CN118795951A - Control method and system for fan scour pit repair device - Google Patents

Abstract

The invention discloses a control method and a system of a fan flushing pit repairing device, which are used for collecting pressure values of surrounding earth covering bodies of a fan and monitoring the pressure values in real time; monitoring the change of the pressure value and defining the change quantity of the pressure value; defining the type of the flushing pit according to the variation of the pressure value, triggering a corresponding autonomous repairing measure based on the type of the flushing pit so as to trigger a fan flushing pit repairing device to supplement the area where the flushing pit is located in the autonomous repairing measure, positioning the area where the flushing pit is located in the autonomous repairing measure, and outputting solidified soil to the area where the flushing pit is located based on the fan flushing pit repairing device; and collecting the current pressure value, if the current pressure value is restored to the preset pressure value, stopping spraying solidified soil so as to finish the autonomous repair of the flushing pit, avoiding the artificial repair, realizing the repair automation of the flushing pit, and controlling and detecting the soil covering around the fan in real time based on the fan flushing pit repair device.

Description

Control method and system for fan scour pit repair device

Technical Field

The present invention relates to the technical field of control of a wind turbine scour pit repair device, and in particular to a control method and system for a wind turbine scour pit repair device.

Background Art

With the development of science and technology, scour pits will be formed in the soil covering the wind turbine under the scouring of seawater. In the existing technology, remote photography is carried out on the scour pits, and the types of scour pits are defined based on the scour pits. When the scour pits reach a preset depth, the user moves to the area where the scour pits are located and performs manual repairs. At this time, this method is still manual repair, not autonomous repair of the scour pits, and real-time control of the soil covering the wind turbine is impossible.

Summary of the invention

The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a control method and system for a wind turbine scour pit repair device, which collects the pressure value of the covering soil around the wind turbine and monitors the pressure value in real time; monitors the change of the pressure value and defines the change amount of the pressure value; defines the type of scour pit according to the change amount of the pressure value, and triggers corresponding autonomous repair measures based on the type of the scour pit, so that the wind turbine scour pit repair device is triggered to supplement the area where the scour pit is located when the autonomous repair measure is triggered. At this time, in the autonomous repair measure, the area where the scour pit is located is located, and solidified soil is output to the area where the scour pit is located based on the wind turbine scour pit repair device; collects the current pressure value, and if the current pressure value recovers to the preset pressure value, stops spraying the solidified soil to complete the autonomous repair of the scour pit, avoids manual repair, realizes the automation of the repair of the scour pit, and based on the wind turbine scour pit repair device, performs real-time control and detection of the covering soil around the wind turbine.

In order to solve the above technical problems, an embodiment of the present invention provides a control method for a wind turbine scour pit repair device, which is applied to a control scenario of a wind turbine scour pit repair device; the control method for a wind turbine scour pit repair device includes:

Collect the pressure value of the soil covering the fan and monitor the pressure value in real time;

Monitor the change of pressure value and define the change amount of pressure value;

Define the type of scour pit according to the change in pressure value, and trigger corresponding autonomous repair measures based on the type of scour pit;

In the autonomous repair measures, the scour pit area is located, and the wind turbine scour pit repair device is used to output the solidified soil to the scour pit area;

The current pressure value is collected. If the current pressure value returns to the preset pressure value, the ejection of solidified soil is stopped to complete the autonomous repair of the scour pit.

Optionally, collecting the pressure value of the soil covering the fan and performing real-time monitoring on the pressure value includes:

The pressure sensor is arranged on the soil covering the fan, and the pressure value of the soil covering the fan is collected; at this time, the monitoring range of the pressure sensor is circular and covers the range of the soil covering the fan;

The pressure value is transmitted in real time to the controller of the associated fan scour pit repair device;

The controller of the associated fan scour pit repair device monitors the pressure value in real time.

Optionally, the collecting the pressure value of the soil covering the fan and performing real-time monitoring on the pressure value also includes:

The system formed by the pressure sensor has a built-in polar coordinate system to locate the coordinates of all areas within the monitoring range. At this time, the position of point a is recorded as ( ρ , θ ), where ρ is the distance from point a to the pole o, and θ is the angle between oa and the polar axis ox of the coordinate system;

The pressure sensor monitors the gravity of the foundation soil on every square centimeter of its upper surface. The calculation principle is as follows:

Where F is the weight of the foundation soil on one square centimeter of the upper surface of the pressure sensor, γ' is the buoyancy of the foundation soil. At this time, the covering soil on one square centimeter is regarded as a quadrangular prism, V is the volume of the prism, _and hs is the vertical distance from the seabed mud surface to the upper surface of the pressure sensor.

Optionally, monitoring the change of the pressure value and defining the change amount of the pressure value includes:

When the soil covering the fan is not washed away, the pressure value remains constant;

When the soil covering the fan is washed away, the foundation soil covering the pressure sensor panel decreases, and the pressure value changes;

Collect the value of the pressure value before the change and the value of the pressure value after the change;

The change amount of the pressure value is defined according to the value of the pressure value before the change and the value of the pressure value after the change.

Optionally, defining the type of the scour pit according to the change in the pressure value, and triggering corresponding autonomous repair measures based on the type of the scour pit includes:

When the soil covering the fan is washed away, the pressure value change is collected and the polar coordinates of the pressure value change position are defined;

Define the type of scour pit according to the change in pressure value, and trigger the calculation of the scour depth of the covering soil around the wind turbine;

Determine the scour depth of the soil covering the wind turbine and trigger corresponding autonomous repair measures based on the type of scour pit;

The calculation formula for the scouring depth of the covering soil around the fan is as follows:

Among them, Sd is the scour depth occurring at a certain point, F1 is the foundation soil gravity value monitored last in the time series, and F2 _is the foundation soil gravity value monitored at this time; the maximum _scour depth Sdmax occurring within the monitoring _range is the maximum value of _the scour _depth Sd at each scour location.

Optionally, in the autonomous repair measure, locating the area where the scour pit is located, and outputting solidified soil to the area where the scour pit is located based on the wind turbine scour pit repair device, includes:

In autonomous remediation measures, locate the area where the scour pit is located;

Collect the area where the scour pit is located and the current position of the wind turbine scour pit repair device;

The movement trajectory is defined according to the area where the scour pit is located and the current position of the wind turbine scour pit repair device.

Optionally, in the autonomous repair measure, locating the area where the scour pit is located, and outputting solidified soil to the area where the scour pit is located based on the wind turbine scour pit repair device, further includes:

The fan scour pit repair device moves along the moving track and stays on the surrounding side of the area where the scour pit is located;

Based on the scour depth of the covering soil around the wind turbine, the wind turbine scour pit repair device is triggered to dynamically repair the area where the scour pit is located, and the wind turbine scour pit repair device outputs solidified soil to the area where the scour pit is located.

Optionally, the current pressure value is collected, and if the current pressure value is restored to a preset pressure value, the ejection of the solidified soil is stopped to complete the autonomous repair of the scour pit, including:

Collect current pressure value;

Compare the current pressure value with the preset pressure value.

Optionally, the collecting of the current pressure value, and if the current pressure value is restored to a preset pressure value, stopping the ejection of the solidified soil to complete the autonomous repair of the scour pit, further includes:

If the current pressure value returns to the preset pressure value, a stop signal is output;

The stop logic of the fan scour pit repair device is triggered according to the stop signal, and the spraying of solidified soil is stopped to complete the autonomous repair of the scour pit.

Optionally, a control system of a wind turbine scour pit repair device is provided, wherein the control system of the wind turbine scour pit repair device is applied to the control method of the wind turbine scour pit repair device, and the control system of the wind turbine scour pit repair device includes:

A collection module is used to collect the pressure value of the soil covering the fan and monitor the pressure value in real time;

The pressure value module is used to monitor the change of pressure value and define the change amount of pressure value;

A first autonomous repair module, used to define the type of the scour pit according to the change in the pressure value, and trigger corresponding autonomous repair measures based on the type of the scour pit;

A positioning module is used to locate the area where the scour pit is located in the autonomous repair measures, and output the solidified soil to the area where the scour pit is located based on the fan scour pit repair device;

The second autonomous repair module is used to collect the current pressure value. If the current pressure value is restored to the preset pressure value, the ejection of solidified soil is stopped to complete the autonomous repair of the scour pit.

In an embodiment of the present invention, through the method in the embodiment of the present invention, the pressure value of the covering soil around the wind turbine is collected, and the pressure value is monitored in real time; the change of the pressure value is monitored, and the change amount of the pressure value is defined; the type of scour pit is defined according to the change amount of the pressure value, and the corresponding autonomous repair measure is triggered based on the type of the scour pit, so that the wind turbine scour pit repair device is triggered to supplement the area where the scour pit is located when the autonomous repair measure is triggered. At this time, in the autonomous repair measure, the area where the scour pit is located is located, and the solidified soil is output to the area where the scour pit is located based on the wind turbine scour pit repair device; the current pressure value is collected, and if the current pressure value is restored to the preset pressure value, the spraying of solidified soil is stopped to complete the autonomous repair of the scour pit, thereby avoiding manual repair, realizing the automation of the repair of the scour pit, and based on the wind turbine scour pit repair device, the covering soil around the wind turbine is controlled and detected in real time.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

FIG1 is a schematic flow chart of a control method of a fan scour pit repairing device in an embodiment of the present invention;

FIG2 is a schematic diagram of a flow chart of S11 in the control method of the wind turbine scour pit repairing device in the embodiment of the present invention;

FIG3 is a schematic diagram of a flow chart of S12 in the control method of the wind turbine scour pit repairing device in the embodiment of the present invention;

FIG4 is a schematic diagram of a flow chart of S13 in the control method of the wind turbine scour pit repairing device in an embodiment of the present invention;

FIG5 is a schematic diagram of a flow chart of S14 in the control method of the wind turbine scour pit repairing device in an embodiment of the present invention;

FIG6 is a flow chart of S15 in the control method of the wind turbine scour pit repairing device in the embodiment of the present invention;

7 is a schematic diagram of a fan scour pit repairing device in a control method of a fan scour pit repairing device in an embodiment of the present invention;

FIG8 is a schematic diagram of the structure of a control system of a fan scour pit repair device according to an embodiment of the present invention;

Fig. 9 is a hardware diagram of an electronic device according to an exemplary embodiment.

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Example

Please refer to FIG. 1 to FIG. 9 , a control method of a wind turbine scour pit repair device is applied to a control scenario of the wind turbine scour pit repair device; the control method of the wind turbine scour pit repair device includes:

Step S11: collecting the pressure value of the soil covering the fan and performing real-time monitoring on the pressure value;

Step S12: monitoring the change of the pressure value and defining the change amount of the pressure value;

Step S13: defining the type of the scour pit according to the change in the pressure value, and triggering corresponding autonomous repair measures based on the type of the scour pit;

Step S14: in the autonomous repair measure, the area where the scour pit is located is located, and solidified soil is output to the area where the scour pit is located based on the wind turbine scour pit repair device;

Step S15: Collect the current pressure value. If the current pressure value is restored to the preset pressure value, stop spraying the solidified soil to complete the autonomous repair of the scour pit.

In an embodiment of the present invention, through the method in the embodiment of the present invention, the pressure value of the covering soil around the wind turbine is collected, and the pressure value is monitored in real time; the change of the pressure value is monitored, and the change amount of the pressure value is defined; the type of scour pit is defined according to the change amount of the pressure value, and the corresponding autonomous repair measure is triggered based on the type of the scour pit, so that the wind turbine scour pit repair device is triggered to supplement the area where the scour pit is located when the autonomous repair measure is triggered. At this time, in the autonomous repair measure, the area where the scour pit is located is located, and the solidified soil is output to the area where the scour pit is located based on the wind turbine scour pit repair device; the current pressure value is collected, and if the current pressure value is restored to the preset pressure value, the spraying of solidified soil is stopped to complete the autonomous repair of the scour pit, thereby avoiding manual repair, realizing the automation of the repair of the scour pit, and based on the wind turbine scour pit repair device, the covering soil around the wind turbine is controlled and detected in real time.

Please refer to FIG. 2 , in step S11 , the pressure value of the soil covering the fan is collected, and the pressure value is monitored in real time;

In the specific implementation process of the present invention, the specific steps may be:

S111: placing a pressure sensor on the soil covering the fan, and collecting the pressure value of the soil covering the fan; at this time, the monitoring range of the pressure sensor is circular and covers the range of the soil covering the fan;

S112: transmitting the pressure value to a controller of an associated fan scour pit repair device in real time;

S113: The controller of the associated fan scour pit repair device performs real-time monitoring of the pressure value.

In the embodiment of the present application, a pressure sensor is arranged on the soil covering the fan, the pressure sensor is located below the soil covering, and collects the pressure value of the soil covering the fan, so as to detect the pressure of the soil covering the fan, and reflect the scouring change of the soil covering the fan. At this time, the monitoring range of the pressure sensor is circular and covers the range of the soil covering the fan.

Furthermore, the pressure value is transmitted in real time to the controller of the associated wind turbine scour pit repair device. The pressure value is transmitted to the controller of the associated wind turbine scour pit repair device in the form of signal data, and the controller of the associated wind turbine scour pit repair device monitors the pressure value in real time.

In addition, the system formed by the pressure sensor has a built-in polar coordinate system to locate the coordinates of all areas within the monitoring range. At this time, the position of point a is recorded as ( ρ , θ ), where ρ is the distance from point a to the pole o, and θ is the angle between oa and the polar axis ox of the coordinate system;

The pressure sensor monitors the gravity of the foundation soil on every square centimeter of its upper surface. The calculation principle is as follows:

Where, F is the weight of the foundation soil on the upper surface of the pressure sensor per square centimeter, γ' is the floating weight of the foundation soil. At this time, the soil covering the area of one square centimeter is regarded as _a quadrangular prism, V is the volume of the prism, and hs is the vertical distance from the seabed mud surface to the upper surface of the pressure sensor. Optionally, S is 1 cm ² .

Please refer to FIG. 3 , in step S12 , the change of the pressure value is monitored, and the change amount of the pressure value is defined;

In the specific implementation process of the present invention, the specific steps may be:

S121: When the soil covering the fan is not washed away, the pressure value remains constant;

S122: When the soil covering the fan is washed away, the foundation soil covering the pressure sensor panel is reduced, and the pressure value changes;

S123: Collecting the value of the pressure value before the change and the value of the pressure value after the change;

S124: defining a change amount of the pressure value according to a value of the pressure value before the change and a value of the pressure value after the change.

In an embodiment of the present application, when the covering soil around the fan is not washed away, the pressure value remains constant, and the change in the pressure value is maintained within a preset range and does not exceed the preset range. In addition, when the covering soil around the fan is washed away, the foundation soil covering the pressure sensor panel decreases, and the pressure value changes.

At this time, the numerical values of the pressure value before and after the change are collected; the change amount of the pressure value is defined according to the numerical values of the pressure value before and after the change, so as to freeze the change amount of the pressure value, so as to present the degree of scouring of the covering soil around the fan through the change amount of the pressure value.

Please refer to FIG. 4 , in step S13 , the type of the scour pit is defined according to the change in the pressure value, and the corresponding autonomous repair measures are triggered based on the type of the scour pit;

In the specific implementation process of the present invention, the specific steps may be:

S131: when the soil covering the fan is washed away, the change in pressure value is collected, and the polar coordinates of the position where the pressure value changes are defined;

S132: defining the type of the scour pit according to the change in the pressure value, and triggering the calculation of the scour depth of the covering soil around the wind turbine;

S133: Determine the scour depth of the soil covering the wind turbine, and trigger corresponding autonomous repair measures based on the type of scour pit.

In an embodiment of the present application, when the soil covering the wind turbine is scoured, the change in pressure value is collected, and the polar coordinates of the pressure value change position are defined, so as to locate the scour area, define the type of scour pit according to the change in pressure value, and trigger the calculation of the scour depth of the soil covering the wind turbine;

The calculation formula for the scouring depth of the covering soil around the fan is as follows:

Among them, Sd is the scour depth occurring at a certain point, F1 is the foundation soil gravity value monitored last in the time series, and F2 _is the foundation soil gravity value monitored at this time; the maximum _scour depth Sdmax occurring within the monitoring _range is the maximum value of _the scour _depth Sd at each scour location.

At this time, the scour depth of the covering soil around the wind turbine is fixed, and corresponding autonomous repair measures are triggered based on the type of scour pit, so as to trigger autonomous repair of the scour pit based on the autonomous repair measures, thereby ensuring that the wind turbine scour pit repair device repairs the scour pit, and manages the status of the scour pit in real time, and always controls the scour depth of the scour pit.

Please refer to FIG. 5 , S14: in the autonomous repair measure, the area where the scour pit is located is located, and the solidified soil is output to the area where the scour pit is located based on the wind turbine scour pit repair device;

In the specific implementation process of the present invention, the specific steps may be:

S141: In autonomous repair measures, locate the area where the scour pit is located;

S142: collecting the area where the scour pit is located and the current position of the fan scour pit repair device;

S143: defining a moving trajectory according to the area where the scour pit is located and the current position of the wind turbine scour pit repair device;

S144: The wind turbine scour pit repairing device moves along the moving track and stays on the periphery of the scour pit area;

S145: triggering the wind turbine scour pit repairing device to dynamically repair the area where the scour pit is located based on the scour depth of the covering soil around the wind turbine, and outputting solidified soil to the area where the scour pit is located based on the wind turbine scour pit repairing device.

In an embodiment of the present application, in the autonomous repair measures, the area where the scour pit is located is located, and the current positions of the area where the scour pit is located and the wind turbine scour pit repair device are collected to facilitate the control of the current positions of the area where the scour pit is located and the wind turbine scour pit repair device, thereby defining a moving trajectory based on the current positions of the area where the scour pit is located and the wind turbine scour pit repair device, and the moving trajectory guides the wind turbine scour pit repair device to move toward the area where the scour pit is located.

At this time, the wind turbine scour pit repair device moves along the moving trajectory and stays on the surrounding side of the scour pit area; based on the scour depth of the covering soil around the wind turbine, the wind turbine scour pit repair device is triggered to dynamically repair the scour pit area, and the wind turbine scour pit repair device outputs solidified soil to the scour pit area.

Please refer to FIG. 6 , S15: collecting the current pressure value, and if the current pressure value is restored to the preset pressure value, stopping the ejection of the solidified soil to complete the autonomous repair of the scour pit;

In the specific implementation process of the present invention, the specific steps may be:

S151: Collect current pressure value;

S152: Compare the current pressure value with the preset pressure value;

S153: If the current pressure value returns to the preset pressure value, a stop signal is output;

S154: triggering the stop logic of the fan scour pit repair device according to the stop signal, and stopping the ejection of solidified soil to complete the autonomous repair of the scour pit.

In an embodiment of the present application, in the autonomous repair measures, the area where the scour pit is located is located, and solidified soil is output to the area where the scour pit is located based on the fan scour pit repair device; the current pressure value is collected, and if the current pressure value is restored to the preset pressure value, the spraying of solidified soil is stopped to complete the autonomous repair of the scour pit, avoid manual repair, realize the automation of the scour pit repair, and based on the fan scour pit repair device, the real-time control and detection of the covering soil around the fan is carried out.

At this time, the current pressure value is collected; the current pressure value is compared with the preset pressure value, so as to control the comparison result of the current pressure value and the preset pressure value.

If the current pressure value recovers to the preset pressure value, a stop signal is output, and the stop logic of the fan scour pit repair device is triggered according to the stop signal, and the spraying of solidified soil is stopped to complete the autonomous repair of the scour pit.

In addition, during the repair operation, the pressure sensor continuously monitors the upper pressure data and transmits it to the computing module at the same time. As the solidified soil fills the scour pit, the upper pressure will gradually return to the normal level before the scour. When the pressure value at this point returns to normal, the computing module determines that the scour repair at this point is completed, and the control signal transceiver sends a command to the control valve, and the valve is closed. The computing module then controls the signal transceiver to send a command to the railcar motion regulator to control the railcar to move to the next location to be repaired, and repeats the above process to start the solidified soil repair operation. After it is determined that the pressure within the monitoring range has all returned to normal, the computing module controls the signal transceiver to send a command to the pipeline release controller and informs the land control center that the repair operation is over. The pipeline motor drives the active shaft to rotate, recovers the alloy tape, and the solidified soil conveying telescopic pipe is recovered step by step.

Referring to Figure 7, for the wind turbine scour pit repair device 300, the wind turbine scour pit repair device 300 includes a track 310 and a solidified soil transport telescopic tube 320. The solidified soil transport telescopic tube 320 is adjusted in lateral position relative to the track 310, and the solidified soil transport telescopic tube 320 is adjusted in height and outputs solidified soil so as to fill the scour pit with the solidified soil.

In an embodiment of the present invention, through the method in the embodiment of the present invention, the pressure value of the covering soil around the wind turbine is collected, and the pressure value is monitored in real time; the change of the pressure value is monitored, and the change amount of the pressure value is defined; the type of scour pit is defined according to the change amount of the pressure value, and the corresponding autonomous repair measure is triggered based on the type of the scour pit, so that the wind turbine scour pit repair device is triggered to supplement the area where the scour pit is located when the autonomous repair measure is triggered. At this time, in the autonomous repair measure, the area where the scour pit is located is located, and the solidified soil is output to the area where the scour pit is located based on the wind turbine scour pit repair device; the current pressure value is collected, and if the current pressure value is restored to the preset pressure value, the spraying of solidified soil is stopped to complete the autonomous repair of the scour pit, thereby avoiding manual repair, realizing the automation of the repair of the scour pit, and based on the wind turbine scour pit repair device, the covering soil around the wind turbine is controlled and detected in real time.

Example

Please refer to FIG. 8 , which is a schematic diagram of the structure of a control system of a wind turbine scour pit repairing device in an embodiment of the present invention.

As shown in FIG8 , a control system of a wind turbine scour pit repair device is provided, wherein the control system of the wind turbine scour pit repair device comprises:

The collection module 21 is used to collect the pressure value of the soil covering the fan and monitor the pressure value in real time;

The pressure value module 22 is used to monitor the change of the pressure value and define the change amount of the pressure value;

A first autonomous repair module 23, used to define the type of the scour pit according to the change in the pressure value, and trigger corresponding autonomous repair measures based on the type of the scour pit;

A positioning module 24 is used to locate the area where the scour pit is located in the autonomous repair measure, and output the solidified soil to the area where the scour pit is located based on the wind turbine scour pit repair device;

The second autonomous repair module 25 is used to collect the current pressure value. If the current pressure value is restored to the preset pressure value, the ejection of the solidified soil is stopped to complete the autonomous repair of the scour pit.

Example

Please refer to Figure 9, and the electronic device 40 according to this embodiment of the present invention is described below with reference to Figure 9. The electronic device 40 shown in Figure 9 is only an example and should not bring any limitation to the functions and scope of use of the embodiment of the present invention.

As shown in Fig. 9, the electronic device 40 is in the form of a general computing device. The components of the electronic device 40 may include but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit 421 and/or a cache storage unit 422 , and may further include a read-only storage unit (ROM) 423 .

The storage unit 42 may also include a program/utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

Bus 43 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

The electronic device 40 may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 40, and/or may communicate with any device (e.g., routers, modems, etc.) that enables the electronic device 40 to communicate with one or more other computing devices. This communication may be performed via an input/output (I/O) interface 44. In addition, the electronic device 40 may also communicate with one or more networks (e.g., local area networks, wide area networks, and/or public networks, such as the Internet) via a network adapter 45. As shown in FIG. 9 , the network adapter 45 communicates with other modules of the electronic device 40 via a bus 43. It should be understood that, although not shown in FIG. 9 , other hardware and/or software modules may be used in conjunction with the electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, tape drives, and data backup planning systems, etc.

Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory, a random access memory, a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.

In addition, the control method and system of the wind scour pit repair device provided by the embodiment of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims (10)

1. A control method for a wind turbine scour pit repair device, characterized in that it is applied to a control scenario of a wind turbine scour pit repair device; the control method for a wind turbine scour pit repair device comprises: Collect the pressure value of the soil covering the fan and monitor the pressure value in real time; Monitor the change of pressure value and define the change amount of pressure value; Define the type of scour pit according to the change in pressure value, and trigger corresponding autonomous repair measures based on the type of scour pit; In the autonomous repair measures, the scour pit area is located, and the wind turbine scour pit repair device is used to output the solidified soil to the scour pit area; The current pressure value is collected. If the current pressure value returns to the preset pressure value, the ejection of solidified soil is stopped to complete the autonomous repair of the scour pit. 2. The control method of the wind turbine scour pit repair device according to claim 1 is characterized in that the collecting of the pressure value of the covering soil around the wind turbine and real-time monitoring of the pressure value comprises: The pressure sensor is arranged on the soil covering the fan, and the pressure value of the soil covering the fan is collected; at this time, the monitoring range of the pressure sensor is circular and covers the range of the soil covering the fan; The pressure value is transmitted in real time to the controller of the associated fan scour pit repair device; The controller of the associated fan scour pit repair device monitors the pressure value in real time. 3. The control method of the wind turbine scour pit repair device according to claim 2 is characterized in that the collecting of the pressure value of the covering soil around the wind turbine and real-time monitoring of the pressure value further comprises: The system formed by the pressure sensor has a built-in polar coordinate system to locate the coordinates of all areas within the monitoring range. At this time, the position of point a is recorded as ( ρ , θ ), where ρ is the distance from point a to the pole o, and θ is the angle between oa and the polar axis ox of the coordinate system; The pressure sensor monitors the gravity of the foundation soil on every square centimeter of its upper surface. The calculation principle is as follows: ; Where F is the weight of the foundation soil on one square centimeter of the upper surface of the pressure sensor, γ' is the buoyancy of the foundation soil. At this time, the covering soil on one square centimeter is regarded as a quadrangular prism, V is the volume of the prism, _and hs is the vertical distance from the seabed mud surface to the upper surface of the pressure sensor. 4. The control method of the wind turbine scour pit repairing device according to claim 1, characterized in that the monitoring of the change of the pressure value and defining the change amount of the pressure value include: When the soil covering the fan is not washed away, the pressure value remains constant; When the soil covering the fan is washed away, the foundation soil covering the pressure sensor panel decreases, and the pressure value changes; Collect the value of the pressure value before the change and the value of the pressure value after the change; The change amount of the pressure value is defined according to the value of the pressure value before the change and the value of the pressure value after the change. 5. The control method of the wind turbine scour pit repair device according to claim 4, characterized in that the type of scour pit is defined according to the change in pressure value, and the corresponding autonomous repair measures are triggered based on the type of scour pit, including: When the soil covering the fan is washed away, the pressure value change is collected and the polar coordinates of the pressure value change position are defined; Define the type of scour pit according to the change in pressure value, and trigger the calculation of the scour depth of the covering soil around the wind turbine; Determine the scour depth of the soil covering the wind turbine and trigger corresponding autonomous repair measures based on the type of scour pit; The calculation formula for the scouring depth of the covering soil around the fan is as follows: ; Among them, Sd is the scour depth occurring at a certain point, F1 is the foundation soil gravity value monitored last in the time series, and F2 _is the foundation soil gravity value monitored at this time; the maximum _scour depth Sdmax occurring within the monitoring _range is the maximum value of _the scour _depth Sd at each scour location. 6. The control method of the wind turbine scour pit repair device according to claim 5 is characterized in that, in the autonomous repair measure, locating the area where the scour pit is located, and outputting solidified soil to the area where the scour pit is located based on the wind turbine scour pit repair device, comprising: In autonomous remediation measures, locate the area where the scour pit is located; Collect the area where the scour pit is located and the current position of the wind turbine scour pit repair device; The movement trajectory is defined according to the area where the scour pit is located and the current position of the wind turbine scour pit repair device. 7. The control method of the wind turbine scour pit repair device according to claim 6 is characterized in that, in the autonomous repair measure, the scour pit area is located, and the wind turbine scour pit repair device outputs solidified soil to the scour pit area, and further comprises: The fan scour pit repair device moves along the moving track and stays on the surrounding side of the area where the scour pit is located; Based on the scour depth of the covering soil around the wind turbine, the wind turbine scour pit repair device is triggered to dynamically repair the area where the scour pit is located, and the wind turbine scour pit repair device outputs solidified soil to the area where the scour pit is located. 8. The control method of the wind turbine scour pit repair device according to claim 7, characterized in that the current pressure value is collected, and if the current pressure value is restored to a preset pressure value, the ejection of solidified soil is stopped to complete the autonomous repair of the scour pit, comprising: Collect current pressure value; Compare the current pressure value with the preset pressure value. 9. The control method of the wind turbine scour pit repair device according to claim 8, characterized in that the current pressure value is collected, and if the current pressure value is restored to a preset pressure value, the ejection of solidified soil is stopped to complete the autonomous repair of the scour pit, and further comprises: If the current pressure value returns to the preset pressure value, a stop signal is output; The stop logic of the fan scour pit repair device is triggered according to the stop signal, and the spraying of solidified soil is stopped to complete the autonomous repair of the scour pit. 10. A control system for a wind turbine scour pit repair device, characterized in that the control system for the wind turbine scour pit repair device is applied to the control method for the wind turbine scour pit repair device according to any one of claims 1 to 9, and the control system for the wind turbine scour pit repair device comprises: A collection module is used to collect the pressure value of the soil covering the fan and monitor the pressure value in real time; The pressure value module is used to monitor the change of pressure value and define the change amount of pressure value; A first autonomous repair module, used to define the type of the scour pit according to the change in the pressure value, and trigger corresponding autonomous repair measures based on the type of the scour pit; A positioning module is used to locate the area where the scour pit is located in the autonomous repair measures, and output the solidified soil to the area where the scour pit is located based on the fan scour pit repair device; The second autonomous repair module is used to collect the current pressure value. If the current pressure value is restored to the preset pressure value, the ejection of solidified soil is stopped to complete the autonomous repair of the scour pit.