CN115185279A - Offshore wind turbine inspection method and system based on unmanned aerial vehicle and unmanned ship linkage - Google Patents

Abstract

The invention provides an offshore wind turbine inspection method and system based on unmanned aerial vehicle and unmanned ship linkage, wherein the method comprises the following steps: sending an offshore wind turbine inspection instruction to the unmanned ship, wherein the offshore wind turbine inspection instruction at least comprises a takeoff coordinate of the unmanned plane; under the condition that the unmanned ship reaches the takeoff coordinate, controlling the hangar to start so that the unmanned ship takes off from the takeoff coordinate and executes an inspection task; acquiring wave resistance parameters of the real-time floating position of the unmanned ship, which are sent by the unmanned ship; adjusting the real-time floating position of the unmanned ship in real time according to the wave resistance parameter. By the method, the unmanned ship can be kept within a relatively static coordinate interval after the unmanned ship takes off and patrols and examines, and a return flight landing route does not need to be planned again after the unmanned ship finishes a patrol and examine task and returns, so that the patrol and examine efficiency is improved.

Description

Offshore wind turbine inspection method and system based on unmanned aerial vehicle and unmanned ship linkage

technical field

The invention belongs to the technical field of patrol inspection of offshore wind turbines, and in particular relates to a method and system for patrol inspection of offshore wind turbines based on the linkage of unmanned aerial vehicles and unmanned ships.

Background technique

Offshore wind farms refer to offshore wind power with a water depth of about 10 meters. Compared with onshore wind farms, the advantages of offshore wind farms are that they do not occupy land resources, are basically unaffected by topography, have higher wind speeds, more abundant wind energy resources, and larger single-unit capacity of wind turbines (3-5 MW), Annual utilization hours are higher. Due to the abundant offshore wind energy resources and the feasibility of today's technology, the ocean will become a rapidly developing wind power market. With the development and maturity of offshore wind farm technology, wind power will surely become an important energy source for future sustainable development.

Offshore wind power plants are new power plants that use offshore wind resources to generate electricity. By the end of 2010, 43 offshore wind farms had been built around the world, with 1,339 wind turbines installed, with a total capacity of 3.666 million kilowatts. Data show that in 2010, the global offshore wind power installed capacity increased by 1.444 million kilowatts, a year-on-year increase of 110%, accounting for 3.7% of the global wind power newly installed capacity, mainly distributed in the United Kingdom, Denmark, Belgium and Germany in Europe. Among them: the UK installed 925,000 kilowatts of new offshore capacity in 2010; Germany has used 5 MW and 6 MW large-scale wind turbines to build offshore wind farms in the past two years. Outside of Europe, two offshore wind power projects in the Shanghai Donghai Bridge offshore wind power and Jiangsu Rudong intertidal zone are connected to the grid for power generation.

With the large-scale construction of offshore wind farms, the inspection and maintenance of wind power equipment has also become heavy. At present, the inspection of offshore wind turbines often relies on inspectors to send drones to the vicinity of the wind turbines by boat, and then control the drones. Take off for inspection. Due to the special environment at sea, after the drone performs the inspection task of the current wind turbine, the position of the ship will change. The drone needs to re-find the position of the unmanned ship, re-plan the route and then land. , this method consumes computing power and leads to low inspection efficiency.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a method and system for the inspection of offshore wind turbines based on the linkage of unmanned aerial vehicles and unmanned ships, so as to at least solve the problem of re-planning the return and landing route after the drone inspection in the existing marine wind turbine inspection solutions. , resulting in a technical problem of low inspection efficiency.

In order to achieve the above object, the present invention adopts the following technical solutions:

According to a first aspect of the present invention, there is provided an inspection method for offshore wind turbines based on the linkage of unmanned aerial vehicles and unmanned ships, wherein the unmanned ship is provided with an organic warehouse, and the method includes:

The unmanned ship obtains an inspection instruction of the offshore wind turbine, wherein the unmanned ship is provided with a hangar, and the drone can be stored in the hangar, and the offshore wind turbine inspection instruction at least includes the take-off coordinates of the drone;

After the unmanned ship reaches the take-off coordinates, the drone takes off from the take-off coordinates and performs an inspection task;

Obtain the wave resistance parameters of the real-time floating position of the unmanned ship;

After the drone takes off, the real-time floating position of the drone is adjusted in real time according to the wave resistance parameter.

As a solution in some other embodiments of the present invention, it also includes the steps:

Obtain the meteorological information at the real-time floating position of the unmanned ship;

The inspection strategy of the UAV is dynamically adjusted according to the weather information, wherein the inspection strategy of the UAV at least includes the return time of the UAV.

As a solution in some other embodiments of the present invention, the step of dynamically adjusting the inspection strategy of the UAV according to the weather information specifically includes:

Dynamically adjust the inspection strategy of the UAV based on the weather information and the remaining power of the UAV, wherein the weather information is used to characterize one of the concentration of fog droplets, the intensity of rainfall and the wind speed or more.

As a solution in some other embodiments of the present invention, the step of adjusting the real-time floating position of the unmanned ship in real time according to the wave resistance parameter specifically includes:

Generate position adjustment instructions;

The power equipment of the unmanned ship acquires and executes the position adjustment instruction, so that the real-time floating position of the unmanned ship and the take-off coordinates are kept within a preset range.

As a solution in some other embodiments of the present invention, the wave resistance parameter includes: the magnitude and/or the direction of the resistance that the unmanned ship is subjected to.

As a solution in some other embodiments of the present invention, the unmanned ship is provided with a fuel-fired generator for charging the charging base of the hangar.

According to a second aspect of the present invention, an inspection system for offshore wind turbines based on the linkage of unmanned aerial vehicles and unmanned ships is provided, and the system includes:

UAV, pre-stored in the hangar;

The server is used to send an inspection instruction of the offshore wind turbine to the unmanned ship, and the inspection instruction of the offshore wind turbine includes at least the take-off coordinates of the UAV;

an unmanned ship, provided with the hangar;

The unmanned ship is used to establish a communication relationship with the server, and in the case of reaching the take-off coordinates, control the hangar to start, so that the unmanned aerial vehicle starts from the aircraft at the take-off coordinates. The library takes off and performs inspection tasks.

As a solution in some other embodiments of the present invention, the server is further configured to receive the wave resistance parameters of the real-time floating position of the unmanned ship sent by the server, and generate the wave resistance parameters of the unmanned ship according to the wave resistance parameters. Position adjustment command.

As a solution in some other embodiments of the present invention, the unmanned ship includes power equipment, and the power equipment is configured to receive and execute the position adjustment instruction sent by the server, so that the unmanned ship can perform real-time monitoring of the unmanned ship. The floating position and the take-off coordinates are kept within a preset range.

As a solution in some other embodiments of the present invention, the unmanned ship is provided with a fuel-fired generator, and the fuel-fired generator is used to charge the charging base of the hangar.

Compared with the prior art, the beneficial effects of the present invention are as follows:

The present invention provides an offshore wind turbine inspection method and system based on the linkage of an unmanned aerial vehicle and an unmanned ship. The method includes: sending an offshore wind turbine inspection instruction to an unmanned ship, wherein the offshore wind turbine inspection instruction at least includes: The take-off coordinates of the drone; when the unmanned ship reaches the take-off coordinates, control the hangar to start, so that the drone takes off from the take-off coordinates and performs inspection tasks; obtain the unmanned ship to send The wave resistance parameter of the real-time floating position of the unmanned ship; according to the wave resistance parameter, the real-time floating position of the unmanned ship is adjusted in real time. Through the above method, the unmanned ship can be kept within a relatively static coordinate range after the drone takes off for inspection. Inspection efficiency.

Description of drawings

The accompanying drawings forming a part of the present application are used to provide further understanding of the present invention, and the exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the attached image:

Fig. 1 is a flowchart of an offshore wind turbine inspection method based on the linkage of unmanned aerial vehicles and unmanned ships according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a method for adjusting the real-time floating position of an unmanned ship in real time according to an embodiment of the present invention.

FIG. 3 is a schematic diagram of an offshore wind turbine inspection system based on the linkage of unmanned aerial vehicles and unmanned ships according to an embodiment of the present invention.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict.

The following detailed descriptions are all exemplary descriptions and are intended to provide further detailed descriptions of the present invention. Unless otherwise specified, all technical terms used in the present invention have the same meaning as commonly understood by those of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present invention.

Example 1

As shown in FIG. 1 , Embodiment 1 of the present invention provides an offshore wind turbine inspection method based on the linkage of an unmanned aerial vehicle and an unmanned ship. The unmanned ship is provided with an organic warehouse, and the method includes:

Step S1 , sending an inspection instruction of the offshore wind turbine to the unmanned ship, wherein the inspection instruction of the offshore wind turbine at least includes the take-off coordinates of the drone.

As a specific example of the above content, this solution can send a fan inspection command to the controller of the unmanned ship through the server. The wind turbine can be inspected after taking off from the above takeoff coordinates.

Step S2, after the unmanned ship receives the inspection instruction of the offshore wind turbine, it drives to the take-off coordinates, and when the unmanned ship reaches the take-off coordinates, controls the hangar to start, so that the unmanned aerial vehicle starts from the Take off at the take-off coordinates and perform inspection tasks.

As a specific example of the above content, the unmanned ship controls the power equipment to work according to the above-mentioned wind turbine inspection instruction, and reaches the above-mentioned take-off coordinates, and then controls the hangar to start and open, and the drone takes off from the hangar.

Step S3, acquiring the wave resistance parameters of the real-time floating position of the unmanned ship sent by the unmanned ship.

As a specific example of the above content, in this solution, the wave resistance parameters of the real-time floating position of the unmanned ship can be obtained through the sensor set on the unmanned ship. It should be noted here that because the sea is often accompanied by waves, when the unmanned ship is in In the floating state, the above-mentioned waves will generate resistance to the unmanned ship and change the floating position of the unmanned ship.

Step S4, after the UAV takes off, the real-time floating position of the UAV is adjusted in real time according to the wave resistance parameter.

It should be noted here that in order to ensure that the position of the unmanned ship remains unchanged, so that the drone can quickly find the unmanned ship after performing the inspection task and land in the hangar, this solution can be based on the unmanned ship. The wave resistance parameters adjust the real-time floating position of the unmanned ship in real time, so that the real-time floating position of the unmanned ship is within a predictable range. After the drone performs the inspection task, there is no need to search for the position of the ship again. You can return to the original inspection route and land. Therefore, this solution solves the technical problem of low inspection efficiency due to the need to re-plan the return and landing route after the drone inspection in the existing offshore wind turbine inspection solution.

As shown in Figure 2, the step of adjusting the real-time floating position of the unmanned ship in real time according to the wave resistance parameter specifically includes:

Step S41, generating a position adjustment instruction.

Step S42, sending the position adjustment instruction to the power equipment of the unmanned ship, wherein the power equipment of the unmanned ship executes the position adjustment instruction, so that the real-time floating position of the unmanned ship is the same as that of the unmanned ship. Takeoff coordinates remain within the preset range.

In some other embodiments, the wave resistance parameter includes: the magnitude and/or the direction of the resistance that the unmanned ship is subjected to.

As a specific example of the above content, this solution can control the power equipment of the unmanned ship according to the magnitude of the resistance and/or the direction of the resistance on the unmanned ship, that is, to generate a resistance reaction force, so that the real-time floating position of the unmanned ship is the same as that of all the unmanned ships. The above-mentioned take-off coordinates are kept within the preset range, so that the drone can return and land according to the original inspection route after performing the inspection task.

In some other embodiments, the method further includes:

In step S5, the meteorological information at the real-time floating position of the unmanned ship is obtained.

Step S6, dynamically adjust the inspection strategy of the UAV according to the weather information, wherein the inspection strategy of the UAV at least includes the return time of the UAV.

As a specific example of the above content, this solution can establish a communication relationship with the weather station server, obtain real-time weather information of the location of the unmanned ship, and dynamically adjust the inspection strategy of the unmanned aerial vehicle according to the weather information. Adjustment.

What needs to be explained here is that the marine environment is changeable, and sometimes encounters sudden strong winds, heavy rain or heavy fog, and the drone continues to patrol, which will lead to danger. Therefore, this solution can obtain meteorological information in real time and then control it according to the weather information. The drone returns immediately, that is, in this embodiment, when it is found that there is no condition to continue the inspection according to the weather information, this solution can adjust the inspection strategy and control the drone to return to the home immediately.

In some other embodiments, step S6 dynamically adjusts the inspection strategy of the UAV according to the weather information, including:

Step S61, dynamically adjust the inspection strategy of the UAV based on the weather information and the remaining power of the UAV, wherein the weather information is used to characterize: the concentration of fog droplets, the intensity of rainfall, and the wind speed. one or more of the.

As a specific example of the above content, in this embodiment, the remaining power of the drone and the weather information can be integrated to dynamically adjust the inspection strategy of the drone. For example, when the power of the drone is sufficient Under the circumstance and the local weather is good, this solution can control the drone to fly at a slow speed when shooting blades, so as to obtain high-quality blade pictures on the basis of safety, so as to complete the inspection of blades Work.

In some other embodiments, the unmanned ship is provided with a fuel-fired generator, and the fuel-fired generator is used to charge the charging base of the hangar.

As a specific example of the above content, in this solution, a fuel-fired generator can be set on the unmanned ship. When the weather information is relatively good, the drone often needs to continuously inspect multiple fans. At this time In order to ensure the sufficient power of the drone, this solution can generate electricity through the fuel generator set on the drone ship to charge the charging base of the hangar, and the drone can be charged when it returns to the flight and lands in the hangar.

Example 2

As shown in FIG. 3 , Embodiment 2 of the present invention provides an offshore wind turbine inspection system based on the linkage of unmanned aerial vehicles and unmanned ships based on the same inventive concept as Embodiment 1. The system includes:

UAV 20, pre-stored in the hangar;

The server 22 is used to send an inspection instruction of the offshore wind turbine to the unmanned ship, where the inspection instruction of the offshore wind turbine at least includes the take-off coordinates of the drone;

The unmanned ship 24 establishes a communication relationship with the server, the unmanned ship is provided with the hangar 240, and the unmanned ship is used to control the hangar when the take-off coordinates are reached Start, so that the UAV takes off from the hangar at the take-off coordinates and performs an inspection mission.

As a specific example of the above content, this solution can send a fan inspection command to the controller of the unmanned ship through the server. The wind turbine can be inspected after taking off from the above takeoff coordinates. The unmanned ship controls the power equipment to work according to the above-mentioned wind turbine inspection instructions, and reaches the above-mentioned take-off coordinates, and then controls the hangar to start and open, and the drone takes off from the hangar. In this solution, the wave resistance parameters of the real-time floating position of the unmanned ship can be obtained through the sensors installed on the unmanned ship. It should be noted here that because the sea is often accompanied by waves, when the unmanned ship is in a floating state, the above-mentioned waves will The unmanned ship generates resistance and changes the floating position of the unmanned ship.

It should be noted here that in order to ensure that the position of the unmanned ship remains unchanged, so that the drone can quickly find the unmanned ship after performing the inspection task and land in the hangar, this solution can be based on the unmanned ship. The wave resistance parameters adjust the real-time floating position of the unmanned ship in real time, so that the real-time floating position of the unmanned ship is within a predictable range. After the drone performs the inspection task, there is no need to search for the position of the ship again. You can return to the original inspection route and land. Therefore, this solution solves the technical problem of low inspection efficiency due to the need to re-plan the return and landing route after the drone inspection in the existing offshore wind turbine inspection solution.

In some other embodiments, the server is further configured to receive the wave resistance parameter of the real-time floating position of the unmanned ship sent by the server, and generate a position adjustment instruction of the unmanned ship according to the wave resistance parameter.

In some other embodiments, the unmanned ship includes a power device, and the power device is configured to receive and execute a position adjustment instruction sent by the server, so that the real-time floating position of the unmanned ship is related to the take-off. The coordinates remain within the preset range.

As a specific example of the above content, this solution can control the power equipment of the unmanned ship according to the magnitude of the resistance and/or the direction of the resistance on the unmanned ship, that is, to generate a resistance reaction force, so that the real-time floating position of the unmanned ship is the same as that of all the unmanned ships. The above-mentioned take-off coordinates are kept within the preset range, so that the drone can return and land according to the original inspection route after performing the inspection task.

In some other embodiments, the unmanned ship is provided with a fuel-fired generator, and the fuel-fired generator is used to charge the charging base of the hangar.

As a specific example of the above content, in this solution, a fuel-fired generator can be set on the unmanned ship. When the weather information is relatively good, the drone often needs to continuously inspect multiple fans. At this time In order to ensure the sufficient power of the drone, this solution can generate electricity through the fuel generator set on the drone ship to charge the charging base of the hangar, and the drone can be charged when it returns to the flight and lands in the hangar.

It will be appreciated that the specific features, operations and details previously described herein with respect to the method of the present invention may also be similarly applied to the apparatus and system of the present invention, or vice versa. In addition, each step of the method of the present invention described above may be performed by a corresponding component or unit of the apparatus or system of the present invention.

It should be understood that each module/unit of the apparatus of the present invention may be implemented in whole or in part by software, hardware, firmware or a combination thereof. Each of the modules/units may be embedded in the processor of the computer device in the form of hardware or firmware or be independent of the processor, or may be stored in the memory of the computer device in the form of software for the processor to call to execute the various modules. Operation of the module/unit. Each of the modules/units may be implemented as separate components or modules, or two or more modules/units may be implemented as a single component or module.

In one embodiment, an electronic device is provided that includes a memory and a processor, the memory having stored thereon computer instructions executable by the processor, the computer instructions when executed by the processor instructing the processing The controller executes each step of the method in Embodiment 1 of the present invention. The computer device can be broadly defined as a server, a terminal, or any other electronic device with necessary computing and/or processing capabilities. In one embodiment, the computer device may include a processor, memory, network interface, communication interface, etc. connected through a system bus. The processor of the computer device may be used to provide the necessary computing, processing and/or control capabilities. The memory of the computer device may include non-volatile storage media and internal memory. An operating system, a computer program, etc. may be stored in or on the non-volatile storage medium. The internal memory may provide an environment for the execution of the operating system and computer programs in the non-volatile storage medium. The network interface and communication interface of the computer device can be used to connect and communicate with external devices through the network. The computer program, when executed by a processor, performs the steps of the method of the present invention.

The present invention can be implemented as a computer-readable storage medium on which a computer program is stored, and when executed by a processor, the computer program causes the steps of the method of Embodiment 1 of the present invention to be executed. In one embodiment, the computer program is distributed over multiple computer devices or processors coupled in a network such that the computer program is stored, accessed, and executed by one or more computer devices or processors in a distributed fashion . A single method step/operation, or two or more method steps/operations, may be performed by a single computer device or processor or by two or more computer devices or processors. One or more method steps/operations may be performed by one or more computer devices or processors, and one or more other method steps/operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step/operation, or perform two or more method steps/operations.

Those of ordinary skill in the art can understand that the method steps of the present invention can be completed by instructing relevant hardware such as computer equipment or a processor through a computer program, and the computer program can be stored in a non-transitory computer-readable storage medium, the computer The program, when executed, causes the steps of the present invention to be executed. Any reference herein to a memory, storage, database, or other medium may include non-volatile and/or volatile memory, as appropriate. Examples of non-volatile memory include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data Storage devices, optical data storage devices, hard disks, solid state disks, etc. Examples of volatile memory include random access memory (RAM), external cache memory, and the like.

The technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features have been described, any combination of these technical features should be considered to be covered by this description, as long as such combinations are not contradictory.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. scope.

Claims (10)

1. The offshore wind turbine inspection method based on unmanned aerial vehicle and unmanned ship linkage is characterized by comprising the following steps:

the method comprises the steps that an unmanned ship obtains an offshore wind turbine inspection instruction, wherein the unmanned ship is provided with a hangar, the unmanned plane can be stored in the hangar, and the offshore wind turbine inspection instruction at least comprises a takeoff coordinate of the unmanned plane;

after the unmanned ship reaches the takeoff coordinate, the unmanned ship takes off from the takeoff coordinate and executes an inspection task;

acquiring wave resistance parameters of the real-time floating position of the unmanned ship;

and after the unmanned aerial vehicle takes off, adjusting the real-time floating position of the unmanned ship in real time according to the wave resistance parameter.

2. The offshore wind turbine inspection method based on unmanned aerial vehicle and unmanned ship linkage according to claim 1, further comprising the steps of:

acquiring weather information of a real-time floating position of the unmanned ship;

and dynamically adjusting the inspection strategy of the unmanned aerial vehicle according to the meteorological information, wherein the inspection strategy of the unmanned aerial vehicle at least comprises the return time of the unmanned aerial vehicle.

3. The offshore wind turbine inspection method based on unmanned aerial vehicle and unmanned ship linkage according to claim 2, wherein the step of dynamically adjusting the inspection strategy of the unmanned aerial vehicle according to the meteorological information specifically comprises:

based on weather information and unmanned aerial vehicle's residual capacity patrols and examines the strategy to unmanned aerial vehicle and carries out dynamic adjustment, wherein, weather information is used for the sign: one or more of the concentration of fog drops, the intensity of rainfall, and the wind speed.

4. The offshore wind turbine inspection method based on unmanned aerial vehicle and unmanned ship linkage according to claim 1, wherein the step of adjusting the real-time floating position of the unmanned ship in real time according to the wave resistance parameter specifically comprises:

generating a position adjusting instruction;

and the power equipment of the unmanned ship acquires and executes the position adjusting instruction, so that the real-time floating position and the take-off coordinate of the unmanned ship are kept within a preset range.

5. The offshore wind turbine inspection method based on unmanned aerial vehicle and unmanned ship linkage according to claim 1, wherein the wave resistance parameters comprise: the unmanned ship is subjected to resistance magnitude and/or resistance direction.

6. The offshore wind turbine inspection method based on unmanned aerial vehicle and unmanned ship linkage according to claim 1, wherein the unmanned ship is provided with a fuel generator for charging a charging base of the hangar.

7. The utility model provides an offshore wind turbine system of patrolling and examining based on unmanned aerial vehicle, unmanned ship linkage which characterized in that, the system includes:

the unmanned aerial vehicle is stored in the hangar in advance;

the service end is used for sending an offshore wind turbine inspection instruction to the unmanned ship, wherein the offshore wind turbine inspection instruction at least comprises a takeoff coordinate of the unmanned ship;

the unmanned ship is provided with the hangar;

the unmanned ship is used for establishing a communication relation with the server side, and controlling the hangar to start under the condition that the takeoff coordinate is reached, so that the unmanned aerial vehicle takes off from the hangar at the takeoff coordinate and executes an inspection task.

8. The offshore wind turbine inspection system based on unmanned aerial vehicle and unmanned ship linkage according to claim 7, wherein the server is further configured to receive wave resistance parameters of the real-time floating position of the unmanned ship sent by the server, and generate a position adjustment instruction of the unmanned ship according to the wave resistance parameters.

9. The offshore wind turbine inspection system based on unmanned aerial vehicle and unmanned ship linkage according to claim 8, wherein the unmanned ship comprises a power device, and the power device is used for receiving and executing the position adjusting instruction sent by the server, so that the real-time floating position and the takeoff coordinate of the unmanned ship are kept within a preset range.

10. The offshore wind turbine inspection system based on unmanned aerial vehicle and unmanned ship linkage according to claim 7, wherein the unmanned ship is provided with a fuel generator, and the fuel generator is used for charging the charging base of the hangar.

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