阅读说明：本技术 风电机组叶片监控方法、装置及风力发电机 (Wind turbine generator blade monitoring method and device and wind driven generator ) 是由 张国强 王文亮 叶少青 袁凌 于 2021-01-13 设计创作，主要内容包括：本发明提供了一种风电机组叶片监控方法、装置及风力发电机,该方法包括：获取风力发电机的目标图像；其中,目标图像中包括叶片与塔筒的相对位置；基于目标图像确定风力发电机的叶片净空距离；基于叶片净空距离对风力发电机的叶片或机舱进行控制,以使叶片净空距离处于预设安全范围内。本发明能够实现对叶片净空距离的可测监控,避免了可能出现的叶片损坏或叶片扫塔事故,提升了风电机组的安全性。(The invention provides a wind turbine generator blade monitoring method, a wind turbine generator blade monitoring device and a wind driven generator, wherein the method comprises the following steps: acquiring a target image of the wind driven generator; the target image comprises the relative positions of the blades and the tower drum; determining a blade clearance distance of the wind turbine based on the target image; and controlling the blades of the wind driven generator or the engine room based on the blade clearance so that the blade clearance is within a preset safety range. The invention can realize measurable monitoring of the clearance distance of the blade, avoids possible blade damage or blade tower-sweeping accidents and improves the safety of the wind turbine generator.)

1. A wind turbine blade monitoring method is characterized by comprising the following steps:

acquiring a target image of the wind driven generator; the target image comprises the relative positions of the blades and the tower drum;

determining a blade clearance distance of the wind turbine based on the target image;

controlling a blade or a nacelle of the wind turbine based on the blade clearance so that the blade clearance is within a preset safety range.

2. The method of claim 1, wherein the step of determining a blade clearance of the wind turbine based on the target image comprises:

extracting features of the target image to obtain the position of a blade and the position of a tower drum in the target image;

and determining the blade clearance distance of the wind driven generator based on the relative position of the blade position and the tower position.

3. The method of claim 1, wherein the step of obtaining a target image of the wind turbine comprises:

acquiring images of the relative positions of the blades and the tower drum of the wind driven generator in real time or at preset time intervals based on an image sensor to obtain target images; the image sensor is arranged at the bottom of the front end of the cabin of the wind driven generator.

4. The method of claim 1, wherein the step of controlling the blade or nacelle of the wind turbine based on the blade clearance such that the blade clearance is within a preset safety range comprises:

acquiring the running state of the wind driven generator and the environmental state of the wind driven generator;

determining a minimum clearance value and a hazardous clearance value for the wind turbine blade based on the operating condition and the environmental condition;

controlling a blade or nacelle of the wind turbine based on the blade clearance, the minimum clearance value, and the hazardous clearance value such that the blade clearance is greater than the minimum clearance value.

5. The method of claim 4, wherein the step of determining the minimum and hazardous clearance values for the wind turbine blade based on the operating conditions and the environmental conditions comprises:

determining a first headroom threshold for the wind turbine blade based on the environmental condition; wherein the environmental conditions include wind speed, wind direction, temperature and humidity;

determining a second clearance threshold for the wind turbine blade based on the operating condition; the operating state comprises the rotating speed of a wind wheel, a pitch angle, a position angle of the wind wheel and the fore-and-aft acceleration of a cabin;

a minimum headroom value and a hazardous headroom value are determined based on the first headroom threshold and the second headroom threshold.

6. The method of claim 4, wherein the step of determining a minimum headroom value and a hazardous headroom value based on the first headroom threshold and the second headroom threshold comprises:

determining a minimum headroom value as a minimum headroom value of the first headroom threshold and the second headroom threshold;

determining the dangerous clear space value based on the minimum clear space value and a preset calculation formula; wherein the preset calculation formula is as follows: lt _ min is k × Lt, Lt _ min is the risk headroom value, Lt is the minimum headroom value, k is a constant, and 0< k < 1.

7. The method of claim 4, wherein the step of controlling the blade or nacelle of the wind turbine based on the blade clearance, the minimum clearance value, and the hazardous clearance value such that the blade clearance is greater than the minimum clearance value comprises:

when the blade clearance is greater than the dangerous clearance value and less than or equal to the minimum clearance value, controlling a machine room of the wind driven generator to rotate so as to enable the unit to face the wind laterally, or controlling the blade pitch angle to increase to a preset angle;

and when the blade clearance is smaller than or equal to the dangerous clearance value, controlling the wind driven generator to stop.

8. A wind turbine blade monitoring device, comprising:

the acquisition module is used for acquiring a target image of the wind driven generator; the target image comprises the relative positions of the blades and the tower drum;

a determination module to determine a blade clearance of the wind turbine based on the target image;

a control module for controlling the blade or nacelle of the wind turbine based on the blade clearance such that the blade clearance is within a preset safety range.

9. A wind power generator, comprising: the fan comprises an image sensor, a controller and a fan main body, wherein the controller comprises a processor and a storage device; the image sensor is arranged at the bottom of the front end of the cabin of the wind driven generator;

the storage device has stored thereon a computer program which, when executed by the processor, performs the method of any one of claims 1 to 7.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of the claims 1 to 7.

Technical Field

The invention relates to the technical field of wind power generation, in particular to a method and a device for monitoring a blade of a wind turbine generator and a wind driven generator.

Background

Blade clearance generally refers to the linear distance from the tip of the blade to the surface of the tower during operation of the wind turbine, and when the blade is rotated to a position overlapping the tower, the distance is the smallest, also referred to as the minimum clearance. Under extreme conditions, the clearance is too little can cause the blade to sweep the tower condition, destroys the blade structure, can cause the tower collapse danger in the serious time, causes great personal and property accident.

In the design process of the wind turbine generator, the safety margin of the static clearance of the blades is designed according to the safety factor requirement of the design standard of the wind turbine generator, and a large amount of simulation calculation is carried out. However, in actual operation, the field environment is complex, and especially under extreme wind conditions (such as extreme wind speed, wind direction change, extreme wind shear, etc.), the blade clearance is prone to suddenly change, thereby affecting the safety of the wind turbine generator. Therefore, the existing wind turbine generator has the problem of safety caused by blade clearance.

Disclosure of Invention

In view of this, the invention aims to provide a method and a device for monitoring a blade of a wind turbine generator and a wind driven generator, which can realize measurable monitoring of a clearance distance of the blade, avoid possible accidents such as blade damage or blade tower sweeping and the like, and improve the safety of the wind turbine generator.

In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:

in a first aspect, an embodiment of the present invention provides a wind turbine blade monitoring method, including: acquiring a target image of the wind driven generator; the target image comprises the relative positions of the blades and the tower drum; determining a blade clearance distance of the wind turbine based on the target image; controlling a blade or a nacelle of the wind turbine based on the blade clearance so that the blade clearance is within a preset safety range.

Further, an embodiment of the present invention provides a first possible implementation manner of the first aspect, wherein the step of determining a blade clearance of the wind turbine based on the target image includes: extracting features of the target image to obtain the position of a blade and the position of a tower drum in the target image; and determining the blade clearance distance of the wind driven generator based on the relative position of the blade position and the tower position.

Further, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where the step of acquiring a target image of a wind turbine includes: acquiring images of the relative positions of the blades and the tower drum of the wind driven generator in real time or at preset time intervals based on an image sensor to obtain target images; the image sensor is arranged at the bottom of the front end of the cabin of the wind driven generator.

Further, the third possible implementation manner of the first aspect is provided in an embodiment of the present invention, wherein the step of controlling the blade or the nacelle of the wind turbine based on the blade clearance so that the blade clearance is within a preset safety range includes: acquiring the running state of the wind driven generator and the environmental state of the wind driven generator; determining a minimum clearance value and a hazardous clearance value for the wind turbine blade based on the operating condition and the environmental condition; controlling a blade or nacelle of the wind turbine based on the blade clearance, the minimum clearance value, and the hazardous clearance value such that the blade clearance is greater than the minimum clearance value.

Further, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, wherein the step of determining the minimum clearance value and the dangerous clearance value of the wind turbine blade based on the operating state and the environmental state includes: determining a first headroom threshold for the wind turbine blade based on the environmental condition; wherein the environmental conditions include wind speed, wind direction, temperature and humidity; determining a second clearance threshold for the wind turbine blade based on the operating condition; the operating state comprises the rotating speed of a wind wheel, a pitch angle, a position angle of the wind wheel and the fore-and-aft acceleration of a cabin; a minimum headroom value and a hazardous headroom value are determined based on the first headroom threshold and the second headroom threshold.

Further, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the step of determining a minimum headroom value and a dangerous headroom value based on the first headroom threshold and the second headroom threshold includes: determining a minimum headroom value as a minimum headroom value of the first headroom threshold and the second headroom threshold; determining the dangerous clear space value based on the minimum clear space value and a preset calculation formula; wherein the preset calculation formula is as follows: lt _ min is k × Lt, Lt _ min is the risk headroom value, Lt is the minimum headroom value, k is a constant, and 0< k < 1.

Further, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, wherein the step of controlling the blade or the nacelle of the wind turbine based on the blade clearance, the minimum clearance value, and the risk clearance value so that the blade clearance is greater than the minimum clearance value includes: when the blade clearance is greater than the dangerous clearance value and less than or equal to the minimum clearance value, controlling a machine room of the wind driven generator to rotate so as to enable the unit to face the wind laterally, or controlling the blade pitch angle to increase to a preset angle; and when the blade clearance is smaller than or equal to the dangerous clearance value, controlling the wind driven generator to stop.

In a second aspect, an embodiment of the present invention further provides a wind turbine blade monitoring device, including: the acquisition module is used for acquiring a target image of the wind driven generator; the target image comprises the relative positions of the blades and the tower drum; a determination module to determine a blade clearance of the wind turbine based on the target image; a control module for controlling the blade or nacelle of the wind turbine based on the blade clearance such that the blade clearance is within a preset safety range.

In a third aspect, an embodiment of the present invention provides a wind turbine, including: the fan comprises an image sensor, a controller and a fan main body, wherein the controller comprises a processor and a storage device; the image sensor is arranged at the bottom of the front end of the cabin of the wind driven generator; the storage means has stored thereon a computer program which, when executed by the processor, performs the method of any of the first aspects.

In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps of the method in any one of the above first aspects.

The embodiment of the invention provides a wind turbine generator blade monitoring method and device and a wind turbine generator, wherein through … (summary of the independent right), a target image comprising the relative positions of a blade and a tower is obtained, the blade clearance of the wind turbine generator is determined based on the target image, and the blade or a cabin is controlled according to the size of the blade clearance, so that the blade clearance of the wind turbine generator can be in a preset safety range, the measurable monitoring of the blade clearance is realized, the possible blade damage or blade tower-sweeping accident is avoided, and the safety of the wind turbine generator is improved.

Additional features and advantages of embodiments of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of the invention as set forth above.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a flow chart of a method for monitoring a blade of a wind turbine generator according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a wind turbine according to an embodiment of the present invention;

FIG. 3 illustrates a blade clearance control schematic provided by an embodiment of the present invention;

fig. 4 shows a schematic structural diagram of a wind turbine blade monitoring device according to an embodiment of the present invention.

Icon:

21-an image sensor; 22-a controller.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, not all, embodiments of the present invention.

At present, most wind turbine generators do not take blade clearance as a real-time monitoring variable, and a wind turbine generator control system does not directly control the blade clearance, so that the blade is easily damaged or the blade is easily swept, and the like. In view of the problem that the existing wind turbine generator is low in safety, in order to improve the problem, the embodiment of the invention provides a wind turbine generator blade monitoring method and device and a wind driven generator. The following describes embodiments of the present invention in detail.

The embodiment provides a wind turbine blade monitoring method, which can be applied to a controller of a wind turbine, and referring to a flow chart of the wind turbine blade monitoring method shown in fig. 1, the method mainly includes the following steps S102 to S106:

and S102, acquiring a target image of the wind driven generator.

The target image comprises the relative position of the blade and the tower drum, and the target image capable of reflecting the relative distance between the blade and the tower drum is obtained based on the image sensor. In order to accurately represent the relative position of the blade and the tower of the wind turbine in the target image, referring to the structural schematic diagram of the wind turbine shown in fig. 2, the image sensor 21 may be disposed at the bottom of a nacelle of the wind turbine, a controller 22 is disposed inside the nacelle of the wind turbine, the image sensor 21 is in communication with the controller 22, and the image sensor 21 acquires the image of the relative position of the blade and the tower of the wind turbine in real time or at preset time intervals to obtain a target image, and the target image is generated in the controller.

The image sensor can be high-precision camera equipment such as a camera, can continuously shoot images of the relative positions of the blade and the tower drum at a high speed, and transmits the images to the controller in real time in a communication line mode. The preset time interval may be determined according to the rotation speed of the blade, and the image sensor is automatically triggered to acquire the target image whenever the blade rotates to a position overlapping with the tower.

And step S104, determining the blade clearance distance of the wind driven generator based on the target image.

The controller is embedded with a depth machine learning algorithm, the target image is identified based on the depth machine learning algorithm, the straight-line distance between the blade tip part of the blade in the target image and the surface of the tower barrel is obtained through identification, and the blade clearance of the wind driven generator is obtained.

And S106, controlling the blades of the wind driven generator or the engine room based on the blade clearance so that the blade clearance is within a preset safety range.

And controlling the blades of the wind driven generator or the engine room based on the identified size of the clearance distance of the blades, and increasing the clearance distance between the blades and the tower by controlling the pitch angle of the blades when the clearance distance of the blades of the wind driven generator is smaller, or increasing the clearance distance between the blades and the tower by controlling the position of the engine room.

According to the blade monitoring method for the wind turbine generator, the blade clearance of the wind turbine generator is determined based on the target image including the relative position of the blade and the tower drum, and the blade or the engine room is controlled according to the size of the blade clearance, so that the blade clearance of the wind turbine generator can be in a preset safety range, the blade clearance can be monitored in a measurable mode, possible blade damage or blade tower-sweeping accidents are avoided, and the safety of the wind turbine generator is improved.

In order to accurately identify and obtain the blade clearance, the embodiment provides an implementation manner of determining the blade clearance of the wind turbine based on the target image, which may be specifically executed with reference to the following steps (1) to (2):

step (1): and performing feature extraction on the target image to obtain the position of the blade and the position of the tower drum in the target image.

Firstly, data cleaning is carried out on an acquired initial image record to obtain a clear continuous picture data set with a uniform format, an image when a blade and a tower drum are overlapped is used as a target image, then, local feature extraction is carried out on the target image based on a preset feature extraction algorithm (such as a Harris algorithm), and the blade tip position and the tower drum position of the blade in the target image are identified.

Step (2): and determining the blade clearance distance of the wind driven generator based on the relative position of the blade position and the tower position.

Determining the vertical pixel distance between the blade tip edge and the tower drum edge based on the blade tip position and the tower drum position of the blade in the target image, calibrating a camera of the image sensor to obtain internal parameters and external parameters of the image sensor, obtaining a coordinate conversion matrix based on the internal parameters and the external parameters of the image sensor, and converting the vertical pixel distance between the blade tip edge and the tower drum edge into an actual distance based on the coordinate conversion matrix, so that the actual vertical distance between the blade tip edge and the tower drum edge, namely the blade clearance distance, is obtained. The signal type of the blade clearance distance can be negative impulse wave, and the impulse frequency is multiple of the rotor rotation frequency F _ rotor, such as the clearance signal impulse frequency F _ c is: f _ c is 3 × F _ rotor.

In order to improve the safety of the wind turbine, the embodiment provides an implementation manner of controlling the blades of the wind turbine or the nacelle based on the blade clearance so that the blade clearance is within a preset safety range, and the implementation manner may be specifically executed with reference to the following steps 1 to 3:

step 1: and acquiring the running state of the wind driven generator and the environmental state of the wind driven generator.

And monitoring the running state of the wind driven generator and the environmental state of the position of the wind driven generator in real time. The operating conditions of the wind turbine include, but are not limited to, rotor speed, generator torque, pitch angle position, rotor position angle, nacelle fore-aft acceleration, etc. The environmental conditions include, but are not limited to, wind speed, wind direction, temperature, humidity, rain and snow, etc.

Step 2: a minimum clearance value and a hazardous clearance value for the wind turbine blade are determined based on the operating conditions and the environmental conditions.

A first clearance threshold for the wind turbine blade is determined based on the environmental condition. The method comprises the steps that the air density of the environment where the wind driven generator is located can be determined based on the wind speed, the wind direction, the humidity and the temperature in the environment state, the thrust of a generator set can be determined according to the air density of the environment where the wind driven generator is located, the thrust of the generator set can reflect the acceleration of the wind driven generator, the minimum headroom threshold value Lt _ environment of the environment where the wind driven generator is located can be determined according to the acceleration and is recorded as a first headroom threshold value, and when the acceleration is larger, the set value of the minimum safety headroom threshold value is smaller in order to guarantee the safety of the wind driven generator set.

Design certification and planning rules of wind turbine generator of german classification of ships (GL): the minimum distance between the blade tip of the wind turbine generator and the wall of the tower barrel is not less than 30% under the running condition of the wind turbine generator, and is not less than 5% under the feathering shutdown state of the wind turbine generator. When the blade clearance is smaller than the minimum safe clearance threshold value during the operation of the wind driven generator, corresponding control measures are needed to increase the blade clearance to be larger than the minimum safe clearance threshold value.

A second clearance threshold for the wind turbine blade is determined based on the operating condition. Based on the wind wheel rotating speed, the generator torque, the pitch angle position and the wind wheel position angle of the wind driven generator, the thrust of the wind power generator set can also be determined, correspondingly, the thrust of the generator set can reflect the acceleration of the wind driven generator, and the set minimum clearance threshold Lt _ turbine of the wind driven generator can be determined according to the acceleration and is marked as a second clearance threshold.

A minimum headroom value and a hazardous headroom value are determined based on the first headroom threshold and the second headroom threshold. Taking the minimum value of the first headroom threshold and the second headroom threshold as a minimum headroom value Lt _ environment (Lt _ turbine); determining a dangerous net empty value based on the minimum net empty value and a preset calculation formula; wherein, the preset calculation formula is as follows: lt _ min is k × Lt, Lt _ min is a risk clearance value, Lt is a minimum clearance value, k is a constant, and 0< k < 1.

The minimum clearance threshold Lt is the lower limit of the blade clearance allowed by the current unit operation state, and the clearance value of the normal operation should not be smaller than the minimum clearance threshold Lt. And the dangerous clear space value Lt _ min is less than Lt, and if the dangerous clear space value is less than Lt, the unit is in a very dangerous state. Through the monitoring to blade clearance, minimum clearance factor of safety when can suitably reducing the unit design reduces the manufacturing cost of blade.

And step 3: the blade or nacelle of the wind turbine is controlled based on the blade clearance, the minimum clearance value, and the hazardous clearance value such that the blade clearance is greater than the minimum clearance value.

When the clearance distance of the blades of the wind turbine generator is between the minimum clearance value and the dangerous clearance value, the blades or the engine room and other actuating mechanisms are driven to perform corresponding actions, including comprehensive measures such as variable pitch control, torque control and yaw control. Through real-time monitoring of the clearance distance of the blades, when the distance between the blades and the tower barrel is too small, the blades can act in time, and possible blade damage and tower sweeping accidents are avoided.

And when the clearance distance of the blades is greater than the dangerous clearance value and less than or equal to the minimum clearance value, controlling the engine room of the wind driven generator to rotate so as to enable the unit to face the wind laterally, or controlling the pitch angle of the blades to increase to a preset angle. When Lt _ min < Lc < ═ Lt, the actually detected clearance of the blades is smaller than the normally allowed minimum clearance value, but does not enter a dangerous interval, the wind driven generator sends out an early warning signal, the position of the cabin is adjusted through yawing motion, the unit is enabled to face the wind laterally, or the pitch angle of the blades is increased, the pneumatic acting force borne by the wind wheel is reduced, the aim of increasing the clearance between the blades and the tower is achieved, the unit is enabled to exit the current interval and enter a safe working interval, and even if the clearance of the blades is larger than the minimum clearance value.

And when the clearance distance of the blades is less than or equal to the dangerous clearance value, controlling the wind driven generator to stop. And when Lc & Lt ═ Lt _ min, the actually measured clearance value is smaller than the dangerous clearance value lower limit, the unit is in a dangerous interval, and the wind driven generator is controlled to take a quick shutdown action, so that the wind driven generator is separated from a dangerous state as soon as possible.

According to the wind turbine generator blade monitoring method provided by the embodiment, the clearance distance between the blade and the tower drum is rapidly and reliably monitored based on a machine learning algorithm, the fault with the small clearance which possibly occurs can be early warned, relevant control actions are taken, the limit load of key components such as the root of the blade is reduced, meanwhile, under the condition that the clearance can be monitored, the flexibility of the blade design can be properly increased, and the fatigue load of the blade is reduced.

On the basis of the foregoing embodiment, this embodiment provides an example of monitoring and controlling a blade clearance by applying the foregoing method for monitoring a blade of a wind turbine generator, and may specifically refer to the following steps 1) to 5):

step 1): based on a high-speed camera device installed at the position of an engine room close to a hub, images of the relative positions of the blades and the tower barrel are shot in real time.

Step 2): and transmitting the shot picture/video data to a processing unit, and converting the shot picture/video data into a clearance measurement value Lc through processing of an intelligent image recognition algorithm.

Referring to the blade clearance control schematic diagram shown in fig. 3, the processing unit stores an intelligent machine learning algorithm, and the intelligent machine learning algorithm can be used for recognizing an image, acquiring clearance monitoring image data acquired by the camera device, performing image recognition on the clearance monitoring image data to obtain a clearance measurement value Lc, and sending the clearance measurement value Lc to a control system (also referred to as a controller) in a negative pulse wave signal form.

Step 3): and the control system calculates a minimum clearance threshold value Lt and a dangerous clearance threshold value Lt _ min of the current running state according to the actually measured environmental data, the unit running data and the like.

As shown in FIG. 3, the control system performs threshold calculations based on wind turbine operating data (including but not limited to rotor speed, generator torque, pitch angle position, rotor position angle, nacelle fore-aft acceleration, etc.) and site environmental data (including but not limited to wind speed, wind direction, temperature, humidity, rain, snow, etc.), and determines a minimum clearance threshold Lt and a hazardous clearance threshold Lt _ min.

Step 4): and comparing the sizes of Lc and Lt and Lc and Lt _ min, and taking corresponding control measures.

The control system compares Lc with Lt and Lc with Lt _ min, and Lt _ min divide the clearance range into three intervals and enter corresponding control processes according to the positions of Lc in the three intervals.

a) And if Lc is larger than Lt, the actually measured clearance value is located in an allowable working interval, the unit is in a normal state, and a related clearance control program is not started.

b) If Lt _ min is less than Lc < ═ Lt, the actually measured clearance value is smaller than the normally allowed value, but does not enter a dangerous interval, at the moment, the unit sends out an early warning signal, the control system takes corresponding clearance control measures, and the position of the engine room is adjusted through yawing action, so that the unit faces the wind laterally; or the pitch angle of the blade is increased, the pneumatic acting force borne by the wind wheel is reduced, the aim of increasing the clearance distance between the blade and the tower is achieved, and the unit exits from the current interval and enters into a safe working interval.

c) If Lc < ═ Lt _ min, the actually measured clearance value is smaller than the dangerous clearance value lower limit, the unit is in a dangerous interval, and the control system takes a quick shutdown action to enable the unit to be separated from a dangerous state as soon as possible.

Step 5): and issuing the control demand instruction to an execution mechanism, and controlling the wind turbine generator to take corresponding action to change the blade clearance value.

The driving executing mechanism carries out corresponding actions, and the driving executing mechanism is a concrete realization part of a clearance monitoring and control system, and comprises comprehensive measures such as variable pitch control, torque control, yaw control and the like so as to change the stress of the blades and increase the clearance distance of the blades.

The monitoring method for the blades of the wind turbine generator set, provided by the embodiment, can be used as an effective means for load reduction and cost reduction of a megawatt large-wind-wheel flexible blade wind turbine generator set, and based on clearance monitoring equipment installed at a cabin position, the clearance distance between the blades and a tower can be quickly and reliably measured, and the clearance of the wind turbine generator set is ensured to be known and controllable by combining the monitoring and controlling functions of the clearance distance between the blades.

Corresponding to the wind turbine blade monitoring method provided by the above embodiment, an embodiment of the present invention provides a wind turbine blade monitoring device, which is shown in fig. 4 as a schematic structural diagram of the wind turbine blade monitoring device, and the device includes the following modules:

an obtaining module 41, configured to obtain a target image of the wind turbine; the target image comprises the relative positions of the blades and the tower barrel.

A determination module 42 for determining a blade clearance of the wind turbine based on the target image.

And a control module 43 for controlling the blade or the nacelle of the wind turbine based on the blade clearance so that the blade clearance is within a preset safety range.

According to the blade monitoring method for the wind turbine generator, the blade clearance of the wind turbine generator is determined based on the target image including the relative position of the blade and the tower drum, and the blade or the engine room is controlled according to the size of the blade clearance, so that the blade clearance of the wind turbine generator can be in a preset safety range, the blade clearance can be monitored in a measurable mode, possible blade damage or blade tower-sweeping accidents are avoided, and the safety of the wind turbine generator is improved.

In a specific embodiment, the obtaining module 41 is further configured to acquire an image of a relative position between a blade and a tower of the wind turbine in real time or at preset time intervals based on the image sensor, so as to obtain a target image; the image sensor is arranged at the bottom of the front end of the cabin of the wind driven generator.

In a specific embodiment, the determining module 42 is further configured to perform feature extraction on the target image to obtain a blade position and a tower position in the target image; and determining the blade clearance distance of the wind driven generator based on the relative position of the blade position and the tower position.

In a specific embodiment, the control module 43 is further configured to obtain an operating state of the wind turbine and an environmental state of the wind turbine; determining a minimum clearance value and a hazardous clearance value for the wind turbine blade based on the operating condition and the environmental condition; the blade or nacelle of the wind turbine is controlled based on the blade clearance, the minimum clearance value, and the hazardous clearance value such that the blade clearance is greater than the minimum clearance value.

In a specific embodiment, the control module 43 is further configured to determine a first clearance threshold of the wind turbine blade based on the environmental condition; wherein the environmental state comprises wind speed, wind direction, temperature and humidity; determining a second clearance threshold for the wind turbine blade based on the operating condition; the running state comprises the rotating speed of the wind wheel, the pitch angle, the position angle of the wind wheel and the longitudinal acceleration of the engine room; a minimum headroom value and a hazardous headroom value are determined based on the first headroom threshold and the second headroom threshold.

In a specific embodiment, the control module 43 is further configured to use a minimum value of the first headroom threshold and the second headroom threshold as a minimum headroom value; determining a dangerous net empty value based on the minimum net empty value and a preset calculation formula; wherein, the preset calculation formula is as follows: lt _ min is k × Lt, Lt _ min is a risk clearance value, Lt is a minimum clearance value, k is a constant, and 0< k < 1.

In a specific embodiment, the control module 43 is further configured to control the nacelle of the wind turbine to rotate to enable the wind turbine to face the wind laterally when the blade clearance is greater than the dangerous clearance value and less than or equal to the minimum clearance value, or control the blade pitch angle to increase to a preset angle; and when the clearance distance of the blades is less than or equal to the dangerous clearance value, controlling the wind driven generator to stop.

The above-mentioned wind turbine generator blade monitoring device that this embodiment provided has realized the quick reliable monitoring of blade and tower section of thick bamboo headroom distance based on machine learning algorithm, can carry out the early warning to the headroom undersize trouble that probably appears to take relevant control action, reduced the ultimate load of key parts such as blade root, simultaneously, under the condition that the headroom can be monitored, the blade design can suitably increase the flexibility, reduced the fatigue load of blade.

The device provided by the embodiment has the same implementation principle and technical effect as the foregoing embodiment, and for the sake of brief description, reference may be made to the corresponding contents in the foregoing method embodiment for the portion of the embodiment of the device that is not mentioned.

An embodiment of the present invention provides a wind turbine, including: the fan comprises an image sensor, a controller and a fan main body, wherein the controller comprises a processor and a storage device; the image sensor is arranged at the bottom of the front end of the cabin of the wind driven generator; the image sensor is used for acquiring a target image of the wind driven generator; the target image comprises the relative positions of the blades and the tower barrel. The memory stores a computer program that can be run on the processor, and the processor implements the steps of the method provided by the above embodiments when executing the computer program.

Embodiments of the present invention provide a computer-readable medium, wherein the computer-readable medium stores computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the method of the above-mentioned embodiments.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the system described above may refer to the corresponding process in the foregoing embodiments, and is not described herein again.

The method and the device for monitoring the blades of the wind turbine generator and the computer program product of the wind turbine generator provided by the embodiment of the invention comprise a computer readable storage medium storing program codes, instructions included in the program codes can be used for executing the method described in the previous method embodiment, and specific implementation can refer to the method embodiment and is not described herein again.

In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.