CN113942616A - Inspection mechanism and method for offshore wind farm - Google Patents
Inspection mechanism and method for offshore wind farm Download PDFInfo
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- CN113942616A CN113942616A CN202111316433.4A CN202111316433A CN113942616A CN 113942616 A CN113942616 A CN 113942616A CN 202111316433 A CN202111316433 A CN 202111316433A CN 113942616 A CN113942616 A CN 113942616A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/50—Vessels or floating structures for aircraft
- B63B35/52—Nets, slipways or the like, for recovering aircraft from the water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
- B63B2035/4433—Floating structures carrying electric power plants
- B63B2035/446—Floating structures carrying electric power plants for converting wind energy into electric energy
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- 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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- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
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Abstract
The invention provides a patrol inspection mechanism and a method for an offshore wind farm, comprising an automatic hangar for providing a take-off and landing platform for an unmanned aerial vehicle; the automatic hangar is arranged at an offshore wind farm booster station; the extended-range take-off and landing charging device is used for charging the unmanned aerial vehicle; the range-extended take-off and landing charge level is fixed on the top of an engine room of the wind turbine generator; the unmanned aerial vehicle is in control connection with the unmanned aerial vehicle inspection remote control system, so that the problem that the battery needs to be replaced by descending in the unmanned aerial vehicle inspection process is avoided, and the automation level and the operation efficiency of the inspection of the unmanned aerial vehicle in the offshore wind farm are improved.
Description
Technical Field
The invention belongs to the technical field of wind power generation, and particularly relates to a patrol inspection mechanism and method for an offshore wind farm.
Background
At present, the electric multi-rotor unmanned aerial vehicle is widely applied to inspection of wind turbine generators, but is still generally operated manually. Unmanned aerial vehicle patrols and examines and obtains preliminary application at land wind turbine generator system, but still generally once can only patrol and examine a unit automatically, need place unmanned aerial vehicle on the ground before the unit before patrolling and examining, patrol and examine the artifical battery of changing after accomplishing automatically to go to next position and patrol and examine. The unmanned aerial vehicle inspection of offshore wind power generally takes off and lands from a deck platform of an operation and maintenance ship, automatic taking off and landing cannot be performed due to slight stormy waves, manual taking off and landing can only be performed, the difficulty in taking off and landing the unmanned aerial vehicle and replacing a battery on the operation and maintenance ship is high when the stormy waves are large, and the inspection efficiency and the operation safety of the unmanned aerial vehicle are seriously influenced; in addition, because the ship is limited by the window period of going to the sea, the change of sea tide level can only go to the sea at a specific time in one day, otherwise, the change can only wait for the next window period to go to the sea to carry out the inspection operation of the unmanned aerial vehicle, so the offshore wind power urgent need of the unmanned aerial vehicle range-extended inspection system and method, thereby realizing the high-efficiency inspection operation of the offshore wind power, being beneficial to quickly finding out the abnormity of the unit and reducing the fault loss.
Disclosure of Invention
The invention aims to provide a patrol mechanism and a patrol method for an offshore wind farm, which solve the defects in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention provides a patrol inspection mechanism of an offshore wind farm, which comprises an automatic hangar for providing a take-off and landing platform for an unmanned aerial vehicle; the automatic hangar is arranged at an offshore wind farm booster station;
the extended-range take-off and landing charging device is used for charging the unmanned aerial vehicle; the range-extended take-off and landing charge level is fixed on the top of an engine room of the wind turbine generator;
and the unmanned aerial vehicle is used for offshore inspection, and the unmanned aerial vehicle is in inspection remote control system control connection with the unmanned aerial vehicle.
Preferably, the automatic hangar comprises a hangar body, wherein the hangar body is of a cubic structure with anti-corrosion and anti-salt fog surfaces;
two side surfaces of the hangar body, which are arranged at symmetrical positions, are provided with hangar doors which are horizontally split;
an unmanned aerial vehicle lifting platform used for lifting of an unmanned aerial vehicle is arranged in an inner cavity of the hangar body, and a charging unit used for charging the unmanned aerial vehicle is arranged on the unmanned aerial vehicle lifting platform;
the unmanned aerial vehicle lifting platform is connected with a second driving unit for driving the unmanned aerial vehicle lifting platform to move back and forth;
the hangar door is connected with a first driving unit for realizing automatic opening and closing of the hangar door; the first driving unit and the second driving unit are both connected with a control system.
Preferably, the unmanned aerial vehicle landing platform is provided with a push rod type unmanned aerial vehicle fixing device for positioning and fixing the unmanned aerial vehicle; the push rod type unmanned aerial vehicle fixing device comprises an upper layer unit and a lower layer unit, wherein the upper layer unit comprises two upper layer sliding fixing rods (4), an upper layer push rod motor and an upper layer fixing rod sliding rail (9), and the two upper layer sliding fixing rods (4) are slidably mounted on the upper layer fixing rod sliding rail (9);
the two upper-layer push rod motors are respectively in driving connection with the two upper-layer sliding fixing rods (4);
the lower-layer unit comprises two lower-layer sliding fixing rods (5), a lower-layer push rod motor and a lower-layer fixing rod sliding rail (10), wherein the two lower-layer sliding fixing rods (5) are slidably mounted on the lower-layer fixing rod sliding rail (10); the lower layer push rod motor is in driving connection with the two lower layer sliding fixing rods (5);
the lower-layer push rod motors are arranged in two numbers and are respectively in driving connection with the two lower-layer sliding fixing rods (5).
Preferably, the two upper sliding fixing rods (4) are arranged on two sides of a wireless charging panel arranged on the unmanned aerial vehicle landing platform and used as the center;
two lower-layer sliding fixing rods (5) are arranged on two sides of a wireless charging panel arranged on an unmanned aerial vehicle lifting platform as the center;
the moving direction of the lower layer sliding fixing rod (5) is vertical to the moving direction of the upper layer sliding fixing rod (4).
Preferably, increase range take off and land to charge and go up including the body, be provided with wireless panel of charging on the body to and be used for guiding the navigation that unmanned aerial vehicle descends.
Preferably, navigation is used for confirming the two-dimensional code that increases the range take-off and landing charge level positional information including setting up at the body upper surface to and be used for acquireing the radar monitoring unit who sets for the current positional information of within range unmanned aerial vehicle and with the distance between the range take-off and landing charge level, radar monitoring unit is used for patrolling and examining remote control system with the information transmission who gathers to unmanned aerial vehicle simultaneously.
A method for inspecting an offshore wind farm of the device comprises the following steps:
and 4, finishing the charging work of the unmanned aerial vehicle when the unmanned aerial vehicle reaches the optimal extended-range take-off and landing charging platform according to the optimal flight path, and continuously executing the flight task until the task is finished.
Preferably, the optimal range-extending take-off and landing charging platform is a range-extending take-off and landing charging platform which takes the middle position of a straight line connecting line between the unmanned aerial vehicle and the target inspection position as a central point and takes the distance between two points as the diameter to form a circular area, and the required flight time of all the range-extending take-off and landing charging platforms in the circular area is shortest.
Preferably, the method for planning the optimal flight path specifically includes the following steps:
s1, setting a straight flight path and a detour flight path;
s2, calculating the flight distances required by the two flight paths by adopting an enumeration method or Dijkstra algorithm according to the current wind direction and wind speed; further obtaining the flight time;
and S3, taking the flight path corresponding to the shortest flight time as the optimal flight path.
Preferably, the straight flight path is in particular:
the unmanned aerial vehicle rises linearly to exceed the height of the blade, then flies linearly to the position above the range-extended take-off and landing charging platform, and finally lands linearly on the range-extended take-off and landing charging platform;
the detour flight path is specifically as follows:
keeping the current flying height of the unmanned aerial vehicle, and connecting the current position of the unmanned aerial vehicle with a target point in a straight line; setting a virtual forbidden zone on the straight line connection;
setting a safety passing point at the edge of the virtual forbidden zone;
setting a target point at a position 3 meters behind the tail of the engine room along the azimuth direction of the engine room of the wind turbine generator at the wind turbine generator where the target range-extending charging platform is located;
and taking the detour flight path of the unmanned aerial vehicle according to the current position of the unmanned aerial vehicle and the connecting line between the safe passing point and the target point.
Compared with the prior art, the invention has the following advantages:
the invention can realize automatic inspection and automatic charging extended range of the unmanned aerial vehicle in the inspection offshore wind farm, avoids the need of descending to replace batteries in the inspection process of the unmanned aerial vehicle, and improves the automation level and the operation efficiency of the inspection of the unmanned aerial vehicle in the offshore wind farm.
Furthermore, the routing inspection method provided by the invention can be used for rapidly charging the unmanned aerial vehicle, so that the routing inspection range of the unmanned aerial vehicle is increased, and the routing inspection efficiency is improved.
Drawings
FIG. 1 is a flow chart of a method for unmanned aerial vehicle inspection;
fig. 2 is a front view of a putter type drone fixture;
fig. 3 is a side view of a putter type drone fixture;
FIG. 4 is a front view of the automated hangar with two side hangar doors open;
wherein, 1, unmanned aerial vehicle platform 2 that rises and falls, upload push rod motor 3, lower floor's push rod motor 4, upper sliding fixed pole 5, lower floor's sliding fixed pole 6, two-dimensional code 7, unmanned aerial vehicle locking region 8, charging unit 9, upper strata dead lever slide rail 10, lower floor's dead lever slide rail 11, unmanned aerial vehicle 12, unmanned aerial vehicle undercarriage 13, second recess track 14, first recess track 15, first drive unit 16, second drive unit 17, the unit is changed to the battery.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention provides a system of a patrol inspection mechanism of an offshore wind farm, which comprises:
an automated hangar for providing a take-off and landing platform for the drone;
the extended-range take-off and landing charging device is used for charging the unmanned aerial vehicle; and an unmanned aerial vehicle for offshore inspection.
The automatic hangar is arranged on an offshore wind farm booster station, and specifically comprises a hangar body which is of a metal cubic structure with anti-corrosion and anti-salt fog surfaces.
And the two side surfaces of the hangar body, which are arranged at the symmetrical positions, are provided with hangar doors which are horizontally split.
The first drive unit 15 on the hangar door is connected with a control system.
A first groove rail 14 is formed in the inner wall of each hangar door, and the first groove rails 14 are formed in the horizontal direction.
Be provided with unmanned aerial vehicle platform 1, second drive unit 16, charging unit 8 and battery replacement unit 17 that rises and falls in the inner chamber of hangar body, wherein, be provided with second recess track 13 in the hangar body inner chamber, second recess track 13 and first recess track 14 butt joint form the track that slides of unmanned aerial vehicle platform 1 that rises and falls.
The unmanned aerial vehicle landing platform 1 is in driving connection with the second driving unit 16 and used for driving the unmanned aerial vehicle landing platform 1 to horizontally move back and forth along the sliding track through the second driving unit.
The charging unit is connected with the unmanned aerial vehicle through a wireless device and used for charging the unmanned aerial vehicle.
The charging unit is a wireless charging panel.
The battery replacing unit comprises a multi-degree-of-freedom manipulator and an unmanned aerial vehicle standby battery, wherein the multi-degree-of-freedom manipulator is used for replacing the battery of the unmanned aerial vehicle.
The second driving unit is connected with the control system; the control system is connected with the data acquisition unit.
The data acquisition unit is used for acquiring meteorological information, current position information and distance of the unmanned aerial vehicle and landing information of the unmanned aerial vehicle.
The unmanned aerial vehicle landing platform 1 comprises a body, an unmanned aerial vehicle locking region 7 for landing and landing of an unmanned aerial vehicle is arranged at the center of the body, and an unmanned aerial vehicle charging unit is arranged right below the unmanned aerial vehicle locking region 7; the upper surface of unmanned aerial vehicle locking area 7 is provided with the two-dimensional code that is used for providing hangar body positional information.
The bottom of the body is provided with a pulley; meanwhile, the body is connected with the sliding track in a sliding mode.
Still be provided with on the body and be used for carrying out the push-down unmanned aerial vehicle fixing device who fixes to unmanned aerial vehicle.
The push rod type unmanned aerial vehicle fixing device comprises an upper layer unit and a lower layer unit, wherein the upper layer unit comprises two upper layer sliding fixing rods 4, an upper layer push rod motor and an upper layer fixing rod sliding rail 9, and the two upper layer sliding fixing rods 4 are slidably mounted on the upper layer fixing rod sliding rail 9; the upper layer push rod motors are arranged in two numbers and are respectively in driving connection with the two upper layer sliding fixing rods 4.
And the upper-layer fixed rod slide rail 9 is arranged at the side edge of the unmanned aerial vehicle landing platform.
Two upper sliding fixing rods 4 are arranged on two sides of a wireless charging panel arranged on the unmanned aerial vehicle landing platform as the center.
The lower-layer unit comprises two lower-layer sliding fixing rods 5, a lower-layer push rod motor and a lower-layer fixing rod slide rail 10, wherein the two lower-layer sliding fixing rods 5 are slidably mounted on the lower-layer fixing rod slide rail 10; the lower layer push rod motor is in driving connection with the two lower layer sliding fixing rods 5.
The lower layer push rod motors are arranged in two numbers and are respectively in driving connection with the two lower layer sliding fixing rods 5.
The dead lever slide rail 10 of lower floor installs the surplus side department at unmanned aerial vehicle platform that rises and falls.
The upper layer fixed rod slide rail 9 and the lower layer fixed rod slide rail 10 form a frame structure.
Two lower floor's slip dead lever 5 arrange the wireless panel that charges that sets up on unmanned aerial vehicle plays platform both sides as the center.
The moving direction of the lower sliding fixing rod 5 is perpendicular to the moving direction of the upper sliding fixing rod 4.
Push-down unmanned aerial vehicle fixing device's working process:
after the unmanned aerial vehicle descends on the landing platform, the unmanned aerial vehicle sends a request locking signal to the control system of the automatic hangar, the control system of the automatic hangar starts the push rod motor, and then the undercarriage of the unmanned aerial vehicle is pushed through the upper sliding fixing rod 4 and the lower sliding fixing rod 5, the unmanned aerial vehicle is accurately moved to the designated position, and the undercarriage of the unmanned aerial vehicle is fixed through the upper sliding fixing rod 4 and the lower sliding fixing rod 5.
The working process of the automatic hangar is as follows:
when the unmanned aerial vehicle needs to land and stop, the position information and the distance of the automatic hangar are obtained through a navigation system; meanwhile, the current position information and the distance of the robot library are transmitted to a data acquisition unit of the robot library in real time through a wireless communication system;
the control system controls the start and stop of the first driving unit 15 according to the received current position information and distance of the unmanned aerial vehicle, so that the opening and closing of the automatic hangar door are realized;
when the automatic hangar door is opened, the control system controls the second driving unit to start and stop, and then drives the unmanned aerial vehicle lifting platform to move to the outside of the automatic hangar, so that the unmanned aerial vehicle can descend conveniently.
When the unmanned aerial vehicle needs take-off operation, an operator of the wind power plant issues a patrol inspection instruction to the control system, the control system acquires meteorological information through the data acquisition unit, selects an automatic hangar door in a leeward position according to the meteorological information, and further controls the start and stop of the first driving unit, so that the automatic hangar door in the leeward position is opened and closed;
when the automatic hangar door is opened, the control system controls the second driving unit to start and stop, and then drives the unmanned aerial vehicle lifting platform to move to the outside of the automatic hangar, so that the unmanned aerial vehicle can take off conveniently.
The range-increasing lifting charging platform is fixed to the top of an engine room of the wind turbine generator through bolts, and the size of the range-increasing lifting charging platform is 2m x 2 m.
The upper surface of the range-extending, taking-off and landing charging platform is coated with a preset two-dimensional code, and the two-dimensional code contains authorization information including but not limited to the physical size of the taking-off and landing platform, the central position of the charging panel, authorization landing and unit data acquisition passwords, and actions after the unmanned aerial vehicle lands. The two-dimension code information database is stored in a background server of the patrol inspection control system.
Increase journey take off and land charging platform's upper surface still is provided with and is used for carrying out the push-down unmanned aerial vehicle fixing device who fixes to unmanned aerial vehicle.
Increase the range and take off and land still to be provided with wireless panel of charging on the charging platform, the below of mechanical push rod fixing device is arranged in to wireless panel of charging for increase the range and charge to unmanned aerial vehicle through the wireless mode of charging.
The range-increasing take-off and landing charging platform is powered by a power supply in the wind turbine generator.
The unmanned aerial vehicle inspection remote control system is further connected with a unit control system and used for acquiring the wind speed and direction, the unit running state, the cabin azimuth angle and the impeller position of the unit from the unit control system.
The unmanned aerial vehicle inspection control system is used for controlling the unmanned aerial vehicle to fly into the position above the range-increasing take-off and landing charging platform from the rear part of the cabin along the central axis direction of the cabin according to the received unit position and the cabin azimuth angle; and determining the position of the platform according to the platform two-dimensional code acquired and recognized by the downward-looking system, establishing connection with a unit control system, and acquiring the wind speed and direction, the axial and longitudinal inclination angle of the tower and the axial and longitudinal acceleration data of the engine room at the position of the unit in real time.
Meanwhile, the unmanned aerial vehicle calculates the moving track of the extended-range platform according to the actual position, the tower inclination angle, the axial direction and the radial acceleration of the extended-range take-off and landing charging platform, and guides the unmanned aerial vehicle to land when the axial direction and the longitudinal acceleration data of the cabin are in a safety range by combining platform two-dimensional code recognition and laser radar ranging.
The moving track calculation method comprises the following steps: calculating the rotation angle of the tower top according to the axial and longitudinal inclination angle data x and y of the tower
And substituting the rotation angle into the r ═ Hsin (theta) to obtain the displacement data of the range-extended platform, wherein H is the installation height of the tilt angle sensor.
Be provided with on the electronic many rotor unmanned aerial vehicle and possess the cloud platform for shoot the increase steady to the unmanned aerial vehicle camera.
The unmanned aerial vehicle is provided with a lower vision system consisting of a lower vision camera, a calculation unit and a laser radar, and is used for capturing a two-dimensional code image of the extended-range take-off and landing charge level and the distance between the two-dimensional code image and the extended-range take-off and landing charge level; be used for supplementary descending, unmanned aerial vehicle has wireless antenna and can carry out the communication with the platform of taking off and land, and unmanned aerial vehicle has wireless charging module and can carry out wireless charging through the battery that the panel carried to unmanned aerial vehicle that charges.
Increase journey take-off and land charging platform and reliably fix in spacious department at cabin top through the bolt, the two-dimensional code is predetermine in the spraying of platform upper surface is used for assisting unmanned aerial vehicle to descend, the platform surface sets up mechanical push rod fixing device, two sets of push rod systems promote the unmanned aerial vehicle undercarriage about utilizing after unmanned aerial vehicle descends, with the accurate removal of unmanned aerial vehicle to assigned position and fixed unmanned aerial vehicle undercarriage, push rod fixing device below sets up wireless charging panel, it charges to increase the journey to unmanned aerial vehicle through wireless charging mode, the platform sets up high definition digtal camera and is used for keeping watch on unmanned aerial vehicle take-off and land and lock the charging condition, it is used for carrying out communication and data transmission with unmanned aerial vehicle to be equipped with wireless antenna, the platform is by the interior power supply of wind turbine generator system.
And the wind turbine generator is connected to the generator control system and the unmanned aerial vehicle inspection remote control system through a wired network in the wind turbine generator. When the unmanned aerial vehicle enters an antenna signal range, the unmanned aerial vehicle is in communication connection with the unmanned aerial vehicle in a wireless mode, the wind speed and the wind direction of the position of the unit, the running state of the unit, the azimuth angle of a cabin, the position of an impeller, the axial direction of the cabin, the longitudinal acceleration and other real-time data are transmitted to the unmanned aerial vehicle inspection remote control system, the unmanned aerial vehicle is controlled to fly into the position above a range-increasing take-off and landing charging platform from the rear part of the cabin along the central axis direction of the cabin according to the longitude and latitude positions of the unit and the azimuth angle of the cabin, the position of the platform is determined according to platform two-dimensional codes acquired and identified by a downward-looking system, connection is established with the unit control system, and the wind speed and the wind direction of the position of the unit, the inclination angle of a tower barrel of the unit, and the axial direction and the longitudinal acceleration data of the cabin are acquired in real time.
After unmanned aerial vehicle fell, the physics locking device on the platform pushed away the unmanned aerial vehicle to the assigned position and reliably locked through two sets of slip dead levers and the pushing system crisscross from top to bottom for the wireless charging area accuracy of panel and platform that charges of unmanned aerial vehicle aligns, and wireless charging efficiency reaches the biggest.
Offshore booster station automatic hangar passes through the bolt reliably fixed and spacious department of booster station, the size is 2m 1.2m, by 220v alternating current power supply power in the hangar, charge to unmanned aerial vehicle through wireless mode, change the battery to unmanned aerial vehicle through the robotic arm, the cabin is through wired network connection to well accuse and remote system, contain wireless network cover in the cabin, the wireless panel that charges of unmanned aerial vehicle, a multi freedom manipulator for changing the unmanned aerial vehicle battery, rechargeable unmanned aerial vehicle spare battery, unmanned aerial vehicle landing platform and the push-down unmanned aerial vehicle fixing device that can release the hangar, cabin fire extinguishing device. And a communication antenna and an automatic weather station are arranged outside the machine room.
The invention provides a range-extending inspection method of an electric multi-rotor unmanned aerial vehicle in an offshore wind farm, which comprises the following steps:
step 1:
the unmanned aerial vehicle in the automatic hangar is remotely controlled through a network to carry out self-checking, whether the unmanned aerial vehicle is normal or not is judged, the takeoff operation requirement can be met, and if the unmanned aerial vehicle does not pass the self-checking, an alarm is given;
step 2: whether normal inspection operation conditions are met or not is judged according to weather forecast data and hangar meteorological station data in the wind power plant, if so, an automatic inspection program is started, 5-minute average wind direction data according to the hangar meteorological station, if the meteorological conditions of inspection operation are met, an automatic hangar door on one side away from the wind is selected to be opened, the hangar is horizontally pushed out of an unmanned aerial vehicle lifting platform, transverse and longitudinal sliding fixing rods on the upper layer and the lower layer controlled by a push rod motor device slide towards two sides respectively, physical locking of an unmanned aerial vehicle undercarriage is cancelled therewith, the unmanned aerial vehicle takes off, the distance-increased charging position is planned according to an inspection task, and an inspection route is planned.
And step 3:
the unmanned aerial vehicle flies to the target unit and patrols and examines the within range, and the system of patrolling and examining sends the unit instruction of stopping to wind turbine generator system, obtains the impeller azimuth of unit and the position of three blades of unit simultaneously.
And 4, step 4:
controlling the unmanned aerial vehicle to hover at a position in front of the hub at a specified distance, intelligently identifying an azimuth angle of the blade wheel through image analysis and a machine learning algorithm according to an image shot by the unmanned aerial vehicle, and obtaining a position angle of each blade; and comparing the positions of the blades provided by the unit, planning the routing inspection path of the three blades when the positions of the blades are consistent with the positions of the blades provided by the unit, and giving an alarm when the positions of the blades are inconsistent with the positions of the blades provided by the unit to give up the task of routing inspection of the current unit.
And 5:
the unmanned aerial vehicle automatically inspects the front edge, the rear edge, the windward side and the leeward side of each blade according to the planned blade inspection path and shoots the blades.
Step 6:
the unmanned aerial vehicle monitors the residual electric quantity, and when the flight time corresponding to the residual electric quantity is higher than the calculated normal patrol preset flight time, the unmanned aerial vehicle forwards to the next target unit to repeat the step 3 and the step 4; when remaining flight time is less than the normal of calculation and patrols and examines preset flight time, control unmanned aerial vehicle and go to the optimal platform of taking off and landing and increase the journey and charge, continue to carry out the reservation after the completion of charging and patrol and examine the task, when unmanned aerial vehicle remaining capacity is not enough after calculating to the platform of taking off and landing, control unmanned aerial vehicle descends at the emergency point according to the safe route of formulating in advance.
The path planning method comprises the following steps:
the method comprises the following steps of firstly, taking the middle position of a straight line connecting line of an unmanned aerial vehicle and a target inspection position as a central point, taking the distance between the two points as the diameter to form a circular area, and regarding an extended-range charging platform included in the circular area as an optional target extended-range charging platform.
Unmanned aerial vehicle has two kinds of modes at the position of going to appointed charging platform:
the first type rises straight above the height of the blade and then moves straight above the charging platform and descends straight to the position of the charging platform.
The second mode is that unmanned aerial vehicle does not go up the operation, keeps current high flight to increase journey take off and land charging platform, and the wind turbine generator system scope need be avoided to the flight path. According to the azimuth angle of the engine room of the wind turbine generator, a virtual forbidden zone of a cuboid square body is arranged at the height of the unmanned aerial vehicle, the length is the safety allowance of the diameter of the impeller, and the width is the safety allowance of the length of the engine room. The position of a machine set where the target range-extending charging platform is located 3 meters behind the tail of the engine room along the azimuth direction of the engine room of the wind turbine generator set is set as a target point, and the unmanned aerial vehicle enters the position above the range-extending lifting charging platform from the rear of the engine room along the azimuth direction of the engine room after reaching the target point and lands.
The forbidden zone that sharp connection unmanned aerial vehicle position and target point pass is the flight path that needs to avoid, sets up two safety passing points in forbidden zone both sides edge position, and unmanned aerial vehicle's flight path is gone to the target point after needing to pass through the safety passing point. If the unmanned aerial vehicle is connected with the safety passing point and still needs to pass through the forbidden zone, two safety passing points are arranged at the two side edge positions needing to pass through the forbidden zone again until the unmanned aerial vehicle passes through one or more safety passing points from the position and can be connected to the target point. The distances among the unmanned aerial vehicle, each safety passing point and the target point are calculated by combining longitude and latitude coordinates of each point with a Haversene Formula method.
The unmanned aerial vehicle inspection control system calculates flight distances of different paths of the unmanned aerial vehicle to the inspection target after the unmanned aerial vehicle is charged through the range-extending charging platform by adopting an enumeration method or Dijkstra (Dijkstra) algorithm according to real-time wind direction and wind speed data, obtains the flight speed of the unmanned aerial vehicle on the paths through vector decomposition of the wind speed on the flight path of the unmanned aerial vehicle, obtains the flight time by dividing the flight speed by the flight distance, and selects the path with the shortest flight time of the unmanned aerial vehicle to the inspection target after the unmanned aerial vehicle is charged through the range-extending charging platform as the optimal flight path.
And 7:
control unmanned aerial vehicle flies to the wind turbine generator system cabin top that has charging platform of planning, and visual supplementary descending system is followed tracks of the two-dimensional code at take-off and landing platform center under unmanned aerial vehicle starts, and the landing platform reliably locks and charges unmanned aerial vehicle at take-off and landing platform center.
And 8: after the extended-range charging is completed, the wind turbine generator takes off from a lifting platform at the top of the wind turbine generator, flies back to the generator blades along the direction of the central axis of the engine room to form a blade safety distance, and then continues to perform routing inspection operation according to a preset route.
And step 9: after accomplishing to predetermine and patrol and examine the circuit, unmanned aerial vehicle returns the automatic hangar top of booster station, and the automatic cabin door of control is opened, and unmanned aerial vehicle descends and charges, and the video wireless transmission to video analysis system is patrolled and examined with gathering simultaneously, and video intelligent analysis system carries out automatic analysis to the image, gives the recognition result, finishes patrolling and examining the task.
Claims (10)
1. An inspection mechanism of an offshore wind farm is characterized by comprising an automatic hangar for providing a take-off and landing platform for an unmanned aerial vehicle; the automatic hangar is arranged at an offshore wind farm booster station;
the extended-range take-off and landing charging device is used for charging the unmanned aerial vehicle; the range-extended take-off and landing charge level is fixed on the top of an engine room of the wind turbine generator;
and the unmanned aerial vehicle is used for offshore inspection, and the unmanned aerial vehicle is in inspection remote control system control connection with the unmanned aerial vehicle.
2. The inspection mechanism of the offshore wind farm according to claim 1, wherein the automatic hangar comprises a hangar body, and the hangar body is of a cubic structure with anti-corrosion and anti-salt fog surfaces;
two side surfaces of the hangar body, which are arranged at symmetrical positions, are provided with hangar doors which are horizontally split;
an unmanned aerial vehicle lifting platform used for lifting of an unmanned aerial vehicle is arranged in an inner cavity of the hangar body, and a charging unit used for charging the unmanned aerial vehicle is arranged on the unmanned aerial vehicle lifting platform;
the unmanned aerial vehicle lifting platform is connected with a second driving unit for driving the unmanned aerial vehicle lifting platform to move back and forth;
the hangar door is connected with a first driving unit for realizing automatic opening and closing of the hangar door; the first driving unit and the second driving unit are both connected with a control system.
3. The inspection mechanism of the offshore wind farm according to claim 2, wherein the unmanned aerial vehicle landing platform is provided with a push rod type unmanned aerial vehicle fixing device for positioning and fixing the unmanned aerial vehicle; the push rod type unmanned aerial vehicle fixing device comprises an upper layer unit and a lower layer unit, wherein the upper layer unit comprises two upper layer sliding fixing rods (4), an upper layer push rod motor and an upper layer fixing rod sliding rail (9), and the two upper layer sliding fixing rods (4) are slidably mounted on the upper layer fixing rod sliding rail (9);
the two upper-layer push rod motors are respectively in driving connection with the two upper-layer sliding fixing rods (4);
the lower-layer unit comprises two lower-layer sliding fixing rods (5), a lower-layer push rod motor and a lower-layer fixing rod sliding rail (10), wherein the two lower-layer sliding fixing rods (5) are slidably mounted on the lower-layer fixing rod sliding rail (10); the lower layer push rod motor is in driving connection with the two lower layer sliding fixing rods (5);
the lower-layer push rod motors are arranged in two numbers and are respectively in driving connection with the two lower-layer sliding fixing rods (5).
4. The inspection mechanism for the offshore wind farm according to claim 3, wherein the two upper sliding fixing rods (4) are arranged on two sides of a wireless charging panel arranged on the unmanned aerial vehicle landing platform;
two lower-layer sliding fixing rods (5) are arranged on two sides of a wireless charging panel arranged on an unmanned aerial vehicle lifting platform as the center;
the moving direction of the lower layer sliding fixing rod (5) is vertical to the moving direction of the upper layer sliding fixing rod (4).
5. The offshore wind farm inspection mechanism according to claim 1, wherein the extended-range take-off and landing charging platform comprises a body, the body is provided with a wireless charging panel and a navigation system for guiding the unmanned aerial vehicle to land.
6. The offshore wind farm inspection mechanism according to claim 5, wherein the navigation system comprises a two-dimensional code arranged on the upper surface of the body and used for determining position information of the extended-range take-off and landing charge level, and a radar monitoring unit used for acquiring current position information of the unmanned aerial vehicle within a set range and a distance between the unmanned aerial vehicle and the extended-range take-off and landing charge level, and the radar monitoring unit is simultaneously used for transmitting acquired information to the unmanned aerial vehicle inspection remote control system.
7. A method for inspection of an offshore wind farm based on a device according to any of claims 1 to 6, characterized in that it comprises the following steps:
step 1, when the requirement of the unmanned aerial vehicle for routing inspection is met, pushing the unmanned aerial vehicle out of an automatic hangar; meanwhile, issuing a routing inspection route to the unmanned aerial vehicle;
step 2, after the inspection is started, monitoring the residual electric quantity of the unmanned aerial vehicle in real time, and calculating the residual flight time of the unmanned aerial vehicle according to the residual electric quantity; judging whether the unmanned aerial vehicle needs range-extending charging according to the remaining flight time; when the extended range charging is needed, the step 3 is carried out; otherwise, continuing to execute the flight task until the task is finished;
step 3, selecting an optimal range-extending take-off and landing charging platform according to the current position of the unmanned aerial vehicle, and acquiring an optimal flight path of the unmanned aerial vehicle according to the optimal range-extending take-off and landing charging platform;
and 4, finishing the charging work of the unmanned aerial vehicle when the unmanned aerial vehicle reaches the optimal extended-range take-off and landing charging platform according to the optimal flight path, and continuously executing the flight task until the task is finished.
8. The offshore wind farm inspection method according to claim 7, wherein the optimal extended-range take-off and landing charging platform is an extended-range take-off and landing charging platform which has the shortest flight time among all the extended-range take-off and landing charging platforms in a circular area formed by taking a middle position of a straight connecting line between the unmanned aerial vehicle and the target inspection position as a central point and taking a distance between the two points as a diameter.
9. The inspection method for the offshore wind farm according to claim 7, wherein the method for planning the optimal flight path specifically comprises the following steps:
s1, setting a straight flight path and a detour flight path;
s2, calculating the flight distances required by the two flight paths by adopting an enumeration method or Dijkstra algorithm according to the current wind direction and wind speed; further obtaining the flight time;
and S3, taking the flight path corresponding to the shortest flight time as the optimal flight path.
10. The inspection method for the offshore wind farm according to claim 9, wherein the linear flight path is specifically:
the unmanned aerial vehicle rises linearly to exceed the height of the blade, then flies linearly to the position above the range-extended take-off and landing charging platform, and finally lands linearly on the range-extended take-off and landing charging platform;
the detour flight path is specifically as follows:
keeping the current flying height of the unmanned aerial vehicle, and connecting the current position of the unmanned aerial vehicle with a target point in a straight line; setting a virtual forbidden zone on the straight line connection;
setting a safety passing point at the edge of the virtual forbidden zone;
setting a target point at a position 3 meters behind the tail of the engine room along the azimuth direction of the engine room of the wind turbine generator at the wind turbine generator where the target range-extending charging platform is located;
and taking the detour flight path of the unmanned aerial vehicle according to the current position of the unmanned aerial vehicle and the connecting line between the safe passing point and the target point.
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