CN113864132B - Tower clearance monitoring method, device and equipment - Google Patents

Abstract

The invention relates to a method, a device and equipment for monitoring tower clearance. The monitoring method comprises the following steps: selecting a monitoring position in the wind power plant to monitor a tower and blades of any wind generating set in the wind power plant; acquiring relative position information between a monitoring position and a central shaft of the tower; acquiring azimuth information of a rotating plane of the blade at the current moment and information of the shortest distance L between the blade tip of the blade and the edge of the tower; determining a relative observation angle theta at a monitoring position according to the azimuth information and the relative position information of the rotating plane at the current moment; and calculating a clearance value d of the tower according to the relative observation angle theta, the shortest distance L and the radius dimension R of the tower, wherein d = L/cos theta + R (1/cos theta-1). The method and the device can monitor the tower clearance of at least one wind generating set in the wind power plant, and have high monitoring efficiency and lower cost.

Description

Monitoring method, device and equipment for tower headroom

technical field

The invention relates to the technical field of wind power generation, in particular to a monitoring method, device and equipment for the clearance of a tower.

Background technique

The tower clearance of the wind turbine refers to the straight-line distance from the blade tip to the tower wall when the blades of the wind turbine are vertical to the horizontal plane. During the operation of wind turbines, due to damage to blades, sensor failures, control system failures, or extreme wind conditions, the whole machine may experience vibration instability, and the distance between the tip of the blade and the tower, that is, the headroom, will decrease sharply. , eventually causing the blade to break when it collides with the tower. This phenomenon is also known as "tower sweeping". For wind power generators, once the blade sweeps the tower, it will bring great economic losses to the wind farm.

At present, the tower clearance of wind turbines cannot be measured by measuring tools. Generally, the monitoring system is used to monitor the tower clearance of a single wind turbine at a specific location. In the collection of unit clearance parameters, it is necessary to constantly change the position of the monitoring equipment. . If this method is used to monitor the headroom of all wind turbines in the entire wind farm, the monitoring efficiency is low and the cost is high.

Contents of the invention

The object of the present invention is to provide a tower clearance monitoring method, device and equipment. The monitoring method can monitor the tower clearance of at least one wind power generation unit in a wind farm, and has high monitoring efficiency.

In one aspect, the present invention provides a method for monitoring the clearance of a tower, including: selecting a monitoring position in a wind farm to monitor the tower and blades of any wind power generating set in the wind farm; obtaining the monitoring position and the center of the tower The relative position information between the shafts; obtain the orientation information of the rotation plane of the blade at the current moment, the shortest distance L between the tip of the blade and the edge of the tower; The relative observation angle θ of the position; according to the relative observation angle θ, the shortest distance L and the radius size R of the tower, the value d of the tower clearance is calculated, and d=L/cosθ+R(1/cosθ-1).

According to one aspect of the present invention, acquiring the orientation information of the rotation plane of the blade at the current moment includes: acquiring the orientation information of the rotation plane when the wind turbine is at the first yaw angle, and using the orientation of the rotation plane as a reference angle; acquiring the current The second yaw angle information of the wind power generating set at the moment; the orientation of the rotation plane at the current moment is determined according to the reference angle reference and the variation of the second yaw angle relative to the first yaw angle.

According to one aspect of the present invention, obtaining the orientation information of the rotation plane when the wind turbine is at the first yaw angle, and using the orientation of the rotation plane as a reference angle includes: when the wind turbine is at the first yaw angle, monitoring the moment The first vertical distance between the blade tip corresponding to multiple sampling time points and the preset mark on the tower; when the first vertical distance is the smallest, the orientation of the rotation plane of the blade corresponding to the sampling time point is the reference angle benchmark .

According to one aspect of the present invention, obtaining the shortest distance L between the blade tip of the blade and the edge of the tower at the current moment includes: monitoring the distance between the blade tip corresponding to multiple sampling time points at the current moment and the preset mark on the tower The second vertical distance between; when the second vertical distance is the smallest, the horizontal distance between the blade tip and the edge of the tower corresponding to the sampling time point is the shortest distance L.

According to one aspect of the present invention, determining the relative observation angle θ of the monitoring device according to the orientation information and relative position information of the rotation plane includes: obtaining the projection formed by the line between the monitoring device itself and the central axis of the tower in the horizontal plane The first straight line L1; obtain the second straight line L2 formed by the projection of the reference plane parallel to the rotation plane and passing through the central axis of the tower in the horizontal plane, the angle between the first straight line L1 and the second straight line L2 is Relative observation angle θ.

On the other hand, the present invention also provides a monitoring device for tower clearance, including: an image unit, used to obtain image information of the tower and blades of any wind power generating set in the wind farm; a position recognition unit, used to Identify the position information of the blade and the tower at the current moment from the image information; the processing unit is used to determine the orientation information of the rotation plane of the blade and the shortest distance between the tip of the blade and the edge of the tower according to the position information identified by the position recognition unit distance L information; and used to obtain the relative position information between the monitoring equipment itself and the central axis of the tower; determine the relative observation angle θ of the monitoring equipment according to the orientation information and relative position information of the rotation plane; Observe the angle θ, the shortest distance L and the radius size R of the tower, and calculate the clearance value d of the tower, and d=L/cosθ+R(1/cosθ-1).

According to one aspect of the present invention, the processing unit is also used to: acquire the orientation information of the rotation plane when the wind turbine is at the first yaw angle, and use the orientation of the rotation plane as a reference angle; acquire the second angle of the wind turbine at the current moment. Yaw angle information: determine the orientation of the rotation plane at the current moment according to the reference angle reference and the variation of the second yaw angle relative to the first yaw angle.

According to one aspect of the present invention, the processing unit is further configured to: when the wind turbine is at the first yaw angle, monitor the first distance between the blade tip corresponding to the plurality of sampling time points at this moment and the preset mark on the tower. A vertical distance; when the first vertical distance is the smallest, the orientation of the rotation plane of the blade corresponding to the sampling time point is the reference angle.

According to one aspect of the present invention, the processing unit is also used to: monitor the second vertical distance between the blade tip corresponding to the plurality of sampling time points at the current moment and the preset mark on the tower; when the second vertical distance is the smallest, The horizontal distance between the blade tip and the edge of the tower corresponding to the sampling time point is the shortest distance L.

According to one aspect of the present invention, the processing unit is also used to: obtain the first straight line L1 formed by the projection of the line between the monitoring position and the central axis of the tower in the horizontal plane; obtain the first straight line L1 that is parallel to the rotation plane and passes through the tower The second straight line L2 formed by the projection of the reference plane of the central axis in the horizontal plane, the angle between the first straight line L1 and the second straight line L2 is the relative observation angle θ.

According to one aspect of the present invention, there is at least one image unit, and at least one image unit is rotatable around the central axis of the monitoring device.

In addition, the present invention also provides a monitoring device for the clearance of a tower, including: a memory, storing computer program instructions; and a processor, when the computer program instructions are executed by the processor, the monitoring method for the clearance of the tower as described above is realized .

In addition, the present invention also provides a computer-readable storage medium, including instructions, and when the instructions are run on the computer, the computer is made to execute the aforementioned method for monitoring the clearance of the tower.

A method, device and equipment for monitoring the clearance of a tower provided by the present invention can monitor the clearance of the tower of at least one wind power generation unit in the wind farm by setting a monitoring device at a monitoring position in the wind farm, and the monitoring efficiency is high. And the cost is lower.

Description of drawings

The features, advantages, and technical effects of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings. In the figures, the same parts are given the same reference numerals. The figures are not drawn to scale.

Fig. 1 is a block flow diagram of a monitoring method for tower headroom provided by an embodiment of the present invention;

Fig. 2 is a schematic diagram of the scene of the monitoring device in the wind farm in the method for monitoring the clearance of the tower described in Fig. 1;

Fig. 3 is a schematic front view of the relative position between the monitoring device shown in Fig. 2 and any wind power generating set;

Fig. 4 is a schematic side view of the relative position between the monitoring device shown in Fig. 2 and any wind power generating set;

Fig. 5 is a schematic diagram of the working principle of the monitoring method for tower headroom described in Fig. 1;

Fig. 6 is a schematic structural diagram of a tower headroom monitoring device provided by an embodiment of the present invention.

Explanation of reference signs:

Monitoring device-1; Image unit-11; Position recognition unit-12; Processing unit-13;

Wind Turbine-2; Tower-21; Mark-22; Blade-23; Blade Tip-231; Rotation Plane-P.

Detailed ways

Features and exemplary embodiments of various aspects of the invention will be described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by showing examples of the present invention. In the drawings and the following description, at least some well-known structures and techniques have not been shown in order to avoid unnecessarily obscuring the present invention; and, for clarity, the dimensions of some structures may have been exaggerated. Furthermore, the features, structures, or characteristics described hereinafter may be combined in any suitable manner in one or more embodiments.

The orientation words appearing in the following description are all directions shown in the figure, and do not limit the specific structure of the present invention. In the description of the present invention, it should also be noted that unless otherwise specified and limited, the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, Or integrally connected; can be directly connected or indirectly connected. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In order to better understand the present invention, a method and device for monitoring the clearance of a tower provided by an embodiment of the present invention will be described in detail below with reference to FIGS. 1 to 6 .

Fig. 1 is a block flow diagram of a method for monitoring tower clearance provided by an embodiment of the present invention, Fig. 2 is a schematic diagram of a scene of a monitoring device in a wind farm in the method for monitoring tower clearance described in Fig. 1 , and Fig. 3 is The front schematic diagram of the relative position between the monitoring device shown in Fig. 2 and any wind power generating set, Fig. 4 is the side view schematic diagram of the relative position between the monitoring device shown in Fig. 2 and any wind power generating set, Fig. 5 is a schematic diagram of the working principle of the monitoring method for the headroom of the tower described in FIG. 1 .

Please refer to Fig. 1 to Fig. 5 together, the embodiment of the present invention provides a monitoring method for tower headroom, including:

Step S1: Select a monitoring location E in the wind farm to monitor the tower 21 and the blade 23 of any wind power generation unit 2 in the wind farm. In order to facilitate the observation of the tower 21 and the blade 23 of any wind power generation unit 2 in the wind farm, the monitoring position E of the monitoring device 1 can be set near the center position of all wind power generators in the wind farm in a distance-first manner, and The monitoring radius of the monitoring device 1 meets the detection distance requirement of the monitoring device 1 . At the same time, in order to facilitate data collection and transmission and shorten the length of the data line, the monitoring position E can be set near the booster station in the wind farm. If the booster station is located near the center of the wind farm, the monitoring position E can be set on the booster station. As for the height direction of the monitoring position E, it only needs to be convenient for observing any wind power generating set 2 and not be blocked by surrounding objects.

Step S2: Obtain relative position information between the monitoring position E and the central axis of the tower 21;

Step S3: Obtain the orientation information of the rotation plane P of the blade 23 at the current moment, and the shortest distance L between the blade tip 231 of the blade 23 and the edge of the tower 21;

Step S4: Determine the relative observation angle θ at the monitoring position E according to the orientation information and relative position information of the rotation plane P at the current moment;

Step S5: Calculate the clearance value d of the tower 21 according to the relative observation angle θ, the shortest distance L and the radius R of the tower 21, and d=L/cosθ+R(1/cosθ-1).

As shown in FIG. 2 , the monitoring device 1 is placed in the wind farm and can monitor the tower 21 and the blade 23 of any wind power generation unit 2 in the wind farm. Take a wind power generating set 2 in the middle of the left side shown in FIG. 2 as an example. As shown in the top view of the wind farm in FIG. The projection of the blade tip 231 in the horizontal plane is B, the projection of the rotation plane P of the blade 23 in the horizontal plane passes through point B, the intersection point between the line between OB and the edge of the tower 21 is C, and the monitoring device 1 The projection of the position in the horizontal plane is the monitoring position E, and the angle between OE and the projected line parallel to the rotation plane P in the horizontal plane (that is, the vertical dashed line in Fig. 5 ) is the relative observation angle θ of the monitoring device 1 . The vertical line of OE is ON, and when the blade tip 231 reaches the vertical position, the projection S of the blade tip 231 on the ON line can be monitored from the angle of the monitoring device 1, and the point F is a point on the edge of the tower 21, and the point of SF is The length is the shortest distance L between the blade tip 231 and the edge of the tower 21 . Since the distances of OF and OC are both the radius of the tower 21 , the distance between BC is the clearance value d of the tower 21 .

According to the law of cosines, it can be known that the calculation formula of the headroom value d is: d=OB-OC=(SF+OF)/cosθ-OC=L/cosθ+R(1/cosθ-1), and it is also possible to directly measure the The distance between, and then calculate the clearance value d of the tower 21 according to the law of cosines.

Optionally, the monitoring device 1 has a camera device or an infrared device, which can obtain the position of the tip 231 of the blade 23 of the wind power generating set 2 in real time, the position of the tower 21, and the relative relationship between the position of the tower 21 and the monitoring position E of the monitoring device 1. location information.

In order to facilitate the monitoring of the clearance value d of the tower of any wind power generation unit 2 in the wind farm, optionally, the monitoring device 1 has the function of rotating 360° around the vertical axis of rotation in the horizontal plane, and the monitoring can be adjusted at any time as required. The monitoring angle of the camera device or the infrared device of the device 1.

Optionally, the monitoring device 1 has a plurality of camera devices or a plurality of infrared devices, and the plurality of camera devices or a plurality of infrared devices all have the function of rotating 360° around the vertical axis of rotation, and can simultaneously monitor a plurality of wind power generating sets 2 for the clearance d of the tower.

A method for monitoring the clearance of a tower provided by an embodiment of the present invention, by setting a monitoring device 1 at the monitoring position E in the wind farm, the tower clearance value d of at least one wind power generating set in the wind farm can be monitored, and the monitoring efficiency high and low cost.

A data acquisition and monitoring control system (Supervisory Control And Data Acquisition, SCADA) is installed in the wind farm, which can obtain information such as wind speed and wind direction angle of the monitored wind turbine 2. In order to capture wind energy as much as possible, wind turbines need to face the wind accurately according to the wind direction. A yaw system is provided between the nacelle and the tower, so that the wind generating set 2 can face the wind.

When the wind power generating set 2 yaws through the yaw system, the rotation plane P of the blade 23 will rotate, and the relative observation angle θ of the monitoring device 1 will also change.

Thus, in step S3, the orientation information of the rotation plane P of the blades 23 of the wind power generating set 2 at the current moment is acquired, including:

Step S31: Obtain the orientation information of the rotation plane P when the wind power generating set 2 is at the first yaw angle, and use the orientation of the rotation plane P as a reference angle reference.

Step S32: Obtain the second yaw angle information of the wind power generating set 2 at the current moment.

Step S33: Determine the orientation information of the rotation plane P at the current moment according to the reference angle reference and the variation of the second yaw angle relative to the first yaw angle.

Optionally, the first yaw angle of the wind power generating set 2 is any angle adjusted according to the wind direction. For example, if the first yaw angle is 0, the blade 23 rotates to the vertical direction and the blade tip 231 faces the ground when the rotation plane P The projected straight line in the horizontal plane is the reference angle datum. According to the reference angle reference and the variation of the second yaw angle relative to the first yaw angle, the relative rotation angle of the rotation plane P can be known, so that the towers of the wind turbines in any rotation state in the wind farm can be monitored at any time Overhead headroom d.

Further, in step S31, acquiring the orientation information of the rotation plane P when the wind turbine 2 is at the first yaw angle, and using the orientation of the rotation plane P as a reference angle includes:

Step S311 : When the wind power generating set 2 is at the first yaw angle, monitor the first vertical distance between the blade tip 231 corresponding to multiple sampling time points at this moment and the preset mark 22 on the tower 21 .

Optionally, the marker 22 is a reflective material attached to the tower 21 at a predetermined height or a fluorescent lamp with a striking color, so that it can be recognized by the monitoring device 1 both day and night. The predetermined height may be the height of the tower 21 corresponding to the lowest position of the blade tip 231 in the vertical direction.

Step S312: When the first vertical distance is the smallest, the orientation of the rotation plane P of the blade 23 corresponding to the sampling time point is the reference angle.

After the monitoring device 1 is placed at the monitoring position E in the wind farm, the monitoring device 1 can be rotated to obtain the first yaw angle of each wind generating set 2 in the wind farm at any time and the position where the rotation plane P of the blade 23 is located at this moment. The azimuth is used as a reference angle benchmark for subsequent monitoring of the clearance value d of the tower 21 of each wind power generating set 2 . The number of sampling time points is, for example, 1000. The first vertical distance per millisecond at this moment can be monitored, and the first vertical distances are compared. When the first vertical distance is the smallest, it means that the blade tip 231 has reached the vertical direction at this time. At this time, the orientation of the rotation plane P of the blade 23 is the reference angle.

Since the installation position of each wind generating set 2 in the wind farm is fixed, the reference angle benchmark of each wind generating set 2 is also easy to determine. According to SCADA, the yaw information of each wind generating set 2 can be obtained at any time, so that through a monitoring device 1 can monitor the clearance value d of the tower 21 of any wind power generating set 2 in the wind farm.

Further, in step S3, obtaining the shortest distance L between the blade tip 231 and the edge of the tower 21 at the current moment includes:

Step S34: Monitoring the second vertical distance between the blade tip 231 corresponding to multiple sampling time points at the current moment and the preset mark 22 on the tower 21 .

Step S35: When the second vertical distance is the smallest, the horizontal distance between the blade tip 231 and the edge of the tower 21 corresponding to the sampling time point is the shortest distance L. The number of sampling time points is, for example, 1000. The third vertical distance per millisecond at the current moment can be monitored, and the third vertical distances are compared. When the third vertical distance is the smallest, it means that the blade tip 231 has reached the vertical direction at this time. At this time, the shortest distance L between the blade tip 231 and the edge of the tower 21 is the cosine projection of the clearance value d of the tower 21 observed from the perspective of the monitoring device 1 on the ON line. According to the aforementioned cosine law, the clearance value d of the tower 21 can be calculated.

Further, in step S4, the relative observation angle θ of the monitoring device 1 is determined according to the orientation information and relative position information of the rotation plane P at the current moment, including:

Step S41: Obtain the first straight line L1 formed by the projection of the line between the monitoring position E and the central axis of the tower 21 in the horizontal plane. The first straight line L1 is the extension of the OE line in FIG. 5 .

Step S42: Obtain the second straight line L2 formed by the projection of the reference plane parallel to the rotation plane P and passing through the central axis of the tower 21 in the horizontal plane, the angle between the first straight line L1 and the second straight line L2 is relative Observation angle θ.

The relative observation angle θ formed by the angle between the first straight line L1 and the second straight line L2 is the observation angle of the monitoring device 1 at the monitoring position E relative to the rotation plane P of the blade 23 . When the first yaw angle is equal to the second yaw angle, the orientation of the rotation plane P remains unchanged, and the observation angle θ remains the same value; when the second yaw angle changes, the relative observation angle θ also changes accordingly .

Referring to FIG. 6 , the embodiment of the present invention also provides a tower clearance monitoring device 1 , including: an image unit 11 , a position identification unit 12 , a processing unit 13 and a calculation unit 14 .

The image unit 11 is used to obtain image information of the tower 21 and the blade 23 of any wind power generating set 2 in the wind farm. The image unit 11 may be a camera device or an infrared device. Optionally, there is at least one image unit 11, and at least one image unit 11 is rotatable around the central axis of the monitoring device 1, so that the tower clearance value d of at least one wind power generating set in the wind farm can be simultaneously observed.

The position identifying unit 12 is used to identify the position information of the blade 23 and the tower 21 at the current moment from the image information.

The processing unit 13 is used to determine the orientation information of the rotation plane P of the blade 23 at the current moment and the shortest distance L between the blade tip 231 of the blade 23 and the edge of the tower 21 according to the position information identified by the position identification unit 12; Relative position information between the monitoring position E and the central axis of the tower 21; determine the relative observation angle θ of the monitoring device 1 at the monitoring position E according to the orientation information and relative position information of the rotation plane P at the current moment.

The calculation unit 14 is used to calculate the clearance value d of the tower 21 according to the relative observation angle θ, the shortest distance L and the radius R of the tower 21, and d=L/cosθ+R(1/cosθ-1).

Further, the processing unit 13 is also used to: obtain the orientation information of the rotation plane P when the wind turbine 2 is at the first yaw angle, and use the orientation of the rotation plane P as a reference angle; Two yaw angle information: determine the orientation of the rotation plane P at the current moment according to the reference angle reference and the variation of the second yaw angle relative to the first yaw angle.

Further, the processing unit 13 is also used for: when the wind power generating set 2 is at the first yaw angle, monitor the distance between the blade tip 231 corresponding to multiple sampling time points at this moment and the preset mark 22 on the tower 21 The first vertical distance; when the first vertical distance is the smallest, the orientation of the rotation plane P of the blade 23 corresponding to the sampling time point is the reference angle.

Further, the processing unit 13 is also used to: monitor the second vertical distance between the blade tip 231 corresponding to multiple sampling time points at the current moment and the preset mark 22 on the tower 21; when the second vertical distance is the smallest, The horizontal distance between the blade tip 231 and the edge of the tower 21 corresponding to the sampling time point is the shortest distance L.

Further, the processing unit 13 is also used to: obtain the first straight line L1 formed by the projection of the line between the monitoring position E and the central axis of the tower 21 in the horizontal plane; obtain the first straight line L1 parallel to the rotation plane P and passing through the tower The second straight line L2 formed by the projection of the reference plane of the central axis of 21 on the horizontal plane, the angle between the first straight line L1 and the second straight line L2 is the relative observation angle θ.

It can be understood that the tower headroom monitoring device 1 provided in the embodiment of the present invention is the execution subject of the aforementioned tower headroom monitoring method, and the content of the tower headroom monitoring method is specifically realized by each unit of the monitoring device 1, in This will not be repeated here.

A tower clearance monitoring device 1 provided by an embodiment of the present invention can monitor the tower clearance value d of at least one wind power generation unit in a wind farm through one monitoring device 1 , with high monitoring efficiency and low cost. In addition, by rotating the camera device or the infrared device of the monitoring device 1 , the wind power generating set 2 at any angle in the wind farm can be monitored. Alternatively, a plurality of camera devices or a plurality of infrared devices are arranged on the monitoring device 1 to simultaneously monitor the tower clearance d of a plurality of wind power generating sets 2, which greatly improves the monitoring efficiency.

In addition, the headroom monitoring device 1 has a flexible installation position and strong adaptability, and can automatically adapt to the objective conditions on site. The monitoring device for the clearance of the tower can also be used as a conventional sensor, and is equipped in a wind farm of an offshore wind power generating set or a wind power generating set on land.

In addition, an embodiment of the present invention also provides a tower clearance monitoring device, including: a memory and a processor, the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the aforementioned tower clearance is realized monitoring method.

In addition, an embodiment of the present invention also provides a computer-readable storage medium, including instructions, and when the instructions are run on a computer, the computer is made to execute the above-mentioned method for monitoring the clearance of a tower.

While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for parts thereof without departing from the scope of the invention. In particular, as long as there is no structural conflict, the technical features mentioned in the various embodiments can be combined in any manner. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims (13)

1. A monitoring method for tower headroom, characterized in that, comprising: Select a monitoring position (E) in the wind farm to monitor the tower (21) and the blade (23) of any wind power generation unit (2) in the wind farm; acquiring relative position information between the monitoring position (E) and the central axis of the tower (21); Obtaining the orientation information of the rotation plane (P) of the blade (23) at the current moment, the shortest distance L between the blade tip (231) of the blade (23) and the edge of the tower (21), the The line connecting the monitoring position (E) and the projection O of the central axis of the tower (21) in the horizontal plane is the OE line, the vertical line of the OE line is the ON line, and the blade tip (231) is at The line SF connecting the projection S on the ON line and a point F on the edge of the tower (21) is the shortest distance L; Determine the relative observation angle θ at the monitoring position (E) according to the orientation information of the rotation plane (P) and the relative position information at the current moment; According to the relative observation angle θ, the shortest distance L and the radius size R of the tower (21), calculate the clearance value d of the tower (21), and d=L/cosθ+R(1/ cos θ-1). 2. The monitoring method according to claim 1, wherein said obtaining the orientation information of the rotation plane (P) of said blade (23) at the current moment comprises: Acquiring the orientation information of the rotation plane (P) when the wind power generating set (2) is at a first yaw angle, and using the orientation of the rotation plane (P) as a reference angle; Obtaining the second yaw angle information of the wind power generating set (2) at the current moment; The orientation of the rotation plane (P) at the current moment is determined according to the reference angle reference and the change amount of the second yaw angle relative to the first yaw angle. 3. The monitoring method according to claim 2, characterized in that, the acquisition of the orientation information of the rotation plane (P) when the wind turbine (2) is at the first yaw angle, and the rotation The orientation of the plane (P) as a reference angle datum includes: When the wind power generating set (2) is at the first yaw angle, monitor the blade tip (231) corresponding to a plurality of sampling time points at this moment and the preset mark on the tower (21) ( 22) the first vertical distance between; When the first vertical distance is minimum, the orientation of the rotation plane (P) of the blade (23) corresponding to the sampling time point is the reference angle reference. 4. The monitoring method according to claim 1, wherein said obtaining the shortest distance L between the blade tip (231) and the edge of the tower (21) at the current moment comprises: monitoring the second vertical distance between the blade tip (231) corresponding to multiple sampling time points at the current moment and the preset mark (22) on the tower (21); When the second vertical distance is the smallest, the horizontal distance between the blade tip (231) and the edge of the tower (21) corresponding to the sampling time point is the shortest distance L. 5. The monitoring method according to claim 1, wherein said determining the relative observation angle θ of the monitoring device (1) according to the orientation information of the rotation plane (P) and the relative position information comprises: Obtaining the first straight line L1 formed by the projection of the line between the monitoring position (E) and the central axis of the tower (21) in the horizontal plane; Obtaining a second straight line L2 formed by the projection of a reference plane parallel to the rotation plane (P) and passing through the central axis of the tower (21) in a horizontal plane, the first straight line L1 and the second straight line L1 The angle between the straight lines L2 is the relative observation angle θ. 6. A monitoring device (1) for tower headroom, which is arranged at a monitoring position (E) in a wind farm, characterized in that the monitoring device (1) includes: An image unit (11), configured to obtain image information of a tower (21) and blades (23) of any wind power generating set (2) in the wind farm; a position identification unit (12), configured to identify the position information of the blade (23) and the tower (21) at the current moment from the image information; A processing unit (13), configured to determine the orientation information of the rotation plane (P) of the blade (23) and the blade tip ( 231) and the shortest distance L between the edge of the tower (21); and for obtaining the relative position information between the monitoring position (E) and the central axis of the tower (21); according to the current The orientation information of the rotation plane (P) and the relative position information at the moment determine the relative observation angle θ of the monitoring device (1) at the monitoring position (E); A calculation unit (14), configured to calculate the clearance value d of the tower (21) according to the relative observation angle θ, the shortest distance L and the radius size R of the tower (21), and d =L/cosθ+R(1/cosθ-1). 7. The monitoring device (1) according to claim 6, characterized in that the processing unit (13) is also used for: Acquiring the orientation information of the rotation plane (P) when the wind power generating set (2) is at a first yaw angle, and using the orientation of the rotation plane (P) as a reference angle; Obtaining the second yaw angle information of the wind power generating set (2) at the current moment; The orientation of the rotation plane (P) at the current moment is determined according to the reference angle reference and the change amount of the second yaw angle relative to the first yaw angle. 8. The monitoring device (1) according to claim 7, characterized in that the processing unit (13) is also used for: When the wind power generating set (2) is at the first yaw angle, monitor the blade tip (231) corresponding to multiple sampling time points at this moment and the preset mark (22) on the tower (21) ) between the first vertical distance; When the first vertical distance is minimum, the orientation of the rotation plane (P) of the blade (23) corresponding to the sampling time point is the reference angle reference. 9. The monitoring device (1) according to claim 6, characterized in that the processing unit (13) is also used for: monitoring the second vertical distance between the blade tip (231) corresponding to multiple sampling time points at the current moment and the preset mark (22) on the tower (21); When the second vertical distance is the smallest, the horizontal distance between the blade tip (231) and the edge of the tower (21) corresponding to the sampling time point is the shortest distance L. 10. The monitoring device (1) according to claim 6, characterized in that the processing unit (13) is also used for: Obtaining the first straight line L1 formed by the projection of the line between the monitoring position (E) and the central axis of the tower (21) in the horizontal plane; Obtaining a second straight line L2 formed by the projection of a reference plane parallel to the rotation plane (P) and passing through the central axis of the tower (21) in a horizontal plane, the first straight line L1 and the second straight line L1 The angle between the straight lines L2 is the relative observation angle θ. 11. The monitoring device (1) according to claim 6, characterized in that, the number of the image unit (11) is at least one, and at least one of the image units (11) surrounds the monitoring device (1) The central axis is rotatable. 12. A monitoring device for tower headroom, characterized in that it comprises: a memory storing computer program instructions; A processor, when the computer program instructions are executed by the processor, the method for monitoring the clearance of a tower according to any one of claims 1 to 5 is realized. 13. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes instructions, and when the instructions are run on a computer, the computer is made to execute the method for monitoring the clearance of a tower according to any one of claims 1 to 5.

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