Method for forming a positioning line for wind turbine blade cutting

Abstract

The present disclosure discloses a positioning line forming method for wind power blade cutting, which belongs to the technical field of wind power equipment. The positioning line forming method for wind power blade cutting comprises: sequentially arranging a plurality of positioning parts on the surface of a wind power blade along the length direction of the mold line of the wind power blade, so that the two adjacent positioning parts are arranged in a head-to-tail corresponding manner, and each positioning part forms a corresponding relationship with the mold line of the wind power blade; based on the plurality of positioning parts, a to-be-confirmed positioning line extending along the length direction of the mold line is formed on the surface of the wind power blade; the first offset between at least part of the positioning parts and the mold line is detected, and / or the second offset between at least one group of adjacent positioning parts is detected; whether the to-be-confirmed positioning line meets the cutting positioning requirement is judged according to the first offset and / or the second offset, and a cutting positioning line for wind power blade cutting is obtained. The present disclosure can form a positioning line for wind power blade cutting.

Description

Technical Field

[0001] This disclosure belongs to the field of wind power equipment technology, and specifically relates to a method for forming positioning lines for wind turbine blade cutting. Background Technology

[0002] During the manufacturing, repair, modification, or scrapping of wind turbine blades, cutting operations are typically required according to predetermined cutting positions. The surface of a wind turbine blade usually has a parting line extending along its length, which to some extent reflects the structural reference position of the blade. Therefore, the parting line can be considered as a positioning reference when performing cutting positioning.

[0003] In the prior art, the applicant's utility model patent application "Positioning device, positioning equipment and cutting device for wind turbine blade cutting" proposes a technical solution that uses a positioning device to assist in the positioning of wind turbine blade cutting. Multiple positioning parts can be set in segments along the length of the mold parting line. By cooperating with the mold parting line of the wind turbine blade, the positioning device can form a relatively definite positioning state on the surface of the wind turbine blade. The multiple positioning parts can help determine the cutting position, thus realizing the cutting operation of the wind turbine blade.

[0004] However, during the sequential setting of multiple positioning parts, if only the end-to-end docking between adjacent positioning parts and / or the partial alignment of the positioning parts with the mold closing line are relied upon, the positioning parts may simultaneously have lateral offset, angular offset, or continuous offset relative to the mold closing line. After all positioning parts are set up, if there is a lack of systematic verification of the offset between each positioning part and the mold closing line, and a lack of detection and judgment of the above offsets, the operators may directly use the initially formed positioning line as the cutting positioning line, which may result in the positioning line that does not meet the cutting positioning requirements being directly used for the cutting operation, affecting the accuracy of the wind turbine blade cutting operation.

[0005] It should be noted that the content recorded in the background section of this disclosure is only for the purpose of helping to understand the technical background and technical problems of this disclosure, and does not necessarily constitute prior art that was known to the public before the date of this disclosure; nor should it be considered as prior art before the date of this disclosure simply because it appears in the background section. Summary of the Invention

[0006] This disclosure proposes a method for forming positioning lines for wind turbine blade cutting. It addresses the technical problem in existing wind turbine blade cutting positioning processes where, after multiple positioning parts are sequentially set along the length of the mold-forming line, there is a lack of detection and judgment regarding the offset of the positioning parts relative to the mold-forming line. This leads to positioning lines that do not meet the cutting positioning requirements being directly used in the cutting operation, affecting the accuracy of the cutting operation. This disclosure first forms a positioning line to be confirmed extending along the length of the mold-forming line based on multiple positioning parts by sequentially setting multiple positioning parts along the length of the mold-forming line. Then, it detects a first offset between at least a portion of the positioning parts and the mold-forming line, and / or detects a second offset between at least one group of adjacent positioning parts. Based on the first offset and / or the second offset, it determines whether the positioning line to be confirmed meets the cutting positioning requirements. When the positioning line meets the cutting positioning requirements, it is determined as the cutting positioning line. When the positioning line does not meet the cutting positioning requirements, it is corrected based on the first offset and / or the second offset, and the corrected positioning line is determined as the cutting positioning line. This improves the reliability of the formation of the wind turbine blade cutting positioning line and the accuracy of the cutting operation. To achieve the purpose of this disclosure, the technical solution is as follows: A method for forming positioning lines for cutting wind turbine blades, comprising: Step S100: Along the length direction of the wind turbine blade mold line, a plurality of positioning parts are sequentially arranged on the surface of the wind turbine blade, such that two adjacent positioning parts are arranged end to end, and each positioning part is corresponding to the mold line of the wind turbine blade. Based on the plurality of positioning parts, a positioning line to be confirmed is formed on the surface of the wind turbine blade extending along the length direction of the mold line. Step S200: Detect a first offset between at least a portion of the positioning part and the mold parting line, and / or detect a second offset between at least one group of adjacent positioning parts; determine whether the positioning line to be confirmed meets the cutting positioning requirements based on the first offset and / or the second offset; when the positioning line to be confirmed meets the cutting positioning requirements, determine the positioning line to be confirmed as a cutting positioning line for wind turbine blade cutting; when the positioning line to be confirmed does not meet the cutting positioning requirements, correct the positioning line to be confirmed based on the first offset and / or the second offset, and determine the corrected positioning line as a cutting positioning line for wind turbine blade cutting.

[0007] According to one aspect of the present disclosure, in step S100, the plurality of positioning portions include a first positioning portion, a second positioning portion, ..., an i-th positioning portion, ... and an n-th positioning portion arranged sequentially along the length direction of the mold parting line, where n is an integer greater than or equal to 2, and i is an integer greater than 1 and less than or equal to n; When the first positioning part is set, the first positioning part is made to correspond with the first segment of the mold parting line, and the first positioning segment is formed based on the first positioning part; When setting the i-th positioning part, the i-th positioning part is made to correspond end to end with the (i-1)-th positioning part, and the i-th positioning part is made to correspond with the i-th segment of the mold parting line, and the i-th positioning segment is formed based on the i-th positioning part; Repeat the setting of the i-th positioning part until the n-th positioning part is set, so that the n-th positioning part corresponds to the n-1-th positioning part end to end, and the n-th positioning part corresponds to the n-th segment of the mold parting line. Based on the n-th positioning part, the n-th positioning segment is formed, thereby forming the positioning line to be confirmed, which is composed of the 1-th positioning segment to the n-th positioning segment in sequence.

[0008] According to one aspect of the present disclosure, in step S200, the first offset includes at least one of a lateral offset of the positioning part relative to the mold parting line and an angular offset of the positioning part relative to the mold parting line; the second offset includes a sequential offset between two adjacent positioning parts.

[0009] According to one aspect of the present disclosure, in step S200, detecting a first offset between at least a portion of the positioning portion and the mold parting line, and / or detecting a second offset between at least a group of adjacent positioning portions, and determining whether the positioning line to be confirmed meets the cutting positioning requirements based on the first offset and / or the second offset includes: The system detects the first set of first offsets between the first positioning part and the mold parting line, the second set of first offsets between the second positioning part and the mold parting line, ..., the i-th set of first offsets between the i-th positioning part and the mold parting line, ..., the n-th set of first offsets between the n-th positioning part and the mold parting line, and determines the magnitude of the first offsets corresponding to multiple sets of first offsets based on multiple sets of the first set of first offsets, the second set of first offsets, ..., the i-th set of first offsets, ..., the n-th set of first offsets. And / or, detect the first group of second offsets between the second positioning part and the first positioning part, ..., the (i-1)th group of second offsets between the i-th positioning part and the (i-1)th positioning part, ..., the (n-1)th group of second offsets between the n-th positioning part and the (n-1)th positioning part; determine the magnitude of the second offsets of the corresponding multiple groups based on the first group of second offsets, ..., the (i-1)th group of second offsets, ..., the (n-1)th group of second offsets; When the magnitude of the first offset and the magnitude of the second offset of each group are not greater than the corresponding preset allowable offset, it is determined that the positioning line to be confirmed meets the cutting positioning requirements. When the magnitude of the first offset of at least one group and / or the magnitude of the second offset of at least one group are greater than the corresponding preset allowable offset, it is determined that the positioning line to be confirmed does not meet the cutting positioning requirements.

[0010] According to one aspect of the present disclosure, correcting the positioning line to be confirmed based on the first offset and / or the second offset includes: Determine the type and size of the first offset and / or the size of the second offset that do not meet the cutting positioning requirements, and correct the corresponding positioning part according to the type and size of the first offset and / or the size of the second offset that do not meet the cutting positioning requirements.

[0011] According to one aspect of the present disclosure, correcting the corresponding positioning part based on the type and magnitude of a first offset that does not meet the cutting positioning requirements and / or the magnitude of a second offset includes: When the first offset includes a lateral offset, the lateral position of the corresponding positioning part relative to the mold parting line is adjusted. And / or, when the first offset includes an angular offset, adjust the placement angle of the corresponding positioning part relative to the mold parting line; And / or, when the second offset includes a successive offset, adjust the docking position between two adjacent positioning parts.

[0012] According to one aspect of the present disclosure, in step S200, after the corresponding positioning part is corrected, the first offset between the corrected corresponding positioning part and the mold parting line is rechecked, and / or the second offset between the corrected corresponding positioning part and the adjacent positioning part is rechecked. When the first offset and / or the second offset obtained from the re-inspection are not greater than the corresponding preset allowable offset, the positioning line formed based on the corrected corresponding positioning part is determined as the corrected positioning line; when the first offset and / or the second offset obtained from the re-inspection are greater than the corresponding preset allowable offset, the corresponding positioning part is further corrected according to the first offset and / or the second offset obtained from the re-inspection.

[0013] According to one aspect of the present disclosure, in step S200, when the number of times the corresponding positioning part is corrected reaches a preset number of corrections, and the first offset obtained from the re-inspection is greater than the corresponding preset allowable offset, and the second offset obtained from the re-inspection is not greater than the corresponding preset allowable offset, the corresponding positioning part is replaced; or, when the number of times the corresponding positioning part is corrected reaches a preset number of corrections, and the second offset obtained from the re-inspection is greater than the corresponding preset allowable offset, the corresponding positioning part and at least one adjacent positioning part that is adjacent to the beginning and end of the corresponding positioning part are replaced.

[0014] According to one aspect of the present disclosure, in step S100, the positioning part is disposed on the surface of the wind turbine blade via a first connecting rod, a second connecting rod, and a suction cup; the positioning part is detachably connected to the first connecting rod and the second connecting rod respectively, and the first connecting rod and the second connecting rod are respectively connected to the suction cup, which is adsorbed onto the surface of the wind turbine blade; the positioning part includes a positioning line forming part, which forms a corresponding relationship with the mold parting line to form a corresponding positioning line segment.

[0015] According to one aspect of the present disclosure, the wind turbine blade cutting includes cutting the flash of the wind turbine blade.

[0016] Compared to the prior art, the beneficial effects achieved by this disclosure are as follows: By sequentially setting multiple positioning parts along the length of the wind turbine blade's mold-forming line, a positioning line to be confirmed is first formed based on these positioning parts, extending along the length of the mold-forming line. Then, a first offset between at least a portion of the positioning parts and the mold-forming line is detected, and / or a second offset between at least one set of adjacent positioning parts is detected. Based on the first offset and / or the second offset, it is determined whether the positioning line to be confirmed meets the cutting positioning requirements. When the positioning line to be confirmed meets the cutting positioning requirements, it is determined as the cutting positioning line. When the positioning line to be confirmed does not meet the cutting positioning requirements, it is corrected based on the first offset and / or the second offset, and the corrected positioning line is determined as the cutting positioning line. This constructs a workflow of "first forming the positioning line to be confirmed, then detecting and judging, and then locally correcting." The segmented setting of multiple positioning parts and subsequent offset detection and correction form the positioning line, improving the positioning accuracy of the wind turbine blade cutting positioning line and adapting to the needs of wind turbine blade cutting operations with large on-site lengths. Attached Figure Description

[0017] 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 one or more embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a wind turbine blade, multiple positioning parts, a first connecting rod, a second connecting rod, and a suction cup according to an embodiment of the present disclosure. Figure 2 This is a schematic diagram of the structure of a wind turbine blade and multiple positioning parts according to an embodiment of the present disclosure. Figure 1 ; Figure 3 This is a schematic diagram of the structure of a wind turbine blade and multiple positioning parts according to an embodiment of the present disclosure. Figure 2 ; Figure 4 This is a flowchart illustrating a method for forming positioning lines for cutting wind turbine blades according to an embodiment of the present disclosure. The accompanying drawings are provided to further understand this disclosure and form part of the specification. They are used together with the embodiments of this disclosure to explain this disclosure and do not constitute a limitation thereof. Detailed Implementation

[0019] The technical solutions of the present disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present disclosure, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present disclosure without creative effort are within the scope of protection of the present disclosure.

[0020] In the description of the embodiments of this disclosure, technical terms such as "first," "second," etc., are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary or secondary relationship of the indicated technical features. In the description of the embodiments of this disclosure, "multiple" means one, two, or more, unless otherwise explicitly defined.

[0021] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this disclosure. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0022] In the description of the embodiments of this disclosure, technical terms such as "center," "longitudinal," "transverse," "length," "width," "wall thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this disclosure and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have or completely have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this disclosure.

[0023] In the description of the embodiments of this disclosure, unless otherwise expressly specified and limited, the technical terms "installation," "connection," "joining," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

[0024] In the accompanying drawings corresponding to the embodiments of this disclosure, the wall thickness and area of ​​the layers are enlarged for better understanding and ease of description. When describing a component on or on the surface of another component, the component may be "directly" located on the surface of the other component, or there may be a third component between the two components. Conversely, when describing a component on the surface of another component, or when another component is formed or disposed on the surface of a component, it indicates that there is no third component between the two components. Furthermore, when describing a component as being "generally" formed on another component, it means that the component is not formed on the entire surface (or front surface) of the other component, nor is it formed on a portion of the edge of the entire surface.

[0025] In the description of embodiments of this disclosure, when a component “includes” another component, other components are not excluded unless otherwise stated, and other components may be further included.

[0026] The terminology used in the description of the various embodiments herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used in the description of the various embodiments and the appended claims, the term "component" is also intended to include the plural form unless the context clearly indicates otherwise.

[0027] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been provided in the embodiments of this disclosure to facilitate a better understanding of the disclosure. However, the technical solutions claimed in this disclosure can be implemented even without these technical details and various variations and modifications based on the following embodiments.

[0028] like Figure 4 As shown, a method for forming positioning lines for cutting wind turbine blades includes: Step S100: Along the length direction of the mold line BL of the wind turbine blade, a plurality of positioning parts P are sequentially set on the surface of the wind turbine blade, such that two adjacent positioning parts P are arranged end to end, and each positioning part P is corresponding to the mold line BL of the wind turbine blade. Based on the plurality of positioning parts P, a positioning line to be confirmed is formed on the surface of the wind turbine blade extending along the length direction of the mold line BL. Step S200: Detect a first offset between at least a portion of the positioning part P and the mold parting line BL, and / or detect a second offset between at least one group of adjacent positioning parts P, and determine whether the positioning line to be confirmed meets the cutting positioning requirements based on the first offset and / or the second offset; when the positioning line to be confirmed meets the cutting positioning requirements, determine the positioning line to be confirmed as a cutting positioning line for wind turbine blade cutting; when the positioning line to be confirmed does not meet the cutting positioning requirements, correct the positioning line to be confirmed based on the first offset and / or the second offset, and determine the corrected positioning line as a cutting positioning line for wind turbine blade cutting.

[0029] In one or more embodiments of this disclosure, the wind turbine blade B may include a root section, a blade body section, and a tip section. The wind turbine blade typically has a long length dimension and a large curved surface area, and the parting line BL on the surface of the wind turbine blade extends along the length direction of the wind turbine blade. The parting line BL can serve as an identifiable reference line in the blade structure. Wind turbine blade cutting includes cutting the flash of the wind turbine blade. By using the parting line BL to form a positioning line for cutting, the positioning error caused by manual measurement based on experience or manual stringing can be reduced, and the consistency of the cutting position of the wind turbine blade can be improved.

[0030] In one or more embodiments of this disclosure, the positioning part P can be understood as a structural component or tool capable of corresponding to the parting line BL of a wind turbine blade and used to assist in forming a positioning line on the surface of the wind turbine blade. Exemplarily, the positioning part P can be a positioning rod, positioning ruler, positioning strip, or other positioning structure that can be attached to or placed on the surface of the wind turbine blade. The positioning part P in this application is not limited to a specific mechanical structure, as long as it can be arranged along the length direction of the parting line BL and can assist in forming the positioning line to be confirmed.

[0031] It should be noted that in step S100, "end-to-end correspondence arrangement" can at least be understood as: the starting end, starting reference position, or starting continuation area of ​​the subsequent positioning part P forms a positional correspondence with the ending end, ending reference position, or ending continuation area of ​​the previous positioning part P, so that multiple positioning parts P can be arranged continuously or approximately continuously along the length direction of the mold-forming line BL. Through end-to-end correspondence arrangement, the problems of disconnection, misalignment, or repeated positioning between adjacent positioning parts P can be reduced; the correspondence between each positioning part P and the mold-forming line BL of the wind turbine blade can at least be understood as: the corresponding position or area of ​​the mold-forming line BL on the positioning part P basically corresponds to the mold-forming line BL. That is, the positioning part P can directly form a correspondence with the mold-forming line BL as the alignment reference. Therefore, by making the positioning part P correspond to the mold-forming line BL, the positional characteristics of the mold-forming line BL can be transferred to the positioning part P, and then the positioning part P assists in forming the positioning line to be confirmed.

[0032] In one or more embodiments of this disclosure, the positioning line to be confirmed can be understood as a positioning line initially formed on the surface of the wind turbine blade after multiple positioning parts P are sequentially set, which has not yet been judged by offset or has not yet been finally confirmed. The positioning line to be confirmed can be formed by multiple positioning line segments formed by multiple positioning parts P sequentially, or it can be formed by a scribing trajectory or projection trajectory jointly defined by multiple positioning parts P. The positioning line to be confirmed is not necessarily the same as the cutting positioning line finally used for cutting. The positioning line to be confirmed needs to be subsequently detected and judged before it can be determined as the cutting positioning line, or it can be obtained as the cutting positioning line after correction.

[0033] In one or more embodiments of this disclosure, in step S200, a first offset between at least a portion of the positioning parts P and the mold parting line BL can be detected, and / or a second offset between at least one set of adjacent positioning parts P can be detected. The first offset can characterize the deviation between the actual and target setting state of the positioning parts P relative to the mold parting line BL, and the second offset can characterize the deviation between the actual and target connection state between two adjacent positioning parts P. By simultaneously or selectively detecting the first and second offsets, the formation quality of the positioning line to be confirmed can be determined from two aspects: the alignment accuracy of the positioning parts P relative to the mold parting line BL and the continuity of the connection between adjacent positioning parts P.

[0034] In one or more embodiments of this disclosure, the first offset may include at least one of a lateral offset of the positioning part P relative to the mold parting line BL and an angular offset of the positioning part P relative to the mold parting line BL. The lateral offset may be used to represent the degree of deviation of the positioning part P from the direction perpendicular to or approximately perpendicular to the extension direction of the mold parting line BL; the angular offset may be used to represent the degree of skewness of the extension direction of the positioning part P relative to the extension direction of the corresponding segment of the mold parting line BL. The second offset may include a successive offset between two adjacent positioning parts P, which may be used to represent the degree of misalignment of the two adjacent positioning parts P at their beginning and end connection positions, such as lateral misalignment.

[0035] In one or more embodiments of this disclosure, detecting the first offset between at least a portion of the positioning parts P and the parting line BL can be performed by detecting all positioning parts P or by detecting a portion of the multiple positioning parts P. For example, the first positioning part P, the last positioning part P, and at least one intermediate positioning part P can be detected, or multiple positioning parts P can be sampled at preset intervals. By detecting the first offset, it can be determined whether there is a significant deviation in the position and / or direction of the corresponding positioning part P relative to the parting line BL.

[0036] In one or more embodiments of this disclosure, detecting the second offset between at least one group of adjacent positioning parts P can be performed by detecting the connection positions of all adjacent positioning parts P, or by detecting the connection positions of some adjacent positioning parts P. For example, the lateral misalignment distance between the starting connection area of ​​the subsequent positioning part P and the ending connection area of ​​the previous positioning part P can be detected. By detecting the second offset, it can be determined whether the head-to-tail correspondence between two adjacent positioning parts P meets the requirement of continuous formation of the positioning line to be confirmed.

[0037] In one or more embodiments of this disclosure, determining whether the positioning line to be confirmed meets the cutting positioning requirements based on the first offset and / or the second offset may include comparing the detected first offset and / or the second offset with corresponding preset allowable offsets. The preset allowable offsets may be determined based on factors such as wind turbine blade cutting process requirements, cutting equipment precision, blade structural allowance, allowable error in cutting position, length of positioning part P, and on-site construction requirements. When both the detected first offset and / or the second offset are not greater than the corresponding preset allowable offsets, the positioning line to be confirmed is considered to meet the cutting positioning requirements; when at least one of the detected first offset and / or the second offset is greater than the corresponding preset allowable offset, the positioning line to be confirmed is considered not to meet the cutting positioning requirements.

[0038] In one or more embodiments of this disclosure, when the positioning line to be confirmed meets the cutting positioning requirements, the positioning line to be confirmed can be determined as the cutting positioning line for cutting wind turbine blades. In this case, the positioning line to be confirmed can serve as a cutting reference line for the cutting equipment, cutting tool, cutting robot, or other cutting execution device. The operator or cutting equipment can cut the wind turbine blade along the cutting positioning line, ensuring that the cutting path is substantially consistent with the predetermined cutting positioning line.

[0039] In one or more embodiments of this disclosure, when the positioning line to be confirmed does not meet the cutting positioning requirements, the positioning line to be confirmed can be corrected according to a first offset and / or a second offset. Specifically, the positioning part P to be corrected or the continuation area to be corrected can be determined according to the first offset and / or the second offset that does not meet the cutting positioning requirements, and the position, angle and / or the docking position between two adjacent positioning parts P can be corrected. Thus, by performing targeted correction on the positioning part P, the positioning line to be confirmed can be corrected, avoiding the need to reformat the entire positioning line and reducing rework.

[0040] In one or more embodiments of this disclosure, the corrected positioning line can be understood as a positioning line formed after at least one of the following correction operations—lateral position correction, placement angle correction, connection position correction, or other correction operations—when the positioning line to be confirmed does not meet the cutting positioning requirements. Once the corrected positioning line meets the cutting positioning requirements, it can be determined as the cutting positioning line for wind turbine blade cutting. Therefore, even if there are local deviations during the initial setting of multiple positioning parts P, these deviations can be eliminated or reduced through subsequent detection and correction, ensuring the accuracy of the final cutting positioning line as much as possible.

[0041] This disclosure employs a workflow of "first forming the positioning line to be confirmed, then detecting and judging, and then locally correcting." Compared to the method of detecting and correcting each positioning part P after it is set up, this approach first quickly completes the sequential arrangement of multiple positioning parts P and the formation of the positioning line to be confirmed, and then centrally detects the first offset and / or the second offset and locates the areas that do not meet the cutting positioning requirements. In other words, the mold line BL of the wind turbine blade itself can be used as the positioning reference. By combining the segmented setting of multiple positioning parts P and the subsequent detection and correction of the first offset and / or the second offset, the positioning line is formed, which improves the positioning accuracy of the wind turbine blade cutting positioning line and meets the needs of cutting wind turbine blades with large on-site lengths.

[0042] According to one aspect of the present disclosure, in step S100, the plurality of positioning parts P include a first positioning part P1, a second positioning part P2, ..., an i-th positioning part Pi, ..., an n-th positioning part Pn arranged sequentially along the length direction of the mold parting line BL, where n is an integer greater than or equal to 2, and i is an integer greater than 1 and less than or equal to n. When the first positioning part P1 is set, the first positioning part P1 is made to correspond with the first line segment of the mold parting line BL, and the first positioning line segment is formed based on the first positioning part P1; When setting the i-th positioning part Pi, the i-th positioning part Pi is made to correspond to the i-1-th positioning part Pi-1 end to end, and the i-th positioning part Pi is made to correspond to the i-th line segment of the mold parting line BL, and the i-th positioning line segment is formed based on the i-th positioning part Pi; Repeat the setting of the i-th positioning part Pi until the n-th positioning part Pn is set, so that the n-th positioning part Pn corresponds to the n-1-th positioning part Pn-1 end to end, and the n-th positioning part Pn corresponds to the n-th line segment of the mold parting line BL. Based on the n-th positioning part Pn, the n-th positioning line segment is formed, thereby forming the positioning line to be confirmed composed of the 1st positioning line segment to the nth positioning line segment in sequence. The positioning part P includes a positioning line forming part, which is used to form corresponding positioning line segments on the surface of the wind turbine blade.

[0043] In one or more embodiments of this disclosure, the mold-forming line BL can extend along the length direction of the wind turbine blade, and can be divided or understood as segment 1, segment 2, ..., segment i, ..., segment n along its length direction according to the arrangement order of multiple positioning parts P. The lengths of segment 1, segment 2, ..., segment i, ..., segment n can be completely equal or not completely equal. Segment 1 to segment n can be actual segments on the mold-forming line BL, or corresponding segments determined according to the length of positioning part P, the setting position of positioning part P, the length of blade cutting area, on-site construction requirements, etc. In the embodiments of this disclosure, "segment i" is not limited to a segment pre-marked on the surface of the wind turbine blade, as long as it can be a local area of ​​the mold-forming line BL that can form a corresponding relationship between the i-th positioning part P and the mold-forming line BL.

[0044] In one or more embodiments of this disclosure, a starting region for forming the cutting positioning line can be determined first, and a first positioning part P can be set in the starting region. When setting the first positioning part P, the reference position on the first positioning part P can be made to correspond with the first segment of the mold parting line BL. After the first positioning part P and the first segment are in correspondence, the first positioning line segment can be formed on the surface of the wind turbine blade using the forming part of the first positioning part P. The first positioning line segment can serve as the starting line segment of the positioning line to be confirmed and provide a position reference for the subsequent setting of the positioning part P.

[0045] In one or more embodiments of this disclosure, when setting the i-th positioning part P, the i-th positioning part P can be first set after the (i-1)-th positioning part P, so that the i-th positioning part P and the (i-1)-th positioning part P are aligned end-to-end along the length direction of the mold parting line BL. This end-to-end alignment can mean that the starting end of the i-th positioning part P and the ending end of the (i-1)-th positioning part P are connected through abutment, alignment, or connection. By aligning the i-th positioning part P and the (i-1)-th positioning part P end-to-end, the starting position of the i-th positioning part P along the length direction of the mold parting line BL can be defined, reducing misalignment between adjacent positioning parts P.

[0046] In one or more embodiments of this disclosure, in addition to the end-to-end correspondence between the i-th positioning part P and the (i-1)-th positioning part P, the i-th positioning part P can also be made to correspond to the i-th segment of the mold parting line BL. That is, the setting of the i-th positioning part P depends not only on the end position of the (i-1)-th positioning part P, but also on the position and extension direction of the i-th segment of the mold parting line BL. Thus, the i-th positioning part P can be simultaneously constrained by the continuity of the previous positioning part P and the alignment of the mold parting line BL, thereby reducing the cumulative deviation caused by the continuous laying of the previous positioning part P, and avoiding the discontinuity of adjacent positioning segments caused by the alignment of only the local position of the mold parting line BL.

[0047] Understandably, due to the typically large length and curved surface of wind turbine blades, forming a single positioning line for confirmation is susceptible to factors such as blade curvature variations, manual line drawing deviations, marking tool deformation, and operational space limitations. By sequentially setting positioning parts P1 to nth positioning parts P along the length of the mold closing line BL, and having each positioning part P form a corresponding positioning line segment, the long-distance positioning line formation process can be decomposed into multiple short-distance positioning line segment formation processes. This reduces the deviation caused by a single long-distance marking and improves the accuracy of the correspondence between the positioning line to be confirmed and the mold closing line BL.

[0048] In one or more embodiments of this disclosure, the process of setting the i-th positioning part P can be repeated until the n-th positioning part P is set. That is, after the first positioning line segment is formed, the second positioning line segment, the third positioning line segment, and so on, can be formed sequentially until the n-th positioning line segment is formed. For the n-th positioning part P, the n-th positioning part P can be made to correspond end-to-end with the (n-1)-th positioning part P, and the n-th positioning part P can be made to correspond with the n-th line segment of the mold closing line BL, and then the n-th positioning line segment is formed based on the n-th positioning part P. Thus, the first positioning line segment to the n-th positioning line segment can be sequentially connected along the length direction of the mold closing line BL to form a positioning line to be confirmed extending along the length direction of the wind turbine blade mold closing line BL.

[0049] For example, such as Figures 1 to 3As shown, the plurality of positioning parts P include a first positioning part P1, a second positioning part P2, and a third positioning part P3 arranged sequentially along the length direction of the mold parting line BL. The first positioning part P1 can correspond to the first segment of the mold parting line BL, and a first positioning line segment L1 (shown as a dashed line) is formed on the surface of the wind turbine blade based on the first positioning part P1. The second positioning part P2 can be arranged after the first positioning part P1, and the second positioning part P2 corresponds to the first positioning part P1 end to end, and corresponds to the second segment of the mold parting line BL. A second positioning line segment L2 (shown as a dashed line) is formed on the surface of the wind turbine blade based on the second positioning part P2. The third positioning part P3 can be arranged after the second positioning part P2, and the third positioning part P3 corresponds to the second positioning part P2 end to end, and corresponds to the third segment of the mold parting line BL. A third positioning line segment L3 (shown as a dashed line) is formed on the surface of the wind turbine blade based on the third positioning part P3. Therefore, the first positioning line segment L1, the second positioning line segment L2 and the third positioning line segment L3 can be connected sequentially along the length direction of the mold parting line BL to form the positioning line L to be confirmed (not shown).

[0050] In one or more embodiments of this disclosure, the first positioning line segment to the nth positioning line segment can be continuously connected or approximately continuously connected. For example, two adjacent positioning line segments can abut, align, or connect at their ends, but in practice, even after the beginning and end are aligned, there may still be a very small gap, which can be ignored. As long as multiple positioning line segments can jointly express the positioning trajectory extending along the length direction of the mold parting line BL, they can constitute the positioning line to be confirmed.

[0051] In one or more embodiments of this disclosure, the first positioning part P to the nth positioning part P may have the same structure, or they may be set to different structures according to the curvature, width, surface morphology or cutting area requirements of different positions of the wind turbine blade. By selecting or setting different positioning parts P according to different areas of the wind turbine blade, the adaptability of the positioning part P to the surface of the wind turbine blade can be improved, and the accuracy of the positioning line segment formation position can be guaranteed.

[0052] By sequentially setting the first to nth positioning parts P as described above, and ensuring that each positioning part P corresponds both to the previous positioning part P and to the corresponding segment of the mold-closing line BL, positioning segments 1 to n can be formed segment by segment on the surface of the wind turbine blade. Multiple positioning segments are then sequentially connected to form a positioning line to be confirmed. This allows for the formation of a positioning line to be confirmed on a relatively long wind turbine blade surface, composed of multiple connected positioning segments. This positioning line to be confirmed is not directly used as the final cutting positioning line, but rather serves as the object for offset detection, cutting positioning requirement judgment, and necessary correction in subsequent step S200. Therefore, by using the mold-closing line BL as the segmented positioning reference and ensuring the continuity between positioning segments through the correspondence between adjacent positioning parts P, the initial accuracy of the wind turbine blade cutting positioning line formation is improved. Subsequent detection and correction can further enhance the accuracy of the positioning line.

[0053] According to one aspect of the present disclosure, in step S200, the first offset includes at least one of a lateral offset of the positioning part P relative to the mold parting line BL and an angular offset of the positioning part P relative to the mold parting line BL; the second offset includes a sequential offset between two adjacent positioning parts P.

[0054] In this embodiment, if only one position on the positioning part P is detected as aligned with the mold parting line BL, it may not accurately reflect the overall setting state of the positioning part P relative to the mold parting line BL. For example, the positioning part P may be shifted to one side of the mold parting line BL, or it may be angularly deviated relative to the mold parting line BL, or it may be misaligned at the beginning and end of two adjacent positioning parts P. The above-mentioned different deviations affect the positioning line to be confirmed in different ways. Therefore, the first offset between the positioning part P and the mold parting line BL can be further distinguished into at least one of lateral offset and angular offset, and the second offset between two adjacent positioning parts P can be further defined as a continuity offset. Thus, whether the positioning line to be confirmed meets the cutting positioning requirements can be determined from two aspects: the alignment accuracy of the positioning part P relative to the mold parting line BL and the continuity between adjacent positioning parts P.

[0055] For example, such as Figure 2 and Figure 3As shown, after forming the positioning line L (not shown) to be confirmed, the first set of first offsets D1 between the first positioning part P1 and the mold parting line BL, the second set of first offsets D2 (not shown) between the second positioning part P2 and the mold parting line BL, and the third set of first offsets D3 between the third positioning part P3 and the mold parting line BL can be detected respectively. Each of the first set of first offsets D1, D2, and D3 can include the lateral offset and / or angular offset of the corresponding positioning part P relative to the mold parting line BL. Furthermore, the first set of second offsets E1 between the second positioning part P2 and the first positioning part P1, and / or the second set of second offsets E2 between the third positioning part P3 and the second positioning part P2 can also be detected. Both the first set of second offsets E1 and the second set of second offsets E2 can include the continuous offset between two adjacent positioning parts P. Therefore, based on at least a portion of the offsets in the first offset D1 of the first group, the first offset D2 of the second group (not shown), the first offset D3 of the third group, the second offset E1 of the first group, and the second offset E2 of the second group, it can be determined whether the positioning line L to be confirmed meets the cutting positioning requirements. When the positioning line L to be confirmed meets the cutting positioning requirements, it can be identified as the cutting positioning line; when the positioning line L to be confirmed does not meet the cutting positioning requirements, the corresponding positioning part P can be corrected based on the first offset and / or the second offset that does not meet the cutting positioning requirements, and the corrected positioning line can be identified as the cutting positioning line.

[0056] In one or more embodiments of this disclosure, the lateral offset can be used to characterize the degree of deviation of the positioning part P relative to the parting line BL in the lateral direction. The lateral direction can be understood as a direction perpendicular to the local extension direction of the parting line BL, or as a detection direction forming a preset angle with the local extension direction of the parting line BL. For example, a detection position can be selected on the positioning part P, and the distance between the detection position and the corresponding position on the parting line BL can be detected. This distance is used as the lateral offset of the positioning part P relative to the parting line BL. A larger lateral offset indicates a more significant lateral positional deviation of the positioning part P relative to the parting line BL, and a higher risk of deviation of the positioning line segment formed based on the positioning part P relative to the target cutting position.

[0057] In one or more embodiments of this disclosure, the angular offset can be used to characterize the degree of skewness of the extension direction of the positioning part P relative to the extension direction of the corresponding segment of the mold-forming line BL. Since the mold-forming line BL on the surface of the wind turbine blade B may not be perfectly straight, the positioning part P needs to maintain not only an appropriate positional relationship with the mold-forming line BL, but also a correspondence with the local extension direction of the mold-forming line BL. If one end of the positioning part P corresponds well to the mold-forming line BL, while the other end gradually deviates from the mold-forming line BL, it indicates that the positioning part P may have an angular offset relative to the mold-forming line BL. For example, the angle between the extension direction of the positioning part P and the extension direction of the corresponding segment of the mold-forming line BL can be directly detected, and this angle can be used as the angular offset; alternatively, the angular offset can be indirectly determined by the difference in lateral offset between at least two detection positions on the positioning part P relative to the mold-forming line BL.

[0058] In one or more embodiments of this disclosure, the continuity offset can be used to characterize the degree of misalignment between two adjacent positioning parts P at their beginning and end connection positions. Since the positioning line to be confirmed can be formed by sequentially connecting positioning line segments corresponding to multiple positioning parts P, if the connection position between two adjacent positioning parts P is misaligned, even if the first offset between each positioning part P and the mold parting line BL is small, the final positioning line to be confirmed may exhibit local abrupt changes. Therefore, a second offset can be detected in the connection region between two adjacent positioning parts P to determine whether a continuous or nearly continuous positioning reference can be formed between multiple positioning parts P.

[0059] In one or more embodiments of this disclosure, the splicing offset can be determined by the positional difference and / or docking angle deviation between the end splicing position of the preceding positioning part P and the beginning splicing position of the following positioning part P. For example, the lateral misalignment distance and / or docking angle deviation between the end reference point of the preceding positioning part P and the beginning reference point of the following positioning part P can be detected, and at least one of the above can be used as the splicing offset between two adjacent positioning parts P. Therefore, based on the connection state between adjacent positioning parts P, it can be determined whether the positioning line to be confirmed meets the continuity requirement in the splicing area.

[0060] In one or more embodiments of this disclosure, the lateral offset, angular offset, and continuation offset can each correspond to different preset allowable offsets. That is, the lateral offset can be compared with the lateral allowable offset, the angular offset can be compared with the angular allowable offset, and the continuation offset can be compared with the continuation allowable offset. Since the lateral offset is usually expressed in length units, the angular offset is usually expressed in angle units, and the continuation offset can be expressed in either length units or angle units, it is not advisable to directly and simply merge and compare different types of offsets. By setting corresponding allowable ranges for different types of offsets, the accuracy and executability of the judgment results can be improved.

[0061] In one or more embodiments of this disclosure, when detecting the lateral offset of the positioning part P relative to the mold parting line BL, the distance between the positioning part P and the mold parting line BL can be detected at at least one detection position of the positioning part P. The detection position may include the starting end, ending end, middle, connecting area, or other preset detection position of the positioning part P. When only one detection position is detected, the local lateral offset corresponding to that detection position can be obtained; when multiple detection positions are detected, the lateral offset corresponding to the positioning part P can be determined based on multiple local lateral offsets. For example, the maximum value among multiple local lateral offsets can be used as the lateral offset of the positioning part P, or the average value, weighted value, or representative value of multiple local lateral offsets can be used as the lateral offset of the positioning part P.

[0062] In one or more embodiments of this disclosure, when detecting the angular offset of the positioning part P relative to the mold parting line BL, the offset difference between at least two detection positions on the positioning part P and the mold parting line BL can be obtained. For example, the lateral offset of the first and last ends of the positioning part P relative to the mold parting line BL can be detected separately, and the difference between the lateral offset of the first end and the lateral offset of the last end can be used to determine whether the positioning part P has an angular deviation relative to the mold parting line BL. If the difference between the lateral offset of the first end and the lateral offset of the last end is small or very small, it can be considered that the extension direction of the corresponding line segment of the positioning part P and the mold parting line BL is relatively consistent; if the difference is large, it can be considered that the positioning part P has an angular offset relative to the mold parting line BL, and the angular offset can be calculated by the lateral offset difference at the same position.

[0063] In one or more embodiments of this disclosure, when detecting the connection offset between two adjacent positioning parts P, the focus can be on detecting the correspondence between the starting connection position of the subsequent positioning part P and the ending connection position of the preceding positioning part P. If the misalignment between the starting connection position of the subsequent positioning part P and the ending connection position of the preceding positioning part P is not greater than the allowable connection offset, then the connection between the two adjacent positioning parts P can be considered good; if the misalignment is greater than the allowable connection offset, then a connection offset exists between the two adjacent positioning parts P.

[0064] In one or more embodiments of this disclosure, at least two of the lateral offset, angular offset, and continuation offset can be detected simultaneously, and the detection results can be combined to determine whether the positioning line to be confirmed meets the cutting positioning requirements. For example, when the lateral offset is not greater than the allowable lateral offset, the angular offset is not greater than the allowable angular offset, and the continuation offset is not greater than the allowable continuation offset, it can be determined that the positioning line to be confirmed meets the cutting positioning requirements; when any of the lateral offset, angular offset, and continuation offset is greater than the corresponding allowable offset, it can be determined that the positioning line to be confirmed does not meet the cutting positioning requirements, and the type of offset that does not meet the requirements and the corresponding positioning part number are recorded so that the positioning line to be confirmed can be corrected subsequently based on the first offset and / or the second offset.

[0065] Understandably, the allowable lateral offset, angular offset, and splice offset can be determined based on the cutting process requirements of wind turbine blade B, the precision of the cutting equipment, the cutting allowance, the blade structural dimensions, the area where the cutting location is located, and the on-site construction requirements.

[0066] In one or more embodiments of this disclosure, the judgment can be performed according to a priority method. For example, it can be determined first whether the continuity offset meets the requirements, and then whether the lateral offset and angular offset meet the requirements. Since the continuity offset between adjacent positioning parts P directly affects the continuity of the positioning line to be confirmed, in some scenarios, the continuity offset can be detected first; in other scenarios, if the distance requirement between the cutting position and the mold parting line BL is more stringent, the lateral offset can also be detected first. The embodiments of this disclosure do not limit the judgment order of different offset types.

[0067] According to one aspect of the present disclosure, in step S200, detecting a first offset between at least a portion of the positioning portion and the mold parting line, and / or detecting a second offset between at least a group of adjacent positioning portions, and determining whether the positioning line to be confirmed meets the cutting positioning requirements based on the first offset and / or the second offset includes: The system detects the first set of first offsets between the first positioning part and the mold parting line, the second set of first offsets between the second positioning part and the mold parting line, ..., the i-th set of first offsets between the i-th positioning part and the mold parting line, ..., the n-th set of first offsets between the n-th positioning part and the mold parting line, and determines the magnitude of the first offsets corresponding to multiple sets of first offsets based on multiple sets of the first set of first offsets, the second set of first offsets, ..., the i-th set of first offsets, ..., the n-th set of first offsets. And / or, detect the first group of second offsets between the second positioning part and the first positioning part, ..., the (i-1)th group of second offsets between the i-th positioning part and the (i-1)th positioning part, ..., the (n-1)th group of second offsets between the n-th positioning part and the (n-1)th positioning part; determine the magnitude of the second offsets of the corresponding multiple groups based on the first group of second offsets, ..., the (i-1)th group of second offsets, ..., the (n-1)th group of second offsets; When the magnitude of the first offset and the magnitude of the second offset of each group are not greater than the corresponding preset allowable offset, it is determined that the positioning line to be confirmed meets the cutting positioning requirements. When the magnitude of the first offset of at least one group and / or the magnitude of the second offset of at least one group are greater than the corresponding preset allowable offset, it is determined that the positioning line to be confirmed does not meet the cutting positioning requirements.

[0068] In one or more embodiments of this disclosure, in step S200, a first set of first offsets D1 between the first positioning part P1 and the mold parting line BL, a second set of first offsets D2 (not shown) between the second positioning part P2 and the mold parting line BL, ..., an i-th set of first offsets Di between the i-th positioning part Pi and the mold parting line BL, ..., an n-th set of first offsets Dn between the n-th positioning part Pn and the mold parting line BL can be detected. The first set of first offsets D1 can be used to characterize the degree of deviation between the first positioning part P1 and the first segment of the mold parting line BL; the second set of first offsets D2 can be used to characterize the degree of deviation between the second positioning part P2 and the second segment of the mold parting line BL; the i-th set of first offsets Di can be used to characterize the degree of deviation between the i-th positioning part Pi and the i-th segment of the mold parting line BL; and the n-th set of first offsets Dn can be used to characterize the degree of deviation between the n-th positioning part Pn and the n-th segment of the mold parting line BL. The first offset D1 of the first group to the first offset Dn of the nth group all belong to the first offset and can be determined according to the actual alignment state between the corresponding positioning part P and the mold parting line BL.

[0069] In one or more embodiments of this disclosure, any one of the first offsets D1 (first group), D2 (second group), ..., Di (i group), ..., Dn (n group) can include at least one of the lateral offset of the corresponding positioning part P relative to the mold parting line BL and the angular offset of the corresponding positioning part P relative to the mold parting line BL. That is, Di can represent a first offset of the i-th positioning part Pi relative to the mold parting line BL, or it can represent a set of first offsets of the i-th positioning part Pi relative to the mold parting line BL. For example, the i-th group of first offsets Di can include the i-th lateral offset Dxi of the i-th positioning part Pi relative to the mold parting line BL, and / or the i-th angular offset Dθi of the i-th positioning part Pi relative to the mold parting line BL. By distinguishing the first offsets according to lateral and angular offsets, the positional and directional deviations of the positioning part P relative to the mold parting line BL can be determined separately, avoiding the simple merging and judgment of offsets with different units or different physical meanings.

[0070] In one or more embodiments of this disclosure, in step S200, the following can also be detected: a first group of second offsets E1, ..., between the second positioning part and the first positioning part; an (i-1) group of second offsets Ei-1, ..., between the i-th positioning part Pi and the (i-1)-th positioning part Pi-1; and an (n-1) group of second offsets En-1 between the n-th positioning part Pn and the (n-1)-th positioning part Pn-1. The first group of second offsets can be used to characterize the degree of beginning-end connection deviation between the second positioning part P2 and the first positioning part P1; the (i-1) group of second offsets can be used to characterize the degree of beginning-end connection deviation between the i-th positioning part Pi and the (i-1)-th positioning part Pi-1; and the (n-1) group of second offsets can be used to characterize the degree of beginning-end connection deviation between the n-th positioning part Pn and the (n-1)-th positioning part Pn-1. All of the above-mentioned first group of second offsets to the (n-1)-th group of second offsets can be considered second offsets and can be determined based on the actual connection state between two adjacent positioning parts P.

[0071] In one or more embodiments of this disclosure, any one of the first group of second offsets, ..., the (i-1)th group of second offsets, ..., the (n-1)th group of second offsets may include the connection offset between two adjacent positioning parts P. The connection offset may include at least one of the lateral misalignment distance and the docking angle deviation between the two adjacent positioning parts P at the beginning and end connection positions. For example, the (i-1)th group of second offsets between the i-th positioning part Pi and the (i-1)th positioning part Pi-1 may include the lateral misalignment distance between the beginning connection position of the i-th positioning part Pi and the end connection position of the (i-1)th positioning part Pi-1, and / or the docking angle deviation between the beginning connection position of the i-th positioning part Pi and the end connection position of the (i-1)th positioning part Pi-1. By detecting the second offset, it can be determined whether the beginning and end correspondence requirement is met between two adjacent positioning parts P, thereby determining whether the positioning line to be confirmed formed by multiple positioning parts P is continuous or approximately continuous in the connection area.

[0072] It is understandable that the local extension direction of the mold parting line BL at the joint position can be used as a reference. The end extension direction of the i-1th positioning part Pi-1 can be the edge extension direction or the positioning line segment extension direction of the positioning line forming part of the i-1th positioning part Pi-1 at the end joint position. The starting extension direction of the i-th positioning part Pi can be the edge extension direction or the positioning line segment extension direction of the positioning line forming part of the i-th positioning part Pi at the starting joint position.

[0073] Therefore, a first directional deviation angle can be determined for the end extension direction of the (i-1)th positioning part Pi-1 relative to the local extension direction of the mold parting line BL at the joint position, and a second directional deviation angle can be determined for the start extension direction of the i-th positioning part Pi relative to the local extension direction of the mold parting line BL at the joint position. The docking angle deviation between the i-th positioning part Pi and the (i-1)th positioning part Pi-1 can be at least the difference between the first directional deviation angle and the second directional deviation angle, or the absolute value of the difference. For example, when the start joint position of the i-th positioning part Pi is aligned with the end joint position of the (i-1)th positioning part Pi-1, and the start extension direction of the i-th positioning part Pi is the same as or parallel to the end extension direction of the (i-1)th positioning part Pi-1, the first directional deviation angle and the second directional deviation angle are equal, and the docking angle deviation is 0°. In this case, since there is no abrupt change in direction at the joint position of the adjacent positioning line segments formed by the i-th positioning part Pi and the (i-1)th positioning part Pi-1, they can extend continuously or approximately continuously.

[0074] In one or more embodiments of this disclosure, determining the magnitude of the first offset corresponding to multiple groups of first offsets (group 1, group 2, ..., group i, ..., group n) may include: extracting the offset corresponding to the same offset type from the first offsets corresponding to multiple positioning parts P, and determining the representative offset magnitude corresponding to that offset type. For example, the lateral offset magnitude can be determined based on the lateral offsets corresponding to the first offsets of the first positioning parts P1 to the nth positioning parts Pn; and / or, the angular offset magnitude can be determined based on the angular offsets corresponding to the first offsets of the first positioning parts P1 to the nth positioning parts Pn. Thus, the offset magnitude reflecting the overall alignment quality of the positioning line to be confirmed can be obtained from the alignment status between the multiple positioning parts P and the mold parting line BL.

[0075] In one or more embodiments of this disclosure, determining the magnitude of the second offset corresponding to multiple groups of second offsets from the first group of second offsets, ..., the (i-1)th group of second offsets, ..., the (n-1)th group of second offsets, can include: extracting a continuity offset from the second offsets between two adjacent positioning parts P, and determining the magnitude of the representative offset corresponding to the continuity offset. For example, the magnitude of the continuity offset can be determined based on the continuity offset between the second positioning part P2 and the first positioning part P1, the continuity offset between the i-th positioning part Pi and the (i-1)th positioning part Pi-1, and the continuity offset between the n-th positioning part Pn and the (n-1)th positioning part Pn-1. Thus, the magnitude of the offset reflecting the continuity of the positioning line to be confirmed can be obtained from the continuity states between multiple adjacent positioning parts P.

[0076] In one or more embodiments of this disclosure, the type of the first offset and its corresponding offset size can be the maximum, minimum, average, weighted, or representative value of the offset type among multiple detection objects, or other values ​​that can characterize the overall deviation of the offset type. For example, the lateral offset size can be the maximum value of multiple lateral offsets in the first group of first offsets, the second group of first offsets, ..., the i-th group of first offsets, ..., the n-th group of first offsets; the angular offset size can be the maximum value of multiple angular offsets in the first group of first offsets, the second group of first offsets, ..., the i-th group of first offsets, ..., the n-th group of first offsets; and the continuation offset size can be the maximum value of multiple continuation offsets in the first group of second offsets, ..., the (i-1)-th group of second offsets, ..., the (n-1)-th group of second offsets. Using the maximum value as the offset size for the corresponding offset type ensures that any excessive deviation in any positioning part P or any continuation area can be identified, thereby improving the safety of the cutting positioning line judgment.

[0077] In one or more embodiments of this disclosure, when the magnitudes of the first and second offsets of each detected group are not greater than the corresponding preset allowable offsets, it can be determined that the positioning line to be confirmed meets the cutting positioning requirements. Specifically, for any detected first offset group, when the magnitude of the lateral offset in the group is not greater than the preset allowable lateral offset, and / or the magnitude of the angular offset in the group is not greater than the preset allowable angular offset, it can be considered that the alignment state of the corresponding positioning part P relative to the mold parting line BL meets the requirements; for any detected second offset group, when the magnitude of the continuous offset in the group is not greater than the preset allowable continuous offset, it can be considered that the continuity state between the corresponding adjacent positioning parts P meets the requirements. Thus, when each detected group is within the corresponding allowable range, it can be determined that the positioning line to be confirmed formed by multiple positioning parts P meets the cutting positioning requirements.

[0078] In one or more embodiments of this disclosure, when at least one set of first offset values ​​and / or at least one set of second offset values ​​are greater than the corresponding preset allowable offset values, it can be determined that the positioning line to be confirmed does not meet the cutting positioning requirements. For example, when the i-th lateral offset Dxi in the i-th set of first offset values ​​is greater than the preset allowable lateral offset value, it can be considered that the i-th positioning part Pi has a lateral misalignment relative to the mold parting line BL; when the i-th angular offset Dθi in the i-th set of first offset values ​​is greater than the preset allowable angular offset value, it can be considered that the i-th positioning part Pi has an angular deviation relative to the mold parting line BL; when the (i-1)-th set of second offset values ​​is greater than the preset allowable continuation offset value, it can be considered that there is a continuation misalignment between the i-th positioning part Pi and the (i-1)-th positioning part Pi-1. Any of the above situations may cause the positioning line to be confirmed to deviate from the target cutting position, or to have discontinuities in the local continuation area, thereby determining that the positioning line to be confirmed does not meet the cutting positioning requirements.

[0079] In one or more embodiments of this disclosure, when it is determined that the positioning line to be confirmed does not meet the cutting positioning requirements, the offset type, the corresponding offset group, and the sequence number of the corresponding positioning part P that exceed the corresponding preset allowable offset can also be recorded. For example, information such as "the lateral offset of the i-th positioning part Pi exceeds the limit," "the angular offset of the i-th positioning part Pi exceeds the limit," or "the connection offset between the i-th positioning part Pi and the (i-1)-1 positioning part Pi-1 exceeds the limit" can be recorded. By recording the above information, a basis can be provided for subsequent correction of the positioning line to be confirmed based on the first offset and / or the second offset, enabling the correction operation to be focused on a specific positioning part P or a specific connection area, without needing to reformat the entire positioning line to be confirmed.

[0080] In this embodiment of the disclosure, a first offset between at least a portion of the positioning part P and the mold parting line BL is detected, and / or a second offset between at least a group of adjacent positioning parts P is detected. Based on the magnitude of multiple sets of first offsets and / or multiple sets of second offsets, the alignment state of each detected positioning part P and / or the connection state of each detected connection position can be obtained respectively. By comparing each set of offset types with the corresponding preset allowable offsets, the local alignment deviation and local connection deviation of the positioning line to be confirmed can be identified, and it can be determined whether the positioning line to be confirmed meets the cutting positioning requirements, thereby improving the accuracy, operability, and targeted nature of the judgment process.

[0081] According to one aspect of the present disclosure, correcting the positioning line to be confirmed based on the first offset and / or the second offset includes: Determine the type and size of the first offset and / or the size of the second offset that do not meet the cutting positioning requirements, and correct the corresponding positioning part according to the type and size of the first offset and / or the size of the second offset that do not meet the cutting positioning requirements.

[0082] In one or more embodiments of this disclosure, determining the type of the first offset that does not meet the cutting positioning requirements may include determining which type or types of the first offset exceeding a corresponding preset allowable offset belongs to: lateral offset, angular offset, etc. For example, when the lateral offset of the positioning part P relative to the mold parting line BL is greater than the preset allowable lateral offset, it can be determined that the type of the first offset that does not meet the cutting positioning requirements includes a lateral offset; when the angular offset of the positioning part P relative to the mold parting line BL is greater than the preset allowable angular offset, it can be determined that the type of the first offset that does not meet the cutting positioning requirements includes an angular offset. Therefore, the positional deviation and directional deviation of the positioning part P relative to the mold parting line BL can be distinguished, providing a basis for subsequently adopting a corresponding correction method.

[0083] In one or more embodiments of this disclosure, determining the magnitude of a first offset that does not meet the cutting positioning requirements may include determining the actual detected value corresponding to the first offset, or it may include determining an excess amount corresponding to the first offset exceeding a preset allowable offset. For example, when the lateral offset of the i-th positioning part Pi is the i-th lateral offset Dxi, and the preset allowable lateral offset is Dx0, the i-th lateral offset Dxi can be used as the magnitude of the first offset, or Dxi-Dx0 can be used as the excess amount of the first offset; when the angular offset of the i-th positioning part Pi is the i-th angular offset Dθi, and the preset allowable angular offset is Dθ0, the i-th angular offset Dθi can be used as the magnitude of the first offset, or Dθi-Dθ0 can be used as the excess amount of the first offset.

[0084] In one or more embodiments of this disclosure, determining the magnitude of the second offset that does not meet the cutting positioning requirements may include determining the actual detected value of the successive offset between adjacent positioning parts P, or it may include determining the excess amount of the successive offset exceeding the corresponding preset allowable offset. For example, when the successive offset between the i-th positioning part Pi and the (i-1)-th positioning part Pi-1 is the (i-1)-th group of second offsets, and the preset allowable offset is E0, the (i-1)-th group of second offsets can be used as the magnitude of the second offset, or the difference between the (i-1)-th group of second offsets and the preset allowable offset E0 can be used as the excess amount of the second offset.

[0085] In some embodiments, the second offset can be characterized by the lateral misalignment distance and / or docking angle deviation of adjacent positioning parts P at the beginning and end connection positions. When the second offset includes the above-mentioned multiple connection parameters, the actual detection value or excess value corresponding to each connection parameter can be determined respectively, and based on at least one connection parameter that exceeds the corresponding preset allowable offset, it is determined that the second offset between adjacent positioning parts P does not meet the cutting positioning requirements. Thus, the second offset is mainly used to characterize the actual connection state between adjacent positioning parts P and its degree of deviation.

[0086] In one or more embodiments of this disclosure, the corresponding positioning part P may be a positioning part P directly related to a first offset and / or a second offset that does not meet the cutting positioning requirements. For example, when the lateral or angular offset of the i-th positioning part Pi relative to the parting line BL does not meet the cutting positioning requirements, the i-th positioning part Pi may serve as the corresponding positioning part P; when the second offset between the i-th positioning part Pi and the (i-1)-th positioning part Pi-1 does not meet the cutting positioning requirements, at least one of the i-th positioning part Pi and the (i-1)-th positioning part Pi-1 may serve as the corresponding positioning part P. Thus, the correction target can be limited to the positioning part P within which the first offset or the second offset actually occurs or is directly affected.

[0087] In one or more embodiments of this disclosure, correcting the corresponding positioning part P based on the type and magnitude of a first offset that does not meet the cutting positioning requirements may include determining a correction direction based on the type of the first offset and determining a correction amount based on the magnitude of the first offset. For example, when the type of the first offset is a lateral offset, the correction direction may be determined as the lateral movement direction of the positioning part P relative to the mold parting line BL, and the lateral movement distance of the positioning part P may be determined based on the actual detected value or the excess amount of the lateral offset; when the type of the first offset is an angular offset, the correction direction may be determined as the rotation direction of the positioning part P around a preset reference position, and the rotation angle of the positioning part P may be determined based on the actual detected value or the excess amount of the angular offset.

[0088] In one or more embodiments of this disclosure, correcting the corresponding positioning part P based on the magnitude of a second offset that does not meet the cutting positioning requirements may include determining the docking adjustment direction between adjacent positioning parts P based on the actual connection state corresponding to the second offset, and determining the docking adjustment amount based on the actual detected value or the excess amount of the second offset. For example, when there is a lateral misalignment between the i-th positioning part Pi and the (i-1)-th positioning part Pi-1, the lateral position of at least one of the i-th positioning part Pi and the (i-1)-th positioning part Pi-1 can be adjusted; when there is a docking angle deviation between them, the placement angle of at least one of the i-th positioning part Pi and the (i-1)-th positioning part Pi-1 can be adjusted. Thus, adjacent positioning parts P can be re-formed to meet the end-to-end correspondence requirement.

[0089] In one or more embodiments of this disclosure, the same positioning part P may be associated with two or more offsets that do not meet the cutting positioning requirements. For example, the i-th positioning part Pi may simultaneously have both lateral offset exceeding the limit and angular offset exceeding the limit, or the i-th positioning part Pi may have both a first offset exceeding the limit with the mold parting line BL and a second offset exceeding the limit with the (i-1)-th positioning part Pi-1. In the above cases, the corresponding positioning part P can be corrected according to a preset correction sequence. For example, the connection position between adjacent positioning parts P can be adjusted first according to the magnitude of the second offset, and then the placement angle and lateral position of the corresponding positioning part P can be adjusted according to the type and magnitude of the first offset; alternatively, the position and angle of the corresponding positioning part P relative to the mold parting line BL can be adjusted first, and then the docking position between adjacent positioning parts P can be adjusted. The embodiments of this disclosure do not limit the correction sequence.

[0090] In one or more embodiments of this disclosure, when correcting according to the type and magnitude of the first offset and / or the magnitude of the second offset, only the positioning part P related to the offset that does not meet the cutting positioning requirements can be adjusted, while keeping the positions of other positioning parts P that already meet the cutting positioning requirements unchanged. For example, when the lateral offset or angular offset of the i-th positioning part Pi exceeds the limit, the i-th positioning part Pi can be mainly adjusted; when the second offset between the i-th positioning part Pi and the (i-1)-th positioning part Pi-1 exceeds the limit, at least one of the i-th positioning part Pi and the (i-1)-th positioning part Pi-1 can be adjusted. By using a local correction method, disturbance to the entire positioning line to be confirmed can be reduced, avoiding new cumulative deviations caused by overall reset.

[0091] In one or more embodiments of this disclosure, after the correction of the corresponding positioning part P is completed, the first offset between the corrected corresponding positioning part P and the mold parting line BL can be re-detected, and / or the second offset between the corrected corresponding positioning part P and the adjacent positioning part P can be re-detected. When the re-detected first offset and / or second offset is not greater than the corresponding preset allowable offset, the correction of the corresponding positioning part P can be considered complete; when the re-detected first offset and / or second offset is still greater than the corresponding preset allowable offset, the corresponding positioning part P can be corrected again according to the type and size of the re-detected first offset and / or the size of the second offset. Thus, a closed loop of detection, correction, and re-inspection can be formed, improving the reliability of the corrected positioning line in meeting the cutting positioning requirements.

[0092] Therefore, by first determining the type and magnitude of the first offset and / or the magnitude of the second offset that do not meet the cutting positioning requirements, and then correcting the corresponding positioning part P, the correction operation can have a clear object, direction, and adjustment amount. Specifically, lateral position adjustment can reduce the lateral misalignment of the positioning part P relative to the mold parting line BL, placement angle adjustment can reduce the directional deviation of the positioning part P relative to the mold parting line BL, and mating position adjustment can reduce the successive misalignment between adjacent positioning parts P. In this way, local positioning parts P can be specifically adjusted according to different offset causes, reducing the workload of repeatedly setting positioning parts P and repeatedly forming positioning lines, thus improving correction efficiency and accuracy.

[0093] According to one aspect of the present disclosure, correcting the corresponding positioning part based on the type and magnitude of a first offset that does not meet the cutting positioning requirements and / or the magnitude of a second offset includes: when the first offset includes a lateral offset, adjusting the lateral position of the corresponding positioning part P relative to the mold parting line BL; and / or, when the first offset includes an angular offset, adjusting the placement angle of the corresponding positioning part P relative to the mold parting line BL; and / or, when the second offset includes a connecting offset, adjusting the docking position between two adjacent positioning parts P.

[0094] In one or more embodiments of this disclosure, when the first offset includes a lateral offset, the lateral position of the corresponding positioning part P relative to the parting line BL can be adjusted. Specifically, the lateral adjustment distance can be determined based on the magnitude of the lateral offset. The lateral adjustment distance can be equal to or less than the entire value of the lateral offset, so that the corresponding positioning part P can gradually approach its target setting position relative to the parting line BL through one or more fine adjustments.

[0095] In one or more embodiments of this disclosure, when the first offset includes an angular offset, the placement angle of the corresponding positioning part P relative to the mold parting line BL can be adjusted. Specifically, the rotation angle can be determined based on the magnitude of the angular offset. For example, the i-th positioning part Pi can rotate around its starting end, ending end, middle, entirety, or a preset rotation position as a preset reference point, so that the extension direction of the i-th positioning part Pi and the extension direction of the i-th segment of the mold parting line BL are re-corresponding, thereby reducing the directional deviation of the i-th positioning part Pi relative to the mold parting line BL.

[0096] In one or more embodiments of this disclosure, when the second offset includes a continuation offset, the docking position between two adjacent positioning parts P can be adjusted. Specifically, the docking adjustment amount can be determined based on the magnitude of the continuation offset. For example, when there is a continuation offset between the i-th positioning part Pi and the (i-1)-th positioning part Pi-1, the starting continuation position of the i-th positioning part Pi and / or the ending continuation position of the (i-1)-th positioning part Pi-1 can be adjusted so that the starting end, starting reference position, or starting continuation area of ​​the i-th positioning part Pi and the ending end, ending reference position, or ending continuation area of ​​the (i-1)-th positioning part Pi-1 can re-establish a corresponding relationship. The above-mentioned docking adjustment can include at least one of lateral movement, movement along the length direction of the mold parting line BL, and adjustment of the docking angle. By adjusting the docking position between two adjacent positioning parts P, the lateral misalignment or docking angle deviation between adjacent positioning parts P can be reduced, thereby improving the continuity when multiple positioning parts P are sequentially arranged along the length direction of the mold parting line BL.

[0097] In one or more embodiments of this disclosure, the correction of the corresponding positioning part P can be performed while the positioning part P is in an adjustable state. For example, in step S100, the positioning part P can be temporarily fixed, detachably fixed, or otherwise releasable fixed on the surface of the wind turbine blade B; when it is determined in step S200 that the positioning line to be confirmed does not meet the cutting positioning requirements, the fixed state of the corresponding positioning part P can be released, allowing the corresponding positioning part P to be adjusted in at least one of the following ways relative to the surface of the wind turbine blade B: lateral position adjustment, placement angle adjustment, or docking position adjustment; after the corresponding positioning part P is adjusted, it can be re-fixed, so that the positioning part P is in a fixed state to maintain the corrected positioning state. This avoids the problem of the positioning part P being difficult to adjust after being fixed once, and also avoids the positioning part P undergoing position and / or angle changes again after correction, improving the feasibility and stability of on-site correction of the corresponding positioning part P.

[0098] For example, the positioning device structure in the applicant's Chinese utility model patent application "Positioning Device, Positioning Equipment and Cutting Device for Wind Turbine Blade Cutting" can be adopted. Each positioning part P can be detachably connected to the first connecting rod R1 and the second connecting rod R2. The first connecting rod R1 and the second connecting rod R2 are respectively detachably connected to the suction cup S, which can be adsorbed onto the surface of the wind turbine blade B. The suction cup S can be a vacuum suction cup, a negative pressure suction cup, a flexible suction cup, or other adsorption structure that can form a detachable adsorption connection with the surface of the wind turbine blade B.

[0099] The positioning part P is fixedly connected to the first connecting rod R1, the second connecting rod R2 and the suction cup S. The first connecting rod and the second connecting rod are fixedly connected to the suction cup S, which is adsorbed onto the surface of the wind turbine blade. The positioning part includes a positioning line forming part, which can correspond to the mold parting line BL to form a corresponding positioning line segment. The positioning part P can be held at a predetermined position on the surface of the wind turbine blade B. When subsequent correction is required, the positioning part P can be disassembled and moved by releasing or reducing the adsorption force of the suction cup S.

[0100] In one or more embodiments of this disclosure, the positioning part P includes a positioning line forming part PL, which corresponds to the mold part BL to form a corresponding positioning line segment. The positioning line forming part can be disposed on the side of the positioning part P close to the surface of the wind turbine blade B. The positioning line forming part can extend along the length direction of the positioning part P, so that the positioning line segment formed based on the positioning line forming part can extend along the corresponding line segment of the mold part BL. The position of the positioning line forming part relative to the mold part BL can be determined according to the predetermined cutting position of the wind turbine blade B.

[0101] For example, such as Figure 3 As shown, when the positioning part P can have a side line extending along its length, the side line can serve as a positioning line forming part PL, which can correspond to the mold closing line BL to form a corresponding positioning line segment. For example, when the positioning part P is a positioning rod, positioning ruler, or positioning strip, the positioning rod, positioning ruler, or positioning strip can be cuboid in shape, and the side line of the positioning part P can be the lower edge line corresponding to the side near the mold closing line of the wind turbine blade B, which can serve as a positioning line segment PL, thereby forming a corresponding positioning line segment; or, for example, when the positioning part P is a positioning template, the positioning template can be cuboid in shape, and the positioning template can have a lower edge line, which can serve as a positioning line forming part, corresponding to the side near the mold closing line of the wind turbine blade B. It should be noted that the positioning line forming part is not limited to a solid scribing structure, nor is it limited to the outer contour edge of the positioning part P. As long as a positioning line segment can be formed on the surface of the wind turbine blade B based on the correspondence between the positioning part P and the mold closing line BL, it can serve as the positioning line forming part in the embodiments of this disclosure.

[0102] In one or more embodiments of this disclosure, when there is a lateral offset in the corresponding positioning part P, the adsorption state between the corresponding suction cup S and the surface of the wind turbine blade B can be released, and / or the positions of the first connecting rod R1 and / or the second connecting rod R2 can be adjusted, and the corresponding positioning part P can be moved in the lateral direction relative to the mold parting line BL; when there is an angular offset in the corresponding positioning part P, the adsorption state between the corresponding suction cup S and the surface of the wind turbine blade B can be released, and / or the positions of the first connecting rod R1 and / or the second connecting rod R2 can be adjusted, and the placement angle of the corresponding positioning part P relative to the mold parting line BL can be adjusted; when there is a continuous offset between two adjacent positioning parts P, the docking position between the starting end of the latter positioning part P and the end of the former positioning part P can be adjusted, so that the two adjacent positioning parts P can re-form a head-to-tail correspondence.

[0103] In one or more embodiments of this disclosure, after the position, angle and / or docking relationship of the corresponding positioning part P is adjusted, the suction cup S can be adsorbed onto the surface of the wind turbine blade B again. Due to the aforementioned detachable connection method, the first connecting rod R1, the second connecting rod R2 and the suction cup S can be fixed again, and the first connecting rod R1, the second connecting rod R2 and the positioning part P can be fixed again, so that the positioning part P is in a fixed state, thereby jointly defining the corrected position of the corresponding positioning part P.

[0104] Furthermore, the first offset between the corresponding positioning part P and the mold parting line BL can be re-detected, and / or the second offset between the corresponding positioning part P and the adjacent positioning part P can be re-detected; when the re-detected first offset and / or second offset is not greater than the corresponding preset allowable offset, it can be confirmed that the corresponding positioning part P has been corrected; when the re-detected first offset and / or second offset is still greater than the corresponding preset allowable offset, the suction state of the suction cup S can be released again or partially released, and the corresponding positioning part P can continue to be corrected.

[0105] Therefore, by adjusting the lateral position, placement angle, and docking position between adjacent positioning parts P by adjusting the type and magnitude of the first offset and / or the magnitude of the second offset, the correction method can correspond to the cause of the offset. Specifically, adjusting the lateral position reduces the lateral misalignment of the positioning part P relative to the mold parting line BL; adjusting the placement angle reduces the directional deviation of the positioning part P relative to the mold parting line BL; and adjusting the docking position reduces the connection misalignment between adjacent positioning parts P. Through these targeted corrections, adjustments can be made to local positioning parts P or local connection areas without re-forming the entire positioning line to be confirmed, improving the positioning reliability of the positioning line formation method for wind turbine blade cutting and the accuracy of subsequent cutting operations.

[0106] According to one aspect of the present disclosure, in step S200, after the corresponding positioning part P is corrected, the first offset between the corrected corresponding positioning part P and the mold parting line BL is rechecked, and / or the second offset between the corrected corresponding positioning part P and the adjacent positioning part P is rechecked. When the first offset and / or the second offset obtained from the re-inspection are not greater than the corresponding preset allowable offset, the positioning line formed based on the corrected corresponding positioning part P is determined as the corrected positioning line; when the first offset and / or the second offset obtained from the re-inspection are greater than the corresponding preset allowable offset, the corresponding positioning part P is further corrected according to the first offset and / or the second offset obtained from the re-inspection.

[0107] In one or more embodiments of this disclosure, re-checking the first offset between the corrected corresponding positioning part P and the mold parting line BL may include re-detecting the lateral offset and / or angular offset of the corresponding positioning part P relative to the mold parting line BL. For example, if the lateral offset of the corresponding positioning part P exceeds the limit in the previous detection, the lateral offset between the corresponding positioning part P and the mold parting line BL can be re-detected after lateral position correction; if the angular offset of the corresponding positioning part P exceeds the limit in the previous detection, the angular offset of the corresponding positioning part P relative to the mold parting line BL can be re-detected after placement angle correction. Thus, it can be determined whether the positional state and / or angular state of the corresponding positioning part P relative to the mold parting line BL has returned to the preset allowable offset range.

[0108] In one or more embodiments of this disclosure, re-checking the second offset between the corrected corresponding positioning part P and the adjacent positioning part P may include re-checking the connection offset between the corrected corresponding positioning part P and the previous positioning part P, and / or re-checking the connection offset between the corrected corresponding positioning part P and the next positioning part P. For example, when the connection offset between the i-th positioning part Pi and the (i-1)-th positioning part Pi-1 exceeds the limit, and after adjusting the docking position of the i-th positioning part Pi and / or the (i-1)-th positioning part Pi-1, the connection offset between the starting connection position of the i-th positioning part Pi and the ending connection position of the (i-1)-th positioning part Pi-1 can be re-checked. If the adjustment of the i-th positioning part Pi may also affect its connection relationship with the (i+1)-th positioning part Pi+1, the connection offset between the (i+1)-th positioning part Pi and the i-th positioning part Pi can be further checked. Thus, it is possible to avoid introducing new adjacent connection deviations when correcting a connection region.

[0109] In one or more embodiments of this disclosure, similarly, the first offset and / or second offset obtained from the re-inspection can be compared with the corresponding preset allowable offsets. For example, the lateral offset obtained from the re-inspection can be compared with the preset allowable lateral offset, the angular offset obtained from the re-inspection can be compared with the preset allowable angular offset, and the continuation offset obtained from the re-inspection can be compared with the preset allowable continuation offset. When the lateral offset obtained from the re-inspection is not greater than the preset allowable lateral offset, the angular offset obtained from the re-inspection is not greater than the preset allowable angular offset, and the continuation offset obtained from the re-inspection is not greater than the preset allowable continuation offset, it can be considered that the corresponding positioning part P and its adjacent continuation area have met the cutting positioning requirements.

[0110] In one or more embodiments of this disclosure, after confirming that the corresponding positioning part P meets the cutting positioning requirements through re-inspection, the fixed state of the corrected corresponding positioning part P can be maintained, and the corresponding positioning line segment can be formed or confirmed based on the corrected corresponding positioning part P. For a positioning line segment that has already been formed, it can be reconfirmed whether the positioning line segment needs to be corrected based on the corrected corresponding positioning part P, thereby ensuring that the corrected positioning line segment is consistent with the corrected corresponding positioning part P.

[0111] In one or more embodiments of this disclosure, when the first offset and / or the second offset obtained from the re-inspection are not greater than the corresponding preset allowable offset, the positioning line formed based on the corrected corresponding positioning part P can be determined as the corrected positioning line. The "corrected positioning line" can be understood as: a positioning line that meets the cutting positioning requirements, formed after correcting the corresponding positioning part P that does not meet the cutting positioning requirements and confirming it through re-inspection. The corrected positioning line may include a local positioning line segment formed by the corrected corresponding positioning part P, or it may include an overall positioning line formed by connecting the local positioning line segment with other positioning line segments that have met the cutting positioning requirements.

[0112] In one or more embodiments of this disclosure, when the first offset and / or second offset obtained from the re-inspection are still greater than the corresponding preset allowable offset, the corresponding positioning part P can continue to be corrected based on the first offset and / or second offset obtained from the re-inspection. Specifically, when the lateral offset in the first offset obtained from the re-inspection is still greater than the preset allowable lateral offset, the lateral position of the corresponding positioning part P relative to the mold parting line BL can continue to be adjusted; when the angular offset in the first offset obtained from the re-inspection is still greater than the preset allowable angular offset, the placement angle of the corresponding positioning part P relative to the mold parting line BL can continue to be adjusted; when the continuation offset in the second offset obtained from the re-inspection is still greater than the preset allowable continuation offset, the docking position between two adjacent positioning parts P can continue to be adjusted. Thus, correction can be performed again based on the re-inspection results, giving the correction operation continuous feedback.

[0113] In one or more embodiments of this disclosure, the re-inspection may be performed only on the corresponding positioning part P that has been corrected and its adjacent contiguous areas, or it may be extended to other positioning parts P near the correction area as needed. For example, when the i-th positioning part Pi is corrected, the first offset between the i-th positioning part Pi and the mold parting line BL may be re-inspected, and the second offset between the i-th positioning part Pi and the (i-1)-th positioning part Pi-1 may also be re-inspected; if the correction of the i-th positioning part Pi may affect the subsequent contiguous area, the second offset between the (i+1)-th positioning part Pi+1 and the i-th positioning part Pi may also be re-inspected. By limiting the re-inspection range and appropriately expanding the re-inspection range, it is possible to avoid local correction causing new deviations in adjacent areas.

[0114] In one or more embodiments of this disclosure, the "correction-re-inspection" process can be repeated until the first offset and / or the second offset obtained from the re-inspection are not greater than the corresponding preset allowable offset. That is, after one correction, if the re-inspection result still does not meet the cutting positioning requirements, the correction direction and correction amount can be determined again according to the type and magnitude of the offset obtained from the re-inspection, and the corresponding positioning part P can be corrected again; after the second correction, the re-inspection continues. Through the above cyclic method, the offset of the corresponding positioning part P relative to the mold parting line BL and the successive offset between adjacent positioning parts P can be gradually reduced, improving the reliability of the corrected positioning line in meeting the cutting positioning requirements.

[0115] In one or more embodiments of this disclosure, in order to improve on-site operation efficiency and avoid continuous ineffective fine-tuning in the same local area, a threshold for the number of corrections and / or a threshold for the number of re-inspections can be set. When the corresponding positioning unit P has been corrected after a preset number of corrections (exemplarily, the preset number of corrections can be 2, 3, 4, 5, or 6 times), if the first offset and / or the second offset obtained from the re-inspection are still greater than the corresponding preset allowable offset, it can be determined that the current corresponding positioning unit P or its local correction area does not meet the correction confirmation condition. At this time, the adjustment based on the current setting can be stopped, and the corresponding positioning unit P can be replaced, or the corresponding positioning unit P and... At least one adjacent positioning part P adjacent to the corresponding positioning part P at both ends is used to re-form and confirm the positioning line in the area. Preferably, when the number of times the corresponding positioning part P is corrected reaches a preset number of corrections, and the first offset obtained from the re-inspection is greater than the corresponding preset allowable offset, and the second offset obtained from the re-inspection is not greater than the corresponding preset allowable offset, the corresponding positioning part P can be replaced; or, when the number of times the corresponding positioning part P is corrected reaches a preset number of corrections, and the second offset obtained from the re-inspection is greater than the corresponding preset allowable offset, the corresponding positioning part P and at least one adjacent positioning part P adjacent to the corresponding positioning part P at both ends are replaced. Thus, the invalid adjustment process can be exited in time when the local correction effect is poor, avoiding the problem that continuous adjustment still cannot meet the cutting positioning requirements, and at the same time, it is not necessary to re-form the entire positioning line to be confirmed.

[0116] In this disclosure, by performing a first offset and / or second offset re-check after the corresponding positioning part P is corrected, a closed-loop control process of detection, correction, re-check, and further correction can be formed. This can further confirm the correction effect and reduce the impact of insufficient or excessive correction on the accuracy of the cutting positioning line. Therefore, the reliability of the corrected positioning line in meeting the cutting positioning requirements can be improved, the risk of cutting path deviation due to positioning line deviation during wind turbine blade cutting can be reduced, and the accuracy and stability of wind turbine blade cutting operations can be improved.

[0117] Those skilled in the art will understand that the technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. The steps, measures, and schemes in the various operations, methods, and processes discussed in this disclosure can be alternated, modified, combined, or deleted. Furthermore, other steps, measures, and schemes in the various operations, methods, and processes discussed in this disclosure can also be alternated, modified, rearranged, decomposed, combined, or deleted. Furthermore, the steps, measures, and schemes in the prior art that are different from those in the various operations, methods, and processes disclosed in this disclosure can also be alternated, modified, rearranged, decomposed, combined, or deleted. As long as there is no contradiction in the combination of these technical features, they should all be considered to be within the scope of this specification.

[0118] The above-described embodiments are merely examples of several implementation methods of the present disclosure, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of the patent for the present disclosure. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present disclosure, and these all fall within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be determined by the appended claims.

Claims

1. A method for forming positioning lines for cutting wind turbine blades, characterized in that, include: Step S100: Along the length direction of the wind turbine blade mold line, a plurality of positioning parts are sequentially arranged on the surface of the wind turbine blade, such that two adjacent positioning parts are arranged end to end, and each positioning part is corresponding to the mold line of the wind turbine blade. Based on the plurality of positioning parts, a positioning line to be confirmed is formed on the surface of the wind turbine blade extending along the length direction of the mold line. Step S200: Detect a first offset between at least a portion of the positioning part and the mold parting line, and / or detect a second offset between at least one group of adjacent positioning parts; determine whether the positioning line to be confirmed meets the cutting positioning requirements based on the first offset and / or the second offset; when the positioning line to be confirmed meets the cutting positioning requirements, determine the positioning line to be confirmed as a cutting positioning line for wind turbine blade cutting; when the positioning line to be confirmed does not meet the cutting positioning requirements, correct the positioning line to be confirmed based on the first offset and / or the second offset, and determine the corrected positioning line as a cutting positioning line for wind turbine blade cutting.

2. The method for forming positioning lines for cutting wind turbine blades according to claim 1, characterized in that, In step S100, the plurality of positioning parts include a first positioning part, a second positioning part, ..., an i-th positioning part, ... and an n-th positioning part arranged sequentially along the length direction of the mold parting line, where n is an integer greater than or equal to 2 and i is an integer greater than 1 and less than or equal to n; When the first positioning part is set, the first positioning part is made to correspond with the first segment of the mold parting line, and the first positioning segment is formed based on the first positioning part; When setting the i-th positioning part, the i-th positioning part is made to correspond end to end with the (i-1)-th positioning part, and the i-th positioning part is made to correspond with the i-th segment of the mold parting line, and the i-th positioning segment is formed based on the i-th positioning part; Repeat the setting of the i-th positioning part until the n-th positioning part is set, so that the n-th positioning part corresponds to the n-1-th positioning part end to end, and the n-th positioning part corresponds to the n-th segment of the mold parting line. Based on the n-th positioning part, the n-th positioning segment is formed, thereby forming the positioning line to be confirmed, which is composed of the 1-th positioning segment to the n-th positioning segment in sequence.

3. The method for forming positioning lines for cutting wind turbine blades according to claim 2, characterized in that, In step S200, the first offset includes at least one of the lateral offset of the positioning part relative to the mold parting line and the angular offset of the positioning part relative to the mold parting line; the second offset includes the continuous offset between two adjacent positioning parts.

4. The method for forming positioning lines for cutting wind turbine blades according to claim 3, characterized in that, In step S200, detecting a first offset between at least a portion of the positioning part and the mold parting line, and / or detecting a second offset between at least a group of adjacent positioning parts, and determining whether the positioning line to be confirmed meets the cutting positioning requirements based on the first offset and / or the second offset includes: The system detects the first set of first offsets between the first positioning part and the mold parting line, the second set of first offsets between the second positioning part and the mold parting line, ..., the i-th set of first offsets between the i-th positioning part and the mold parting line, ..., the n-th set of first offsets between the n-th positioning part and the mold parting line, and determines the magnitude of the first offsets corresponding to multiple sets of first offsets based on multiple sets of the first set of first offsets, the second set of first offsets, ..., the i-th set of first offsets, ..., the n-th set of first offsets. And / or, detect the first group of second offsets between the second positioning part and the first positioning part, ..., the (i-1)th group of second offsets between the i-th positioning part and the (i-1)th positioning part, ..., the (n-1)th group of second offsets between the n-th positioning part and the (n-1)th positioning part; determine the magnitude of the second offsets of the corresponding multiple groups based on the first group of second offsets, ..., the (i-1)th group of second offsets, ..., the (n-1)th group of second offsets; When the magnitude of the first offset and the magnitude of the second offset of each group are not greater than the corresponding preset allowable offset, it is determined that the positioning line to be confirmed meets the cutting positioning requirements. When the magnitude of the first offset of at least one group and / or the magnitude of the second offset of at least one group are greater than the corresponding preset allowable offset, it is determined that the positioning line to be confirmed does not meet the cutting positioning requirements.

5. The method for forming positioning lines for cutting wind turbine blades according to claim 4, characterized in that, Correcting the positioning line to be confirmed based on the first offset and / or the second offset includes: Determine the type and size of the first offset and / or the size of the second offset that do not meet the cutting positioning requirements, and correct the corresponding positioning part according to the type and size of the first offset and / or the size of the second offset that do not meet the cutting positioning requirements.

6. The method for forming positioning lines for cutting wind turbine blades according to claim 5, characterized in that, Correcting the corresponding positioning part based on the type and magnitude of the first offset that does not meet the cutting positioning requirements and / or the magnitude of the second offset includes: When the first offset includes a lateral offset, the lateral position of the corresponding positioning part relative to the mold parting line is adjusted. And / or, when the first offset includes an angular offset, adjust the placement angle of the corresponding positioning part relative to the mold parting line; And / or, when the second offset includes a successive offset, adjust the docking position between two adjacent positioning parts.

7. The method for forming positioning lines for cutting wind turbine blades according to claim 5, characterized in that, In step S200, after the corresponding positioning part is corrected, the first offset between the corrected corresponding positioning part and the mold parting line is rechecked, and / or the second offset between the corrected corresponding positioning part and the adjacent positioning part is rechecked. When the first offset and / or the second offset obtained from the re-inspection are not greater than the corresponding preset allowable offset, the positioning line formed based on the corrected corresponding positioning part is determined as the corrected positioning line; when the first offset and / or the second offset obtained from the re-inspection are greater than the corresponding preset allowable offset, the corresponding positioning part is further corrected according to the first offset and / or the second offset obtained from the re-inspection.

8. The method for forming positioning lines for cutting wind turbine blades according to claim 7, characterized in that, In step S200, when the number of times the corresponding positioning part is calibrated reaches a preset number of calibrations, and the first offset obtained from the re-inspection is greater than the corresponding preset allowable offset, and the second offset obtained from the re-inspection is not greater than the corresponding preset allowable offset, the corresponding positioning part is replaced; or, when the number of times the corresponding positioning part is calibrated reaches a preset number of calibrations, and the second offset obtained from the re-inspection is greater than the corresponding preset allowable offset, the corresponding positioning part and at least one adjacent positioning part that is adjacent to the beginning and end of the corresponding positioning part are replaced.

9. A method for forming positioning lines for cutting wind turbine blades according to claim 8, characterized in that, In step S100, the positioning part is disposed on the surface of the wind turbine blade via a first connecting rod, a second connecting rod, and a suction cup; the positioning part is detachably connected to the first connecting rod and the second connecting rod respectively, and the first connecting rod and the second connecting rod are respectively connected to the suction cup, which is adsorbed onto the surface of the wind turbine blade; the positioning part includes a positioning line forming part, which corresponds to the mold part to form a corresponding positioning line segment.

10. A method for forming positioning lines for cutting wind turbine blades according to claim 9, characterized in that, The cutting of wind turbine blades includes cutting off the flash of the wind turbine blades.

Images