need for complex and costly manual operation, making it impossible to achieve effective monitoring of real-time and microscopic changes.
AI vision monitoring devices are networked inside the wind turbine tower. By identifying the position of the target inside the tower, a three-dimensional coordinate system is constructed to obtain the initial and offset position data of the target. The tower displacement, tilt angle and rotation angle are calculated to achieve real-time and accurate offset monitoring.
It expanded the monitoring range, improved monitoring accuracy, realized simple and effective monitoring without manual operation, reduced maintenance costs, reduced monitoring blind spots, and captured microscopic changes in the tower.
Smart Images
Figure CN122014526A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of wind power tower health monitoring technology, and more specifically, to a method, device, electronic equipment, and storage medium for monitoring the offset of a wind power tower. Background Technology
[0002] As the primary equipment for wind energy development and utilization, the safe and stable operation of wind turbine generators is crucial for the healthy development of the entire wind power industry. The tower, as the supporting structure of the wind turbine generator, directly affects the operational safety of the unit. However, due to wind forces and operations such as yaw, pitch, and braking during unit operation, the tower can experience radial displacement and foundation settlement, which can seriously affect the safe operation of the unit. Therefore, monitoring tower misalignment (such as positional and angular deviations) can promptly detect potential safety hazards and anomalies, ensuring the safe operation of the wind turbine generator, avoiding downtime for repairs due to tower damage, and reducing maintenance costs.
[0003] Existing technologies have limitations in monitoring tower displacement and tilt angle. Commonly used monitoring equipment, such as GNSS, inclinometers, total stations, or theodolites, are mainly used to measure the overall displacement and low-frequency vibration of the tower top. Inclinometers monitor changes in the tower's offset angle. However, these devices require frequent on-site maintenance; otherwise, their accuracy will decrease. On-site maintenance is costly and does not align with the trend towards low-cost, unmanned operation and maintenance. Furthermore, monitoring has blind spots and insufficient coverage, making accurate offset monitoring impossible. Therefore, existing methods are complex to operate, have limited accuracy, and sometimes require manual operation, which is time-consuming and labor-intensive. Summary of the Invention
[0004] The purpose of this application is to provide a method, device, electronic equipment and storage medium for monitoring the offset of wind power towers, which can expand the monitoring range of the wind power tower, realize real-time monitoring, capture micro-changes of the tower in a timely and effective manner, improve monitoring accuracy, and make the monitoring method simpler and more effective without manual operation.
[0005] In a first aspect, embodiments of this application provide a method for monitoring the offset of a wind power tower, the method comprising: The image inside the tower after the displacement was acquired by an AI vision monitoring device installed inside the tower. Identify the target location in the image inside the tower to obtain target location data; The tower displacement, tower tilt angle, and tower rotation angle are obtained based on the initial target position data and the target position data, respectively. The displacement of the tower layer, the tilt angle of the tower, and the rotation angle of the tower layer are determined as the offset data of the wind power tower.
[0006] In the above implementation process, by identifying the target position inside the tower, target position data is obtained, and then the offset data of the wind power tower is obtained based on the target position data. This can expand the monitoring range of the wind power tower, realize real-time monitoring, capture the micro-changes of the tower in a timely and effective manner, improve monitoring accuracy, and make the monitoring method simpler and more effective, without the need for manual operation.
[0007] Furthermore, before the step of identifying the target position in the image inside the tower and obtaining the target position data, the method further includes: obtaining initial target position data; The step of obtaining the initial target position data includes: The targets include a first target, a second target, a third target, and a fourth target; The initial plane where the target is located is defined as the first plane; A three-dimensional coordinate system is constructed with the focal point of the AI visual monitoring instrument as the origin; Based on the first plane and the three-dimensional coordinate system, the initial position data of the first target, the second target, the third target, and the fourth target are obtained respectively. The initial position data of the first target, the initial position data of the second target, the initial position data of the third target, and the initial position data of the fourth target are determined as the target initial position data.
[0008] In the above implementation process, the offset data of multiple targets are obtained, which can measure the degree of target offset from multiple angles and dimensions, improve the monitoring coverage of the tower, and further reduce the monitoring blind spot of the tower.
[0009] Further, the step of obtaining the initial position data of the first target corresponding to the first target based on the first plane and the three-dimensional coordinate system includes: The three-dimensional coordinates of the left and right centers of the first target on the first plane are obtained respectively. The three-dimensional coordinates of the left center of the first target on the first plane and the three-dimensional coordinates of the right center of the first target on the first plane are determined as the initial position data of the first target.
[0010] In the above implementation process, the initial position data is constructed by using the three-dimensional coordinates of the left and right centers of the first target. This allows for the capture of microscopic morphological changes in the target offset within the three-dimensional spatial model, further capturing the microscopic morphological changes in the tower and improving measurement accuracy. Further, the step of identifying the target position in the image inside the tower and obtaining target position data includes: The plane containing the target in the image inside the tower is defined as the second plane; The position data of the first target, the position data of the second target, the position data of the third target, and the position data of the fourth target in the second plane are obtained respectively. The first target position data, the second target position data, the third target position data, and the fourth target position data are determined as the target position data.
[0011] In the above implementation process, by determining the second plane where the target is located after the offset, the target position data is further determined, thereby reducing the error generated during the calculation process and improving the accuracy.
[0012] Further, the step of obtaining the tower layer displacement based on the initial target position data and the target position data includes: In the target position data, the line segment between the left center of the first target and the left center of the second target is defined as the first line segment; Find the midpoint of the first line segment; Construct a triangle with the left center of the first target, the left center of the second target, and the center point of the second plane, using the midpoint of the first line segment as the midpoint of the base. The tower displacement is obtained based on the side length of the triangle.
[0013] In the above implementation process, by constructing the first line segment in three-dimensional space, the changes of the target can be refined in a point-to-point manner, so as to accurately capture the microscopic changes of the target and provide data support for the precise monitoring of the tower.
[0014] Further, the step of obtaining the tower tilt angle based on the initial target position data and the target position data includes: Obtain the normal vector of the second plane; The angle between the normal vector and the Z-axis of the three-dimensional coordinate system is determined as the tower tilt angle. The angle between the projection line of the normal vector onto the plane of the three-dimensional coordinate system and the north line is defined as the direction angle.
[0015] In the above implementation process, by measuring the tilt angle of the target, comprehensive monitoring of tower displacement from multiple angles can be achieved, obtaining the tilt angle and tilt direction of the tower, and further improving the monitoring accuracy of tower displacement.
[0016] Further, the step of obtaining the tower rotation angle based on the initial target position data and the target position data includes: Perform an inverse translation transformation on the target position data to obtain the target position data after the inverse translation transformation; The target position data after the translation inverse transformation is subjected to a tilt inverse transformation to obtain new target position data; The tower rotation angle is obtained based on the new target position data.
[0017] In the above process, obtaining the rotation angle of the wind turbine tower layers can provide more accurate data support for the offset of the wind turbine tower.
[0018] Secondly, embodiments of this application also provide a wind power tower offset monitoring device, the device comprising: The acquisition module is used to acquire images of the inside of the tower after the displacement, collected by an AI vision monitoring device installed inside the tower of the wind power generation tower. The data acquisition module is used to identify the target position in the image inside the tower and obtain target position data; it is also used to obtain tower displacement, tower tilt angle, and tower rotation angle based on the initial target position data and the target position data; and it is also used to determine the tower displacement, tower tilt angle, and tower rotation angle as offset data of the wind power tower.
[0019] In the above implementation process, by identifying the target position inside the tower, target position data is obtained, and then the offset data of the wind power tower is obtained based on the target position data. This can expand the monitoring range of the wind power tower, realize real-time monitoring, capture the micro-changes of the tower in a timely and effective manner, improve monitoring accuracy, and make the monitoring method simpler and more effective, without the need for manual operation.
[0020] Thirdly, an electronic device provided in this application includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method as described in any of the first aspects.
[0021] Fourthly, embodiments of this application provide a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method described in any of the first aspects.
[0022] Other features and advantages of this disclosure will be set forth in the following description, or some features and advantages may be inferred from the description or determined without doubt, or may be learned by practicing the techniques described above.
[0023] It can be implemented in accordance with the contents of the specification. The preferred embodiments of this application are described in detail below with reference to the accompanying drawings. Attached Figure Description
[0024] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation on the range. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0025] Figure 1 A schematic flowchart illustrating the wind power tower offset monitoring method provided in this application embodiment; Figure 2 A schematic diagram of the installation of hardware equipment inside the tower of a wind power generation tower provided in an embodiment of this application; Figure 3 This is a schematic diagram of wind power tower offset provided in an embodiment of this application; Figure 4 A schematic diagram of the structural composition of a wind power tower offset monitoring device is provided for embodiments of this application; Figure 5 This is a schematic diagram of the structural composition of the electronic device provided in the embodiments of this application. Detailed Implementation
[0026] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.
[0027] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0028] The specific embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but are not intended to limit the scope of this application.
[0029] Existing technologies for monitoring wind turbine towers have many drawbacks. For example, they can only monitor macroscopic offsets and are not sensitive to microscopic offsets. The sampling frequency and dynamic response of the monitoring are mismatched, making real-time monitoring impossible. There are many blind spots and insufficient coverage of the monitoring range, making it difficult to monitor key risk points. They are also easily affected by the surrounding environment and noise pollution, resulting in low accuracy of offset monitoring and making it impossible to achieve accurate real-time monitoring.
[0030] This application aims to achieve precise monitoring of tower displacement. It uses image recognition algorithms to analyze and process the acquired photos, and obtains data in multiple dimensions such as displacement, tilt angle, linear acceleration, and angular acceleration of the monitored target. It adopts a network of multiple devices inside the tower with strict spatial synchronization to achieve precise monitoring of the tower status and tower displacement.
[0031] Example 1 Figure 1 This is a flowchart illustrating the offset monitoring method for wind power towers provided in this application embodiment, as shown below. Figure 1 As shown, the method includes: S1, acquire images of the inside of the wind turbine tower after the displacement, collected by an AI vision monitoring device installed inside the tower. S2, identify the target position in the image inside the tower and obtain the target position data; S3, based on the initial target position data and the target position data, obtain the tower layer displacement, tower tilt angle, and tower layer rotation angle respectively; S4 determines the tower displacement, tower tilt angle, and tower rotation angle as offset data for the wind power tower.
[0032] In the above implementation process, by identifying the target position inside the tower, target position data is obtained, and then the offset data of the wind power tower is obtained based on the target position data. This can expand the monitoring range of the wind power tower, realize real-time monitoring, capture the micro-changes of the tower in a timely and effective manner, improve monitoring accuracy, and make the monitoring method simpler and more effective, without the need for manual operation.
[0033] In S1, in this embodiment of the application, the AI visual monitoring device is installed at the adjacent position of the two tower sections. The AI visual monitoring device is installed horizontally to monitor the targets above and below the gap at the connection of the adjacent tower sections.
[0034] The target is installed at the edge of the tower layer, on the same plane, while the AI vision monitoring instrument is at the center of the tower layer, with its axis coinciding with the tower's axis.
[0035] The wind turbine tower contains a network of multiple AI vision monitoring devices with strictly synchronized spatial positions. This enables real-time data processing and analysis without relying on cloud computing, facilitating comprehensive analysis of the tower's condition and fault identification. The AI visual monitoring device in this embodiment can dynamically monitor the changes caused by transient impacts in various sections of the tower. The AI visual monitoring device has a sampling frequency of over 100Hz, which can completely capture the changes caused by transient impacts in various sections of the tower.
[0036] Furthermore, before the step of identifying the target position in the image inside the tower and obtaining the target position data, the method further includes: obtaining the initial target position data; The steps to obtain the initial target position data include: The targets include a first target, a second target, a third target, and a fourth target; The initial plane where the target is located is defined as the first plane; A three-dimensional coordinate system is constructed with the focus of the AI visual monitoring instrument as the origin; Based on the first plane and the three-dimensional coordinate system, obtain the initial position data of the first target, the second target, the third target, and the fourth target, respectively. The initial position data of the first target, the second target, the third target, and the fourth target are determined as the initial position data of the targets.
[0037] In the above implementation process, the offset data of multiple targets are obtained, which can measure the degree of target offset from multiple angles and dimensions, improve the monitoring coverage of the tower, and further reduce the monitoring blind spot of the tower.
[0038] In this embodiment of the application, when the tower shifts, the position of the target observed by the AI vision monitoring instrument will shift accordingly. The original position of the target is the initial position of the target, and the corresponding position data is the initial position data of the target. The new position of the target is the position after the target shifts, and the corresponding position data is the position data of the target.
[0039] Establish a three-dimensional coordinate system based on the focus point O of the AI vision monitoring instrument, such as Figure 2 As shown, the steps are as follows: Determine the origin: Set the origin O at the focal point (optical center) of the AI vision monitoring instrument.
[0040] Define the Z-axis: The Z-axis runs along the optical axis of the AI vision monitoring device, facing outwards; that is, the positive direction of the Z-axis is from the focal point towards the object being photographed. Define the X-axis: The X-axis lies in the plane of the object being photographed, with its positive direction horizontal to the right, consistent with the horizontal axis of the AI vision monitoring device. Define the Y-axis: The Y-axis is perpendicular to the X-axis, with its positive direction upwards, conforming to the right-hand rule. True north is recorded on the XOY coordinate plane; the angle between the projection line of true north passing through the origin and the X-axis is... (Determine the direction according to the right-hand rule).
[0041] The left and right center points of target 1 (the first target) are denoted as point A1 and point B1, respectively; The left and right center points of target 2 (the second target) are denoted as point A2 and point B2, respectively; The left and right center points of target 3 (the third target) are denoted as point A3 and point B3 respectively; The left and right center points of target 4 (the fourth target) are denoted as point A4 and point B4 respectively; The initial target position data is the initial position data when the target has not shifted. The initial plane where the target is located at this time is denoted as P0 (the first plane).
[0042] The intersection of plane P0 and the Z-axis is denoted as O0.
[0043] The distance between the O0-derivative points A1, A2, A3, A4, B1, B2, B3, and B4 is the same, which is r.
[0044] The left and right centers of the target X are denoted as Ax and Bx, respectively. For example, they are denoted as Ax0 and Bx0 in the P0 plane, and Ax1 and Bx1 in the P1 plane. And so on, denoted as Axj and Bxj in the Pj plane.
[0045] The left and right centers of target 1 are A1 and B1, respectively. The initial observations are recorded as A10 and B10, and after the tower changes, they are recorded as A11 and B11 on the P1 plane.
[0046] The left and right centers of target 2 are A2 and B2, respectively. The initial observations are recorded as A20 and B20. After the tower is changed, they are A21 and B21 on the P1 plane.
[0047] The left and right centers of target 3 are A3 and B3 respectively. The initial observations are A30 and B30. After the tower changes, they are recorded as A31 and B31 on the P1 plane.
[0048] The left and right centers of target 4 are A4 and B4, respectively. Initially, they are observed as A40 and B40. After the tower changes, they are recorded as A41 and B41 on plane P1.
[0049] Coordinates of target 1 (initial position data of the first target): A10 (Xa10, Ya10, Za10), B10 (Xb10, Yb10, Zb10). Coordinates of target 2 (initial position data of the second target): A20 (Xa20, Ya20, Za20), B20 (Xb20, Yb20, Zb20); Coordinates of target 3 (initial position data of the third target): A30 (Xa30, Ya30, Za30), B30 (Xb30, Yb30, Zb30); Coordinates of target 4 (initial position data of the fourth target): A40 (Xa40, Ya40, Za40), B40 (Xb40, Yb40, Zb40).
[0050] Furthermore, the step of obtaining the initial position data of the first target corresponding to the first target based on the first plane and the three-dimensional coordinate system includes: The three-dimensional coordinates of the left and right centers of the first target on the first plane are obtained respectively. The three-dimensional coordinates of the left center of the first target on the first plane and the three-dimensional coordinates of the right center of the first target on the first plane are determined as the initial position data of the first target.
[0051] In the above implementation process, the initial position data is constructed by using the three-dimensional coordinates of the left and right centers of the first target. This allows for the capture of the microscopic morphological changes of the target offset in the three-dimensional spatial model, further capturing the microscopic morphological changes of the tower and improving measurement accuracy.
[0052] Furthermore, S2 includes: The plane containing the target in the image inside the tower is designated as the second plane. The position data of the first target, the second target, the third target, and the fourth target in the second plane are obtained respectively. The first target position data, the second target position data, the third target position data, and the fourth target position data are determined as target position data.
[0053] In the above implementation process, by determining the second plane where the target is located after the offset, the target position data is further determined, thereby reducing the error generated during the calculation process and improving the accuracy.
[0054] like Figure 3 As shown, the plane where the target is located after the change is denoted as P1 (the second plane), and the focus of the changed tower centerline and the Z-axis is denoted as O1. This point is still in the P0 plane.
[0055] The target location data is as follows: Coordinates of target 1 (first target position data): A11(Xa11, Ya11, Za11), B11(Xb11, Yb11, Zb11); Coordinates of target 2 (second target position data): A21(Xa21, Ya21, Za21), B21(Xb21, Yb21, Zb21); Coordinates of target 3 (position data of the third target): A31(Xa31, Ya31, Za31), B31(Xb31, Yb31, Zb31); Coordinates of target 4 (position data of the fourth target): A41(Xa41, Ya41, Za41), B41(Xb41, Yb41, Zb41).
[0056] Furthermore, the steps of obtaining the tower layer displacement based on the initial target position data and the target position data include: In determining the target position data, the line segment between the left center of the first target and the left center of the second target is the first line segment; Find the midpoint of the first line segment; Construct a triangle with the midpoint of the first line segment as the midpoint of the base, which is the left center of the first target, the left center of the second target, and the center point of the second plane. The tower displacement is obtained based on the side length of the triangle.
[0057] In the above implementation process, by constructing the first line segment in three-dimensional space, the changes of the target can be refined in a point-to-point manner, so as to accurately capture the microscopic changes of the target and provide data support for the precise monitoring of the tower.
[0058] The tower layer rotation angle refers to the rotation between tower layers along the tower's axis. It is necessary to calculate the magnitude of the rotation angle, which falls within the range of [-]. / 2,- The interval is 1 / 2.
[0059] Tower displacement refers to the displacement that occurs between tower layers at the joint plane, and it is necessary to calculate the magnitude and direction of the plane displacement.
[0060] The tower tilt angle refers to the tilt that occurs between the tower axis and the tower layer at the junction of the tower layers. It is necessary to calculate the angle between the axes of the two layers after the tilt occurs, including both magnitude and direction.
[0061] Tower displacement: represented by the vector from the initial point O0 before displacement to the center point O1 after displacement, as follows: .
[0062] Connect the left centers of target 1 and target 2, A1A2 (the first line segment). Let point M be the midpoint of A1A2. Then there exists an isosceles triangle △ M is the median of the base, so △ There is ⊥ ; The distance is r, and the unique coordinates of O1 can be obtained by solving for it. , , 0).
[0063] Furthermore, the steps of obtaining the tower tilt angle based on the initial target position data and the target position data include: Obtain the normal vector of the second plane; The angle between the normal vector and the Z-axis of the three-dimensional coordinate system is determined as the tower tilt angle. The angle between the projection line of the normal vector onto the plane of the three-dimensional coordinate system and the north line is defined as the direction angle.
[0064] In the above implementation process, by measuring the tilt angle of the target, comprehensive monitoring of tower displacement from multiple angles can be achieved, obtaining the tilt angle and tilt direction of the tower, and further improving the monitoring accuracy of tower displacement.
[0065] The angle between the central axis of the inclined section and the central axis of the non-inclined section, the direction of inclination is the angle between the central axis of the inclined section on the horizontal plane and the north line, the inclination angle of the tower is α, and the direction angle is β.
[0066] After tilting, O1 remains in the P0 plane, and its position is the same as before tilting.
[0067] After tilting, line segments A11B11, A21B21, A31B31, and A41B41 remain in the same plane (i.e., P1), and their lengths and relative positions remain unchanged. The relative positional relationship between O1 and A11B11, A21B21, A31B31, and A41B41 also remains unchanged.
[0068] Calculate the normal vector of the new plane P1 after rotation. =(Xn,Yn,Zn), The angle between the tower and the Z-axis of the coordinate system is the tower's tilt angle. The angle between the projection line on the XOY plane and the north line is the direction angle.
[0069] Furthermore, the steps of obtaining the tower rotation angle based on the initial target position data and the target position data include: Perform an inverse translation transformation on the target position data to obtain the target position data after the inverse translation transformation; Perform an inverse tilt transformation on the target position data after the translation inverse transformation to obtain new target position data; The tower rotation angle is obtained based on the new target position data.
[0070] In the above process, obtaining the rotation angle of the wind turbine tower layers can provide more accurate data support for the offset of the wind turbine tower.
[0071] The tower rotation angle ω is within the P0 plane. Rotating with the tower layers x.
[0072] Based on the tower displacement and tilt, the observed target position data is transformed back to the P0 plane by inverse transformation and translation to obtain new target positions, which are denoted as: A12B12, A22B22, A32B32, A42B42.
[0073] The inverse tilt transformation yields a new target position. The P1 plane is transformed to coincide with the P0 plane, and its target coordinates are denoted as: Rotate along the Z-axis by -β to obtain new coordinates: A13B13, A23B23, A33B33, A43B43; Rotate along the X-axis by -α to obtain the new coordinates: A14B14, A24B24, A34B34, A44B44; Calculate the tower rotation angle ω in the P0 plane. and Angle.
[0074] In this embodiment of the application, by monitoring the inside of the tower in the above manner, a monitoring accuracy of 10 micrometers can be achieved at a low cost. Furthermore, the AI vision monitoring instrument in this application can use ordinary industrial cameras, and a target can be placed at each monitoring point, which can reduce costs. The AI vision monitoring instrument is installed inside the tower, which can effectively avoid the adverse effects of external factors such as buildings, mountains, trees and weather on the monitoring.
[0075] This application avoids the problem of decreased accuracy of inclinometers caused by temperature changes and vibrations inside the tower. By using visual recognition, the measurement accuracy is more stable, and there is no need to frequently correct the installation position or angle of the AI visual monitoring instrument.
[0076] Example 2 To implement the method corresponding to Embodiment 1 above and achieve the corresponding functional and technical effects, a wind power tower offset monitoring device is provided below, such as... Figure 4 As shown, the device includes: Acquisition module 1 is used to acquire images of the inside of the tower after the displacement, collected by an AI vision monitoring device installed inside the tower of the wind power generation tower. The data acquisition module 2 is used to identify the target position in the image inside the tower and obtain target position data; it is also used to obtain tower displacement, tower tilt angle and tower rotation angle according to the initial target position data and the target position data; and it is also used to determine the tower displacement, tower tilt angle and tower rotation angle as the offset data of the wind power tower.
[0077] In the above implementation process, by identifying the target position inside the tower, target position data is obtained, and then the offset data of the wind power tower is obtained based on the target position data. This can expand the monitoring range of the wind power tower, realize real-time monitoring, capture the micro-changes of the tower in a timely and effective manner, improve monitoring accuracy, and make the monitoring method simpler and more effective, without the need for manual operation.
[0078] Furthermore, the data acquisition module 2 is also used to: acquire the initial position data of the target; The steps to obtain the initial target position data include: The targets include a first target, a second target, a third target, and a fourth target; The initial plane where the target is located is defined as the first plane; A three-dimensional coordinate system is constructed with the focus of the AI visual monitoring instrument as the origin; Based on the first plane and the three-dimensional coordinate system, obtain the initial position data of the first target, the second target, the third target, and the fourth target, respectively. The initial position data of the first target, the second target, the third target, and the fourth target are determined as the initial position data of the targets.
[0079] In the above implementation process, the offset data of multiple targets are obtained, which can measure the degree of target offset from multiple angles and dimensions, improve the monitoring coverage of the tower, and further reduce the monitoring blind spot of the tower.
[0080] Furthermore, the data acquisition module 2 is also used for: The three-dimensional coordinates of the left and right centers of the first target on the first plane are obtained respectively. The three-dimensional coordinates of the left center of the first target on the first plane and the three-dimensional coordinates of the right center of the first target on the first plane are determined as the initial position data of the first target.
[0081] In the above implementation process, the initial position data is constructed by using the three-dimensional coordinates of the left and right centers of the first target. This allows for the capture of microscopic morphological changes in the target offset within the three-dimensional spatial model, further capturing the microscopic morphological changes in the tower and improving measurement accuracy. Furthermore, the data acquisition module 2 is also used for: The plane containing the target in the image inside the tower is designated as the second plane. The position data of the first target, the second target, the third target, and the fourth target in the second plane are obtained respectively. The first target position data, the second target position data, the third target position data, and the fourth target position data are determined as target position data.
[0082] In the above implementation process, by determining the second plane where the target is located after the offset, the target position data is further determined, thereby reducing the error generated during the calculation process and improving the accuracy.
[0083] Furthermore, the data acquisition module 2 is also used for: In determining the target position data, the line segment between the left center of the first target and the left center of the second target is the first line segment; Find the midpoint of the first line segment; Construct a triangle with the midpoint of the first line segment as the midpoint of the base, which is the left center of the first target, the left center of the second target, and the center point of the second plane. The tower displacement is obtained based on the side length of the triangle.
[0084] In the above implementation process, by constructing the first line segment in three-dimensional space, the changes of the target can be refined in a point-to-point manner, so as to accurately capture the microscopic changes of the target and provide data support for the precise monitoring of the tower.
[0085] Furthermore, the data acquisition module 2 is also used for: Obtain the normal vector of the second plane; The angle between the normal vector and the Z-axis of the three-dimensional coordinate system is determined as the tower tilt angle. The angle between the projection line of the normal vector onto the plane of the three-dimensional coordinate system and the north line is defined as the direction angle.
[0086] In the above implementation process, by measuring the tilt angle of the target, comprehensive monitoring of tower displacement from multiple angles can be achieved, obtaining the tilt angle and tilt direction of the tower, and further improving the monitoring accuracy of tower displacement.
[0087] Furthermore, the data acquisition module 2 is also used for: Perform an inverse translation transformation on the target position data to obtain the target position data after the inverse translation transformation; Perform an inverse tilt transformation on the target position data after the translation inverse transformation to obtain new target position data; The tower rotation angle is obtained based on the new target position data.
[0088] In the above process, obtaining the rotation angle of the wind turbine tower layers can provide more accurate data support for the offset of the wind turbine tower.
[0089] The aforementioned wind turbine tower offset monitoring device can implement the method described in Embodiment 1. The options described in Embodiment 1 also apply to this embodiment, and will not be detailed here.
[0090] The remaining contents of this embodiment can be referred to the contents of Embodiment 1 above, and will not be repeated in this embodiment.
[0091] Example 3 This application provides an electronic device, including a memory and a processor. The memory stores a computer program, and the processor runs the computer program to enable the electronic device to perform the wind power tower offset monitoring method of Embodiment 1.
[0092] Alternatively, the aforementioned electronic device may be a server.
[0093] Please see Figure 5 , Figure 5 This is a schematic diagram illustrating the structural composition of an electronic device provided in an embodiment of this application. The electronic device may include a processor 51, a communication interface 52, a memory 53, and at least one communication bus 54. The communication bus 54 is used to enable direct communication between these components.
[0094] Optionally, the electronic device may also include a storage controller and an input / output unit. The memory 53, storage controller, processor 51, peripheral interface, and input / output unit are electrically connected to each other directly or indirectly to realize data transmission or interaction.
[0095] Input / output units are used to enable users to create tasks and set optional start periods or preset execution times for those tasks, facilitating user-server interaction. Input / output units can be, but are not limited to, a mouse and keyboard.
[0096] Understandable. Figure 5 The structure shown is for illustrative purposes only; the electronic device may also include components that are more advanced than those shown. Figure 5 The more or fewer components shown, or having the same Figure 5 Different configurations are shown. Additionally, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the offset monitoring method for wind turbine towers as described in Embodiment 1.
[0097] This application also provides a computer program product that, when run on a computer, causes the computer to perform the method described in the method embodiment.
[0098] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0099] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of protection of the claims.
Claims
1. A method for monitoring the offset of a wind power tower, characterized in that, The method includes: The image inside the tower after the displacement was acquired by an AI vision monitoring device installed inside the tower. Identify the target location in the image inside the tower to obtain target location data; The tower displacement, tower tilt angle, and tower rotation angle are obtained based on the initial target position data and the target position data, respectively. The tower layer displacement, the tower tilt angle, and the tower layer rotation angle are determined as the offset data of the wind power tower.
2. The method for monitoring the offset of a wind power tower according to claim 1, characterized in that, Before the step of identifying the target position in the image inside the tower and obtaining the target position data, the method further includes: obtaining the initial target position data; The step of obtaining the initial target position data includes: The targets include a first target, a second target, a third target, and a fourth target; The initial plane where the target is located is defined as the first plane; A three-dimensional coordinate system is constructed with the focal point of the AI visual monitoring instrument as the origin; Based on the first plane and the three-dimensional coordinate system, the initial position data of the first target, the second target, the third target, and the fourth target are obtained respectively. The initial position data of the first target, the initial position data of the second target, the initial position data of the third target, and the initial position data of the fourth target are determined as the target initial position data.
3. The method for monitoring the offset of a wind power tower according to claim 2, characterized in that, The step of obtaining the initial position data of the first target corresponding to the first target based on the first plane and the three-dimensional coordinate system includes: The three-dimensional coordinates of the left and right centers of the first target on the first plane are obtained respectively. The three-dimensional coordinates of the left center of the first target on the first plane and the three-dimensional coordinates of the right center of the first target on the first plane are determined as the initial position data of the first target.
4. The method for monitoring the offset of a wind power tower according to claim 2, characterized in that, The step of identifying the target location in the image inside the tower and obtaining target location data includes: The plane containing the target in the image inside the tower is defined as the second plane; The position data of the first target, the position data of the second target, the position data of the third target, and the position data of the fourth target in the second plane are obtained respectively. The first target position data, the second target position data, the third target position data, and the fourth target position data are determined as the target position data.
5. The method for monitoring the offset of a wind power tower according to claim 4, characterized in that, The step of obtaining the tower displacement based on the initial target position data and the target position data includes: In the target position data, the line segment between the left center of the first target and the left center of the second target is defined as the first line segment; Find the midpoint of the first line segment; Construct a triangle with the left center of the first target, the left center of the second target, and the center point of the second plane, using the midpoint of the first line segment as the midpoint of the base. The tower displacement is obtained based on the side length of the triangle.
6. The method for monitoring the offset of a wind power tower according to claim 3, characterized in that, The step of obtaining the tower tilt angle based on the initial target position data and the target position data includes: Obtain the normal vector of the second plane; The angle between the normal vector and the Z-axis of the three-dimensional coordinate system is determined as the tower tilt angle. The angle between the projection line of the normal vector onto the plane of the three-dimensional coordinate system and the north line is defined as the direction angle.
7. The method for monitoring the offset of a wind power tower according to claim 6, characterized in that, The step of obtaining the tower rotation angle based on the initial target position data and the target position data includes: Perform an inverse translation transformation on the target position data to obtain the target position data after the inverse translation transformation; The target position data after the translation inverse transformation is subjected to a tilt inverse transformation to obtain new target position data; The tower rotation angle is obtained based on the new target position data.
8. A device for monitoring the offset of a wind power tower, characterized in that, The device includes: The acquisition module is used to acquire images of the inside of the tower after the displacement, collected by an AI vision monitoring device installed inside the tower of the wind power generation tower. The data acquisition module is used to identify the target position in the image inside the tower and obtain target position data; it is also used to obtain tower displacement, tower tilt angle, and tower rotation angle based on the initial target position data and the target position data; and it is also used to determine the tower displacement, tower tilt angle, and tower rotation angle as offset data of the wind power tower.
9. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method as claimed in claims 1-7.
10. A storage medium, characterized in that, The storage medium stores instructions that, when executed on a computer, cause the computer to perform the method as described in claims 1-7.