CN117369468A - Shipping method of wind power generation equipment and related equipment - Google Patents
Shipping method of wind power generation equipment and related equipment Download PDFInfo
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- 238000002791 soaking Methods 0.000 claims description 5
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Abstract
The invention provides a shipping method of wind power generation equipment and related equipment, wherein the method comprises the following steps: acquiring a shipping initial position, a shipping final position and the number of tugs which are input by a user; determining an initial track of each tug of the wind power plant to be tugged based on the shipping start position, the shipping end position, and the number of tugs; collecting semi-submersible type basic parameters and external environment parameters of wind power generation equipment to be hauled; processing based on the semi-submersible base parameters and external environment parameters, and determining the pulling force and the speed of each tug; and controlling the tugboat to carry out hauling on the wind power generation equipment to be hauled according to the initial track point in the initial track based on the pulling force and the speed of the tugboat aiming at each tugboat. To improve the transport efficiency of the wind power plant.
Description
Technical Field
The invention relates to the technical field of floating wind power generation equipment treatment, in particular to a shipping method of wind power generation equipment and related equipment.
Background
At the present stage, floating wind power plants are often completed by manually driving a plurality of specialized tugs, and are therefore particularly expensive.
The towing is carried out by manually driving a plurality of specialized tugs under the influence of factors such as offshore wind direction, wind speed and the like, and the direction and the speed of the towing are considered manually according to the factors such as upwind direction, wind speed and the like, so that the transportation efficiency is lower.
Disclosure of Invention
In view of the above, embodiments of the present invention provide a shipping method for wind power generation equipment and related equipment, so as to solve the problem of low transportation efficiency in the prior art.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
a first aspect of an embodiment of the invention shows a method of shipping a wind power plant, the method comprising:
acquiring a shipping initial position, a shipping final position and the number of tugs which are input by a user;
determining an initial track of each tug of the wind power plant to be tugged based on the shipping start position, the shipping end position, and the number of tugs;
collecting semi-submersible type basic parameters and external environment parameters of the wind power generation equipment to be hauled;
processing based on the semi-submersible base parameters and external environment parameters, and determining the pulling force and the speed of each tug;
and controlling the tugboat to carry out hauling on the wind power generation equipment to be hauled according to the initial track point in the initial track based on the pulling force and the speed of the tugboat aiming at each tugboat.
Optionally, the method further comprises:
for each tug, acquiring an initial track point of the tug at the current moment;
judging whether a moving obstacle exists in a preset range of a first position based on the first position of an initial track point at the current moment of the tug;
if the obstacle exists, acquiring the moving speed and the course of the moving obstacle;
if the moving obstacle is determined to travel to a target area at the next moment based on the moving speed and the heading of the moving obstacle, adjusting an initial track point at the next moment to obtain a target track point, wherein the target area is determined based on a second position of the initial track point at the next moment;
and controlling the tugboat to carry out tug on the wind power generation equipment to be tugged according to the target track point based on the pulling force and the speed of the tugboat.
Optionally, the method further comprises:
and if the moving obstacle does not travel to the target area at the next moment based on the moving speed and the course of the moving obstacle, taking the initial track point at the next moment as a target track point.
Optionally, the determining the initial track of each tug of the wind power generation device to be towed based on the shipping start position, the shipping end position, and the number of tugs includes:
Determining a corresponding hauling mode based on the number of tugs;
acquiring the position of a fixed obstacle when determining whether the fixed obstacle exists between the shipping initial position and the shipping final position;
adjusting a linear path between the shipping initial position and the shipping final position based on the position of the fixed obstacle to obtain a first path;
an initial track for each tug is determined based on the angle between the tugs in the hauling mode and the first path.
Optionally, the determining the pulling force and the speed of each tug based on the semi-submersible base parameter and the external environment parameter includes:
determining a speed of the tug based on the external environmental parameter;
processing according to the semi-submersible foundation parameters to determine the underwater wet surface area and the soaking cross section area of the floating foundation;
calculating a first resistance based on the speed of the tug, the underwater wet surface area of the floating foundation, and the submerged cross-sectional area;
calculating a second resistance based on the external environmental parameter, the speed of the tug, the underwater wet surface area of the floating foundation, and the submerged cross-sectional area;
Determining a total tension based on the first resistance and the second resistance;
and determining the pulling force of each tug based on the included angle between the tugs in the hauling mode and the total pulling force.
Optionally, said calculating a first resistance based on the speed of the tug, the underwater wet surface area of the floating foundation, and the submerged cross-sectional area comprises:
based on the speed of the tug, the underwater wet surface area of the floating foundation is processed, and the towing friction resistance of the floating foundation is determined;
based on the speed of the tugboat, the area of the submerged cross section is processed, and the floating type basic tugboat residual resistance is determined;
and processing based on the floating foundation towing friction resistance and the floating foundation towing residual resistance to obtain a first resistance.
Optionally, said calculating a second resistance based on said external environmental parameter, a speed of said tug, a submerged wet surface area of said floating foundation, and said submerged cross-sectional area comprises:
based on the speed of the tug, the underwater wet surface area of the floating foundation is processed, and the towing friction resistance of the floating foundation is determined;
based on the speed of the tugboat, the area of the submerged cross section is processed, and the floating type basic tugboat residual resistance is determined;
Based on the air density, wind speed and wind direction in the external environment parameters, the windward area of the wind power generation equipment to be hauled is processed to obtain external resistance;
and processing the floating foundation towing residual resistance and the external resistance based on the floating foundation towing friction resistance to obtain a second resistance.
A second aspect of an embodiment of the invention shows a shipping apparatus for a wind power plant, the apparatus comprising:
the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring a shipping initial position, a shipping final position and the number of tugs which are input by a user;
a first processing unit for determining an initial track of each tug of the wind power plant to be tugged based on the shipping start position, the shipping end position, and the number of tugs;
the acquisition unit is used for acquiring the semi-submersible type basic parameters and the external environment parameters of the wind power generation equipment to be hauled;
the second processing unit is used for processing based on the semi-submersible basic parameters and the external environment parameters and determining the pulling force and the speed of each tug;
and the control unit is used for controlling the tugboat to carry out hauling on the wind power generation equipment to be hauled according to the initial track point in the initial track based on the pulling force and the speed of the tugboat aiming at each tugboat.
A third aspect of the embodiment of the present invention shows an electronic device for running a program, wherein the program when run performs the shipping method of the wind power plant as shown in the first aspect of the embodiment of the present invention.
A fourth aspect of the embodiments of the present invention shows a computer storage medium, the storage medium comprising a stored program, wherein the program, when run, controls a device in which the storage medium is located to perform a shipping method of a wind power plant as shown in the first aspect of the embodiments of the present invention.
The shipping method of the wind power generation equipment and the related equipment provided by the embodiment of the invention are based on the steps of: acquiring a shipping initial position, a shipping final position and the number of tugs which are input by a user; determining an initial track of each tug of the wind power plant to be tugged based on the shipping start position, the shipping end position, and the number of tugs; collecting semi-submersible type basic parameters and external environment parameters of the wind power generation equipment to be hauled; processing based on the semi-submersible base parameters and external environment parameters, and determining the pulling force and the speed of each tug; and controlling the tugboat to carry out hauling on the wind power generation equipment to be hauled according to the initial track point in the initial track based on the pulling force and the speed of the tugboat aiming at each tugboat. In the embodiment of the invention, the initial track of each tugboat of the wind power generation equipment to be tugged is determined through the shipping initial position, the shipping final position and the number of tugboats; then the pulling force and the speed of each tug are calculated; and controlling the tugboat to carry out hauling on the wind power generation equipment to be hauled according to the initial track point in the initial track based on the pulling force and the speed of the tugboat. By the mode, the transportation efficiency of the wind power generation equipment can be improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram showing the connection of a host computer and a controller of a tug according to an embodiment of the present invention;
FIG. 2 is a flow chart of a shipping method for a wind power plant according to an embodiment of the present invention;
FIG. 3 is a diagram of a haulage example of an embodiment of the invention;
FIG. 4 is a diagram of another haulage example of an embodiment of the invention;
FIG. 5 is a schematic diagram of an architecture of a wind power plant to be hauled, according to an embodiment of the invention;
FIG. 6 is a flow chart of another method of shipping a wind power plant shown in an embodiment of the invention;
fig. 7 is a schematic structural view of a shipping apparatus of a wind power plant according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims of this application and in the above-described figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that the description of "first", "second", etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implying an indication of the number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
In this application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Referring to fig. 1, a schematic diagram of connection between an upper computer and a controller of a tug according to an embodiment of the present invention is shown;
the upper computer 10 is in wireless connection with the controllers of a plurality of tugs 20;
in the embodiment of the present invention, based on the connection diagram of the upper computer and the controller of the tug shown in the embodiment of the present invention, the upper computer specifically realizes the shipping process of the wind power generation device, as shown in fig. 2, and includes the following steps:
step S201: and acquiring the shipping initial position, the shipping final position and the number of tugs input by the user.
Optionally, before acquiring information input by the user, the authority of the user needs to be verified, that is, the account and the password input by the user are verified, and if the verification is passed, the manager account of the input account is determined to determine that the login of the user is successful.
Alternatively, the user may input the shipping start position, the shipping end position and the number of tugs related to the wind power generation equipment to be tugged through the input interface of the upper computer.
In the specific implementation process of step S201, the upper computer obtains the shipping start position, the shipping end position and the number of tugs input by the user.
The shipping start position refers to a start position of the wind power generation equipment to be hauled, and the shipping end position refers to a position where the wind power generation equipment to be hauled needs to be placed.
The number of tugs is a plurality.
Step S202: determining an initial track of each tug of the wind power plant to be tugged based on the shipping start position, the shipping end position, and the number of tugs;
it should be noted that, in the specific implementation process of step S202, the method includes the following steps:
step S11: and determining a corresponding hauling mode based on the number of tugs.
The hauling mode includes triangle hauling, broom hauling, pentagonal hauling and the like.
The corresponding relation between the different tugboat numbers and the tugboat modes is preset, and different tugboat modes can exist in the same number of tugboats.
In the specific implementation process of step S11, if the number of tugs is 3, the corresponding tug mode may be triangular tug; if the number of the tugs is 4, the corresponding hauling mode can be broom hauling; if the number of tugs is 4, the corresponding tug mode may be pentagonal tug.
It should be noted that triangular hauling means that a triangle is present between 3 tugs, and pentagonal hauling means that a pentagon is present between 5 tugs.
For example: in the case of triangular hauling, the description includes two main tugs and one rear auxiliary tug, as shown in fig. 3.
In fig. 3, the included angle between the two main tugs is 60 °, and the included angle between each main tug and the rear auxiliary tugs is the same.
It should be noted that the included angle between the main tugs may be set to other angles, and only the triangle is required to be ensured to be present between 3 tugs.
For example: if the broom is hauled, the description includes a main tug, a left auxiliary tug, a right auxiliary tug and a rear auxiliary tug, as shown in fig. 4.
The included angle between the main tug and the left auxiliary tug in fig. 4 may be 45 ° to 60 °, the included angle between the main tug and the right auxiliary tug is the same as the included angle between the main tug and the left auxiliary tug, and the included angles between the left auxiliary tug and the right auxiliary tug are the same as the included angles between the rear auxiliary tug, respectively.
It should be noted that fig. 4 further includes a protecting tugboat, and an upper computer is disposed in the protecting tugboat, which can be used for controlling other tugboats or used as a warning ship or a spare ship.
Step S12: and judging whether a fixed obstacle exists between the shipping initial position and the shipping final position, if so, executing the step S13, and if not, executing the step S15.
In the specific implementation of step S12, a straight line path between the shipping start position and the shipping end position is determined, whether a fixed obstacle exists on the straight line path is determined, if so, step S13 is executed, and if not, step S15 is executed.
The fixed obstacle is a substance that affects hauling of the wind power plant, and may be a building or the like.
The shipping start position and the shipping end position refer to coordinate positions such as longitude and latitude.
Step S13: and acquiring the position of the fixed obstacle.
In the specific implementation process of step S12, the position of the fixed obstacle is obtained according to the positioning system.
Step S14: and adjusting a straight line path between the shipping initial position and the shipping final position based on the position of the fixed obstacle to obtain a first path.
In the specific implementation step S14, determining a range covered by the position of the fixed obstacle, obtaining a first range, dividing a linear path into track points, sequentially judging whether each track point is in the first range, and if so, adjusting the position of the track point to add a preset margin on the position of the track point, that is, the adjusted track point can avoid the fixed obstacle; if not, not adjusting the position of the track point; finally, the positions of all track points are counted to form a first path.
It should be noted that the preset margin refers to a preset margin, i.e., a range, and the size of the margin is set by a technician according to actual situations.
Step S15: the straight path is taken as a first path.
Optionally, in the specific implementation process of step S12 and step S15, the shipping start position and the shipping end position may be directly substituted into the marine navigation system, and the first path capable of avoiding the fixed obstacle may be directly determined.
Step S16: an initial track for each tug is determined based on the angle between the tugs in the haul mode and the first path.
In the specific implementation process of step S16, if a main tug exists in the hauling mode, the first path is used as an initial path of the main tug and the rear auxiliary tug; determining an included angle between each remaining tug and the main tug according to the hauling mode; and shifting the first path by the included angle to obtain an initial path of the tug.
If the hauling mode has two main tugs, dividing the included angle of the two main tugs by 2 according to the included angle of the two main tugs in the hauling mode to obtain an angle of the first path deviation; determining an initial path of the main tug based on the angle of the first path offset; taking the first path as an initial path of the rear auxiliary tug; if other tugs exist, determining an included angle between the tugs and any main tugs according to the hauling mode; and shifting the initial path of the main tug by the included angle to obtain the initial path of the tug.
In general, there are no 3 or more main tugs.
Step S203: and acquiring semi-submersible type basic parameters and external environment parameters of the wind power generation equipment to be hauled.
The general floating type fan adopts a semi-submersible type foundation, the whole foundation can be an isosceles triangle, and the foundation consists of three upright posts, a heave plate, a lower floating body and an upper square transverse strut, and the floating type fan sequentially comprises a fan 1, a tower 2, a floating upright post 3, a water plane 4 arranged on the floating upright post and a mooring anchor chain 5 from top to bottom, wherein the mooring anchor chain 5 is used for connecting a tugboat as shown in fig. 5.
In the specific implementation process of the step S203, acquiring semi-submersible basic parameters of the wind power generation equipment to be hauled through various sensors arranged on the wind power generation equipment to be hauled, wherein the parameters comprise length, width, height, single cylinder diameter, design draft, displacement, tower height, hub center height, wind wheel diameter, blade length and the like; and external environmental parameters, including in particular wind speed, etc.
Step S204: and processing based on the semi-submersible base parameters and the external environment parameters to determine the pulling force and the speed of each tug.
It should be noted that, in the specific implementation process of step S204, the method includes the following steps:
Step S21: based on the external environmental parameters, the speed of the tug is determined.
It should be noted that, the corresponding relation between the wind speed levels at different seas and the speed of the tugboat is preset, in order to ensure the safety of the wind power generation equipment to be tugged, the tugboat speed is often controlled below 6kn, for example, the tugboat speed is 3.09m/s; if the wind speed is greater than or equal to 6 levels, the speed of the tugboat can be set to be 2.5m/s, and if the wind speed is less than 6 levels, the speed of the tugboat can be set to be 3.5m/s.
Further, it should be noted that different wind speed levels may be set to different speeds, and the embodiments of the present invention are not limited thereto.
In order to ensure consistency of the tugs, the speed of each tug is therefore the same. In the specific implementation of step S21, the speed of the corresponding tug is determined by the wind speed level in the external environment parameter.
Step S22: and processing according to the semi-submersible foundation parameters to determine the underwater wet surface area and the immersed cross section area of the floating foundation.
In the specific implementation process of the step S22, simulation is carried out through the semi-submersible type basic parameters to obtain a corresponding wind power generation equipment model to be hauled, a water-down experiment and a water-soaking experiment are carried out, and the underwater wet surface area and the water-soaking cross section area of the floating type basic are determined.
Step S23: a first resistance is calculated based on the speed of the tug, the underwater wetted surface area of the floating foundation, and the submerged cross-sectional area.
It should be noted that, in the specific implementation process of step S23, the method includes the following steps:
step S31: based on the speed of the tug, the underwater wet surface area of the floating foundation is processed, and the towing friction resistance of the floating foundation is determined;
in step S31, the fouling coefficients of the floating foundation are queried from the marine vessel entry level specification table.
In the specific implementation process of the step S31, firstly, determining the pollution bottom coefficient of the floating foundation by inquiring a marine vessel entry level specification table; and substituting the speed of the tug, the underwater wet surface area of the floating foundation and the pollution bottom coefficient of the floating foundation into a formula (1) for calculation to obtain the towing friction resistance of the floating foundation.
Formula (1):
R 1 ＝3.522×F 1 ×A 1 ×v 1 2 ×10 -3 (1)
wherein R is 1 F is the towing friction resistance of the floating foundation 1 A is the pollution bottom coefficient of a floating foundation 1 Underwater wet surface area for floating foundation, v 1 2 Is the square of towing speed.
Step S32: based on the speed of the tugboat, the area of the submerged cross section is processed, and the floating type basic tugboat residual resistance is determined;
In step S32, the helm part form factor of the floating foundation is obtained by querying the marine vessel entry level specification table.
In the specific implementation process of the step S32, firstly, determining helm part shape coefficients of a floating foundation by inquiring a marine boarding specification table; and substituting the speed of the tug, the area of the immersed cross section and the helm part shape coefficient of the floating foundation into a formula (2) for calculation to obtain the residual tug resistance of the floating foundation.
Formula (2):
R 2 ＝0.62×F 2 ×A 2 ×v 1 2 (2)
wherein R is 2 The residual drag force for towing the floating foundation F 2 Helm part form factor, A, for floating foundation 2 For the area of the submerged cross section v 1 2 Is the square of towing speed.
Step S33: and processing based on the floating foundation towing friction resistance and the floating foundation towing residual resistance to obtain a first resistance.
In the specific implementation process of step S33, the floating type foundation towing friction resistance and the floating type foundation towing residual resistance are substituted into formula (3) for processing, so as to obtain the first resistance.
Equation (3):
R _1st ＝1.15(R 1 +R 2 ) (3)
wherein R is 1 R is the towing friction resistance of a floating foundation 2 R is the residual drag of towing of a floating foundation _1st Is the first resistance.
Step S24: a second resistance is calculated based on the external environmental parameters, the speed of the tug, the underwater wet surface area of the floating foundation, and the submerged cross-sectional area.
It should be noted that, in the specific implementation process of step S24, the method includes the following steps:
step S41: based on the speed of the tug, the underwater wet surface area of the floating foundation is processed, and the towing friction resistance of the floating foundation is determined;
in step S41, the fouling coefficients of the floating foundation are queried from the marine vessel entry level specification table.
Step S42: based on the speed of the tugboat, the area of the submerged cross section is processed, and the floating type basic tugboat residual resistance is determined;
in step S42, the helm part form factor of the floating foundation is obtained by querying the marine vessel entry level specification table.
It should be noted that the implementation procedure for implementing the steps S41 to S42 is the same as the implementation procedure for implementing the steps S31 to S32 described above, and can be referred to each other.
Step S43: and processing the windward area of the wind power generation equipment to be hauled to obtain external resistance based on the air density, the wind speed and the wind direction in the external environment parameters.
It should be noted that the wind speed is measured, for example, the wind speed can be considered according to the 6-level wind speed temporarily, the influence of the navigational speed and the top wind direction is integrated, and the wind speed value can be 16.89m/s.
The wind area is the side projection area of each part of the wind power generation equipment to be hauled on the water plane on the longitudinal section, and the wind power generation equipment to be hauled is obtained by calculation through the obtained model of the wind power generation equipment to be hauled.
In the specific implementation process of step S43, the shape coefficient of the corresponding windward area is obtained from the specification requirement table according to the wind direction; substituting the shape coefficient of the windward area, the air density, the wind speed and the windward area into a formula (4) for calculation to obtain external resistance.
Equation (4):
R A ＝ρV 2 2 ∑C S A i ×10 -3 (4)
wherein R is A Is external resistance, V 2 2 Is the square of wind speed, ρ is air density, C S Is the shape coefficient of the windward area, A i Is the windward area.
Step S44: and processing the floating foundation towing residual resistance and the external resistance based on the floating foundation towing friction resistance to obtain a second resistance.
In the specific implementation process of step S44, the floating type foundation towing friction resistance, the floating type foundation towing residual resistance and the external resistance are substituted into the formula (5) for processing, so as to obtain the second resistance.
Equation (5):
R _2nd ＝0.7×(R 1 +R 2 )+R A (5)
wherein R is 1 R is the towing friction resistance of a floating foundation 2 R is the residual drag of towing of a floating foundation _2nd R is the second resistance A Is external resistance.
Step S25: based on the first resistance and the second resistance, a total tension is determined.
In the process of embodying step S25, the wet drag resistance may be expressed as max { r_1st, r_2nd }, that is, the maximum value of the first resistance and the second resistance is taken as the wet drag resistance, i.e., the total pulling force.
Step S26: and determining the pulling force of each tug based on the included angle between the tugs in the hauling mode and the total pulling force.
In the specific implementation process of step S26, the total pulling force is decomposed according to the included angle between the tugs in the hauling mode, so as to obtain the pulling force of each tug, so that the tugs in all directions can maintain the stability of the wind power generation equipment to be hauled.
Step S205: and controlling the tugboat to carry out hauling on the wind power generation equipment to be hauled according to the initial track point in the initial track based on the pulling force and the speed of the tugboat aiming at each tugboat.
In the specific implementation step S205, the pulling force and the speed corresponding to each tug and the initial track are sent to each tug; and controlling the tugboat to carry out hauling on the wind power generation equipment to be hauled according to the initial track point in the initial track based on the pulling force and the speed of the tugboat until the last track point is hauled, namely hauling the wind power generation equipment to be hauled to the shipping terminal position.
Optionally, it is also necessary to ensure that the cable employed between the tug and the wind power plant to be hauled, i.e. the minimum breaking force of the single wire rope, is greater than the pulling force of the corresponding tug, as it is to ensure that the cable is not broken.
The minimum breaking force of the single steel wire rope can be obtained by substituting the acquired steel wire rope diameter and the nominal tensile strength of the steel wire rope into the formula (6) for calculation.
Equation (6):
F 0 ＝K’ ×D 2 ×R 0 ×10 -3 (6)
in the formula (6), K' is the minimum breaking force coefficient, D is the diameter of the steel wire rope, R 0 And the minimum breaking force coefficient is the nominal tensile strength of the steel wire rope, and the nominal tensile strength of the steel wire rope is obtained through multiple tests.
In the embodiment of the invention, the initial track of each tug of the wind power generation equipment to be tugged is determined based on the shipping starting position, the shipping end position and the number of tugs; collecting semi-submersible type basic parameters and external environment parameters of wind power generation equipment to be hauled; processing based on the semi-submersible base parameters and external environment parameters, and determining the pulling force and the speed of each tug; and controlling each tug to carry out tug on the wind power generation equipment to be tugged according to the initial track point in the initial track based on the pulling force and the speed of the tug. According to the invention, the transportation efficiency of the wind power generation equipment can be improved through the mode.
In order to ensure navigation safety guarantee measures, avoid deflection, transverse dragging problems and control measures, dragging can be implemented in a period of stable water flow with good meteorological conditions; selecting daytime to pass through the intersected water area; the detection equipment in each tugboat detects in real time and uploads the detected data to the upper computer so as to avoid. Based on the shipping method of the wind power generation equipment shown in the embodiment of the invention, the embodiment of the invention also shows a flow diagram of another shipping method of the wind power generation equipment, as shown in fig. 6, and the method comprises the following steps:
Step S601: and acquiring the shipping initial position, the shipping final position and the number of tugs input by the user.
Step S602: an initial track of each tug of the wind power plant to be tugged is determined based on the shipping start position, the shipping end position, and the number of tugs.
Step S603: and acquiring semi-submersible type basic parameters and external environment parameters of the wind power generation equipment to be hauled.
Step S604: and processing based on the semi-submersible base parameters and external environment parameters to determine the pulling force and the speed of each tug.
Step S605: and controlling the tugboat to carry out hauling on the wind power generation equipment to be hauled according to the initial track point in the initial track based on the pulling force and the speed of the tugboat aiming at each tugboat.
Note that the implementation procedures for implementing steps S601 to S605 are the same as those for implementing steps S201 to S205 described above, and can be seen from each other.
Step S606: and acquiring an initial track point of each tug at the current moment of the tug.
In the specific implementation process of step S606, during the sailing process of each tug, each tug obtains an initial track point of the tug sailing based on the initial track at the current moment.
Step S607: and judging whether a moving obstacle exists in a preset range of the first position based on the first position of the initial track point of the tug at the current moment, if so, executing step S608, and if not, continuing tug according to the initial track point.
It should be noted that, the circle is drawn with the first position as a center of a circle and a preset radius, and the area where the circle is located is a preset range of the first position.
Further, it should be noted that the preset radius is set by a technician according to the actual situation, and the embodiment of the present invention is not limited.
In the embodiment of the present invention, during the hauling process, there may be an unfixed moving obstacle, so that each track point in the initial track may be determined, whether there is a moving obstacle in a preset range of the first position is monitored by the radar of the tugboat itself, if so, step S608 is executed, and if not, hauling according to the initial track point is continued.
Step S608: the moving speed and heading of the moving obstacle are collected.
In the process of specifically implementing step S608, the moving speed and heading of the moving obstacle are collected by the positioning system.
It should be noted that, in the technical solution of the present disclosure, the aspects of collection, updating, analysis, processing, use, transmission, storage, etc. of the moving obstacle are all in accordance with the rules of the related laws and regulations, and are used for legal purposes without violating the public order colloquial. Necessary measures are taken for the moving obstacle, illegal access to the data of the moving obstacle is prevented, and the safety, network safety and national safety of the data of the moving obstacle are maintained.
Step S609: and determining whether the moving obstacle runs to a target area at the next moment based on the moving speed and the heading of the moving obstacle, if so, executing step S610, and if not, executing step S611.
In step S609, the target area is determined based on the second position at which the initial track point at the next time is located.
The second position where the initial track point at the next moment is located is taken as the circle center, a circle is drawn by the preset radius, and the area corresponding to the circle is taken as the target area.
In the specific implementation process of step S609, based on the moving speed and heading of the moving obstacle, simulation is performed, the next time position of the moving obstacle is determined, and it is determined whether the next time position of the moving obstacle is within the target area, if yes, step S610 is performed, and if not, step S611 is performed.
Step S610: and adjusting the initial track point at the next moment to obtain the target track point.
In the specific implementation process of step S610, the position of the track point is adjusted, that is, a preset margin is added to the position of the track point, so that the adjusted track point can avoid the moving obstacle, and the position capable of avoiding the moving obstacle is taken as the target track point at the next moment.
Step S611: the initial track point at the next moment is taken as the target track point.
Step S612: and controlling the tugboat to carry out tug on the wind power generation equipment to be tugged according to the target track point based on the pulling force and the speed of the tugboat.
In the specific implementation step S612, the tugboat needs to adjust the initial track point at the next moment in the initial track in real time during the tugboat towing process, so as to control the tugboat to tow the wind power generation equipment to be towed according to the target track point based on the pulling force and the speed of the tugboat, until the tugboat reaches the last track point, that is, the wind power generation equipment to be towed is towed to the destination position.
Optionally, if the ship encounters a positive crosswind or is close to the positive crosswind, the course is adjusted in time, the navigational speed is reduced, and the pulling force of the tail tug cable is enhanced.
In the embodiment of the invention, the initial track of each tug of the wind power generation equipment to be tugged is determined based on the shipping starting position, the shipping end position and the number of tugs; collecting semi-submersible type basic parameters and external environment parameters of wind power generation equipment to be hauled; processing based on the semi-submersible base parameters and external environment parameters, and determining the pulling force and the speed of each tug; and controlling each tug to carry out tug on the wind power generation equipment to be tugged according to the initial track point in the initial track based on the pulling force and the speed of the tug. According to the invention, the transportation efficiency of the wind power generation equipment can be improved through the mode.
Based on the shipping method of the wind power generation equipment shown in the embodiment of the invention, correspondingly, the embodiment of the invention also correspondingly discloses a structural schematic diagram of a shipping device of the wind power generation equipment, as shown in fig. 7, wherein the device comprises:
an acquiring unit 701, configured to acquire a shipping start position, a shipping end position, and the number of tugs input by a user;
a first processing unit 702 for determining an initial track of each tug of the wind power plant to be tugged based on the shipping start position, the shipping end position, and the number of tugs;
the acquisition unit 703 is used for acquiring the semi-submersible type basic parameters and the external environment parameters of the wind power generation equipment to be hauled;
a second processing unit 704, configured to determine a pulling force and a speed of each tug based on the semi-submersible base parameter and an external environment parameter;
and the control unit 705 is used for controlling the tugboat to carry out hauling on the wind power generation equipment to be hauled according to the initial track point in the initial track based on the pulling force and the speed of the tugboat for each tugboat.
It should be noted that, the specific principle and the execution process of each unit in the shipping device of the wind power generation device disclosed in the embodiment of the present application are the same as those of the shipping method of the wind power generation device shown in the embodiment of the present application, and reference may be made to the corresponding parts in the shipping method of the wind power generation device disclosed in the embodiment of the present application, and no redundant description is given here.
In the embodiment of the invention, the initial track of each tug of the wind power generation equipment to be tugged is determined based on the shipping starting position, the shipping end position and the number of tugs; collecting semi-submersible type basic parameters and external environment parameters of wind power generation equipment to be hauled; processing based on the semi-submersible base parameters and external environment parameters, and determining the pulling force and the speed of each tug; and controlling each tugboat to carry out tugboat on the wind power generation equipment according to the initial track point in the initial track based on the pulling force and the speed of the tugboat. According to the invention, the transportation efficiency of the wind power generation equipment can be improved through the mode.
Optionally, based on the shipping device of a wind power plant shown in the foregoing embodiment of the present invention, the first processing unit 702 is further configured to:
for each tug, acquiring an initial track point of the tug at the current moment; judging whether a moving obstacle exists in a preset range of a first position based on the first position of an initial track point at the current moment of the tug; if the obstacle exists, acquiring the moving speed and the course of the moving obstacle; if the moving obstacle is determined to travel to a target area at the next moment based on the moving speed and the heading of the moving obstacle, adjusting an initial track point at the next moment to obtain a target track point, wherein the target area is determined based on a second position of the initial track point at the next moment;
Correspondingly, the control unit 705 is further configured to control the tug to tug according to the target track point based on the pulling force and the speed of the tug to tug.
Optionally, based on the shipping device of a wind power plant shown in the foregoing embodiment of the present invention, the first processing unit 702 is further configured to: and if the moving obstacle does not travel to the target area at the next moment based on the moving speed and the course of the moving obstacle, taking the initial track point at the next moment as a target track point.
Optionally, based on the shipping device of the wind power generation apparatus shown in the foregoing embodiment of the present invention, the first processing unit 702 is specifically configured to:
determining a corresponding hauling mode based on the number of tugs;
acquiring the position of a fixed obstacle when determining whether the fixed obstacle exists between the shipping initial position and the shipping final position;
adjusting a linear path between the shipping initial position and the shipping final position based on the position of the fixed obstacle to obtain a first path;
an initial track for each tug is determined based on the angle between the tugs in the hauling mode and the first path.
Optionally, based on the shipping device of the wind power plant shown in the above embodiment of the present invention, the second processing unit 704 is specifically configured to:
determining a speed of the tug based on the external environmental parameter;
processing according to the semi-submersible foundation parameters to determine the underwater wet surface area and the soaking cross section area of the floating foundation;
calculating a first resistance based on the speed of the tug, the underwater wet surface area of the floating foundation, and the submerged cross-sectional area;
calculating a second resistance based on the external environmental parameter, the speed of the tug, the underwater wet surface area of the floating foundation, and the submerged cross-sectional area;
determining a total tension based on the first resistance and the second resistance;
and determining the pulling force of each tug based on the included angle between the tugs in the hauling mode and the total pulling force.
Optionally, the shipping device of the wind power generation equipment according to the embodiment of the present invention is specifically configured to calculate the first resistance based on the speed of the tug, the underwater wet surface area of the floating foundation, and the submerged cross-sectional area by using the second processing unit 704:
Based on the speed of the tug, the underwater wet surface area of the floating foundation is processed, and the towing friction resistance of the floating foundation is determined;
based on the speed of the tugboat, the area of the submerged cross section is processed, and the floating type basic tugboat residual resistance is determined;
and processing based on the floating foundation towing friction resistance and the floating foundation towing residual resistance to obtain a first resistance.
Optionally, the shipping device of the wind power generation apparatus according to the embodiment of the present invention is specifically configured to calculate the second resistance based on the external environmental parameter, the speed of the tug, the underwater wet surface area of the floating foundation, and the submerged cross-sectional area, and the second processing unit 704:
based on the speed of the tug, the underwater wet surface area of the floating foundation is processed, and the towing friction resistance of the floating foundation is determined;
based on the speed of the tugboat, the area of the submerged cross section is processed, and the floating type basic tugboat residual resistance is determined;
based on the air density, wind speed and wind direction in the external environment parameters, the windward area of the wind power generation equipment to be hauled is processed to obtain external resistance;
And processing the floating foundation towing residual resistance and the external resistance based on the floating foundation towing friction resistance to obtain a second resistance.
The embodiment of the invention also discloses an electronic device which is used for running a database storage process, wherein the shipping method of the wind power generation device disclosed in the above figures 2 to 6 is executed when the database storage process is run.
The embodiment of the invention also discloses a storage medium, which comprises a storage database storage process, wherein equipment where the storage medium is controlled to execute the shipping method of the wind power generation equipment disclosed in the above figures 2 to 6 when the database storage process runs.
In the context of this disclosure, a storage medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for a system or system embodiment, since it is substantially similar to a method embodiment, the description is relatively simple, with reference to the description of the method embodiment being made in part. The systems and system embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method of shipping a wind power plant, the method comprising:
acquiring a shipping initial position, a shipping final position and the number of tugs which are input by a user;
determining an initial track of each tug of the wind power plant to be tugged based on the shipping start position, the shipping end position, and the number of tugs;
collecting semi-submersible type basic parameters and external environment parameters of the wind power generation equipment to be hauled;
processing based on the semi-submersible base parameters and external environment parameters, and determining the pulling force and the speed of each tug;
and controlling the tugboat to carry out hauling on the wind power generation equipment to be hauled according to the initial track point in the initial track based on the pulling force and the speed of the tugboat aiming at each tugboat.
2. The method as recited in claim 1, further comprising:
for each tug, acquiring an initial track point of the tug at the current moment;
judging whether a moving obstacle exists in a preset range of a first position based on the first position of an initial track point at the current moment of the tug;
if the obstacle exists, acquiring the moving speed and the course of the moving obstacle;
if the moving obstacle is determined to travel to a target area at the next moment based on the moving speed and the heading of the moving obstacle, adjusting an initial track point at the next moment to obtain a target track point, wherein the target area is determined based on a second position of the initial track point at the next moment;
And controlling the tugboat to carry out tug on the wind power generation equipment to be tugged according to the target track point based on the pulling force and the speed of the tugboat.
3. The method as recited in claim 2, further comprising:
and if the moving obstacle does not travel to the target area at the next moment based on the moving speed and the course of the moving obstacle, taking the initial track point at the next moment as a target track point.
4. The method of claim 1, wherein the determining an initial course for each tug of the wind power plant to be towed based on the shipping start location, the shipping end location, and the number of tugs comprises:
determining a corresponding hauling mode based on the number of tugs;
acquiring the position of a fixed obstacle when determining whether the fixed obstacle exists between the shipping initial position and the shipping final position;
adjusting a linear path between the shipping initial position and the shipping final position based on the position of the fixed obstacle to obtain a first path;
an initial track for each tug is determined based on the angle between the tugs in the hauling mode and the first path.
5. The method of claim 1, wherein the determining the pull and speed of each tug based on the semi-submersible base parameters and external environmental parameters comprises:
determining a speed of the tug based on the external environmental parameter;
processing according to the semi-submersible foundation parameters to determine the underwater wet surface area and the soaking cross section area of the floating foundation;
calculating a first resistance based on the speed of the tug, the underwater wet surface area of the floating foundation, and the submerged cross-sectional area;
calculating a second resistance based on the external environmental parameter, the speed of the tug, the underwater wet surface area of the floating foundation, and the submerged cross-sectional area;
determining a total tension based on the first resistance and the second resistance;
and determining the pulling force of each tug based on the included angle between the tugs in the hauling mode and the total pulling force.
6. The method of claim 4, wherein said calculating a first resistance based on the speed of the tug, the underwater wet surface area of the floating foundation, and the submerged cross-sectional area comprises:
based on the speed of the tug, the underwater wet surface area of the floating foundation is processed, and the towing friction resistance of the floating foundation is determined;
Based on the speed of the tugboat, the area of the submerged cross section is processed, and the floating type basic tugboat residual resistance is determined;
and processing based on the floating foundation towing friction resistance and the floating foundation towing residual resistance to obtain a first resistance.
7. The method of claim 4, wherein said calculating a second resistance based on said external environmental parameter, a speed of said tug, a wet surface area under water of said floating foundation, and said submerged cross-sectional area comprises:
based on the speed of the tug, the underwater wet surface area of the floating foundation is processed, and the towing friction resistance of the floating foundation is determined;
based on the speed of the tugboat, the area of the submerged cross section is processed, and the floating type basic tugboat residual resistance is determined;
based on the air density, wind speed and wind direction in the external environment parameters, the windward area of the wind power generation equipment to be hauled is processed to obtain external resistance;
and processing the floating foundation towing residual resistance and the external resistance based on the floating foundation towing friction resistance to obtain a second resistance.
8. A shipping apparatus for a wind power plant, the apparatus comprising:
The system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring a shipping initial position, a shipping final position and the number of tugs which are input by a user;
a first processing unit for determining an initial track of each tug of the wind power plant to be tugged based on the shipping start position, the shipping end position, and the number of tugs;
the acquisition unit is used for acquiring the semi-submersible type basic parameters and the external environment parameters of the wind power generation equipment to be hauled;
the second processing unit is used for processing based on the semi-submersible basic parameters and the external environment parameters and determining the pulling force and the speed of each tug;
and the control unit is used for controlling the tugboat to carry out hauling on the wind power generation equipment to be hauled according to the initial track point in the initial track based on the pulling force and the speed of the tugboat aiming at each tugboat.
9. An electronic device, characterized in that the electronic device is adapted to run a program, wherein the program when run performs a shipping method of a wind power plant according to any of claims 1-7.
10. A computer storage medium, characterized in that the storage medium comprises a stored program, wherein the program, when run, controls a device in which the storage medium is located to perform a method of shipping a wind power plant according to any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311459075.1A CN117369468A (en) | 2023-11-03 | 2023-11-03 | Shipping method of wind power generation equipment and related equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311459075.1A CN117369468A (en) | 2023-11-03 | 2023-11-03 | Shipping method of wind power generation equipment and related equipment |
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| Publication Number | Publication Date |
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| CN117369468A true CN117369468A (en) | 2024-01-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311459075.1A Pending CN117369468A (en) | 2023-11-03 | 2023-11-03 | Shipping method of wind power generation equipment and related equipment |
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| Country | Link |
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| CN (1) | CN117369468A (en) |
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2023
- 2023-11-03 CN CN202311459075.1A patent/CN117369468A/en active Pending
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