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CN113309674A - Method and device for determining clearance distance of wind generating set - Google Patents

Method and device for determining clearance distance of wind generating set Download PDF

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Publication number
CN113309674A
CN113309674A CN202110347637.8A CN202110347637A CN113309674A CN 113309674 A CN113309674 A CN 113309674A CN 202110347637 A CN202110347637 A CN 202110347637A CN 113309674 A CN113309674 A CN 113309674A
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distance
tower
pixel
auxiliary tool
identification point
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CN113309674B (en
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张琦
李向楠
李新乐
赵勇
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Jinfeng Technology Co ltd
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Xinjiang Goldwind Science and Technology Co Ltd
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Priority to PCT/CN2021/119889 priority patent/WO2022205805A1/en
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03DWIND MOTORS
    • F03D17/00Monitoring or testing of wind motors, e.g. diagnostics
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05BINDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00Control
    • F05B2270/30Control parameters, e.g. input parameters
    • F05B2270/33Proximity of blade to tower
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/70Wind energy
    • Y02E10/72Wind turbines with rotation axis in wind direction

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  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Energy (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Sustainable Development (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Wind Motors (AREA)

Abstract

A method and a device for determining clearance of a wind generating set are disclosed, wherein the method comprises the following steps: acquiring an image of the wind generating set shot by shooting equipment installed on a cabin; acquiring physical parameters of the wind generating set; determining tower drum identification points of the wind generating set based on the parameters, the physical parameters and the auxiliary parameters of the image, wherein the auxiliary parameters refer to relevant parameters of an auxiliary tool, and the auxiliary tool is arranged at the tower bottom of the wind generating set; and determining the clearance distance from the blade tip of the wind generating set to the tower of the wind generating set based on the tower identification point. Through the method and the device, the problem that the clearance distance cannot be accurately determined in the prior art can be effectively solved.

Description

风力发电机组的净空距离确定方法及装置Method and device for determining clearance distance of wind turbine

技术领域technical field

本公开总体说来涉及风力发电技术领域,更具体地讲,涉及风力发电机组的净空距离确定方法及装置。The present disclosure generally relates to the technical field of wind power generation, and more particularly, to a method and device for determining the clearance distance of a wind turbine.

背景技术Background technique

塔架净空视频监控基本原理是通过拍摄设备(如相机)将拍摄到的视频,经过图像计算将塔筒和叶片之间的像素距离转换成实际距离的过程,但是,这个转换过程需要的参数因为风力发电机组的机型,拍摄设备安装位置以及拍摄角度的不同而不同。目前,标配的风力发电机组上由于机舱上相机接口一致,因此,相同机型的风力发电机组适用一套参数,但在没有预置接口的风力发电机组上安装塔架净空视频监控系统时,由于安装工艺本身的误差和安装人员对于安装位置的确定方法不同都会造成很大误差。现有的安装校验方式是在塔架净空视频监控程序显示界面预先设置了两条基准线,安装相机时需要显示界面上风力发电机组的塔筒和基准线一致,其中,该基准线及后续算法参数是基于测试风力发电机组的相机安装位置时拍摄图像所确定的。The basic principle of tower clearance video monitoring is the process of converting the captured video through the image calculation device (such as a camera) to convert the pixel distance between the tower and the blade into the actual distance. However, the parameters required for this conversion process are because The model of the wind turbine, the installation location of the shooting equipment and the shooting angle vary. At present, because the camera interface on the nacelle is the same on the standard wind turbine, a set of parameters is applicable to the wind turbine of the same model, but when the tower clearance video monitoring system is installed on the wind turbine without the preset interface, Due to the error of the installation process itself and the different methods of the installation personnel to determine the installation position, a large error will be caused. The existing installation and verification method is to preset two reference lines on the display interface of the tower clearance video monitoring program. When installing the camera, the tower of the wind turbine on the display interface needs to be consistent with the reference line. The algorithm parameters are determined based on the images taken while testing the camera installation position of the wind turbine.

但是,上述安装方式仍然存在不准确的问题,图1和图2分别为不同风力发电机组安装后出现的塔筒位置误差。通过图1和图2可以看出横向和纵向都存在误差,这种误差导致采用相同的计算参数在不同的风力发电机组上来确定净空距离时可能造成较大的计算误差,从而导致风力发电机组控制不准确。因此如何消除由于不同风力发电机组及相机安装位置带来的安装误差就尤为重要。However, the above-mentioned installation method still has the problem of inaccuracy. Figures 1 and 2 show the tower position errors after the installation of different wind turbines respectively. It can be seen from Figure 1 and Figure 2 that there are errors in both the horizontal and vertical directions. This error may cause a large calculation error when the same calculation parameters are used to determine the clearance distance on different wind turbines, which will lead to the control of wind turbines. Inaccurate. Therefore, how to eliminate the installation errors caused by different installation positions of wind turbines and cameras is particularly important.

发明内容SUMMARY OF THE INVENTION

本公开的实施例提供一种风力发电机组的净空距离确定方法及装置,能够有效解决现有技术中无法准确确定净空距离的问题。The embodiments of the present disclosure provide a method and device for determining the clearance distance of a wind turbine, which can effectively solve the problem that the clearance distance cannot be accurately determined in the prior art.

在一个总的方面,提供一种风力发电机组的净空距离确定方法,包括:获取安装在机舱上的拍摄设备拍摄的风力发电机组的图像;获取风力发电机组的物理参数;基于图像的参数、物理参数和辅助参数,确定风力发电机组的塔筒标识点,其中,辅助参数是指辅助工具的相关参数,辅助工具设置在风力发电组的塔底;基于塔筒标识点,确定风力发电机组的叶尖到风力发电机组的塔筒的净空距离。In a general aspect, a method for determining the clearance distance of a wind turbine is provided, comprising: acquiring an image of the wind turbine captured by a photographing device installed on the nacelle; acquiring physical parameters of the wind turbine; image-based parameters, physical parameters Parameters and auxiliary parameters, determine the tower identification point of the wind turbine, wherein the auxiliary parameter refers to the relevant parameters of the auxiliary tool, and the auxiliary tool is set at the bottom of the tower of the wind turbine; based on the tower identification point, determine the blade of the wind turbine. Clearance distance from the tip to the tower of the wind turbine.

可选地,图像的参数包括图像中包括的辅助工具的像素高度、辅助工具的中心线朝向塔筒顶端的延长线在图像中所能看到的部分的延长线像素距离;物理参数包括基于风力发电组的叶片竖直向下时叶尖距离地面的实际距离;辅助参数包括辅助工具的实际高度、延长线像素距离对应的实际距离。Optionally, the parameters of the image include the pixel height of the auxiliary tool included in the image, the pixel distance of the extension line of the extension line of the center line of the auxiliary tool toward the top of the tower that can be seen in the image; The actual distance between the blade tip and the ground when the blade of the generator set is vertically downward; the auxiliary parameters include the actual height of the auxiliary tool and the actual distance corresponding to the pixel distance of the extension line.

可选地,基于图像的参数、物理参数和辅助参数,确定风力发电机组的塔筒标识点,包括:基于叶片竖直向下时叶尖距离地面的实际距离、辅助工具的实际高度、辅助工具的像素高度,以及延长线像素距离和延长线像素距离对应的实际距离,得到叶片竖直向下时叶尖距离地面的像素距离;基于叶片竖直向下时叶尖距离地面的像素距离确定塔筒标识点。Optionally, determine the tower identification point of the wind turbine based on the parameters of the image, the physical parameters and the auxiliary parameters, including: based on the actual distance of the blade tip from the ground when the blade is vertically downward, the actual height of the auxiliary tool, the auxiliary tool and the actual distance corresponding to the pixel distance of the extension line and the pixel distance of the extension line to obtain the pixel distance between the blade tip and the ground when the blade is vertically downward; determine the tower based on the pixel distance between the blade tip and the ground when the blade is vertically downward barrel identification point.

可选地,获取风力发电机组的物理参数,包括:基于风力发电机组的轮毂高度和叶轮直径,获取叶片竖直向下时叶尖距离地面的实际距离。Optionally, obtaining the physical parameters of the wind turbine includes: obtaining the actual distance between the blade tip and the ground when the blade is vertically downward based on the hub height and the impeller diameter of the wind turbine.

可选地,延长线像素距离对应的实际距离是基于风力发电机组的塔筒高度、拍摄设备到塔筒中线的实际距离和拍摄设备的视角获取到的。Optionally, the actual distance corresponding to the pixel distance of the extension line is obtained based on the tower height of the wind turbine, the actual distance from the photographing device to the center line of the tower, and the viewing angle of the photographing device.

可选地,基于叶片竖直向下时叶尖距离地面的像素距离确定塔筒标识点,包括:确定塔筒中线上垂直距离塔底预定像素距离的坐标点,其中,预定像素距离为叶片竖直向下时叶尖距离地面的像素距离;将坐标点确定为塔筒标识点。Optionally, determining the tower identification point based on the pixel distance between the blade tip and the ground when the blade is vertically downward, including: determining a coordinate point on the center line of the tower with a predetermined pixel distance from the tower bottom, wherein the predetermined pixel distance is the vertical distance of the blade. The pixel distance between the blade tip and the ground when it goes straight down; the coordinate point is determined as the tower identification point.

可选地,图像的参数包括图像中包括的辅助工具的四个端点的像素坐标、辅助工具上边缘或下边缘的像素长度;物理参数包括拍摄设备安装点与竖直向下的叶片的叶尖的实际距离;辅助参数包括拍摄设备距离与像素长度对应的边缘的实际长度。Optionally, the parameters of the image include the pixel coordinates of the four end points of the auxiliary tool included in the image, the pixel length of the upper edge or the lower edge of the auxiliary tool; the physical parameters include the installation point of the photographing device and the tip of the vertically downward blade. The actual distance; the auxiliary parameters include the actual length of the edge corresponding to the pixel length from the camera device.

可选地,基于图像的参数、物理参数和辅助参数,确定风力发电机组的塔筒标识点,包括:基于辅助工具的四个端点的像素坐标、像素长度、实际长度以及拍摄设备安装点与竖直向下的叶片的叶尖的实际距离,得到塔筒标识点所在的线的两端点的坐标,其中,塔筒标识点所在的线为与辅助工具上下边缘平行的线,两端点为塔筒标识点所在的线分别与辅助工具的左边缘朝向塔筒顶端的延长线、辅助工具的右边缘朝向塔筒顶端的延长线的交点;基于塔筒标识点所在的线的两端点的坐标,得到两端点的中点,将中点确定为塔筒标识点。Optionally, based on the parameters of the image, physical parameters and auxiliary parameters, determine the tower identification point of the wind turbine, including: pixel coordinates, pixel length, actual length based on the four end points of the auxiliary tool, and the installation point and vertical position of the photographing equipment. The actual distance of the blade tip of the blade straight down, obtain the coordinates of the two ends of the line where the tower identification point is located, where the line where the tower identification point is located is a line parallel to the upper and lower edges of the auxiliary tool, and the two ends are the tower. The line where the identification point is located is the intersection point with the extension line of the left edge of the auxiliary tool toward the top of the tower, and the extension line of the right edge of the auxiliary tool toward the top of the tower; based on the coordinates of the two ends of the line where the identification point of the tower is located, we get The midpoint of the two ends is determined as the tower identification point.

可选地,基于辅助工具的四个端点的像素坐标、像素长度、实际长度以及拍摄设备安装点与竖直向下的叶片的叶尖的实际距离,得到塔筒标识点所在的线的两端点的坐标,包括:获取辅助工具的四个端点的像素坐标;基于辅助工具下边缘对应的两端点的像素坐标,得到辅助工具下边缘的像素长度,或,基于辅助工具上边缘对应的两端点的像素坐标,得到辅助工具上边缘的像素长度;基于辅助工具下边缘的像素长度或上边缘的像素长度、拍摄设备距离与像素长度对应的边缘的实际长度以及拍摄设备安装点与竖直向下的叶片的叶尖的实际距离,得到塔筒标识点所在的线的两端点的像素距离;基于塔筒标识点所在的线的两端点的像素距离和塔筒标识点所在的线的两端点的关系,得到塔筒标识点所在的线的两端点的坐标。Optionally, based on the pixel coordinates of the four end points of the auxiliary tool, the pixel length, the actual length and the actual distance between the installation point of the photographing device and the tip of the blade that is vertically downward, the two ends of the line where the tower identification point is located are obtained. , including: obtaining the pixel coordinates of the four end points of the auxiliary tool; obtaining the pixel length of the lower edge of the auxiliary tool based on the pixel coordinates of the two end points corresponding to the lower edge of the auxiliary tool, or, based on the pixel coordinates of the two end points corresponding to the upper edge of the auxiliary tool Pixel coordinates to obtain the pixel length of the upper edge of the auxiliary tool; based on the pixel length of the lower edge of the auxiliary tool or the pixel length of the upper edge, the actual length of the edge corresponding to the distance of the shooting device and the pixel length, and the installation point of the shooting device and the vertical downward direction. The actual distance of the blade tip of the blade, obtain the pixel distance of the two ends of the line where the tower identification point is located; based on the pixel distance of the two ends of the line where the tower identification point is located and the relationship between the two ends of the line where the tower identification point is located , get the coordinates of the two ends of the line where the tower identification point is located.

可选地,在基于塔筒标识点所在的线的像素距离和塔筒标识点所在的线的两端点的关系,得到塔筒标识点所在的线的两端点的坐标之前,还包括:基于辅助工具的左边缘的两端点的像素坐标,得到辅助工具的左边缘的两端点的关系;基于辅助工具的右边缘的两端点的像素坐标,得到辅助工具的右边缘的两端点的关系;根据辅助工具的左边缘的两端点的关系和右边缘的两端点的关系,得到塔筒标识点所在的线的两端点的关系。Optionally, before obtaining the coordinates of the two end points of the line where the tower identification point is located based on the pixel distance of the line where the tower identification point is located and the relationship between the two ends of the line where the tower identification point is located, it also includes: based on auxiliary The pixel coordinates of the two ends of the left edge of the tool are obtained to obtain the relationship between the two ends of the left edge of the auxiliary tool; based on the pixel coordinates of the two ends of the right edge of the auxiliary tool, the relationship between the two ends of the right edge of the auxiliary tool is obtained; according to the auxiliary tool The relationship between the two ends of the tool's left edge and the two ends of the right edge is obtained to obtain the relationship between the two ends of the line where the tower identification point is located.

可选地,基于塔筒标识点,得到叶尖到塔筒的净空距离,包括:获取叶片的叶尖与塔筒标识点的像素距离;获取辅助工具上边缘或下边缘的像素长度、与像素长度对应的边缘的实际长度;基于叶片的叶尖与塔筒标识点的像素距离、像素长度和实际长度,得到叶尖到塔筒的净空距离。Optionally, based on the tower identification point, obtain the clearance distance from the tip to the tower, including: obtaining the pixel distance between the blade tip of the blade and the tower identification point; The actual length of the edge corresponding to the length; based on the pixel distance between the blade tip and the tower identification point, the pixel length and the actual length, the clearance distance from the blade tip to the tower is obtained.

在另一总的方面,提供了一种风力发电机组的净空距离确定装置,包括:图像获取单元,被配置为获取安装在机舱上的拍摄设备拍摄的风力发电机组的图像;物理参数获取单元,被配置为获取风力发电机组的物理参数;塔筒标识点确定单元,被配置为基于图像的参数、物理参数和辅助参数,确定风力发电机组的塔筒标识点,其中,辅助参数是指辅助工具的相关参数,辅助工具设置在风力发电组的塔底;净空距离确定单元,被配置为基于塔筒标识点,确定风力发电机组的叶尖到风力发电机组的塔筒的净空距离。In another general aspect, a device for determining the clearance distance of a wind turbine is provided, comprising: an image acquisition unit configured to acquire an image of the wind turbine captured by a photographing device installed on the nacelle; a physical parameter acquisition unit, is configured to obtain the physical parameters of the wind turbine; the tower identification point determination unit is configured to determine the tower identification point of the wind turbine based on the parameters of the image, the physical parameters and the auxiliary parameters, wherein the auxiliary parameter refers to an auxiliary tool The auxiliary tool is set at the bottom of the tower of the wind turbine; the clearance distance determination unit is configured to determine the clearance distance from the tip of the wind turbine to the tower of the wind turbine based on the tower identification point.

可选地,图像的参数包括辅助工具的像素高度、辅助工具的中心线朝向塔筒顶端的延长线在图像中所能看到的部分的延长线像素距离,物理参数包括基于风力发电组的叶片竖直向下时叶尖距离地面的实际距离,辅助参数包括辅助工具的实际高度、延长线像素距离对应的实际距离。Optionally, the parameters of the image include the pixel height of the auxiliary tool, the pixel distance of the extension line of the extension line of the center line of the auxiliary tool toward the top of the tower that can be seen in the image, and the physical parameters include blades based on the wind turbine. The actual distance between the blade tip and the ground when it is vertically downward. The auxiliary parameters include the actual height of the auxiliary tool and the actual distance corresponding to the pixel distance of the extension line.

可选地,塔筒标识点确定单元,还被配置为基于叶片竖直向下时叶尖距离地面的实际距离、辅助工具的实际高度、辅助工具的像素高度,以及延长线像素距离和延长线像素距离对应的实际距离,得到叶片竖直向下时叶尖距离地面的像素距离;基于叶片竖直向下时叶尖距离地面的像素距离确定塔筒标识点。Optionally, the tower identification point determination unit is further configured to be based on the actual distance of the blade tip from the ground when the blade is vertically downward, the actual height of the auxiliary tool, the pixel height of the auxiliary tool, and the pixel distance of the extension line and the extension line. The actual distance corresponding to the pixel distance is obtained, and the pixel distance between the blade tip and the ground when the blade is vertically downward is obtained; the tower identification point is determined based on the pixel distance between the blade tip and the ground when the blade is vertically downward.

可选地,物理参数获取单元,还被配置为基于风力发电机组的轮毂高度和叶轮直径,获取叶片竖直向下时叶尖距离地面的实际距离。Optionally, the physical parameter obtaining unit is further configured to obtain the actual distance between the blade tip and the ground when the blade is vertically downward based on the hub height and the impeller diameter of the wind turbine.

可选地,延长线像素距离对应的实际距离是基于风力发电机组的塔筒高度、拍摄设备到塔筒中线的实际距离和拍摄设备的视角获取的。Optionally, the actual distance corresponding to the pixel distance of the extension line is obtained based on the height of the tower of the wind turbine, the actual distance from the photographing device to the center line of the tower, and the viewing angle of the photographing device.

可选地,塔筒标识点确定单元,还被配置为确定塔筒中线上垂直距离塔底预定像素距离的坐标点,其中,预定像素距离为叶片竖直向下时叶尖距离地面的像素距离;将坐标点确定为塔筒标识点。Optionally, the tower identification point determination unit is further configured to determine a coordinate point on the center line of the tower with a predetermined pixel distance from the tower bottom, wherein the predetermined pixel distance is the pixel distance between the blade tip and the ground when the blade is vertically downward. ; Determine the coordinate point as the tower identification point.

可选地,图像的参数包括辅助工具的四个端点的像素坐标、辅助工具上边缘或下边缘的像素长度,物理参数包括拍摄设备安装点与竖直向下的叶片的叶尖的实际距离,辅助参数包括拍摄设备距离与像素长度对应的边缘的实际长度。Optionally, the parameters of the image include the pixel coordinates of the four end points of the auxiliary tool, the pixel length of the upper edge or the lower edge of the auxiliary tool, and the physical parameter includes the actual distance between the installation point of the photographing device and the tip of the vertically downward blade, Auxiliary parameters include the actual length of the edge corresponding to the pixel length from the camera.

可选地,塔筒标识点确定单元,还被配置为基于辅助工具的四个端点的像素坐标、像素长度、实际长度以及拍摄设备安装点与竖直向下的叶片的叶尖的实际距离,得到塔筒标识点所在的线的两端点的坐标,其中,塔筒标识点所在的线为与辅助工具上下边缘平行的线,两端点为塔筒标识点所在的线分别与辅助工具的左边缘延长线、辅助工具的右边缘延长线的交点;基于塔筒标识点所在的线的两端点的坐标,得到两端点的中点,将中点确定为塔筒标识点。Optionally, the tower identification point determination unit is further configured to be based on the pixel coordinates of the four end points of the auxiliary tool, the pixel length, the actual length, and the actual distance between the installation point of the photographing device and the tip of the vertically downward blade, Obtain the coordinates of the two ends of the line where the tower identification point is located, wherein the line where the tower identification point is located is a line parallel to the upper and lower edges of the auxiliary tool, and the two ends are the line where the tower identification point is located and the left edge of the auxiliary tool. The intersection point of the extension line and the extension line of the right edge of the auxiliary tool; based on the coordinates of the two ends of the line where the tower identification point is located, the midpoint of the two ends is obtained, and the midpoint is determined as the tower identification point.

可选地,塔筒标识点确定单元,还被配置为获取辅助工具的四个端点的像素坐标;基于辅助工具下边缘对应的两端点的像素坐标,得到辅助工具下边缘的像素长度,或,基于辅助工具上边缘对应的两端点的像素坐标,得到辅助工具上边缘的像素长度;基于辅助工具下边缘的像素长度或上边缘的像素长度、拍摄设备距离与像素长度对应的边缘的实际长度以及拍摄设备安装点与竖直向下的叶片的叶尖的实际距离,得到塔筒标识点所在的线的两端点的像素距离;基于塔筒标识点所在的线的两端点的像素距离和塔筒标识点所在的线的两端点的关系,得到塔筒标识点所在的线的两端点的坐标。Optionally, the tower identification point determination unit is also configured to obtain the pixel coordinates of the four end points of the auxiliary tool; based on the pixel coordinates of the corresponding two ends of the lower edge of the auxiliary tool, obtain the pixel length of the lower edge of the auxiliary tool, or, Based on the pixel coordinates of the two end points corresponding to the upper edge of the auxiliary tool, the pixel length of the upper edge of the auxiliary tool is obtained; based on the pixel length of the lower edge of the auxiliary tool or the pixel length of the upper edge, the distance between the shooting device and the actual length of the edge corresponding to the pixel length and The actual distance between the installation point of the photographing device and the tip of the vertically downward blade, and the pixel distance of the two ends of the line where the tower identification point is located; based on the pixel distance of the two ends of the line where the tower identification point is located and the tower The relationship between the two ends of the line where the identification point is located, and the coordinates of the two ends of the line where the tower identification point is located are obtained.

可选地,塔筒标识点确定单元,还被配置为在基于塔筒标识点所在的线的像素距离和塔筒标识点所在的线的两端点的关系,得到塔筒标识点所在的线的两端点的坐标之前,基于辅助工具的左边缘的两端点的像素坐标,得到辅助工具的左边缘的两端点的关系;基于辅助工具的右边缘的两端点的像素坐标,得到辅助工具的右边缘的两端点的关系;根据辅助工具的左边缘的两端点的关系和右边缘的两端点的关系,得到塔筒标识点所在的线的两端点的关系。Optionally, the tower identification point determination unit is also configured to obtain the relationship between the pixel distance of the line where the tower identification point is located and the two ends of the line where the tower identification point is located, to obtain the line where the tower identification point is located. Before the coordinates of the two ends, based on the pixel coordinates of the two ends of the left edge of the auxiliary tool, the relationship between the two ends of the left edge of the auxiliary tool is obtained; based on the pixel coordinates of the two ends of the right edge of the auxiliary tool, the right edge of the auxiliary tool is obtained. The relationship between the two ends of ; according to the relationship between the two ends of the left edge and the two ends of the right edge of the auxiliary tool, the relationship between the two ends of the line where the tower identification point is located is obtained.

可选地,净空距离确定单元,还被配置为获取叶片的叶尖与塔筒标识点的像素距离;获取辅助工具上边缘或下边缘的像素长度、与像素长度对应的边缘的实际长度;基于叶片的叶尖与塔筒标识点的像素距离、像素长度和实际长度,得到叶尖到塔筒的净空距离。Optionally, the clearance distance determination unit is also configured to obtain the pixel distance between the tip of the blade and the identification point of the tower; obtain the pixel length of the upper edge or lower edge of the auxiliary tool, and the actual length of the edge corresponding to the pixel length; based on The pixel distance, pixel length and actual length of the blade tip and the tower identification point are used to obtain the clearance distance from the blade tip to the tower.

在另一总的方面,提供了一种存储指令的计算机可读存储介质,其中,当指令被至少一个计算装置运行时,促使至少一个计算装置执行如上述任一风力发电机组的净空距离确定方法。In another general aspect, a computer-readable storage medium storing instructions is provided, wherein the instructions, when executed by at least one computing device, cause the at least one computing device to perform a method for determining a clearance distance for a wind turbine as described above. .

在另一总的方面,提供了一种包括至少一个计算装置和至少一个存储指令的存储装置的系统,其中,指令在被至少一个计算装置运行时,促使至少一个计算装置执行如上述任一风力发电机组的净空距离确定方法。In another general aspect, a system is provided that includes at least one computing device and at least one storage device storing instructions, wherein the instructions, when executed by the at least one computing device, cause the at least one computing device to perform any of the above The method of determining the clearance distance of the generator set.

根据本公开的实施例的风力发电机组的净空距离确定方法及装置,通过风力发电机组的本身物理参数结合辅助工具相关参数、拍摄设备得到的图像的参数确定塔筒标识点,由于不再依据历史经验人工定位一个固定的塔筒标识点,因此,消除了由于不同风力发电机组及拍摄设备安装位置带来误差时,使用固定的塔筒标识点无法准确确定叶尖到塔筒的净空距离的问题,从而可以得到准确的净空距离,进而可以基于净空距离精准的对风力发电机组进行控制。因此,通过本公开能够有效解决现有技术中无法准确确定净空距离的问题。According to the method and device for determining the clearance distance of a wind turbine according to the embodiments of the present disclosure, the tower identification point is determined by the physical parameters of the wind turbine itself, the parameters of the auxiliary tools and the parameters of the image obtained by the photographing equipment. Experience and manual positioning of a fixed tower identification point, therefore, eliminates the problem that the fixed tower identification point cannot accurately determine the clearance distance from the blade tip to the tower when errors are caused by different installation positions of wind turbines and shooting equipment. , so that the accurate clearance distance can be obtained, and then the wind turbine can be accurately controlled based on the clearance distance. Therefore, the present disclosure can effectively solve the problem that the clearance distance cannot be accurately determined in the prior art.

将在接下来的描述中部分阐述本公开总体构思另外的方面和/或优点,还有一部分通过描述将是清楚的,或者可以经过本公开总体构思的实施而得知。Additional aspects and/or advantages of the present disclosure will be set forth in part in the description that follows, and in part will be apparent from the description, or may be learned by practice of the present disclosure.

附图说明Description of drawings

通过下面结合示出实施例的附图进行的描述,本公开的实施例的上述和其他目的和特点将会变得更加清楚,其中:The above and other objects and features of embodiments of the present disclosure will become more apparent from the following description taken in conjunction with the accompanying drawings showing embodiments, in which:

图1示出相关技术中的拍摄设备纵向安装误差的示意图;1 shows a schematic diagram of the vertical installation error of a photographing device in the related art;

图2示出相关技术中的拍摄设备横向安装误差的示意图;2 shows a schematic diagram of the lateral installation error of the photographing device in the related art;

图3示出本公开的实施例的净空距离确定方法的应用场景示意图;FIG. 3 shows a schematic diagram of an application scenario of the method for determining a clearance distance according to an embodiment of the present disclosure;

图4示出本公开的实施例的风力发电机组的净空距离确定方法的流程图;4 shows a flowchart of a method for determining a clearance distance of a wind turbine according to an embodiment of the present disclosure;

图5示出本公开的实施例的第一种方式下辅助工具所在位置的示意图;FIG. 5 shows a schematic diagram of the location of the auxiliary tool in the first mode of the embodiment of the present disclosure;

图6示出本公开的实施例的各参数的示意图;6 shows a schematic diagram of various parameters of an embodiment of the present disclosure;

图7示出本公开的实施例的相机与塔筒中线相对位置的示意图;7 shows a schematic diagram of the relative position of the camera and the center line of the tower according to an embodiment of the present disclosure;

图8示出本公开的实施例的第二种方式下辅助工具所在位置的示意图;FIG. 8 shows a schematic diagram of the location of the auxiliary tool in the second mode of the embodiment of the present disclosure;

图9示出本公开的实施例的相机成像原理的示意图;FIG. 9 shows a schematic diagram of a camera imaging principle of an embodiment of the present disclosure;

图10示出本公开的实施例的净空距离与辅助工具实际距离的示意图;FIG. 10 shows a schematic diagram of the headroom distance and the actual distance of the auxiliary tool according to an embodiment of the present disclosure;

图11示出本公开的风力发电机组的净空距离确定装置的框图。FIG. 11 shows a block diagram of the headroom determining apparatus of the wind turbine of the present disclosure.

具体实施方式Detailed ways

提供下面的具体实施方式以帮助读者获得对在此描述的方法、设备和/或系统的全面理解。然而,在理解本申请的公开之后,在此描述的方法、设备和/或系统的各种改变、修改和等同物将是清楚的。例如,在此描述的操作的顺序仅是示例,并且不限于在此阐述的那些顺序,而是除了必须以特定的顺序发生的操作之外,可如在理解本申请的公开之后将是清楚的那样被改变。此外,为了更加清楚和简明,本领域已知的特征的描述可被省略。The following detailed description is provided to assist the reader in gaining a comprehensive understanding of the methods, apparatus and/or systems described herein. However, various changes, modifications and equivalents of the methods, apparatus and/or systems described herein will be apparent upon understanding of the disclosure of the present application. For example, the orders of operations described herein are examples only, and are not limited to those orders set forth herein, except that operations must occur in a particular order, as will be apparent upon understanding the disclosure of this application That was changed. Furthermore, descriptions of features known in the art may be omitted for increased clarity and conciseness.

在此描述的特征可以以不同的形式来实现,而不应被解释为限于在此描述的示例。相反,已提供在此描述的示例,以仅示出实现在此描述的方法、设备和/或系统的许多可行方式中的一些可行方式,所述许多可行方式在理解本申请的公开之后将是清楚的。The features described herein may be implemented in different forms and should not be construed as limited to the examples described herein. Rather, the examples described herein have been provided to illustrate but a few of the many possible ways of implementing the methods, devices and/or systems described herein, which would be after an understanding of the disclosure of the present application. clearly.

如在此使用的,术语“和/或”包括相关联的所列项中的任何一个以及任何两个或更多个的任何组合。As used herein, the term "and/or" includes any one and any combination of any two or more of the associated listed items.

尽管在此可使用诸如“第一”、“第二”和“第三”的术语来描述各种构件、组件、区域、层或部分,但是这些构件、组件、区域、层或部分不应被这些术语所限制。相反,这些术语仅用于将一个构件、组件、区域、层或部分与另一构件、组件、区域、层或部分进行区分。因此,在不脱离示例的教导的情况下,在此描述的示例中所称的第一构件、第一组件、第一区域、第一层或第一部分也可被称为第二构件、第二组件、第二区域、第二层或第二部分。Although terms such as “first,” “second,” and “third” may be used herein to describe various elements, components, regions, layers or sections, these elements, components, regions, layers or sections should not be restricted by these terms. Rather, these terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, reference to a first member, first component, first region, first layer or first portion in the examples described herein could also be termed a second member, second member, first layer or first portion without departing from the teachings of the examples. Component, second area, second layer or second section.

在此使用的术语仅用于描述各种示例,并不将用于限制公开。除非上下文另外清楚地指示,否则单数形式也意在包括复数形式。术语“包含”、“包括”和“具有”说明存在叙述的特征、数量、操作、构件、元件和/或它们的组合,但不排除存在或添加一个或多个其他特征、数量、操作、构件、元件和/或它们的组合。The terminology used herein is used to describe various examples only and is not to be used to limit the disclosure. The singular forms are also intended to include the plural forms unless the context clearly dictates otherwise. The terms "comprising", "including" and "having" indicate the presence of the recited features, quantities, operations, components, elements, and/or combinations thereof, but do not preclude the presence or addition of one or more other features, numbers, operations, components , elements and/or combinations thereof.

除非另有定义,否则在此使用的所有术语(包括技术术语和科学术语)具有与由本公开所属领域的普通技术人员在理解本公开之后通常理解的含义相同的含义。除非在此明确地如此定义,否则术语(诸如,在通用词典中定义的术语)应被解释为具有与它们在相关领域的上下文和本公开中的含义一致的含义,并且不应被理想化或过于形式化地解释。Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs after understanding the disclosure. Unless explicitly so defined herein, terms (such as those defined in a general dictionary) should be construed to have meanings consistent with their meanings in the context of the relevant art and this disclosure, and should not be idealized or Explain too formally.

此外,在示例的描述中,当认为公知的相关结构或功能的详细描述将引起对本公开的模糊解释时,将省略这样的详细描述。Also, in the description of examples, detailed descriptions of well-known related structures or functions will be omitted when it is considered that such detailed descriptions would cause obscure interpretation of the present disclosure.

本公开提供了一种风力发电机组的净空距离确定方法及装置,可以解决由于不同风力发电机组及拍摄设备安装位置带来误差时,使用固定的塔筒标识点无法准确确定叶尖到塔筒的净空距离的问题,本公开的风力发电机组的净空距离确定方法可以应用在塔架净空视频监控系统(Tower Clearance System)上,塔架净空监控系统可实现对净空距离的实时测量,并以此为依据对风力发电机组进行控制,其中,净空距离,也可以称为塔架净空Tower Clearance,即叶尖距离塔筒的垂直距离。该塔架净空视频监控系统可以包括服务器、风力发电机组、辅助工具、拍摄设备等,其中,服务器与风力发电机组可以通过无线连接,也可以通过有线连接,此处不做限定。上述服务器可以是一个服务器,也可以是若干个服务器组成的服务器集群,还可以是云计算平台或虚拟化中心。上述拍摄设备可以是相机,也可以任何可以拍摄的设备。下面以服务器、相机为例进行说明。The present disclosure provides a method and device for determining the clearance distance of a wind turbine, which can solve the problem that the fixed tower identification point cannot accurately determine the distance between the blade tip and the tower when errors are caused by different installation positions of the wind turbine and the photographing equipment. The problem of the clearance distance, the method for determining the clearance distance of the wind turbine of the present disclosure can be applied to the tower clearance video monitoring system (Tower Clearance System), and the tower clearance monitoring system can realize the real-time measurement of the clearance distance. According to the control of the wind turbine, the clearance distance can also be called Tower Clearance, that is, the vertical distance between the blade tip and the tower. The tower clearance video monitoring system may include servers, wind turbines, auxiliary tools, photographing equipment, etc., wherein the server and the wind turbines may be connected wirelessly or wired, which is not limited here. The above server may be one server, or a server cluster composed of several servers, or may be a cloud computing platform or a virtualization center. The above-mentioned photographing device may be a camera, or any device that can photograph. The following description takes the server and camera as examples.

图3示出本公开的实施例的净空距离确定方法的应用场景示意图。如图3所示,服务器(图中未示出)获取安装在机舱上的拍摄设备(例如,相机)拍摄的风力发电机组的图像以及风力发电机组的物理参数,然后基于图像的参数、物理参数和辅助工具的相关参数,确定风力发电机组的塔筒标识点,进而基于确定的塔筒标识点确定叶尖到塔筒的净空距离,上述辅助工具可以设置在风力发电组的塔底。因此,通过本公开能够确保净空距离确定装置(例如,塔架净空视频监测系统)计算出的净空距离准确有效,进而依据计算出的净空距离对风力发电机组进行控制。FIG. 3 shows a schematic diagram of an application scenario of the method for determining a clearance distance according to an embodiment of the present disclosure. As shown in FIG. 3 , the server (not shown in the figure) acquires the image of the wind turbine and the physical parameters of the wind turbine captured by the photographing device (eg, camera) installed on the nacelle, and then based on the parameters of the image, the physical parameters Determine the tower identification point of the wind turbine with the relevant parameters of the auxiliary tool, and then determine the clearance distance from the tip to the tower based on the determined tower identification point. The auxiliary tool can be arranged at the bottom of the tower of the wind turbine. Therefore, the present disclosure can ensure that the headroom distance calculated by the headroom distance determining device (eg, a tower headroom video monitoring system) is accurate and effective, and then the wind power generator set is controlled according to the calculated headroom distance.

需要说明的是,本公开还可以用于对塔筒标识点的标定,即基于图像的参数、物理参数和辅助工具的相关参数获取到相对准确的塔筒标识点。It should be noted that the present disclosure can also be used for calibrating tower identification points, that is, to obtain relatively accurate tower identification points based on image parameters, physical parameters and related parameters of auxiliary tools.

下面结合附图对本公开进行详细描述。The present disclosure will be described in detail below with reference to the accompanying drawings.

图4示出本公开的实施例的风力发电机组的净空距离确定方法的流程图。参照图4,所述风力发电机组的净空距离确定方法包括以下步骤:FIG. 4 shows a flowchart of a method for determining a clearance distance of a wind turbine according to an embodiment of the present disclosure. Referring to FIG. 4 , the method for determining the clearance distance of the wind turbine includes the following steps:

在步骤S401中,获取安装在机舱上的拍摄设备拍摄的风力发电机组的图像。在本步骤,机舱上安装好拍摄设备后,拍摄设备可以选取任一角度拍摄风力发电机组的图片,然后通过无线或者有线发送给服务器。In step S401, an image of the wind power generating set photographed by a photographing device installed on the nacelle is acquired. In this step, after the photographing device is installed on the nacelle, the photographing device can select any angle to take a picture of the wind turbine, and then send it to the server wirelessly or wiredly.

在步骤S402中,获取风力发电机组的物理参数。该物理参数可以包括但不限于:基于叶片竖直向下时叶尖距离地面的实际距离,拍摄设备安装点与竖直向下的叶片的叶尖的实际距离。上述物理参数可以预先存储在服务器中,也可以实时测量后发送给服务器。In step S402, physical parameters of the wind turbine are acquired. The physical parameters may include, but are not limited to, the actual distance between the installation point of the photographing device and the tip of the vertically downward blade based on the actual distance of the blade tip from the ground when the blade is vertically downward. The above physical parameters may be stored in the server in advance, or may be measured in real time and then sent to the server.

在步骤S403中,基于图像的参数、物理参数和辅助参数,确定风力发电机组的塔筒标识点,其中,辅助参数是指辅助工具的相关参数,辅助工具设置在风力发电组的塔底。该塔筒标识点为所述风力发电机组的叶片竖直向下时所述叶片的叶尖到塔筒的投影点。上述图像参数可以包括但不限于:图像中包括的辅助工具的像素高度、辅助工具的中心线朝向塔筒顶端的延长线在图像中所能看到的部分的延长线像素距离,图像中包括的辅助工具的四个端点的像素坐标、辅助工具上边缘或下边缘的像素长度。上述辅助参数可以包括但不限于:辅助工具的实际高度、延长线像素距离对应的实际距离,拍摄设备距离与像素长度对应的边缘的实际长度。上述辅助工具可以是由一块板构成,也可以是由两根竖杆和一根横杆构成,还可以由一根竖杆和一个横杆构成。In step S403, the tower identification point of the wind turbine is determined based on the parameters of the image, the physical parameters and the auxiliary parameters, wherein the auxiliary parameters refer to the relevant parameters of the auxiliary tools, and the auxiliary tools are arranged at the bottom of the tower of the wind turbine. The tower identification point is the projection point of the blade tip of the blade to the tower when the blade of the wind turbine is vertically downward. The above-mentioned image parameters may include but are not limited to: the pixel height of the auxiliary tool included in the image, the extension line pixel distance of the part that can be seen in the image of the extension line of the center line of the auxiliary tool toward the top of the tower, and the The pixel coordinates of the four endpoints of the assist tool, and the pixel length of the top or bottom edge of the assist tool. The above-mentioned auxiliary parameters may include, but are not limited to: the actual height of the auxiliary tool, the actual distance corresponding to the pixel distance of the extension line, and the actual length of the edge corresponding to the distance between the shooting device and the pixel length. The above-mentioned auxiliary tool may be composed of one plate, two vertical bars and one horizontal bar, or one vertical bar and one horizontal bar.

上述步骤S403中确定风力发电机组的塔筒标识点可以采用如下两种方式,每种方式均需要辅助工具,但所需要的参数是不同的,下面从两种方式分别说明塔筒标识点的确定过程。In the above-mentioned step S403, the tower identification point of the wind turbine can be determined in the following two ways. Each method requires auxiliary tools, but the required parameters are different. process.

第一种方式,上述图像的参数可以包括图像中包括的辅助工具的像素高度、辅助工具的中心线朝向塔筒顶端的延长线在图像中所能看到的部分的延长线像素距离;上述物理参数可以包括基于叶片竖直向下时叶尖距离地面的实际距离;上述辅助参数可以包括辅助工具的实际高度、延长线像素距离对应的实际距离。In the first way, the parameters of the above image may include the pixel height of the auxiliary tool included in the image, and the pixel distance of the extension line of the part that can be seen in the image from the extension line of the center line of the auxiliary tool toward the top of the tower; the above physical The parameters may include the actual distance between the blade tip and the ground when the blade is vertically downward; the above-mentioned auxiliary parameters may include the actual height of the auxiliary tool and the actual distance corresponding to the pixel distance of the extension line.

下面以辅助工具由一根竖杆和一个横杆构成为例说明基于上述参数确定塔筒标识点的过程,图5示出本公开的实施例的第一种方式下辅助工具所在位置的示意图,如图5所示,辅助工具的竖杆放置于机舱中下方且沿塔筒中线竖直固定,竖直实线表示竖杆,虚线延长线表示塔筒中线,黑色点即为所需确定的塔筒标识点,即叶片扫过塔筒时筒上距离叶片最近的点。The process of determining the tower identification point based on the above parameters is described below by taking the auxiliary tool consisting of a vertical bar and a horizontal bar as an example. FIG. 5 shows a schematic diagram of the location of the auxiliary tool in the first mode of the embodiment of the present disclosure, As shown in Figure 5, the vertical rod of the auxiliary tool is placed in the lower part of the engine room and fixed vertically along the center line of the tower. The vertical solid line represents the vertical rod, the extension line of the dotted line represents the center line of the tower, and the black point is the tower to be determined. The barrel identification point, that is, the point on the barrel closest to the blade when the blade sweeps through the tower.

根据本公开的实施例,可以通过如下方式基于图像的参数、物理参数和辅助参数,确定风力发电机组的塔筒标识点:基于叶片竖直向下时叶尖距离地面的实际距离、辅助工具的实际高度、辅助工具的像素高度,以及延长线像素距离和延长线像素距离对应的实际距离,得到叶片竖直向下时叶尖距离地面的像素距离;基于叶片竖直向下时叶尖距离地面的像素距离确定塔筒标识点。According to the embodiments of the present disclosure, the tower identification point of the wind turbine can be determined based on the parameters of the image, the physical parameters and the auxiliary parameters in the following ways: based on the actual distance of the blade tip from the ground when the blade is vertically downward, the distance of the auxiliary tool The actual height, the pixel height of the auxiliary tool, and the actual distance corresponding to the pixel distance of the extension line and the pixel distance of the extension line are used to obtain the pixel distance between the blade tip and the ground when the blade is vertically downward; based on the distance between the blade tip and the ground when the blade is vertically downward The pixel distance of , determines the tower identification point.

具体地,图6示出本公开的实施例的各参数的示意图,如图6所示,上述拍摄设备以相机为例,已知叶片竖直向下时叶尖距离地面的实际距离hb,辅助工具的实际高度即竖杆实际高度Ly,辅助工具的像素高度Ly′,辅助工具的中心线朝向塔筒顶端的延长线在图像中所能看到的部分的延长线像素距离ha′,延长线像素距离对应的实际距离ha。叶片竖直向下时叶尖距离地面的像素距离hb′可以通过如下公式获取:Specifically, FIG. 6 shows a schematic diagram of each parameter of an embodiment of the present disclosure. As shown in FIG. 6 , the above-mentioned photographing device takes a camera as an example, and it is known that the actual distance h b between the blade tip and the ground when the blade is vertically downward, The actual height of the auxiliary tool is the actual height Ly of the vertical rod, the pixel height of the auxiliary tool Ly′ , the extension line of the center line of the auxiliary tool toward the top of the tower can be seen in the image, the pixel distance ha ′ , the actual distance ha corresponding to the pixel distance of the extension line. When the blade is vertically downward, the pixel distance h b' between the blade tip and the ground can be obtained by the following formula:

Figure BDA0003001300280000091
Figure BDA0003001300280000091

在得到叶片竖直向下时叶尖距离地面的像素距离,基于叶片竖直向下时叶尖距离地面的像素距离,就可以在塔筒中线上找出塔筒标识点,根据本公开的实施例,可以通过如下方式确定塔筒标识点:确定塔筒中线上垂直距离塔底预定像素距离的坐标点,其中,预定像素距离为叶片竖直向下时叶尖距离地面的像素距离;将坐标点确定为塔筒标识点。通过本公开实施例,可以快速地基于叶片竖直向下时叶尖距离地面的像素距离确定塔筒标识点。When the pixel distance between the blade tip and the ground when the blade is vertically downward is obtained, and based on the pixel distance between the blade tip and the ground when the blade is vertically downward, the tower identification point can be found on the center line of the tower. According to the implementation of the present disclosure For example, the tower identification point can be determined in the following manner: determine the coordinate point on the center line of the tower with a predetermined pixel distance from the tower bottom, wherein the predetermined pixel distance is the pixel distance between the blade tip and the ground when the blade is vertically downward; The point is determined as the tower identification point. Through the embodiments of the present disclosure, the tower identification point can be quickly determined based on the pixel distance between the blade tip and the ground when the blade is vertically downward.

需要说明的是,上述塔筒中线是基于机舱确定,塔筒中线即组成机舱的两部分的合并缝隙所对应的线中叶片一侧的线,具体如图7所示,图7中下侧的线即为塔筒中线。It should be noted that the above-mentioned center line of the tower is determined based on the engine room, and the center line of the tower is the line on the side of the blade in the line corresponding to the merged gap of the two parts of the engine room. The line is the centerline of the tower.

根据本公开的实施例,上述叶片竖直向下时叶尖距离地面的实际距离可以基于风力发电机组的轮毂高度和叶轮直径获取。例如,可以基于叶轮直径得到叶轮半径,然后用风力发电机组的轮毂高度减去叶轮半径即可得到叶片竖直向下时叶尖距离地面的实际距离。According to an embodiment of the present disclosure, the actual distance of the blade tip from the ground when the blade is vertically downward can be obtained based on the hub height and the impeller diameter of the wind turbine. For example, the impeller radius can be obtained based on the impeller diameter, and then the actual distance between the blade tip and the ground when the blade is vertically downward can be obtained by subtracting the impeller radius from the hub height of the wind turbine.

根据本公开的实施例,上述延长线像素距离对应的实际距离可以是基于风力发电机组的塔筒高度、拍摄设备到塔筒中线的实际距离和拍摄设备的视角获取到的。According to an embodiment of the present disclosure, the actual distance corresponding to the pixel distance of the extension line may be obtained based on the tower height of the wind turbine, the actual distance from the photographing device to the center line of the tower, and the viewing angle of the photographing device.

例如,如图6所示,已知相机到塔筒中线的距离m,塔高ht,相机视角为a°,则可以通过如下公式获取延长线像素距离对应的实际距离haFor example, as shown in Figure 6, given the distance m from the camera to the center line of the tower, the tower height h t , and the camera angle of view a °, the actual distance ha corresponding to the pixel distance of the extension line can be obtained by the following formula:

Figure BDA0003001300280000101
Figure BDA0003001300280000101

第二种方式,上述图像的参数可以包括图像中包括的辅助工具的四个端点的像素坐标、辅助工具上边缘或下边缘的像素长度;上述物理参数可以包括拍摄设备安装点与竖直向下的叶片的叶尖的实际距离;上述辅助参数可以包括拍摄设备距离与像素长度对应的边缘的实际长度,即,在像素长度取的是辅助工具上边缘时,辅助参数包括的是拍摄设备距离与上边缘的实际长度,在像素长度取的是辅助工具下边缘时,辅助参数包括的是拍摄设备距离与下边缘的实际长度。In the second way, the parameters of the above-mentioned image may include the pixel coordinates of the four endpoints of the auxiliary tool included in the image, and the pixel length of the upper or lower edge of the auxiliary tool; the above-mentioned physical parameters may include the installation point of the shooting device and the vertical downward direction. The actual distance of the tip of the blade; the above-mentioned auxiliary parameters may include the actual length of the edge corresponding to the distance between the shooting equipment and the pixel length, that is, when the pixel length is the upper edge of the auxiliary tool, the auxiliary parameters include the distance between the shooting equipment and the actual length of the edge. The actual length of the upper edge. When the pixel length is the lower edge of the auxiliary tool, the auxiliary parameters include the distance between the shooting device and the actual length of the lower edge.

下面以辅助工具由一块板构成为例说明基于上述参数确定塔筒标识点的过程,图8示出本公开的实施例的第二种方式下辅助工具所在位置的示意图,如图8所示,辅助工具A′B′C′D′放置于机舱中下方且沿塔筒中线固定,图8中的A′B′表示辅助工具在相机中的下边缘,也可以表示下边缘的像素距离,C′D′表示辅助工具在相机中的上边缘,也可以表示上边缘的像素距离,G′H′的中点即为所需确定的塔筒标识点,即叶片扫过塔筒时筒上距离叶片最近的点。The process of determining the tower identification point based on the above parameters is described below by taking the auxiliary tool consisting of a plate as an example. FIG. 8 shows a schematic diagram of the location of the auxiliary tool in the second mode of the embodiment of the present disclosure, as shown in FIG. The auxiliary tool A'B'C'D' is placed in the lower part of the nacelle and fixed along the centerline of the tower. A'B' in Figure 8 represents the lower edge of the auxiliary tool in the camera, and can also represent the pixel distance of the lower edge, C 'D' represents the upper edge of the auxiliary tool in the camera, and it can also represent the pixel distance of the upper edge. The midpoint of G'H' is the tower identification point to be determined, that is, the distance on the cylinder when the blade sweeps the tower. The closest point to the leaf.

这一种方式,需要使用到相机的成像原理,为了更好的理解本方式下筒标识点的确定过程,下面对相机成像原理简要介绍,如图9所示,图9的(A)是辅助工具由一块板构成时的相机成像原理的示意图,其中OI为相机距离竖直向下的叶片的叶尖的实际高度,OE为相机距离辅助工具下边缘的实际高度,OF为相机距离辅助板上边缘的实际高度,C′D′为辅助工具上边缘在相机中的像素距离,A′B′为辅助工具下边缘在相机中的像素距离。需要说明的是,如上面所述,辅助工具还可以由两根竖杆和一根横杆构成或由一根竖杆和一个横杆构成,当辅助工具由一根竖杆和一个横杆构成时,其相机成像原理的示意图如图9的(B)所示。下面仅结合图9的(A),以辅助工具由一块板构成为例说明筒标识点的确定过程。This method needs to use the imaging principle of the camera. In order to better understand the process of determining the identification point of the barrel in this method, the following briefly introduces the imaging principle of the camera, as shown in Figure 9, (A) of Figure 9 is A schematic diagram of the camera imaging principle when the auxiliary tool is composed of a board, where OI is the actual height of the camera from the tip of the blade that is vertically downward, OE is the actual height of the camera from the lower edge of the auxiliary tool, and OF is the camera from the auxiliary board. The actual height of the upper edge, C'D' is the pixel distance of the upper edge of the auxiliary tool in the camera, and A'B' is the pixel distance of the lower edge of the auxiliary tool in the camera. It should be noted that, as mentioned above, the auxiliary tool can also be composed of two vertical bars and a horizontal bar or a vertical bar and a horizontal bar, when the auxiliary tool is composed of a vertical bar and a horizontal bar , the schematic diagram of the camera imaging principle is shown in Figure 9(B). In the following, only with reference to (A) of FIG. 9 , the process of determining the identification point of the cylinder will be described by taking the example that the auxiliary tool is composed of a plate.

基于相似三角形原理可以可知:ΔAEO≈ΔOO′A′、ΔBEO≈ΔOO′B′、ΔCOF≈ΔOO′C′、ΔDFO≈ΔOO′F′,还可知如下比例关系:Based on the similar triangle principle, it can be known that ΔAEO≈ΔOO'A', ΔBEO≈ΔOO'B', ΔCOF≈ΔOO'C', ΔDFO≈ΔOO'F', and the following proportional relationships can also be known:

Figure BDA0003001300280000111
Figure BDA0003001300280000111

通过上述关系,可以推理得到如下关系:From the above relationship, the following relationship can be inferred:

Figure BDA0003001300280000112
Figure BDA0003001300280000112

Figure BDA0003001300280000113
Figure BDA0003001300280000113

由于AB=CD,可得:Since AB=CD, we get:

Figure BDA0003001300280000114
Figure BDA0003001300280000114

Figure BDA0003001300280000115
Figure BDA0003001300280000115

同理,可得:Similarly, we can get:

Figure BDA0003001300280000116
Figure BDA0003001300280000116

Figure BDA0003001300280000117
Figure BDA0003001300280000117

在已知上述关系的情况下,根据本公开的实施例,可以通过如下方式基于图像的参数、物理参数和辅助参数,确定风力发电机组的塔筒标识点:基于辅助工具的四个端点的像素坐标、像素长度、实际长度以及拍摄设备安装点与竖直向下的叶片的叶尖的实际距离,得到塔筒标识点所在的线的两端点的坐标,其中,塔筒标识点所在的线为与辅助工具上下边缘平行的线,两端点为塔筒标识点所在的线分别与辅助工具的左边缘朝向塔筒顶端的延长线、辅助工具的右边缘朝向塔筒顶端的延长线的交点;基于塔筒标识点所在的线的两端点的坐标,得到两端点的中点,将中点确定为塔筒标识点。In the case of knowing the above relationship, according to the embodiments of the present disclosure, the tower identification point of the wind turbine can be determined based on the parameters of the image, the physical parameters and the auxiliary parameters in the following manner: Based on the pixels of the four end points of the auxiliary tool Coordinates, pixel length, actual length, and the actual distance between the installation point of the photographing device and the tip of the vertically downward blade, to obtain the coordinates of the two ends of the line where the tower identification point is located, where the line where the tower identification point is located is The line parallel to the upper and lower edges of the auxiliary tool, the two ends are the intersections of the line where the tower identification point is located, the extension line of the left edge of the auxiliary tool toward the top of the tower, and the extension line of the right edge of the auxiliary tool toward the top of the tower; based on The coordinates of the two end points of the line where the tower identification point is located, the midpoint of the two ends is obtained, and the midpoint is determined as the tower identification point.

具体地,已知图8所示的辅助工具的四个端点在图像中的像素点坐标为A′(xa,ya)、B′(xb,yb)、C′(xc,yc)、D′(xd,yd),A′B′,C′D′,OI,OE,OF,基于四个端点坐标、OI、OE和A′B′确定塔筒标识点所在的线的两端点G′H′的坐标,也可以基于四个端点坐标、OI、OF和C′D′确定塔筒标识点所在的线的两端点G′H′的坐标,然后,基于G′H′的坐标确定其中点位置,中点即为塔筒标识点。Specifically, it is known that the pixel coordinates of the four end points of the auxiliary tool shown in Fig. 8 in the image are A'(x a , y a ), B'(x b , y b ), C'(x c , y c ), D'(x d , y d ), A'B', C'D', OI, OE, OF, determine where the tower identification point is based on the coordinates of the four endpoints, OI, OE and A'B' The coordinates of the two end points G'H' of the line can also be determined based on the coordinates of the four end points, OI, OF and C'D' to determine the coordinates of the two end points G'H' of the line where the tower identification point is located. The coordinates of 'H' determine the position of the midpoint, and the midpoint is the identification point of the tower.

根据本公开的实施例,可以通过如下方式基于辅助工具的四个端点的像素坐标、像素长度、实际长度以及拍摄设备安装点与竖直向下的叶片的叶尖的实际距离,得到塔筒标识点所在的线的两端点的坐标:获取辅助工具的四个端点的像素坐标;基于辅助工具下边缘对应的两端点的像素坐标,得到辅助工具下边缘的像素长度,或,基于辅助工具上边缘对应的两端点的像素坐标,得到辅助工具上边缘的像素长度;基于辅助工具下边缘的像素长度或上边缘的像素长度、拍摄设备距离与像素长度对应的边缘的实际长度以及拍摄设备安装点与竖直向下的叶片的叶尖的实际距离,得到塔筒标识点所在的线的两端点的像素距离;基于塔筒标识点所在的线的两端点的像素距离和塔筒标识点所在的线的两端点的关系,得到塔筒标识点所在的线的两端点的坐标。According to the embodiments of the present disclosure, the tower identification can be obtained based on the pixel coordinates of the four end points of the auxiliary tool, the pixel length, the actual length, and the actual distance between the installation point of the photographing device and the tip of the vertically downward blade in the following manner The coordinates of the two ends of the line where the point is located: obtain the pixel coordinates of the four endpoints of the auxiliary tool; based on the pixel coordinates of the two end points corresponding to the lower edge of the auxiliary tool, obtain the pixel length of the lower edge of the auxiliary tool, or, based on the upper edge of the auxiliary tool The pixel coordinates of the corresponding two ends are obtained to obtain the pixel length of the upper edge of the auxiliary tool; based on the pixel length of the lower edge of the auxiliary tool or the pixel length of the upper edge, the actual length of the edge corresponding to the distance of the shooting device and the pixel length, and the installation point of the shooting device and the actual length of the edge. The actual distance of the tip of the vertically downward blade is obtained, and the pixel distance of the two ends of the line where the tower identification point is located is obtained; based on the pixel distance of the two ends of the line where the tower identification point is located and the line where the tower identification point is located The relationship between the two end points of , obtain the coordinates of the two ends of the line where the tower identification point is located.

具体地,以基于四个端点坐标、OI、OE和A′B′确定塔筒标识点所在的线的两端点G′H′的坐标为例进行说明。已知图8所示的辅助工具的四个端点在图像中的像素点坐标为A′(xa,ya)、B′(xb,yb)、C′(xc,yc)、D′(xd,yd),可通过如下公式得到A′B′:Specifically, the description is given by taking the determination of the coordinates of the two end points G′H′ of the line where the tower identification point is located based on the coordinates of the four end points, OI, OE and A′B′ as an example. It is known that the pixel coordinates of the four end points of the auxiliary tool shown in Fig. 8 in the image are A'(x a , y a ), B'(x b , y b ), C'(x c , y c ) , D'(x d , y d ), A'B' can be obtained by the following formula:

Figure BDA0003001300280000121
Figure BDA0003001300280000121

基于公式(8)以及公式(10)可以得到G′H′的像素距离:Based on formula (8) and formula (10), the pixel distance of G'H' can be obtained:

Figure BDA0003001300280000122
Figure BDA0003001300280000122

然后,基于A′B′C′D′四个端点的坐标得到G′H′的表达式(相当于塔筒标识点所在的线的两端点的关系),再基于G′H′的表达式以及G′H′的像素距离确定G′和H′的坐标。Then, based on the coordinates of the four endpoints of A'B'C'D', the expression of G'H' (equivalent to the relationship between the two ends of the line where the tower identification point is located) is obtained, and then based on the expression of G'H' And the pixel distance of G'H' determines the coordinates of G' and H'.

根据本公开的实施例,在基于塔筒标识点所在的线的像素距离和塔筒标识点所在的线的两端点的关系,得到塔筒标识点所在的线的两端点的坐标之前,基于辅助工具的左边缘的两端点的像素坐标,得到辅助工具的左边缘的两端点的关系;基于辅助工具的右边缘的两端点的像素坐标,得到辅助工具的右边缘的两端点的关系;根据辅助工具的左边缘的两端点的关系和右边缘的两端点的关系,得到塔筒标识点所在的线的两端点的关系。According to an embodiment of the present disclosure, before obtaining the coordinates of the two end points of the line where the tower identification point is located, based on the relationship between the pixel distance of the line where the tower identification point is located and the two ends of the line where the tower identification point is located, based on the auxiliary From the pixel coordinates of the two ends of the left edge of the tool, the relationship between the two ends of the left edge of the auxiliary tool is obtained; based on the pixel coordinates of the two ends of the right edge of the auxiliary tool, the relationship between the two ends of the right edge of the auxiliary tool is obtained; according to the auxiliary tool The relationship between the two end points of the left edge of the tool and the relationship between the two end points of the right edge is obtained to obtain the relationship between the two end points of the line where the tower identification point is located.

具体地,基于A′B′C′D′四个端点的坐标得到G′H′的表达式,可以通过如下方式实现:Specifically, the expression of G'H' is obtained based on the coordinates of the four endpoints of A'B'C'D', which can be achieved in the following ways:

基于A′C′的坐标A′(xa,ya)、C′(xc,yc)得到A′C′的表达式(相当于左边缘的两端点的关系):Based on the coordinates A'(x a , y a ) and C'(x c , y c ) of A'C', the expression of A'C' (equivalent to the relationship between the two ends of the left edge) is obtained:

Figure BDA0003001300280000123
Figure BDA0003001300280000123

基于B′D′的坐标B′(xb,yb)、D′(xd,yd)得到B′D′的表达式(相当于右边缘的两端点的关系):Based on the coordinates B'(x b , y b ) and D' (x d , y d ) of B'D', the expression of B'D' (equivalent to the relationship between the two ends of the right edge) is obtained:

Figure BDA0003001300280000131
Figure BDA0003001300280000131

由于A′B′斜率

Figure BDA0003001300280000132
Due to the A'B' slope
Figure BDA0003001300280000132

基于上述公式(12)-(14)可以得到直线G′H′表达式为:Based on the above formulas (12)-(14), the expression of the straight line G'H' can be obtained as:

y=kghx+bgh=kabx+bgh (15)y=k gh x+b gh =k ab x+b gh (15)

在得到G′H′表达式(15)后,基于G′H′的表达式以及G′H′的像素距离确定G′和H′的坐标可以通过如下方式实现:After the G'H' expression (15) is obtained, determining the coordinates of G' and H' based on the expression of G'H' and the pixel distance of G'H' can be implemented as follows:

此时,设G′点(xg,yg)在直线A′C′上,yg=kacxg+bacAt this time, let G' point (x g , y g ) be on the straight line A'C', y g =k ac x g +b ac then

bgh=yg-kghxg=yg-kabxg=kacxg+bac-kabxg=(kac-kab)xg+bac b gh =y g -k gh x g =y g -k ab x g =k ac x g +b ac -k ab x g =(k ac -k ab )x g +b ac

(16)(16)

因此,G′H′表达式可以表示为:Therefore, the G'H' expression can be expressed as:

y=kabx+bgh=kabx+yg-kghxg=kabx+kacxg+bac-kabxg(17)y=k ab x+b gh =k ab x+y g -k gh x g =k ab x+k ac x g +b ac -k ab x g (17)

然后,基于B′D′表达式(13)和G′H′表达式(17),可以得到B′D′和G′H′的交点H′的坐标:Then, based on B'D' expression (13) and G'H' expression (17), the coordinates of the intersection H' of B'D' and G'H' can be obtained:

Figure BDA0003001300280000133
Figure BDA0003001300280000133

Figure BDA0003001300280000134
Figure BDA0003001300280000134

基于G′和H′的坐标,以及上面求取的G′H′的像素距离c,得到如下方程:Based on the coordinates of G' and H', and the pixel distance c of G'H' obtained above, the following equation is obtained:

Figure BDA0003001300280000135
Figure BDA0003001300280000135

其中,in,

Figure BDA0003001300280000136
Figure BDA0003001300280000136

Figure BDA0003001300280000137
Figure BDA0003001300280000137

通过上述方程可以得到xgx g can be obtained from the above equation:

Figure BDA0003001300280000141
Figure BDA0003001300280000141

基于得到xg和上述公式,依次得到yg,xh,yh,获取G′和H′的坐标,通过二者的坐标,得到G′H′的中点,也即为所需确定的塔筒标识点。Based on the obtained x g and the above formula, y g , x h , y h are obtained in turn, and the coordinates of G' and H' are obtained. Through the coordinates of the two, the midpoint of G'H' is obtained, which is the required determination. Tower identification point.

在步骤S404中,基于塔筒标识点,确定叶尖到塔筒的净空距离。在确定了塔筒标识点后,可以结合辅助工具确定风力发电机组的叶尖到风力发电机组的塔筒的净空距离。In step S404, based on the tower identification point, the clearance distance from the blade tip to the tower is determined. After the tower identification point is determined, the clearance distance from the blade tip of the wind turbine to the tower of the wind turbine can be determined in combination with the auxiliary tool.

根据本公开的实施例,可以通过如下方式基于塔筒标识点,得到叶尖到塔筒的净空距离:获取叶片的叶尖与塔筒标识点的像素距离;获取辅助工具上边缘或下边缘的像素长度、与像素长度对应的边缘的实际长度;基于叶片的叶尖与塔筒标识点的像素距离、像素长度和实际长度,得到叶尖到塔筒的净空距离。通过本公开实施例,可以准确又便捷的得到净空距离。According to the embodiments of the present disclosure, the clearance distance from the blade tip to the tower can be obtained based on the tower identification point in the following ways: obtaining the pixel distance between the blade tip of the blade and the tower identification point; obtaining the upper edge or lower edge of the auxiliary tool Pixel length, the actual length of the edge corresponding to the pixel length; based on the pixel distance, pixel length and actual length between the blade tip and the tower identification point, the clearance distance from the blade tip to the tower is obtained. Through the embodiments of the present disclosure, the clearance distance can be obtained accurately and conveniently.

例如,如图5所示,双箭头所指示的即为净空距离,其在映射到平面上如图10所示,已知地面标识即辅助工具的长度为Lx,其对应的像素距离为Lx′,净空距离对应的像素距离为Lc′,则叶尖到塔筒的净空距离对应的真实距离Lc可以通过如下比例关系求取:For example, as shown in Figure 5, the double arrow indicates the clearance distance, which is mapped to the plane as shown in Figure 10. The length of the known ground sign, that is, the auxiliary tool, is L x , and the corresponding pixel distance is L x′ , the pixel distance corresponding to the clearance distance is L c′ , then the real distance L c corresponding to the clearance distance from the blade tip to the tower can be obtained by the following proportional relationship:

Figure BDA0003001300280000142
Figure BDA0003001300280000142

Figure BDA0003001300280000143
Figure BDA0003001300280000143

图11是示出本公开的风力发电机组的净空距离确定装置的框图,如图11所示,该装置包括图像获取单元110,物理参数获取单元112,塔筒标识点确定单元114和净空距离确定单元116。FIG. 11 is a block diagram illustrating a device for determining a clearance distance of a wind turbine of the present disclosure. As shown in FIG. 11 , the device includes an image acquisition unit 110 , a physical parameter acquisition unit 112 , a tower identification point determination unit 114 and a clearance distance determination unit 114 . unit 116.

图像获取单元110,被配置为获取安装在机舱上的拍摄设备拍摄的风力发电机组的图像;物理参数获取单元112,被配置为获取风力发电机组的物理参数;塔筒标识点确定单元114,被配置为基于图像的参数、物理参数和辅助参数,确定风力发电机组的塔筒标识点,其中,辅助参数是指辅助工具的相关参数,辅助工具设置在风力发电组的塔底;净空距离确定单元116,被配置为基于塔筒标识点,确定风力发电机组的叶尖到风力发电机组的塔筒的净空距离。The image acquisition unit 110 is configured to acquire the image of the wind power generator set photographed by the photographing equipment installed on the nacelle; the physical parameter acquisition unit 112 is configured to acquire the physical parameters of the wind power generator set; the tower identification point determination unit 114 is It is configured to determine the tower identification point of the wind turbine based on the parameters, physical parameters and auxiliary parameters of the image, wherein the auxiliary parameter refers to the relevant parameters of the auxiliary tool, and the auxiliary tool is set at the bottom of the tower of the wind turbine; the clearance distance determination unit 116, configured to determine a clearance distance from the tip of the wind turbine to the tower of the wind turbine based on the tower identification point.

根据本公开的实施例,图像的参数包括辅助工具的像素高度、辅助工具的中心线朝向塔筒顶端的延长线在图像中所能看到的部分的延长线像素距离,物理参数包括基于风力发电组的叶片竖直向下时叶尖距离地面的实际距离,辅助参数包括辅助工具的实际高度、延长线像素距离对应的实际距离。According to an embodiment of the present disclosure, the parameters of the image include the pixel height of the auxiliary tool, the pixel distance of the extension line of the extension line of the center line of the auxiliary tool toward the top of the tower that can be seen in the image, and the physical parameters include wind power generation The actual distance between the blade tip and the ground when the blades of the group are vertically downward. The auxiliary parameters include the actual height of the auxiliary tool and the actual distance corresponding to the pixel distance of the extension line.

根据本公开的实施例,塔筒标识点确定单元114,还被配置为基于叶片竖直向下时叶尖距离地面的实际距离、辅助工具的实际高度、辅助工具的像素高度,以及延长线像素距离和延长线像素距离对应的实际距离,得到叶片竖直向下时叶尖距离地面的像素距离;基于叶片竖直向下时叶尖距离地面的像素距离确定塔筒标识点。According to an embodiment of the present disclosure, the tower identification point determination unit 114 is further configured to be based on the actual distance of the blade tip from the ground when the blade is vertically downward, the actual height of the auxiliary tool, the pixel height of the auxiliary tool, and the pixels of the extension line The actual distance corresponding to the distance and the pixel distance of the extension line is used to obtain the pixel distance between the blade tip and the ground when the blade is vertically downward; the tower identification point is determined based on the pixel distance between the blade tip and the ground when the blade is vertically downward.

根据本公开的实施例,物理参数获取单元112,还被配置为基于风力发电机组的轮毂高度和叶轮直径,获取叶片竖直向下时叶尖距离地面的实际距离。According to an embodiment of the present disclosure, the physical parameter obtaining unit 112 is further configured to obtain the actual distance between the blade tip and the ground when the blade is vertically downward based on the hub height and the impeller diameter of the wind turbine.

根据本公开的实施例,延长线像素距离对应的实际距离是基于风力发电机组的塔筒高度、拍摄设备到塔筒中线的实际距离和拍摄设备的视角获取的。According to an embodiment of the present disclosure, the actual distance corresponding to the pixel distance of the extension line is obtained based on the tower height of the wind turbine, the actual distance from the photographing device to the center line of the tower, and the viewing angle of the photographing device.

根据本公开的实施例,塔筒标识点确定单元114,还被配置为确定塔筒中线上垂直距离塔底预定像素距离的坐标点,其中,预定像素距离为叶片竖直向下时叶尖距离地面的像素距离;将坐标点确定为塔筒标识点。According to an embodiment of the present disclosure, the tower identification point determining unit 114 is further configured to determine a coordinate point on the center line of the tower that is vertically away from the tower bottom by a predetermined pixel distance, where the predetermined pixel distance is the blade tip distance when the blade is vertically downward The pixel distance of the ground; the coordinate point is determined as the tower identification point.

根据本公开的实施例,图像的参数包括辅助工具的四个端点的像素坐标、辅助工具上边缘或下边缘的像素长度,物理参数包括拍摄设备安装点与竖直向下的叶片的叶尖的实际距离,辅助参数包括拍摄设备距离与像素长度对应的边缘的实际长度。According to an embodiment of the present disclosure, the parameters of the image include the pixel coordinates of the four end points of the auxiliary tool, the pixel length of the upper edge or the lower edge of the auxiliary tool, and the physical parameters include the distance between the installation point of the photographing device and the tip of the blade vertically downward. The actual distance, the auxiliary parameter includes the actual length of the edge corresponding to the pixel length from the photographing device.

根据本公开的实施例,塔筒标识点确定单元114,还被配置为基于辅助工具的四个端点的像素坐标、像素长度、实际长度以及拍摄设备安装点与竖直向下的叶片的叶尖的实际距离,得到塔筒标识点所在的线的两端点的坐标,其中,塔筒标识点所在的线为与辅助工具上下边缘平行的线,两端点为塔筒标识点所在的线分别与辅助工具的左边缘延长线、辅助工具的右边缘延长线的交点;基于塔筒标识点所在的线的两端点的坐标,得到两端点的中点,将中点确定为塔筒标识点。According to an embodiment of the present disclosure, the tower identification point determination unit 114 is further configured to be based on the pixel coordinates of the four end points of the auxiliary tool, the pixel length, the actual length, and the installation point of the photographing device and the tip of the vertically downward blade The actual distance of , obtain the coordinates of the two ends of the line where the tower identification point is located, wherein, the line where the tower identification point is located is a line parallel to the upper and lower edges of the auxiliary tool, and the two ends are the line where the tower identification point is located. The intersection point of the extension line of the left edge of the tool and the extension line of the right edge of the auxiliary tool; based on the coordinates of the two ends of the line where the tower identification point is located, the midpoint of the two ends is obtained, and the midpoint is determined as the tower identification point.

根据本公开的实施例,塔筒标识点确定单元114,还被配置为获取辅助工具的四个端点的像素坐标;基于辅助工具下边缘对应的两端点的像素坐标,得到辅助工具下边缘的像素长度,或,基于辅助工具上边缘对应的两端点的像素坐标,得到辅助工具上边缘的像素长度;基于辅助工具下边缘的像素长度或上边缘的像素长度、拍摄设备距离与像素长度对应的边缘的实际长度以及拍摄设备安装点与竖直向下的叶片的叶尖的实际距离,得到塔筒标识点所在的线的两端点的像素距离;基于塔筒标识点所在的线的两端点的像素距离和塔筒标识点所在的线的两端点的关系,得到塔筒标识点所在的线的两端点的坐标。According to an embodiment of the present disclosure, the tower identification point determination unit 114 is further configured to obtain the pixel coordinates of the four end points of the auxiliary tool; and obtain the pixel coordinates of the lower edge of the auxiliary tool based on the pixel coordinates of the two end points corresponding to the lower edge of the auxiliary tool Length, or, based on the pixel coordinates of the two end points corresponding to the upper edge of the auxiliary tool, the pixel length of the upper edge of the auxiliary tool is obtained; based on the pixel length of the lower edge of the auxiliary tool or the pixel length of the upper edge, the distance of the shooting device and the edge corresponding to the pixel length The actual length of the camera and the actual distance between the installation point of the shooting device and the tip of the vertically downward blade, obtain the pixel distance of the two ends of the line where the tower identification point is located; based on the pixel distance of the two ends of the line where the tower identification point is located The relationship between the distance and the two ends of the line where the tower identification point is located is obtained, and the coordinates of the two ends of the line where the tower identification point is located are obtained.

根据本公开的实施例,塔筒标识点确定单元114,还被配置为在基于塔筒标识点所在的线的像素距离和塔筒标识点所在的线的两端点的关系,得到塔筒标识点所在的线的两端点的坐标之前,基于辅助工具的左边缘的两端点的像素坐标,得到辅助工具的左边缘的两端点的关系;基于辅助工具的右边缘的两端点的像素坐标,得到辅助工具的右边缘的两端点的关系;根据辅助工具的左边缘的两端点的关系和右边缘的两端点的关系,得到塔筒标识点所在的线的两端点的关系。According to an embodiment of the present disclosure, the tower identification point determination unit 114 is further configured to obtain the tower identification point based on the relationship between the pixel distance of the line where the tower identification point is located and the two ends of the line where the tower identification point is located. Before the coordinates of the two ends of the line where it is located, based on the pixel coordinates of the two ends of the left edge of the auxiliary tool, the relationship between the two ends of the left edge of the auxiliary tool is obtained; based on the pixel coordinates of the two ends of the right edge of the auxiliary tool, the auxiliary tool is obtained. The relationship between the two ends of the right edge of the tool; according to the relationship between the two ends of the left edge of the auxiliary tool and the relationship between the two ends of the right edge, the relationship between the two ends of the line where the tower identification point is located is obtained.

根据本公开的实施例,净空距离确定单元116,还被配置为获取叶片的叶尖与塔筒标识点的像素距离;获取辅助工具上边缘或下边缘的像素长度、与像素长度对应的边缘的实际长度;基于叶片的叶尖与塔筒标识点的像素距离、像素长度和实际长度,得到叶尖到塔筒的净空距离。According to an embodiment of the present disclosure, the clearance distance determination unit 116 is further configured to obtain the pixel distance between the tip of the blade and the tower identification point; obtain the pixel length of the upper or lower edge of the auxiliary tool, and the edge corresponding to the pixel length. Actual length; based on the pixel distance, pixel length and actual length between the blade tip and the tower identification point, the clearance distance from the blade tip to the tower is obtained.

根据本公开的实施例,提供了一种存储指令的计算机可读存储介质,其中,当指令被至少一个计算装置运行时,促使至少一个计算装置执行如上述任一实施例的风力发电机组的净空距离确定方法。According to an embodiment of the present disclosure, there is provided a computer-readable storage medium storing instructions, wherein the instructions, when executed by at least one computing device, cause the at least one computing device to perform the headroom of the wind turbine according to any of the above embodiments distance determination method.

根据本公开的实施例,提供了一种包括至少一个计算装置和至少一个存储指令的存储装置的系统,其中,指令在被至少一个计算装置运行时,促使至少一个计算装置执行如上述任一实施例的风力发电机组的净空距离确定方法。According to embodiments of the present disclosure, there is provided a system comprising at least one computing device and at least one storage device storing instructions, wherein the instructions, when executed by the at least one computing device, cause the at least one computing device to perform any of the implementations described above. An example of the method of determining the clearance distance of a wind turbine.

虽然已表示和描述了本公开的一些实施例,但本领域技术人员应该理解,在不脱离由权利要求及其等同物限定其范围的本公开的原理和精神的情况下,可以对这些实施例进行修改。While a few embodiments of the present disclosure have been shown and described, those skilled in the art will appreciate that these embodiments can be to modify.

Claims (14)

1.一种风力发电机组的净空距离确定方法,其特征在于,包括:1. a method for determining the clearance distance of a wind turbine, comprising: 获取安装在机舱上的拍摄设备拍摄的风力发电机组的图像;Obtain images of wind turbines captured by camera equipment installed on the nacelle; 获取所述风力发电机组的物理参数;obtaining the physical parameters of the wind turbine; 基于所述图像的参数、所述物理参数和辅助参数,确定风力发电机组的塔筒标识点,其中,所述辅助参数是指辅助工具的相关参数,所述辅助工具设置在所述风力发电组的塔底;Determine the tower identification point of the wind turbine based on the parameters of the image, the physical parameters and the auxiliary parameters, wherein the auxiliary parameters refer to relevant parameters of auxiliary tools, and the auxiliary tools are set on the wind turbine. the bottom of the tower; 基于所述塔筒标识点,确定所述风力发电机组的叶尖到所述风力发电机组的塔筒的净空距离。Based on the tower identification point, the clearance distance from the tip of the wind turbine to the tower of the wind turbine is determined. 2.如权利要求1所述的净空距离确定方法,其特征在于,所述图像的参数包括所述图像中包括的辅助工具的像素高度、所述辅助工具的中心线朝向塔筒顶端的延长线在所述图像中所能看到的部分的延长线像素距离;2 . The method for determining the clearance distance according to claim 1 , wherein the parameters of the image include the pixel height of the auxiliary tool included in the image, the extension line of the center line of the auxiliary tool toward the top of the tower. 3 . The extension line pixel distance of the portion visible in the image; 所述物理参数包括基于所述风力发电组的叶片竖直向下时叶尖距离地面的实际距离;The physical parameter includes the actual distance between the blade tip and the ground when the blade of the wind turbine is vertically downward; 所述辅助参数包括所述辅助工具的实际高度、所述延长线像素距离对应的实际距离。The auxiliary parameters include the actual height of the auxiliary tool and the actual distance corresponding to the pixel distance of the extension line. 3.如权利要求2所述的净空距离确定方法,其特征在于,所述基于所述图像的参数、所述物理参数和辅助参数,确定风力发电机组的塔筒标识点,包括:3. The method for determining a clearance distance according to claim 2, wherein the determining the tower identification point of the wind turbine based on the parameters of the image, the physical parameters and the auxiliary parameters, comprising: 基于所述叶片竖直向下时叶尖距离地面的实际距离、所述辅助工具的实际高度、所述辅助工具的像素高度,以及所述延长线像素距离和所述延长线像素距离对应的实际距离,得到所述叶片竖直向下时叶尖距离地面的像素距离;Based on the actual distance between the blade tip and the ground when the blade is vertically downward, the actual height of the auxiliary tool, the pixel height of the auxiliary tool, and the actual distance corresponding to the pixel distance of the extension line and the pixel distance of the extension line distance, obtain the pixel distance between the blade tip and the ground when the blade is vertically downward; 基于所述叶片竖直向下时叶尖距离地面的像素距离确定所述塔筒标识点。The tower identification point is determined based on the pixel distance between the blade tip and the ground when the blade is vertically downward. 4.如权利要求3所述的净空距离确定方法,其特征在于,所述获取所述风力发电机组的物理参数,包括:4. The method for determining a clearance distance according to claim 3, wherein the acquiring the physical parameters of the wind turbine comprises: 基于所述风力发电机组的轮毂高度和叶轮直径,获取所述叶片竖直向下时叶尖距离地面的实际距离。Based on the hub height and the impeller diameter of the wind turbine, the actual distance between the blade tip and the ground when the blade is vertically downward is obtained. 5.如权利要求3所述的净空距离确定方法,其特征在于,所述延长线像素距离对应的实际距离是基于所述风力发电机组的塔筒高度、所述拍摄设备到塔筒中线的实际距离和所述拍摄设备的视角获取到的。5 . The method for determining the clearance distance according to claim 3 , wherein the actual distance corresponding to the pixel distance of the extension line is based on the tower height of the wind turbine and the actual distance from the photographing device to the center line of the tower. 6 . The distance and the angle of view of the shooting device are obtained. 6.如权利要求3所述的净空距离确定方法,其特征在于,所述基于所述叶片竖直向下时叶尖距离地面的像素距离确定所述塔筒标识点,包括:6. The method for determining a clearance distance according to claim 3, wherein determining the tower identification point based on the pixel distance between the blade tip and the ground when the blade is vertically downward, comprising: 确定所述塔筒中线上垂直距离塔底预定像素距离的坐标点,其中,所述预定像素距离为所述叶片竖直向下时叶尖距离地面的像素距离;Determine the coordinate point of the vertical distance from the tower bottom to the predetermined pixel distance on the center line of the tower, wherein the predetermined pixel distance is the pixel distance between the blade tip and the ground when the blade is vertically downward; 将所述坐标点确定为所述塔筒标识点。The coordinate point is determined as the tower identification point. 7.如权利要求1所述的净空距离确定方法,其特征在于,所述图像的参数包括所述图像中包括的所述辅助工具的四个端点的像素坐标、所述辅助工具上边缘或下边缘的像素长度;7 . The method for determining the clearance distance according to claim 1 , wherein the parameters of the image include the pixel coordinates of the four end points of the auxiliary tool included in the image, the upper edge or the lower edge of the auxiliary tool. 8 . the pixel length of the edge; 所述物理参数包括所述拍摄设备安装点与竖直向下的叶片的叶尖的实际距离;The physical parameter includes the actual distance between the installation point of the photographing device and the tip of the vertically downward blade; 所述辅助参数包括拍摄设备距离与所述像素长度对应的边缘的实际长度。The auxiliary parameter includes the actual length of the photographing device from the edge corresponding to the pixel length. 8.如权利要求7所述的净空距离确定方法,其特征在于,所述基于所述图像的参数、所述物理参数和辅助参数,确定风力发电机组的塔筒标识点,包括:8. The method for determining the clearance distance according to claim 7, wherein the determining the tower identification point of the wind turbine based on the parameters of the image, the physical parameters and the auxiliary parameters, comprising: 基于所述辅助工具的四个端点的像素坐标、所述像素长度、所述实际长度以及拍摄设备安装点与竖直向下的叶片的叶尖的实际距离,得到所述塔筒标识点所在的线的两端点的坐标,其中,所述塔筒标识点所在的线为与所述辅助工具上下边缘平行的线,所述两端点为所述塔筒标识点所在的线分别与所述辅助工具的左边缘朝向塔筒顶端的延长线、所述辅助工具的右边缘朝向塔筒顶端的延长线的交点;Based on the pixel coordinates of the four end points of the auxiliary tool, the pixel length, the actual length, and the actual distance between the installation point of the photographing device and the tip of the vertically downward blade, the location where the tower identification point is located is obtained. The coordinates of the two ends of the line, wherein the line where the tower identification point is located is a line parallel to the upper and lower edges of the auxiliary tool, and the two ends are the line where the tower identification point is located and the auxiliary tool respectively. The intersection of the extension line of the left edge of the auxiliary tool toward the top of the tower and the extension of the right edge of the auxiliary tool toward the top of the tower; 基于所述塔筒标识点所在的线的两端点的坐标,得到所述两端点的中点,将所述中点确定为塔筒标识点。Based on the coordinates of the two end points of the line where the tower identification point is located, the midpoint of the two end points is obtained, and the midpoint is determined as the tower identification point. 9.如权利要求8所述的净空距离确定方法,其特征在于,所述基于所述辅助工具的四个端点的像素坐标、所述像素长度、所述实际长度以及拍摄设备安装点与竖直向下的叶片的叶尖的实际距离,得到所述塔筒标识点所在的线的两端点的坐标,包括:9 . The method for determining the clearance distance according to claim 8 , wherein the pixel coordinates based on the four endpoints of the auxiliary tool, the pixel length, the actual length, and the installation point of the photographing device and the vertical The actual distance of the blade tip of the downward blade, obtain the coordinates of the two ends of the line where the tower identification point is located, including: 获取所述辅助工具的四个端点的像素坐标;Obtain the pixel coordinates of the four endpoints of the auxiliary tool; 基于所述辅助工具下边缘对应的两端点的像素坐标,得到所述辅助工具下边缘的像素长度,或,基于所述辅助工具上边缘对应的两端点的像素坐标,得到所述辅助工具上边缘的像素长度;Obtain the pixel length of the lower edge of the auxiliary tool based on the pixel coordinates of the two end points corresponding to the lower edge of the auxiliary tool, or obtain the upper edge of the auxiliary tool based on the pixel coordinates of the two end points corresponding to the upper edge of the auxiliary tool pixel length; 基于所述辅助工具下边缘的像素长度或上边缘的像素长度、所述拍摄设备距离与所述像素长度对应的边缘的实际长度以及拍摄设备安装点与竖直向下的叶片的叶尖的实际距离,得到所述塔筒标识点所在的线的两端点的像素距离;Based on the pixel length of the lower edge of the auxiliary tool or the pixel length of the upper edge, the actual length of the photographing device from the edge corresponding to the pixel length, and the actual distance between the mounting point of the photographing device and the tip of the vertically downward blade distance, obtains the pixel distance of the two ends of the line where the tower identification point is located; 基于所述塔筒标识点所在的线的两端点的像素距离和所述塔筒标识点所在的线的两端点的关系,得到所述塔筒标识点所在的线的两端点的坐标。Based on the pixel distance between the two ends of the line where the tower identification point is located and the relationship between the two ends of the line where the tower identification point is located, the coordinates of the two ends of the line where the tower identification point is located are obtained. 10.如权利要求8所述的净空距离确定方法,其特征在于,在基于所述塔筒标识点所在的线的像素距离和所述塔筒标识点所在的线的两端点的关系,得到所述塔筒标识点所在的线的两端点的坐标之前,还包括:10. The method for determining the clearance distance according to claim 8, characterized in that, based on the relationship between the pixel distance of the line where the tower identification point is located and the two ends of the line where the tower identification point is located, the obtained value is obtained. Before describing the coordinates of the two ends of the line where the tower identification point is located, it also includes: 基于所述辅助工具的左边缘的两端点的像素坐标,得到所述辅助工具的左边缘的两端点的关系;Based on the pixel coordinates of the two ends of the left edge of the auxiliary tool, the relationship between the two ends of the left edge of the auxiliary tool is obtained; 基于所述辅助工具的右边缘的两端点的像素坐标,得到所述辅助工具的右边缘的两端点的关系;Based on the pixel coordinates of the two ends of the right edge of the auxiliary tool, the relationship between the two ends of the right edge of the auxiliary tool is obtained; 根据所述辅助工具的左边缘的两端点的关系和右边缘的两端点的关系,得到所述塔筒标识点所在的线的两端点的关系。According to the relationship between the two ends of the left edge of the auxiliary tool and the relationship between the two ends of the right edge, the relationship between the two ends of the line where the tower identification point is located is obtained. 11.如权利要求1至10中任一项所述的净空距离确定方法,其特征在于,所述基于所述塔筒标识点,得到所述叶尖到所述塔筒的净空距离,包括:11. The method for determining a clearance distance according to any one of claims 1 to 10, wherein the obtaining the clearance distance from the blade tip to the tower based on the tower identification point, comprising: 获取所述叶片的叶尖与所述塔筒标识点的像素距离;Obtain the pixel distance between the tip of the blade and the identification point of the tower; 获取辅助工具上边缘或下边缘的像素长度、与所述像素长度对应的边缘的实际长度;Obtain the pixel length of the upper or lower edge of the auxiliary tool, and the actual length of the edge corresponding to the pixel length; 基于所述叶片的叶尖与所述塔筒标识点的像素距离、所述像素长度和所述实际长度,得到所述叶尖到所述塔筒的净空距离。Based on the pixel distance between the blade tip of the blade and the tower identification point, the pixel length and the actual length, the clearance distance from the blade tip to the tower is obtained. 12.一种风力发电机组的净空距离确定装置,其特征在于,包括:12. A device for determining the clearance distance of a wind turbine, comprising: 图像获取单元,被配置为获取安装在机舱上的拍摄设备拍摄到的风力发电机组的图像;an image acquisition unit, configured to acquire an image of the wind turbine that is photographed by a photographing device installed on the nacelle; 物理参数获取单元,被配置为获取所述风力发电机组的物理参数;a physical parameter acquisition unit, configured to acquire physical parameters of the wind turbine; 塔筒标识点确定单元,被配置为基于所述图像的参数、所述物理参数和辅助参数,确定风力发电机组的塔筒标识点,其中,所述辅助参数是指辅助工具的相关参数,所述辅助工具设置在所述风力发电组的塔底;The tower identification point determination unit is configured to determine the tower identification point of the wind turbine based on the parameters of the image, the physical parameters and the auxiliary parameters, wherein the auxiliary parameters refer to relevant parameters of auxiliary tools, so The auxiliary tool is arranged at the bottom of the tower of the wind power generating set; 净空距离确定单元,被配置为基于所述塔筒标识点,确定所述风力发电机组的叶尖到所述风力发电机组的塔筒的净空距离。The clearance distance determination unit is configured to determine the clearance distance from the tip of the wind turbine to the tower of the wind turbine based on the tower identification point. 13.一种存储指令的计算机可读存储介质,其中,当所述指令被至少一个计算装置运行时,促使所述至少一个计算装置执行如权利要求1至11中的任一权利要求所述的风力发电机组的净空距离确定方法。13. A computer-readable storage medium storing instructions, wherein the instructions, when executed by at least one computing device, cause the at least one computing device to perform the method of any one of claims 1 to 11. Method for determining the clearance distance of wind turbines. 14.一种包括至少一个计算装置和至少一个存储指令的存储装置的系统,其中,所述指令在被所述至少一个计算装置运行时,促使所述至少一个计算装置执行如权利要求1至11中的任一权利要求所述的风力发电机组的净空距离确定方法。14. A system comprising at least one computing device and at least one storage device storing instructions, wherein the instructions, when executed by the at least one computing device, cause the at least one computing device to perform the performance of claims 1 to 11 The method for determining the clearance distance of a wind turbine according to any one of claims.
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CN115218801A (en) * 2022-07-15 2022-10-21 无锡太湖学院 Machine vision-based wind driven generator clearance distance measuring method and device

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