CN103019101B - A kind of offshore wind turbine hoist controlling method and system - Google Patents
A kind of offshore wind turbine hoist controlling method and system Download PDFInfo
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- CN103019101B CN103019101B CN201210489034.2A CN201210489034A CN103019101B CN 103019101 B CN103019101 B CN 103019101B CN 201210489034 A CN201210489034 A CN 201210489034A CN 103019101 B CN103019101 B CN 103019101B
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000004088 simulation Methods 0.000 claims abstract description 23
- 230000007613 environmental effect Effects 0.000 claims abstract description 22
- 238000009434 installation Methods 0.000 claims abstract description 21
- 230000008569 process Effects 0.000 claims description 23
- 239000000725 suspension Substances 0.000 claims description 15
- 238000005457 optimization Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000008570 general process Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/727—Offshore wind turbines
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Abstract
The invention discloses a kind of offshore wind turbine hoist controlling method, comprise the following steps: (1) sets up the three-dimensional model and environmental model that need the fan part installed, and the three-dimensional model of foundation fan part and environmental model, calculate the simulation lifting track of fan part; (2) needing the fan part installed marks anchor point; (3) lifting needs the fan part of installation, according to the positional information of anchor point Real-time Obtaining fan part, this positional information is lifted track with simulation and contrasts, to revise the actual lifting track of fan part, until complete the installation of fan part.The invention also discloses a kind of offshore wind turbine hoist controlling system.A kind of offshore wind turbine hoist controlling of the present invention method and system can realize the optimization in offshore wind turbine lifting path, operating personnel are made accurately to know hoisting point position and the spatial shape of fan part, the integrality of fan part can be ensured, improve the accuracy of blower fan lifting and the efficiency of assembling.
Description
Technical field
The present invention relates to offshore wind turbine installing area, be specifically related to a kind of offshore wind turbine hoist controlling method and system.
Background technology
Offshore wind turbine lifting is a complicated systems engineering, when adopting jack up installation vessel to install, general process is as follows: jack up Attention problems ship loads one or more offshore wind turbine parts and (comprises tower cylinder, install cabin and the Three-blade of two blades) to infield, Attention problems platform rises to the above certain altitude in sea, after crane is in place, first sling above tower cylinder to blower foundation, be directly installed on blower foundation, then cabin (having installed two blades) is sling above tower cylinder, cabin is installed, above Three-blade to cabin of finally slinging, complete the installation of blower fan, height fallen by Attention problems platform, move to next assembling position, carry out assembling.
Application number a kind of installation method of blades of offshore wind turbine that has been the disclosure of the invention of 201010122462.2, comprise step: A, on the ground by wheel hub and wherein two blades be contained on cabin in advance, and on wheel hub the 3rd blade mounting hole in install a frock sleeve; B, be transported to Attention problems scene; C, on frock sleeve, preset a lifting rope and a stay cord; D, cabin is lifted into the top of blower fan tower barrel; E, while holding tooling sleeve cylinder downwards with stay cord, rotate wheel hub make the axis of frock sleeve in the horizontal direction; F, by wheel hub locking; G, the lifting rope used on hook frock sleeve, remove frock sleeve; H, flatly to insert the 3rd blade on wheel hub mounting hole in and fixing.
In the process of crane for hoisting fan part, the driving in-house operation of operating personnel bottom crane, the commanding at assembling scene is exchanged with operating personnel with semaphore by intercom, commander operating personnel complete blower fan lifting work, in this mode of operation, easily there is following problem:
(1) limited space on jack up installation vessel, on the clamping plate needing the fan part of lifting to be placed on installation vessel and size is larger, hoisting process requires very high to the performance accuracy of crane, easily occurs unnecessary collision and causes damage to fan part;
(2) because fan part is more fragile, commanding is exchanged with semaphore by intercom with operator, there will be time delay, when fan part will collide, can not process in time, easily cause security incident.
Therefore, need to provide a kind of offshore wind turbine hoist controlling method and system, make operating personnel accurately know hoisting point position and the spatial shape of the fan part of lifting, ensure the integrality of fan part, improve the accuracy of blower fan lifting and the efficiency of assembling.
Summary of the invention
The invention provides the optimization that a kind of offshore wind turbine hoist controlling method and system can realize offshore wind turbine lifting path, operating personnel are made accurately to know hoisting point position and the spatial shape of fan part, the integrality of fan part can be ensured, improve the accuracy of blower fan lifting and the efficiency of assembling.
A kind of offshore wind turbine hoist controlling method, comprises the following steps:
(1) three-dimensional model needing the fan part installed and environmental model is set up, and the three-dimensional model of foundation fan part and environmental model, calculate the simulation lifting track of fan part;
(2) needing the fan part installed marks anchor point;
(3) lifting needs the fan part of installation, according to the positional information of anchor point Real-time Obtaining fan part, this positional information is lifted track with simulation and contrasts, to revise the actual lifting track of fan part, until complete the installation of fan part.
As preferably, in step (1), described environmental model at least comprises the corresponding information of installation vessel, crane and blower foundation.In step (1), described environmental model also comprises the corresponding information of the structures that can form interference to fan part hoisting process.
Described environmental model is included in fan part hoisting process, may form three-dimensional model and these objects position relationship each other of all objects of interfering to fan part, so that during simulation lifting track, can avoid the interference of these objects.
As preferably, in step (1), the three-dimensional model of described fan part comprises the three-dimensional model of the three-dimensional model of tower cylinder, the three-dimensional model in cabin and blade.
Need lifting fan part generally include tower cylinder, install the cabin of two blades and, Three-blade, by carrying out three-dimensional modeling to tower cylinder, cabin and blade, the three-dimensional model of the fan part needing lifting can be obtained, and need the three-dimensional model of the fan part of lifting to be placed in environmental model according to actual conditions these, calculate the simulation lifting track of three-dimensional model in environmental model of these fan parts.
As preferably, in step (1), when setting up the three-dimensional model of fan part, identify corresponding virtual anchor point for each fan part, the simulation lifting track of described fan part is the running orbit of each virtual anchor point.
In actual hoisting process, the positional information of fan part is obtained by the anchor point on fan part, the virtual anchor point of respective markers on the three-dimensional model of fan part, when simulating lifting track, the corresponding running orbit obtaining virtual anchor point, according to Hoisting Position and the lifting form of the running orbit correction fan part of this anchor point.
As preferably, in step (1), when calculating the simulation lifting track of fan part, the lifting process of each fan part is divided into crane is in place, suspension hook lifting, lifting fan parts and installation in position four processes, and be aided with corresponding word and voice message for each link.
When simulating lifting track, determine the running orbit of each action details and anchor point in hoisting process, such as, the anglec of rotation of hoist base, the anglec of rotation of suspension hook, the elevation angle of arm, the information such as the down position of suspension hook and distance, and provide corresponding word and voice message, ensure efficiently carrying out smoothly of hoisting process.
As preferably, in step (2), described anchor point is suspension centre and/or the end points of corresponding fan part.
Anchor point needs to choose the anchor point that fan part can embody fan part shape and spatial shape, such as, columniform tower cylinder can be got a little at two ends, install the cabin of two blades, can get a little in the end of the suspension centre in cabin and two ends and blade, Three-blade, can get anchor point at suspension centre and three-vaned two ends, can be determined position and the spatial shape of fan part by the position of anchor point.
As preferably, in step (2), the number of anchor point is at least two.
The number of anchor point is more, then the position of corresponding fan part and spatial shape judge more accurate, but, the number of anchor point is too much, when then anchor point lifts virtual anchor point comparison corresponding in track with simulation, operand is also larger, and correspondingly efficiency can decrease.
As preferably, in step (3), when lifting the fan part needing to install, the image of the fan part that picked-up need be installed, catch the anchor point information in image, determine that anchor point in this image lifts the relation of virtual anchor point corresponding in track with simulation, and send revision directive according to this relation, until complete the installation of fan part.
When lifting the fan part needing to install, crane moves to lifting position according to instruction by initial position, fall suspension hook, sling needing the fan part installed, in hoisting process, according to the spatial shape of virtual anchor point adjustment fan part corresponding in simulation lifting track, until the locating point position of fan part reality overlaps with virtual anchor point, until complete the lifting of fan part.
Present invention also offers a kind of offshore wind turbine Lift-on/Lift-off System, comprise the installation vessel with crane, be also provided with:
First angular transducer, for measuring the arm level angle of described crane;
Second angular transducer, for measuring the arm vertical corner of described crane;
Position transducer, for measuring the lift hook position of described crane;
Video camera, for absorbing the image needing the fan part installed;
Control module, for building the three-dimensional model and environmental model that need the fan part installed, the three-dimensional model of foundation environmental model and fan part calculates the simulation lifting track of fan part, and in hoisting process, the positional information of the image determination fan part absorbed according to described video camera, and lift track and contrast with simulation, to revise the actual lifting track of fan part.
The first angular transducer and the second angular transducer is utilized to obtain the rotational angle of the arm of crane, determine arm position, utilize the position of position transducer determination suspension hook, and according to this Data Update environmental model, video camera is utilized to take the image of fan part, the positional information of the image determination fan part that control module absorbs according to described video camera, and lift track and contrast with simulation, to revise the actual lifting track of fan part.
A kind of offshore wind turbine hoist controlling of the present invention method and system by marking anchor point on fan part, the running orbit of simulator locating point, match by controlling the anchor point track of fan part reality and the running orbit of simulator locating point in hoisting process, ensure that fan part can not damage because of collision in hoisting process, improve the accuracy of blower fan lifting.
Accompanying drawing explanation
Schematic diagram when Fig. 1 is offshore wind turbine Lift-on/Lift-off System of the present invention work;
Vertical view when Fig. 2 is offshore wind turbine Lift-on/Lift-off System of the present invention work;
Fig. 3 is the schematic diagram that fan part has installed the cabin of two blades;
Fig. 4 is the three-vaned schematic diagram of fan part;
Fig. 5 is the schematic diagram of fan part tower cylinder.
Embodiment
Below in conjunction with accompanying drawing, a kind of offshore wind turbine hoist controlling of the present invention method and system is described in detail.
As shown in Figure 1, a kind of offshore wind turbine Lift-on/Lift-off System, comprise the installation vessel with crane, also be provided with the first angular transducer 1 of the arm level angle for measuring described crane, for measuring the second angular transducer 7 of the arm vertical corner of described crane, for measuring the position transducer 2 of the lift hook position of described crane, for absorbing video camera 6 and the control module of the image needing the fan part installed, for building the three-dimensional model and environmental model that need the fan part installed, the three-dimensional model of foundation environmental model and fan part calculates the simulation lifting track of fan part, and in hoisting process, the positional information of the image determination fan part absorbed according to described video camera 6, and lift track contrast with simulation, to revise the actual lifting track of fan part.
A kind of offshore wind turbine hoist controlling method, comprises the following steps:
(1) three-dimensional model needing the fan part installed and environmental model is set up, and the three-dimensional model of foundation fan part and environmental model, calculate the simulation lifting track of fan part;
As shown in Figure 1, the cabin 8 needing the fan part installed to comprise to install two blades 3, tower cylinder 4 and Three-blade 9.Environmental model comprises the various structures that installation vessel, crane, blower foundation 5 and fan part may be encountered in hoisting process, and blower foundation 5 part is positioned at sea level less than 11.
(2) needing the fan part installed marks anchor point;
As shown in Figure 3, as shown in Figure 4, the anchor point 10 that fan part tower cylinder 4 is chosen as shown in Figure 5 for the anchor point 10 that fan part Three-blade 9 is chosen for the anchor point 10 that the cabin 8 that fan part has installed two blades 3 is chosen.
The virtual anchor point of respective markers in the three-dimensional model of fan part in step (1), is converted into the running orbit of virtual anchor point by simulation lifting track.
In environmental model, simulate the hoisting process of fan part, comprise the following steps:
A, crane are in place: crane moves to fan part position by initial position, give the crane anglec of rotation, the voice of the arm elevation angle and suspension hook down position and distance and text prompt;
B, suspension hook lift by crane: the fan part that need install is sling, give suspension hook climb, the crane arm elevation angle change voice and text prompt;
C, lifting fan parts: the fan part handling that need install, to blower foundation, gives the crane anglec of rotation, the voice of the change of the arm elevation angle and suspension hook down position and dropping distance and text prompt;
D, installation in position: the fan part above handling to blower foundation is installed.
(3) lifting needs the fan part of installation, according to the positional information of anchor point Real-time Obtaining fan part, this positional information is lifted track with simulation and contrasts, to revise the actual lifting track of fan part, until complete the installation of fan part.
The actual hoisting process of fan part comprises the following steps:
A, utilize the first angular transducer 1 and the second angular transducer 7 to obtain the rotational angle of the arm of crane, determine arm position, utilize position transducer 2 to determine the position of suspension hook, and according to this Data Update environmental model;
B, video camera 6 is utilized to take the image of fan part, by to the picture catching of anchor point in image and process, determine position and the spatial shape of the fan part be lifted, the running orbit of the position of this fan part and spatial shape and virtual anchor point is contrasted, when the two error exceeds the scope of permission, point out, operating personnel adjust in time, ensure that the safety of hoisting process is carried out.
Claims (1)
1. an offshore wind turbine hoist controlling method, is characterized in that, comprises the following steps:
(1) three-dimensional model needing the fan part installed and environmental model is set up, and the three-dimensional model of foundation fan part and environmental model, calculate the simulation lifting track of fan part;
Described environmental model comprises the corresponding information of installation vessel, crane, blower foundation, and can form the corresponding information of structures of interference to fan part hoisting process;
The three-dimensional model of described fan part comprises the three-dimensional model of the three-dimensional model of tower cylinder, the three-dimensional model in cabin and blade;
When setting up the three-dimensional model of fan part, identify corresponding virtual anchor point for each fan part, the simulation lifting track of described fan part is the running orbit of each virtual anchor point;
When calculating the simulation lifting track of fan part, the lifting process of each fan part is divided into crane is in place, suspension hook lifting, lifting fan parts and installation in position four processes, and be aided with corresponding word and voice message for each link;
(2) needing the fan part installed marks anchor point; Described anchor point is suspension centre and/or the end points of corresponding fan part; The number of anchor point is at least two;
(3) when lifting the fan part needing to install, the image of the fan part that picked-up need be installed, catch the anchor point information in image, determine that anchor point in this image lifts the relation of virtual anchor point corresponding in track with simulation, and send revision directive according to this relation, until complete the installation of fan part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210489034.2A CN103019101B (en) | 2012-11-26 | 2012-11-26 | A kind of offshore wind turbine hoist controlling method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210489034.2A CN103019101B (en) | 2012-11-26 | 2012-11-26 | A kind of offshore wind turbine hoist controlling method and system |
Publications (2)
| Publication Number | Publication Date |
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| CN103019101A CN103019101A (en) | 2013-04-03 |
| CN103019101B true CN103019101B (en) | 2016-01-13 |
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| CN201210489034.2A Expired - Fee Related CN103019101B (en) | 2012-11-26 | 2012-11-26 | A kind of offshore wind turbine hoist controlling method and system |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SG11201602778SA (en) * | 2013-10-08 | 2016-05-30 | Univ Nanyang Tech | Method and system for intelligent crane lifting |
| CN105460796A (en) * | 2015-12-18 | 2016-04-06 | 朱荣华 | Offshore platform fan lifting system and lifting method |
| CN107247438A (en) * | 2017-05-09 | 2017-10-13 | 南京建磊电力技术有限公司 | Driving long-distance intelligent automatic running system based on virtual reality |
| CN107247439A (en) * | 2017-05-09 | 2017-10-13 | 南京建磊电力技术有限公司 | The control method of driving long-distance intelligent automatic running based on virtual reality |
| CN107403275B (en) * | 2017-08-01 | 2020-12-22 | 贺州学院 | Hoisting risk early warning method and device |
| CN110562853A (en) * | 2019-10-10 | 2019-12-13 | 徐州嘉安健康产业有限公司 | Safety monitoring system and method for crane hook |
| CN111285242B (en) * | 2020-03-03 | 2024-07-02 | 电子科技大学 | Wind-powered electricity generation blade hoist |
| CN111734583B (en) * | 2020-04-30 | 2021-05-07 | 广东水电二局股份有限公司 | Accurate in-place installation method for wind power generation large-elevation impeller |
| CN112141889B (en) * | 2020-08-14 | 2023-07-18 | 湖南省中南桥梁安装工程有限公司 | Blind hoisting system and method for hoisting member of cable crane |
| CN114933255B (en) * | 2022-05-13 | 2024-05-17 | 海洋石油工程股份有限公司 | Integral lifting installation method for offshore wind turbine |
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| CN101230846A (en) * | 2007-01-28 | 2008-07-30 | 黄金伦 | Floating water wind power station |
| CN101793106A (en) * | 2009-12-29 | 2010-08-04 | 郝钲声 | Installing mechanism of intertidal belt wind generator upright post without crane and operation method thereof |
| CN102108936A (en) * | 2009-12-25 | 2011-06-29 | 通用电气公司 | System and method for monitoring and controlling a wind park |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102042174A (en) * | 2009-10-22 | 2011-05-04 | 陈宏� | Water-float wind-water wheel sail wind driven generator |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101230846A (en) * | 2007-01-28 | 2008-07-30 | 黄金伦 | Floating water wind power station |
| CN102108936A (en) * | 2009-12-25 | 2011-06-29 | 通用电气公司 | System and method for monitoring and controlling a wind park |
| CN101793106A (en) * | 2009-12-29 | 2010-08-04 | 郝钲声 | Installing mechanism of intertidal belt wind generator upright post without crane and operation method thereof |
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| CN103019101A (en) | 2013-04-03 |
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Granted publication date: 20160113 Termination date: 20201126 |