CN111399520A - Offshore wind power unmanned inspection ship control system and working method thereof - Google Patents
Offshore wind power unmanned inspection ship control system and working method thereof Download PDFInfo
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- CN111399520A CN111399520A CN202010306448.1A CN202010306448A CN111399520A CN 111399520 A CN111399520 A CN 111399520A CN 202010306448 A CN202010306448 A CN 202010306448A CN 111399520 A CN111399520 A CN 111399520A
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Abstract
The invention discloses a control system of an offshore wind power unmanned inspection ship and a working method thereof, and belongs to the technical field of offshore wind power operation and maintenance. The system comprises a first wireless communication module, a first positioning module, a second wireless communication module, a second positioning module, a ranging module and an obstacle identification module; the first wireless communication module and the first positioning module are arranged on the tower drum of each offshore wind turbine, and the first wireless communication module is connected with the first positioning module; the second wireless communication module, the second positioning module, the distance measuring module and the obstacle identification module are arranged on the unmanned inspection ship, the second wireless communication module, the second positioning module, the distance measuring module and the obstacle identification module are respectively connected with the unmanned inspection ship control module, and the second wireless communication module is in communication interconnection with the first wireless communication module. The efficiency of unmanned patrolling and examining of marine wind power can be effectively promoted, degree of automation is high, has reduced the cost of labor, has reduced the working costs, has improved the security and the stability of marine wind power fortune dimension.
Description
Technical Field
The invention belongs to the technical field of offshore wind power operation and maintenance, and particularly relates to an offshore wind power unmanned inspection ship control system and a working method thereof.
Background
With the rapid development of wind power, the installed capacity of the wind power is continuously increased, and the specific gravity of the wind power in a power grid is higher and higher. Therefore, the requirements for safe and reliable operation of the wind turbine generator are higher and higher. At present, with the construction of wind power operation and maintenance teams and the improvement of personnel service skills, common faults of a fan can be almost controlled, and the fault elimination rate can basically reach one hundred percent.
In 2018, the offshore wind power generation installed machine in China is about 180 thousands of kilowatts, the year is increased by 50 percent, the cumulative installed machine reaches 460 thousands of kilowatts, the installed machine is less than that in England and Germany, and the third installation is listed on the world. At present, a plurality of offshore wind power projects are built at the beginning, and the construction and built projects exceed 800 ten thousand kilowatts by 2020. At present, offshore wind power development in China is in the key stage from offshore to open sea, shallow water to deep water and large-scale development from the beginning, and offshore operation and maintenance capacity is greatly improved. With the increase of the number of offshore wind power, the offshore operation and maintenance still encounter a lot of difficulties under the background of 'bidding surfing the internet'. The offshore wind power is higher in overall operation and maintenance cost due to special geographical conditions, such as the influence of high salt spray and high humidity on equipment and the influence of weather factors on a maintenance window period, and is more than twice of that of onshore wind power. Because the fan is far away from land, because objective reasons such as weather lead to the fortune dimension personnel can't go to the sea because of safety consideration, just can not discover the problem the very first time, probably can bring bigger loss. Moreover, both the economic cost and the safety cost of manual inspection are high, and the maneuvering flexibility is low; however, the existing wireless remote control technology is limited by the signal distance, and the problems of image return delay and the like are not widely applied.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide the control system of the offshore wind power unmanned inspection ship and the working method thereof, which can effectively improve the efficiency of offshore wind power unmanned inspection, have high automation degree, reduce labor cost, reduce operation cost and improve the safety and stability of offshore wind power operation and maintenance.
The invention is realized by the following technical scheme:
the invention discloses an offshore wind power unmanned inspection ship control system which comprises a first wireless communication module, a first positioning module, a second wireless communication module, a second positioning module, a distance measuring module and an obstacle identification module, wherein the first wireless communication module is used for receiving a first positioning signal;
the first wireless communication module and the first positioning module are arranged on the tower drum of each offshore wind turbine, and the first wireless communication module is connected with the first positioning module; the second wireless communication module, the second positioning module, the distance measuring module and the obstacle identification module are arranged on the unmanned inspection ship, the second wireless communication module, the second positioning module, the distance measuring module and the obstacle identification module are respectively connected with the unmanned inspection ship control module, and the second wireless communication module is in communication interconnection with the first wireless communication module.
Preferably, the distance measuring module is an infrared distance measuring device.
Preferably, the obstacle recognition module is a laser ranging device.
Preferably, the first positioning module and the second positioning module are GPS modules or beidou positioning modules.
Preferably, a plurality of first wireless communication modules are uniformly distributed on the circumference of the tower of each offshore wind turbine.
Preferably, the unmanned inspection ship further comprises an emergency braking module, and the emergency braking module is connected with the obstacle identification module and a power system of the unmanned inspection ship.
The invention discloses a working method of the offshore wind power unmanned inspection ship control system, which comprises the following steps:
step 1: when the unmanned patrol ship carries out patrol task on the offshore wind farm, the offshore wind turbines in the offshore wind farm are sequenced, the unmanned patrol ship determines the position information of a first offshore wind turbine through a first positioning module, then sends the position information to a second wireless communication module through the first wireless communication module, then sends the position information to an unmanned patrol ship control module, determines the position information of the unmanned patrol ship through the second positioning module, then sends the position information to the unmanned patrol ship control module, and determines the course of the unmanned patrol ship and then runs at full speed;
step 2: the unmanned patrol inspection ship continuously corrects a course through the obstacle recognition module in the driving process, and monitors the distance between the unmanned patrol inspection ship and the offshore wind turbine in real time through the distance measurement module;
and step 3: when the unmanned patrol ship enters a ship deceleration braking area, the unmanned patrol ship sails in a deceleration mode, and when the unmanned patrol ship enters a ship safety stopping area, the unmanned patrol ship stays for patrol operation;
and 4, step 4: and after the routing inspection operation of the first offshore wind turbine is completed, establishing communication with the next offshore wind turbine according to the sequence of the offshore wind turbines, and repeating the steps 1-3 to perform the routing inspection operation of the next offshore wind turbine until the routing inspection task is completed.
Preferably, the distance between the ship deceleration braking area and the offshore wind turbine tower is 50m, and the distance between the ship safety parking area and the offshore wind turbine tower is 3-15 m.
Compared with the prior art, the invention has the following beneficial technical effects:
according to the control system of the offshore wind power unmanned inspection ship, the unmanned inspection ship and a first tower barrel to be inspected can establish communication through the first wireless communication module and the second wireless communication module, position information of the unmanned inspection ship and the first tower barrel to be inspected is obtained through the second positioning module and the first positioning module on the offshore wind turbine, so that a route is established, the unmanned inspection ship can be guided to decelerate, brake and safely stop through the distance measuring module, the route can be corrected in real time through the obstacle recognition module, the obstacle can be automatically avoided, and the safety of the unmanned inspection ship in the offshore complex environment is guaranteed. The unmanned inspection ship directly establishes communication with the offshore wind turbine, so that the transmission distance and time of the control signals sent by the land are shortened, and the signal intensity required by communication is ensured. The efficiency of unmanned patrolling and examining of marine wind power can be effectively promoted, degree of automation is high, has reduced the cost of labor, has reduced the working costs, has improved the security and the stability of marine wind power fortune dimension.
Furthermore, the distance measuring module adopts an infrared distance measuring device, so that the distance measuring is long, the influence of the environment is small, and the stability is high.
Furthermore, the obstacle recognition module adopts a laser ranging device, so that the accuracy is high, the speed is high, the unmanned patrol ship can timely avoid obstacles, and the safety is improved.
Furthermore, a plurality of first wireless communication modules are uniformly distributed in the circumferential direction of the tower drum of the offshore wind turbine, so that no dead angle of a signal can be guaranteed, and the strength of the signal is improved.
Further, when the obstacle recognition module detects that an obstacle suddenly appears in a short distance, the emergency braking module can directly control the power system of the unmanned inspection ship to perform emergency braking, and safety is improved.
The working method of the offshore wind power unmanned inspection ship control system disclosed by the invention can effectively improve the efficiency of offshore wind power unmanned inspection, has high automation degree, reduces the labor cost, reduces the operation cost, and improves the timeliness, safety and stability of offshore wind power operation and maintenance.
Drawings
FIG. 1 is a schematic diagram of an offshore wind power unmanned inspection vessel control system of the present invention;
fig. 2 is a schematic route diagram of the unmanned patrol ship of the present invention.
In the figure: the system comprises a first wireless communication module, a second wireless communication module, a first positioning module, a second positioning module, a first positioning module, a second positioning module, a distance measuring module and a first obstacle identification module, wherein the first wireless communication module is 1-the first wireless communication module, the second wireless communication module is 3-the second positioning module, the distance measuring module is 5-the second positioning module, and.
Detailed Description
The invention will now be described in further detail with reference to the following drawings and specific examples, which are intended to be illustrative and not limiting:
referring to fig. 1, the offshore wind power unmanned inspection vessel control system provided by the invention comprises a first wireless communication module 1, a first positioning module 2, a second wireless communication module 3, a second positioning module 4, a distance measuring module 5 and an obstacle identification module 6. The distance measurement module 5 preferably adopts an infrared distance measurement device, and the obstacle identification module 6 preferably adopts a laser distance measurement device. The first positioning module 2 and the second positioning module 4 can adopt a GPS module or a Beidou positioning module.
The first wireless communication module 1 and the first positioning module 2 are arranged on the tower of each offshore wind turbine, and preferably, the plurality of first wireless communication modules 1 are uniformly distributed on the circumference of the tower of each offshore wind turbine. The first wireless communication module 1 is connected with the first positioning module 2; the second wireless communication module 3, the second positioning module 4, the ranging module 5 and the obstacle identification module 6 are arranged on the unmanned patrol ship, the second wireless communication module 3, the second positioning module 4, the ranging module 5 and the obstacle identification module 6 are respectively connected with the unmanned patrol ship control module, and the second wireless communication module 3 is in communication interconnection with the first wireless communication module 1.
In a preferred embodiment of the invention, the unmanned patrol ship is further provided with an emergency braking module, and the emergency braking module is connected with the obstacle identification module 6 and a power system of the unmanned patrol ship.
The working method of the offshore wind power unmanned inspection ship control system comprises the following steps:
step 1: when the unmanned patrol ship patrols and examines the offshore wind farm, according to the actual situation of the offshore wind farm, the number of each tower cylinder is named as: y1, Y2, Y3, the. And according to weather, sea waves and the environment around each offshore wind turbine, a ship deceleration braking area and a ship safety parking area corresponding to each offshore wind turbine are set, and are respectively marked as B1, B2, B3, A.another.Bn, A1, A2, A3, and a.another.An, as shown in FIG. 1, the distance between the ship deceleration braking area B and the offshore wind turbine tower is 50m, and the distance between the ship safety parking area A and the offshore wind turbine tower is 3-15 m.
Suppose the sequence of the inspection tasks at a time is as follows: first stage Y3, second stage Y1:
the unmanned patrol ship determines the position information of Y3 through the first positioning module 2, then sends the position information to the second wireless communication module 3 through the first wireless communication module 1, then sends the position information to the unmanned patrol ship control module, determines the position information of the unmanned patrol ship through the second positioning module 4, then sends the position information to the unmanned patrol ship control module, and determines the course of the unmanned patrol ship to run at full speed.
Step 2: the unmanned patrol inspection ship continuously corrects the air route through the obstacle recognition module 6 in the driving process, and monitors the distance between the unmanned patrol inspection ship and the offshore wind turbine in real time through the distance measurement module 5.
And step 3: when the unmanned inspection ship enters the ship deceleration braking area B3, the unmanned inspection ship sails in a deceleration mode, and when the unmanned inspection ship enters the ship safety parking area A3, the unmanned inspection ship stays for inspection operation.
And 4, step 4: and after the inspection operation of the first offshore wind turbine Y3 is completed, establishing communication with the next offshore wind turbine Y1 according to inspection sequencing, and repeating the steps 1-3 to perform the inspection operation of Y1 until the inspection task is completed.
It should be noted that the above description is only one embodiment of the present invention, and all equivalent changes of the system described in the present invention are included in the protection scope of the present invention. Persons skilled in the art to which this invention pertains may substitute similar alternatives for the specific embodiments described, all without departing from the scope of the invention as defined by the claims.
Claims (8)
1. A control system of an offshore wind power unmanned inspection ship is characterized by comprising a first wireless communication module (1), a first positioning module (2), a second wireless communication module (3), a second positioning module (4), a distance measuring module (5) and an obstacle identification module (6);
the first wireless communication module (1) and the first positioning module (2) are arranged on the tower drum of each offshore wind turbine, and the first wireless communication module (1) is connected with the first positioning module (2); the second wireless communication module (3), the second positioning module (4), the ranging module (5) and the obstacle identification module (6) are arranged on the unmanned inspection ship, the second wireless communication module (3), the second positioning module (4), the ranging module (5) and the obstacle identification module (6) are respectively connected with the unmanned inspection ship control module, and the second wireless communication module (3) is in communication interconnection with the first wireless communication module (1).
2. The offshore wind power unmanned inspection vessel control system according to claim 1, wherein the ranging module (5) is an infrared ranging device.
3. The offshore wind power unmanned inspection vessel control system according to claim 1, wherein the obstacle recognition module (6) is a laser ranging device.
4. The offshore wind power unmanned inspection vessel control system according to claim 1, wherein the first positioning module (2) and the second positioning module (4) are GPS modules or Beidou positioning modules.
5. The offshore wind power unmanned inspection vessel control system according to claim 1, wherein the plurality of first wireless communication modules (1) are uniformly distributed on the circumference of the tower of each offshore wind turbine.
6. The offshore wind power unmanned inspection vessel control system according to claim 1, further comprising an emergency braking module, wherein the emergency braking module is connected with the obstacle recognition module (6) and a power system of the unmanned inspection vessel.
7. The working method of the offshore wind power unmanned inspection vessel control system according to any one of claims 1 to 6, characterized by comprising the following steps:
step 1: when the unmanned patrol ship carries out patrol task on the offshore wind farm, the offshore wind turbines in the offshore wind farm are sequenced, the unmanned patrol ship determines the position information of a first offshore wind turbine through a first positioning module (2), then sends the position information to a second wireless communication module (3) through a first wireless communication module (1), then sends the position information to an unmanned patrol ship control module, determines the position information of the unmanned patrol ship through a second positioning module (4), then sends the position information to the unmanned patrol ship control module, and determines the course of the unmanned patrol ship and then runs at full speed;
step 2: the unmanned patrol ship continuously corrects the air route through the obstacle recognition module (6) in the driving process, and monitors the distance between the unmanned patrol ship and the offshore wind turbine in real time through the distance measurement module (5);
and step 3: when the unmanned patrol ship enters a ship deceleration braking area, the unmanned patrol ship sails in a deceleration mode, and when the unmanned patrol ship enters a ship safety stopping area, the unmanned patrol ship stays for patrol operation;
and 4, step 4: and after the routing inspection operation of the first offshore wind turbine is completed, establishing communication with the next offshore wind turbine according to the sequence of the offshore wind turbines, and repeating the steps 1-3 to perform the routing inspection operation of the next offshore wind turbine until the routing inspection task is completed.
8. The working method of the offshore wind power unmanned inspection vessel control system according to claim 7, wherein the distance between a ship deceleration braking area and an offshore wind turbine tower is 50m, and the distance between a ship safety parking area and the offshore wind turbine tower is 3-15 m.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010306448.1A CN111399520A (en) | 2020-04-17 | 2020-04-17 | Offshore wind power unmanned inspection ship control system and working method thereof |
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| CN202010306448.1A CN111399520A (en) | 2020-04-17 | 2020-04-17 | Offshore wind power unmanned inspection ship control system and working method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113125884A (en) * | 2021-04-06 | 2021-07-16 | 江苏丰能海服科技有限公司 | Operation and maintenance monitoring system for offshore wind power equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113125884A (en) * | 2021-04-06 | 2021-07-16 | 江苏丰能海服科技有限公司 | Operation and maintenance monitoring system for offshore wind power equipment |
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