阅读说明：本技术 一种风电机组高度测量方法 (Height measuring method for wind turbine generator ) 是由 刘汉政 冯晓东 韩建锋 马俊祥 王磊 王恩民 任鑫 童彤 王�华 赵鹏程 杨晓峰 于 2020-12-21 设计创作，主要内容包括：本发明公开了一种风电机组高度测量方法,步骤1,依据风电机组的初始外形数据构建检测风电机组的参考点云数据,并预设风电机组模型高度值；步骤2,无人机竖直起飞上升,无人机上的激光雷达在上升过程中对风电机组进行扫描获取点云数据；步骤3,以风电机组的塔筒底部中心点作为原点建立坐标系,将步骤1的参考点云数据和步骤2的点云数据进行ICP匹配计算,获得匹配度数值；步骤4,将步骤3获得的匹配度数值与预设的匹配度阈值进行比较,当匹配度数值大于或等于匹配度阈值时,将匹配度数值对应的步骤2中点云数据的竖直方向高度作为风电机组的实际高度,得到风电机组的高度值。能够快速测量获取风电机组的准确高度。(The invention discloses a wind turbine generator height measuring method, which comprises the following steps of 1, constructing reference point cloud data for detecting a wind turbine generator according to initial appearance data of the wind turbine generator, and presetting a wind turbine generator model height value; step 2, the unmanned aerial vehicle vertically takes off and rises, and a laser radar on the unmanned aerial vehicle scans a wind turbine generator set in the rising process to obtain point cloud data; step 3, establishing a coordinate system by taking the bottom center point of the tower of the wind turbine generator as an origin, and performing ICP (inductively coupled plasma) matching calculation on the reference point cloud data in the step 1 and the point cloud data in the step 2 to obtain a matching degree value; and 4, comparing the matching degree value obtained in the step 3 with a preset matching degree threshold value, and when the matching degree value is greater than or equal to the matching degree threshold value, taking the vertical height of the point cloud data in the step 2 corresponding to the matching degree value as the actual height of the wind turbine generator to obtain the height value of the wind turbine generator. The accurate height of the wind turbine generator can be rapidly measured and obtained.)

1. A wind turbine generator height measuring method is characterized by comprising the following steps,

step 1, constructing reference point cloud data for detecting the wind turbine generator according to initial appearance data of the wind turbine generator, and presetting a height value of a wind turbine generator model;

step 2, the unmanned aerial vehicle (6) vertically takes off and rises, and a laser radar on the unmanned aerial vehicle (6) scans a wind turbine generator to obtain point cloud data in the rising process;

step 3, establishing a coordinate system by taking the bottom center point of a tower drum (4) of the wind turbine generator as an origin, and performing ICP (inductively coupled plasma) matching calculation on the reference point cloud data in the step 1 and the point cloud data in the step 2 to obtain a matching degree value;

step 4, comparing the matching degree value obtained in the step 3 with a preset matching degree threshold value, when the matching degree value is smaller than the matching degree threshold value, continuing to ascend by the unmanned aerial vehicle (6), and repeating the step 2 and the step 3 until the preset wind turbine generator model height value in the step 1 is reached;

and when the matching degree value is larger than or equal to the matching degree threshold value, taking the height of the point cloud data in the step 2 corresponding to the matching degree value in the vertical direction as the actual height of the wind turbine generator to obtain the height value of the wind turbine generator.

2. The method for measuring the height of the wind turbine generator according to claim 1, wherein in the step 1, the height value range of the wind turbine generator model is 70-150 m.

3. The method for measuring the height of the wind turbine generator according to claim 1, wherein in step 2, the takeoff position of the unmanned aerial vehicle (6) is the ground (5) of the wind turbine generator, and the laser radar probe on the unmanned aerial vehicle (6) points to the plane of the wind wheel of the wind turbine generator.

4. The method for measuring the height of the wind turbine generator according to claim 1, wherein in step 3, the point position interval of the coordinate system is 10 CM.

5. The method for measuring the height of the wind turbine generator according to claim 1, wherein in step 3, when ICP matching calculation is performed, point cloud data obtained in step 2 and reference point cloud data obtained in step 1 are compared, a plurality of points with small deviation values are found, and a deviation interval average value is calculated;

setting a matching degree value according to the following principle, wherein the average distance value is less than 10CM, and the matching degree value is 1;

the average distance value is more than 10CM and less than 20CM, and the matching degree value is 0.9;

the average distance value is more than 20CM and less than 30CM, and the matching degree value is 0.8;

the average distance value is more than 30CM and less than 40CM, and the matching degree value is 0.7;

the average distance value is more than 40CM and less than 50CM m, and the matching degree value is 0.6;

the average distance value is more than 50CM and less than 60CM, and the matching degree value is 0.5;

the average distance value is more than 60CM and less than 70CM m, and the matching degree value is 0.4;

the average distance value is more than 70CM and less than 80CM m, and the matching degree value is 0.3;

the average distance value is more than 80CM and less than 90CM, and the matching degree value is 0.2;

the average distance value is more than 90CM and less than 100CM m, and the matching degree value is 0.1;

a match value of 0 is obtained for a pitch mean greater than 100 CM.

6. The method for measuring the height of the wind turbine generator according to claim 5, wherein the number of the points with small deviation values is 50-200.

7. The method for measuring the height of the wind turbine generator according to claim 5, wherein in the step 4, the threshold value of the matching degree is 0.9, when the numerical value of the matching degree is less than 0.9, the unmanned aerial vehicle (6) continues to ascend, and the steps 2 and 3 are repeated until the preset height value of the wind turbine generator in the step 1 is reached;

and when the matching degree value is greater than or equal to 0.9, taking the vertical height of the point cloud data in the step 2 corresponding to the matching degree value as the actual height of the wind turbine generator to obtain the height value of the wind turbine generator.

8. The method for measuring the height of the wind turbine generator according to claim 1, wherein in step 4, when the matching degree value is smaller than the matching degree threshold value, the unmanned aerial vehicle (6) continues to ascend until the preset wind turbine generator model height value in step 1 is reached,

and if all the matching degree values are smaller than the matching degree threshold value in the ascending process, searching a large matching degree value from the point cloud data in the step 2, and outputting a coordinate value in the vertical direction in the point cloud data corresponding to the large matching degree value as the height of the fan.

9. The method for measuring the height of the wind turbine generator according to claim 1, wherein the laser radar is a single line scanning type laser radar.

10. Method according to claim 1, wherein the drone (6) is a multi-rotor drone.

Technical Field

The invention belongs to the field of wind turbine generator detection technology, and particularly belongs to a wind turbine generator height measuring method.

Background

The wind turbine generator is an electric power device which converts wind energy into mechanical work, the mechanical work drives a rotor to rotate, and alternating current is finally output. The wind power generator generally comprises a nacelle (a transmission mechanism and a generator), a blade, a tower and other components.

During the operation of the wind turbine, various damages, such as paint falling, blade icing, cracking, lightning strike and the like, can appear on the surface of the blade. At present, the traditional wind turbine generator blade detection usually adopts manual climbing of a wind driven generator and high-altitude operation to detect, so that a large amount of manpower can be spent, and great potential safety hazards exist.

Consequently, carry on image acquisition device through unmanned aerial vehicle and carry out wind turbine generator system blade and detect, can avoid above-mentioned problem, fine replacement manual work detects. However, when the unmanned aerial vehicle carries the image acquisition device to detect the blades of the wind turbine generator, the unmanned aerial vehicle usually needs to acquire the images of the blades of the wind turbine generator according to a planned flight route. Generally, the unmanned aerial vehicle ascends to the height of the wind turbine (the center of a hub of the wind turbine) from the ground, and then sequentially acquires images of blades of the wind turbine according to a planned route. If the accurate height of the wind turbine generator set is not accurately measured, then the actual routing inspection route and the planned route of the unmanned aerial vehicle have large errors, and the acquired image information cannot meet the requirements of actual detection. Therefore, whether the actual height of the wind turbine generator set after installation can be accurately positioned is a basis for accurately acquiring the image information of the blade.

The method mainly comprises the steps that laser height measuring equipment is adopted to measure the vertical height of the wind turbine generator at the present stage, emitted laser is reflected by a measured object and then received by the measuring equipment, the measuring equipment records the round trip time of the laser at the same time, and the vertical height of the wind turbine generator is obtained through certain data calculation. But after the data is measured, the data needs to be manually input into the unmanned aerial vehicle control device, then the unmanned aerial vehicle is manually or automatically controlled to ascend to the height of the wind turbine generator from the ground, and then the blade detection is started, so that the routing inspection process is complicated.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides a method for measuring the height of a wind turbine generator, which can quickly measure and acquire the accurate height of the wind turbine generator and help an unmanned aerial vehicle carry an image acquisition device to acquire the accuracy of image acquisition when the blade of the wind turbine generator is detected.

In order to achieve the purpose, the invention provides the following technical scheme:

a wind turbine generator height measuring method comprises the following steps,

step 1, constructing reference point cloud data for detecting the wind turbine generator according to initial appearance data of the wind turbine generator, and presetting a height value of a wind turbine generator model;

step 2, the unmanned aerial vehicle vertically takes off and rises, and a laser radar on the unmanned aerial vehicle scans a wind turbine generator set in the rising process to obtain point cloud data;

step 3, establishing a coordinate system by taking the bottom center point of the tower of the wind turbine generator as an origin, and performing ICP (inductively coupled plasma) matching calculation on the reference point cloud data in the step 1 and the point cloud data in the step 2 to obtain a matching degree value;

step 4, comparing the matching degree value obtained in the step 3 with a preset matching degree threshold value, when the matching degree value is smaller than the matching degree threshold value, continuing to ascend, and repeating the step 2 and the step 3 until the preset wind turbine generator model height value in the step 1 is reached;

and when the matching degree value is larger than or equal to the matching degree threshold value, taking the height of the point cloud data in the step 2 corresponding to the matching degree value in the vertical direction as the actual height of the wind turbine generator to obtain the height value of the wind turbine generator.

Preferably, in step 1, the height value range of the wind turbine generator model is 70-150 m.

Preferably, in step 2, the takeoff position of the unmanned aerial vehicle is the ground of the wind turbine generator system, and the laser radar probe on the unmanned aerial vehicle points to the wind wheel plane of the wind turbine generator system.

Preferably, in step 3, the point interval of the coordinate system is 10 CM.

Preferably, in the step 3, when the ICP matching calculation is performed, comparing the point cloud data obtained in the step 2 with the reference point cloud data obtained in the step 1, finding a plurality of points with small deviation values, and calculating a deviation distance average value;

setting a matching degree value according to the following principle, wherein the average distance value is less than 10CM, and the matching degree value is 1;

the average distance value is more than 10CM and less than 20CM, and the matching degree value is 0.9;

the average distance value is more than 20CM and less than 30CM, and the matching degree value is 0.8;

the average distance value is more than 30CM and less than 40CM, and the matching degree value is 0.7;

the average distance value is more than 40CM and less than 50CM m, and the matching degree value is 0.6;

the average distance value is more than 50CM and less than 60CM, and the matching degree value is 0.5;

the average distance value is more than 60CM and less than 70CM m, and the matching degree value is 0.4;

the average distance value is more than 70CM and less than 80CM m, and the matching degree value is 0.3;

the average distance value is more than 80CM and less than 90CM, and the matching degree value is 0.2;

the average distance value is more than 90CM and less than 100CM m, and the matching degree value is 0.1;

a match value of 0 is obtained for a pitch mean greater than 100 CM.

Further, the number of the points with small deviation values is 50-200.

Further, in the step 4, the threshold value of the matching degree is 0.9, when the numerical value of the matching degree is smaller than 0.9, the unmanned aerial vehicle continuously rises, and the steps 2 and 3 are repeated until the preset height value of the wind turbine generator model in the step 1 is reached;

and when the matching degree value is greater than or equal to 0.9, taking the vertical height of the point cloud data in the step 2 corresponding to the matching degree value as the actual height of the wind turbine generator to obtain the height value of the wind turbine generator.

Preferably, in step 4, when the matching degree value is smaller than the matching degree threshold value, the unmanned aerial vehicle continues to ascend until the preset wind turbine generator model height value in step 1 is reached,

and if all the matching degree values are smaller than the matching degree threshold value in the ascending process, searching a large matching degree value from the point cloud data in the step 2, and outputting a coordinate value in the vertical direction in the point cloud data corresponding to the large matching degree value as the height of the fan.

Preferably, the laser radar adopts a single line scanning type laser radar.

Preferably, the drone is a multi-rotor drone.

Compared with the prior art, the invention has the following beneficial technical effects:

the invention provides a method for measuring the height of a wind turbine generator. The method comprises the steps of carrying out ICP matching calculation on a point cloud data model of the wind turbine generator and point cloud data obtained through scanning of a laser radar carried by the unmanned aerial vehicle, comparing the matching degree with a set matching degree threshold value according to the matching degree, and obtaining the accurate height of the wind turbine generator. The method is quick and simple in calculation mode, can quickly measure and acquire the accurate height of the wind turbine, and helps to acquire the accuracy of the image when the unmanned aerial vehicle carries the image acquisition device to detect the blade of the wind turbine. And need not carry laser altimeter equipment, unmanned aerial vehicle once takes off, can directly accurately record the unit height to plan unmanned aerial vehicle in view of the above and patrol and examine the route, can directly develop unmanned aerial vehicle blade detection work, avoided the necessary laser altimeter process in earlier stage, reduced and patrolled and examined the process.

Further, ICP matching calculation is carried out on the point cloud data in the step 2 and the point cloud data on the central horizontal line of the hub in the reference point cloud data in the step 1, analysis and calculation speed is high, and calculation errors are small.

Furthermore, by adopting the single-line scanning type laser radar, the scanning precision can be improved, and the accuracy of the test result is improved.

Further, through adopting many rotor unmanned aerial vehicle, satisfy the requirement that the wind turbine generator system is high and carry on laser radar equipment, guarantee the stability of flight in-process, avoid causing the influence to the scanning process.

Drawings

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

FIG. 2 is a schematic diagram of scanning measurement performed by an unmanned aerial vehicle on a wind turbine generator according to an embodiment of the invention;

in the drawings: 1 is a blade; 2 is a hub; 3 is a cabin; 4 is a tower drum; 5 is the ground; 6 is an unmanned plane.

Detailed Description

The present invention will now be described in further detail with reference to specific examples, which are intended to be illustrative, but not limiting, of the invention.

The invention discloses a measuring method for measuring the height of a wind turbine generator, which is based on a mode that an unmanned aerial vehicle carrying a laser radar scans the wind turbine generator, and carries out matching degree calculation to obtain a wind turbine generator height measuring result.

Examples

As shown in fig. 1, the method for measuring the height of the wind turbine generator comprises the following steps:

firstly, constructing and detecting reference point cloud data of a wind turbine generator, and presetting a wind turbine generator model height value. Specifically, the wind turbine generator is generally constructed according to appearance data of a wind turbine generator provided by a fan manufacturer, a central point at the bottom of the tower 4 is selected as an origin to establish a coordinate system, and the point location interval is 10 CM. The reference point cloud data can accurately correspond to the actual structure of the wind turbine generator. The preset wind turbine model height value is established according to wind turbine appearance data, and the value can be generally set to be 70-150m according to the actual parameters of the current wind turbine so as to cover wind turbines of more models.

And secondly, arranging the unmanned aerial vehicle in a takeoff position. As shown in fig. 2, specifically, the unmanned aerial vehicle 6 carrying the laser radar is placed on the ground 5 in front of the wind turbine generator, the laser radar carried on the unmanned aerial vehicle 6 faces the wind wheel plane of the wind turbine generator, the wind wheel is composed of a blade 1 and a hub 2, and the wind wheel is fixed on the engine room 3.

And thirdly, the unmanned aerial vehicle 6 vertically takes off and rises, and the laser radar scans the wind turbine generator to obtain point cloud data. As shown in fig. 2, specifically, the detection personnel control the unmanned aerial vehicle to fly along the vertical direction of the tower of the wind turbine generator, and control the laser radar to scan the wind turbine generator, and the laser radar transmits the point cloud data of the scanning result to the airborne computer.

Fourthly, point cloud data matching calculation is carried out. Specifically, the airborne computer selects the center point of the bottom of the tower 4 as an origin to establish a coordinate system according to the acquired point cloud information data, and the point location interval is 10 CM. And performing ICP (Iterative Closest Point) matching calculation on the Point cloud data positioned on the central horizontal line of the hub 2 in the wind turbine generator reference Point cloud data obtained in the first step.

And during ICP matching calculation, comparing all data points in the point cloud data obtained in the fourth step with all data points in the reference point cloud data obtained in the first step, searching a plurality of points with the minimum deviation in each data point of the point cloud data obtained in the fourth step and the point cloud data obtained in the first step, generally selecting 50-200 points with the minimum deviation, calculating the distance between the point cloud data and the reference point cloud data, and carrying out average calculation on the distance corresponding to the plurality of points with the minimum deviation to obtain a distance average value.

Setting a matching degree value according to the following principle, wherein the average distance value is less than 10CM, and the matching degree value is 1; the average distance value is more than 10CM and less than 20CM, and the matching degree value is 0.9; the average distance value is more than 20CM and less than 30CM, and the matching degree value is 0.8;

the average distance value is more than 30CM and less than 40CM, and the matching degree value is 0.7;

the average distance value is more than 40CM and less than 50CM m, and the matching degree value is 0.6;

the average distance value is more than 50CM and less than 60CM, and the matching degree value is 0.5;

the average distance value is more than 60CM and less than 70CM m, and the matching degree value is 0.4;

the average distance value is more than 70CM and less than 80CM m, and the matching degree value is 0.3;

the average distance value is more than 80CM and less than 90CM, and the matching degree value is 0.2;

the average distance value is more than 90CM and less than 100CM m, and the matching degree value is 0.1; the matching degree value with the spacing average value larger than 100CM is 0;

and fifthly, comparing the matching degree threshold. Specifically, a matching degree threshold value is set to be 0.9, and the matching degree value obtained in the fourth step is compared with the matching degree threshold value to judge whether the matching degree value is greater than or equal to the matching degree threshold value;

and sixthly, obtaining the height value of the wind turbine generator according to the comparison result. Specifically, if the matching degree value is smaller than the matching degree threshold value, the unmanned aerial vehicle 6 is made to continuously ascend and fly until the preset wind turbine generator model height value set in the first step is reached.

In the process that the unmanned aerial vehicle 6 continuously ascends and flies, if the matching degree value is larger than or equal to the threshold value, the coordinate value in the vertical direction in the point cloud data obtained by scanning the current laser radar is considered as the height of the wind turbine generator, and at the moment, the unmanned aerial vehicle 6 can be directly controlled to carry out the next work (automatic inspection);

if the matching degree value is still smaller than the matching degree threshold value, the unmanned aerial vehicle 6 is made to continuously ascend and fly at the moment until the preset wind turbine generator model height value set in the first step is reached. In the process, all the matching degree numerical values are smaller than the matching degree threshold value, after the preset wind turbine generator model height value is reached, the numerical value with the maximum matching degree is searched from the point cloud data obtained by scanning the laser radar, and the coordinate value in the vertical direction in the point cloud data with the maximum matching degree numerical value is output as the wind turbine generator height. At this time, the unmanned aerial vehicle 6 can be directly controlled to work (automatic inspection) next step.