Fan blade transportation and installation system, transportation and installation method and flight device

Abstract

The invention discloses a fan blade transportation and installation system and method and a flight device, and belongs to the technical field of intelligent transportation of fan blades. The system comprises a flight transportation module, an intelligent navigation control module, an installation auxiliary module and a scheduling module; the flight transportation module is used for suspending and loading the fan blades, and suspending, flying and transporting the fan blades according to a preset flight route; the intelligent navigation control module is used for monitoring a flight path, collecting flight data and environment data in a flight process, predicting potential obstacles according to the flight data and the environment data, and optimizing a flight strategy; the mounting auxiliary module is used for aligning and fastening the blades and the fan hub; the scheduling module is used for determining a flight plan according to the meteorological data, the performance of the flight transportation module and the priority of the transportation installation task. By combining a plurality of transportation, installation and dispatching modules, efficient and safe transportation and installation of the fan blades are achieved, and the transportation and installation difficulty and cost are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent transportation of wind turbine blades, and particularly to a wind turbine blade transportation and installation system, a transportation and installation method, and a flying device. Background Art

[0002] With the increasing global demand for clean energy, wind power generation, as an important way of utilizing renewable energy, has developed rapidly. The wind power generation blade is one of the key components of a wind turbine, which is used to capture wind energy and convert it into mechanical energy. It is usually made of composite materials, such as glass fiber, carbon fiber, or a mixture of glass and carbon materials. The blade is designed to capture wind energy to the greatest extent and automatically adjust the angle of the blade according to the wind speed to achieve the best efficiency. In recent years, with the continuous increase in the single-unit capacity of wind turbines, the length of wind turbine blades has continuously broken world records. The longer the blade, the more difficult and costly it is to transport. Especially for wind power blades installed on mountain tops, the transportation is restricted by roads. With a length of up to hundreds of meters, it is very difficult to go up the mountain without wide roads, which seriously restricts the development and application of wind power. At the same time, during the high-altitude installation process, the cooperation efficiency between heavy equipment and personnel is low, and the accident rate is high. During the installation process, due to reasons such as wind direction and human factors, it is very difficult to achieve millimeter-level accuracy in the docking of the blade and the hub. Therefore, due to its complex external structure, large size, transportation distance, and installation characteristics, the transportation and installation of wind turbine blades have become a difficult problem.

[0003] The traditional transportation method uses vehicle transportation. For the complex external structure, large size, and transportation distance of wind turbine blades, by widening the road and using professional transportation vehicles for transportation, the cost of widening the road is very high, and it is very difficult to construct road widening for wind turbines on mountain tops. On such a harsh transportation route, it is very difficult to transport wind turbine blades, and the transportation cost is very high. The traditional installation method uses hoisting and relies on manual operation. When affected by wind force, the positioning error can reach more than 5 cm, resulting in misalignment of bolt holes. Moreover, the existing transportation and installation processes are separated, lacking a unified transportation and installation scheduling platform, and it is very difficult to solve the technical problems of high transportation difficulty and cost, as well as high installation risk and low accuracy of wind turbine blades.

[0004] Therefore, there is an urgent need for a wind turbine blade transportation and installation system, a transportation and installation method, and a flying device to solve the problems of transportation and installation of wind turbine blades in the prior art and realize the intelligence and automation of transportation and installation. Summary of the Invention

[0005] In view of this, it is necessary to provide a transportation and installation system for wind turbine blades, a transportation and installation method, and a flying device, which can combine a flight transportation module, an intelligent navigation control module, an installation assistance and scheduling module to form a complete transportation and installation system for wind turbine blades, reducing the difficulty and cost of transporting and installing wind turbine blades, and improving the efficiency and safety of transportation and installation.

[0006] To solve the above technical problems, on the one hand, the present invention provides a transportation and installation system for wind turbine blades, including a flight transportation module, an intelligent navigation control module, an installation assistance module, and a scheduling module; The flight transportation module is used to suspend and load wind turbine blades, and suspend and fly to transport wind turbine blades according to a preset flight route; The intelligent navigation control module is used to monitor the flight trajectory, collect flight data and environmental data during flight, predict potential obstacles according to the flight data and environmental data, and optimize the flight strategy; The installation assistance module is used to move the wind turbine blade to the installation position, align the wind turbine blade with the wind turbine hub, and fasten and install it; The scheduling module is used to determine a flight plan according to meteorological data, the performance of the flight transportation module, and the priority of the transportation and installation task, and monitor and adjust the flight transportation and installation process.

[0007] In a possible implementation manner, the flight transportation module includes an airship, a suspension sub-module, and a lift sub-module; The airship is used for low-altitude flight to transport wind turbine blades; The suspension sub-module is arranged below the airship and is used to suspend and carry the wind turbine blade, and adaptively adjust and control the angle of the suspended wind turbine blade; The lift sub-module is used to control the flight parameters of the airship, and the flight parameters include flight direction, flight height, and flight speed.

[0008] In a possible implementation manner, the airship includes a hull, at least one floating lift gas chamber, and a rudder wing; The hull is a three-lobe structure and is used to protect the floating lift gas chamber; The floating lift gas chamber is used to store floating lift gas, and control the flight height and flight speed of the airship by injecting and discharging the floating lift gas; The rudder wing is used to control the flight direction of the airship.

[0009] In a possible implementation manner, the suspension sub-module includes a bearing unit, a connecting body, a plurality of electro-hydraulic push rods, and an adaptive adjustment unit; The bearing unit is used to bear the wind turbine blade; The connecting body is used to connect the bearing unit and the airship; The electric hydraulic push rod is used to adjust the extension length and angle of the load-bearing unit; The adaptive adjustment unit is arranged on the load-bearing unit and is used to detect the structure and displacement of the fan blade, and control the extension length and angle of the load-bearing unit by adjusting a plurality of the electric hydraulic push rods according to the structure and displacement.

[0010] In a possible implementation manner, the lift sub-module includes a floating gas control unit and a rudder wing control unit; The floating gas control unit is used to control the injection or discharge of floating gas into the floating gas chamber to control the flight height and flight speed of the airship; The rudder wing control unit is used to control the flight direction of the airship by controlling the angle of the rudder wing.

[0011] In a possible implementation manner, the intelligent navigation control module includes a satellite positioning sub-module, an inertial navigation sub-module, a data acquisition sub-module, an image recognition sub-module, and a flight control sub-module; The satellite positioning sub-module is used to receive signals from multiple satellites, locate the position of the airship, and monitor the flight trajectory of the airship; The inertial navigation sub-module is used to calculate the attitude, speed, and position information of the airship based on the inertial principle of the airship itself, and monitor the flight trajectory of the airship; The data acquisition sub-module is used to collect the flight data of the airship and the environmental data of the flight environment of the airship during the flight of the airship; The image recognition sub-module is used to monitor the displacement of the fan blade during transportation, and issue a displacement warning according to the displacement; The flight control sub-module is used to predict potential obstacles and optimize the flight strategy according to the flight trajectory, flight environment, and flight data.

[0012] In a possible implementation manner, the installation assistance module includes a lifting and fastening sub-module and an automatic installation sub-module; The lifting and fastening sub-module is used to move the fan blade to the installation position and fasten it; The automatic installation sub-module is used to dynamically optimize the installation strategy based on the model predictive control algorithm according to the sensor signals of the installation part.

[0013] In a possible implementation manner, the scheduling module includes a flight plan scheduling sub-module, a transportation and installation scheduling sub-module, and an auxiliary scheduling sub-module; The flight plan scheduling sub-module is used to determine the flight route according to the meteorological data and the performance status of the airship; The transportation and installation scheduling sub-module is used to determine the priority according to the urgency and importance of the fan blade transportation and installation tasks, and adjust the flight route according to the priority; The auxiliary scheduling sub-module is used to arrange auxiliary equipment, materials and operators according to the wind turbine blade installation task.

[0014] In a second aspect, the present invention also provides a method for transporting and installing wind turbine blades, which is applicable to the wind turbine blade transporting and installing system described in any one of the above. The method includes: Fix and suspend the wind turbine blade for loading, and suspend and fly to transport the wind turbine blade according to a preset flight route; Monitor the flight trajectory, collect flight data and environmental data during the flight, and predict potential obstacles based on the flight data and environmental data to optimize the flight strategy; Move the wind turbine blade to the installation position, align the wind turbine blade with the wind turbine hub, and fasten and install it; Determine the flight plan according to meteorological data, the performance of the flight transportation module, and the priority of the transportation and installation task, and monitor and adjust the flight transportation and installation process.

[0015] In a third aspect, the present invention also provides a flying device, which includes the wind turbine blade transporting and installing system described in any one of the above, and is used to transport and install wind turbine blades.

[0016] The beneficial effects of the present invention are as follows: The present invention uses a flight transportation module to suspend and load the wind turbine blade, and transports the wind turbine blade in a suspended flight mode, which can adapt to complex terrains, can easily reach the wind turbine installation sites that are difficult for vehicles to reach, and reduces the dependence on basic equipment. There is no need to build special transportation roads, which greatly reduces the cost. At the same time, it also reduces the limitation of transportation size and can adapt to wind turbine blades of different sizes; By monitoring the flight trajectory through the intelligent navigation control module, collecting flight data and environmental data during the flight, predicting potential obstacles based on the flight data and environmental data, and optimizing the flight strategy, it ensures the smoothness and safety of flight transportation; By installing the auxiliary module, the wind turbine blade is moved to the installation position, and the wind turbine blade is aligned with the wind turbine hub, and fastening and installation are carried out to realize the automatic installation of the wind turbine blade, improving the installation efficiency of the wind turbine blade. By adjusting the flight plan according to meteorological data, the performance of the flight transportation module, and the priority of the transportation and installation task, and monitoring and adjusting the flight transportation and installation process, the best flight plan can be adjusted according to real-time meteorological data and flight tasks, improving the efficiency and safety of flight transportation and installation. The present invention combines the flight transportation module, the intelligent navigation control module, the installation auxiliary and the scheduling module to form a complete wind turbine blade transportation and installation system, reducing the difficulty and cost of wind turbine blade transportation and installation, and improving the efficiency and safety of transportation and installation. Description of the Drawings

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Figure 1 A schematic structural diagram of an embodiment of the fan blade transportation and installation system provided by the present invention; Figure 2 A schematic right-view structural diagram of an embodiment of the airship provided by the present invention; Figure 3 A schematic front-view structural diagram of an embodiment of the airship provided by the present invention; Figure 4 A schematic structural diagram of an embodiment of the lift sub-module provided by the present invention; Figure 5 A schematic flowchart of an embodiment of the fan blade transportation and installation method provided by the present invention. Detailed implementation manners

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

[0020] In the description of the embodiments of the present invention, unless otherwise specified, "a plurality of" means two or more.

[0021] The descriptions such as "first" and "second" involved in the embodiments of the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Therefore, the technical features defined with "first" and "second" may explicitly or implicitly include at least one of such features.

[0022] Referring to "embodiments" herein means that the specific features, structures, or characteristics described in connection with the embodiments may be included in at least one embodiment of the present invention. The phrase appears in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein may be combined with other embodiments.

[0023] The present invention provides a fan blade transportation and installation system, a transportation and installation method, and a flying device, which will be described separately below.

[0024] Figure 1 A schematic structural diagram of an embodiment of the fan blade transportation and installation system provided by the present invention is shown as Figure 1 shown. The fan blade transportation and installation system includes a flight transportation module 100, an intelligent navigation control module 200, an installation assistance module 300, and a scheduling module 400; The flight transportation module 100 is used to suspend and load the fan blade, and suspend and fly to transport the fan blade according to a preset flight route; It should be noted that the flight transportation module 100 uses a low-altitude flight device to suspend and load the fan blade under the flight device, and can shuttle through complex and long-distance road conditions such as mountains and canyons.

[0025] The intelligent navigation control module 200 is used to monitor the flight trajectory, collect flight data and environmental data during the flight, predict potential obstacles according to the flight data and environmental data, and optimize the flight strategy; It should be noted that there is no limitation on the navigation and positioning device in this embodiment. In this embodiment, a multi-mode satellite receiver is preferably used to integrate the signal receiving functions of multiple global satellite navigation systems such as GPS, Beidou, and Galileo, and through a built-in complex and precise algorithm chip, these signals are real-time solved to accurately locate the coordinate position of the fan blade transportation and installation system in three-dimensional space; on this basis, relying on high-precision fiber optic gyroscopes and micro-electromechanical accelerometers, further positioning and navigation are performed.

[0026] Furthermore, it should be noted that in this embodiment, multi-source high-precision sensing devices such as lidar, ultrasonic sensors, and vision cameras are used to collect flight data (such as flight altitude, flight speed, flight direction, etc.) and environmental data (such as tree branches, boulders, flying animals, etc.).

[0027] Furthermore, it should be noted that the collected flight data and environmental data are sent to an electronic terminal, and according to the data analysis tool on the electronic terminal combined with an intelligent algorithm, potential obstacles are predicted, an energy-saving avoidance path is calculated, and the flight parameters are adjusted in a timely manner to ensure the safety and efficiency of flight transportation.

[0028] The installation assistance module 300 is used to move the fan blade to the installation position, align the fan blade with the fan hub, and fasten and install it; It should be noted that laser measurement technology is adopted to conduct high-precision measurement on the connection part of the fan blade and the hub through a laser scanner to obtain the three-dimensional coordinate data of the connection part; a programmable logic controller (PLC) control system is used to automatically adjust the position and attitude of the crane according to the three-dimensional coordinate data, and environmental factors such as wind speed and wind direction are monitored in real time to ensure the stability of the crane during the hoisting process and prevent the blade from shaking due to the influence of the wind. The control system commands the robotic arm to perform the docking operation of the blade and the hub to ensure the accuracy of docking. High-precision sensors are equipped to provide real-time feedback on the force conditions during the docking process for timely adjustment of the docking strategy; an electric bolt tightening tool is used to precisely tighten the bolts according to the preset torque value, and the tightening torque value data of each bolt is recorded and fed back; after docking, an ultrasonic bolt detector is used to detect the pre-tightening force of the bolts. The ultrasonic detection technology can non-destructively measure the stress conditions inside the bolts to timely detect problems such as bolt loosening or insufficient pre-tightening force and ensure the reliability of bolt connection.

[0029] The scheduling module 400 is used to determine the flight plan according to the meteorological data, the performance of the flight transportation module 100, and the priority of the transportation and installation tasks, and monitor and adjust the flight transportation and installation process.

[0030] It should be further noted that the weather changes are monitored in real time through meteorological monitoring software, including factors such as wind speed, wind direction, temperature, and air pressure, so as to adjust the flight plan in a timely manner to ensure the safety of the airship and the fan blade; various parameters of the airship, such as flight altitude, speed, and load capacity, are received by multiple sensors to analyze the performance state of the airship. According to the meteorological data and the performance state of the airship, the initial flight route and speed are adjusted to improve the transportation efficiency; the priority of the transportation and installation tasks is determined according to the urgency and importance of different tasks, and resources are reasonably allocated to ensure that each task can be properly handled and completed on time; reasonable allocation is made according to the complexity of the tasks and the skill level of the operators to ensure that each operator can be competent for their work tasks. At the same time, necessary auxiliary equipment and materials are prepared to improve work efficiency and ensure work quality.

[0031] It should be further noted that the scheduling module 400 can simultaneously process multiple real-time flight transportation and installation tasks to ensure that each flight transportation and installation task can be timely responded to and processed.

[0032] In this embodiment, the flying transportation module 100 is used to suspend and load the wind turbine blade, and the wind turbine blade is transported in a suspended flight mode. It can adapt to complex terrains, easily reach the wind turbine installation sites that are difficult for vehicles to access, reduce the dependence on basic facilities, eliminate the need to construct special transportation roads, greatly reduce the cost, and also reduce the limitations on transportation dimensions, being able to adapt to wind turbine blades of different sizes. The intelligent navigation control module 200 monitors the flight trajectory, collects flight data and environmental data during the flight, predicts potential obstacles based on the flight data and environmental data, and optimizes the flight strategy to ensure the smoothness and safety of the flying transportation. The installation auxiliary module 300 is installed to move the wind turbine blade to the installation position, align the wind turbine blade with the wind turbine hub, and fasten and install it to achieve the automatic installation of the wind turbine blade, improving the installation efficiency of the wind turbine blade. By adjusting the flight plan according to meteorological data, the performance of the flying transportation module 100, and the priority of the transportation and installation tasks, and monitoring and adjusting the flying transportation and installation process, the best flight plan can be adjusted according to real-time meteorological data and flight tasks, improving the efficiency and safety of the flying transportation and installation. In this embodiment, by combining the flying transportation module 100, the intelligent navigation control module 200, the installation auxiliary and scheduling module 400, a complete transportation and installation system for wind turbine blades is formed, reducing the difficulty and cost of transporting and installing wind turbine blades, and improving the efficiency and safety of transportation.

[0033] In some embodiments of the present invention, the flying transportation module 100 includes an airship 110, a hanging sub-module 120, and a lift sub-module 130; The airship 110 is used for low-altitude flight transportation of wind turbine blades; It should be noted that, as a transportation tool for wind turbine blades, the airship 110 is made of high-strength composite materials, with both high strength and light weight characteristics, improving the load capacity and flight efficiency of the airship 110.

[0034] The hanging sub-module 120 is arranged below the airship 110 and is used to suspend the wind turbine blade and adaptively adjust and control the angle of the suspended wind turbine blade; It should be noted that the hanging sub-module 120 is the key link connecting the airship 110 and the wind turbine blade. A special alloy material with high strength and flexibility is selected as the connecting main body, which can bear a weight of dozens of tons and can also effectively buffer the pulling force caused by factors such as inertia and air flow impact, ensuring the stability of the blade suspension.

[0035] Specifically, as Figure 2 shown, Figure 2 is a schematic structural diagram of the airship provided by the present invention, including a right view and a front view, including the airship 110, the hanging sub-module 120, and the wind turbine blade 140.

[0036] The lift sub-module 130 is used to control the flight parameters of the airship.

[0037] It should be noted that the flight parameters include flight altitude, flight speed, flight direction, and the attitude of the airship, etc. The control methods for flight altitude and flight speed include but are not limited to injecting and discharging the lifting gas in the airship. The lifting gas includes hydrogen or helium. The airship can also be made to hover and fly by the power provided by the propulsion power device. In this embodiment, it is preferably to select injecting and discharging helium in the airship to control the flight altitude of the airship, and at the same time use the propulsion power device as an auxiliary thrust to accurately control the flight altitude and speed of the airship. The flight direction and the attitude of the airship are achieved by changing the angle of the rudder wing.

[0038] In this embodiment, by using an airship as a flight tool to perform suspended flight transportation on the fan blades, and accurately controlling the flight parameters of the airship through the lift sub-module 130, it can adapt to complex terrains, can easily reach the fan installation locations that are difficult for vehicles to reach, and reduces the dependence on infrastructure. There is no need to build special transportation roads, which greatly reduces the cost. At the same time, it also reduces the limitation of transportation size, can adapt to fan blades of different sizes, can improve the safety and efficiency of fan blade transportation, and also reduces the difficulty and cost of transportation.

[0039] In some embodiments of the present invention, the airship includes an airship envelope, at least one lifting gas chamber, and a rudder wing; The airship envelope is of a three-lobe structure and is used to protect the lifting gas chamber; It should be noted that the airship envelope is the core support part of the airship. The material of the airship envelope adopts a new type of high-strength composite material, which integrates a variety of high-performance fibers, has high tensile strength and light weight, significantly improving the flight efficiency. In terms of airtightness, a multi-layer sealing structure is adopted. The inner layer is a high-airtight rubber coating, the middle layer is a nano-level barrier film, and the outer layer is supplemented with a high-strength protective fabric. The triple protection ensures that the lifting gas does not leak, guaranteeing the long-term stable flight of the airship.

[0040] The lifting gas chamber is used to store the lifting gas, and controls the flight altitude and speed of the airship by injecting and discharging the lifting gas; It should be noted that there are multiple independent lifting gas chambers in the airship envelope. Each chamber is equipped with a high-speed electromagnetic valve, which can calculate and regulate the injection and discharge amount of the lifting gas in real time according to factors such as flight altitude, speed, and meteorological conditions in combination with the flight strategy, thereby flexibly changing the buoyancy and attitude of the airship.

[0041] The rudder wing is used to control the flight direction of the airship.

[0042] It should be noted that the rudder wing is made of lightweight and high-strength carbon fiber composite materials and is driven by a precision electric servo mechanism. It responds to flight control commands within milliseconds, accurately adjusts the angle, and achieves precise control of the flight direction of the airship.

[0043] Specifically, through a large number of wind tunnel tests and numerical simulations for optimization, in this embodiment, an airship with an integrated aerodynamic shape of buoyancy and lift is designed. The hull is composed of a three-lobe structure combination, which can form a stable vortex structure when the airflow passes through, effectively improving the lift-to-drag ratio. Four distributed tail fins extend forward to the hull and are cleverly integrated to form a smooth edge strip shape, reducing air resistance and enhancing the lateral stability of the airship during flight. Four vector propellers distributed on both sides are used as power supplements, and high-power density and low-noise electric thrusters are selected. Each propeller can independently control the rotation speed and thrust direction. By working together, they provide precise power assistance for the airship, enabling it to maintain good maneuverability and controllability under complex meteorological conditions such as strong winds and turbulence.

[0044] In some embodiments of the present invention, the mounting sub-module includes a bearing unit, a connecting body, a plurality of electro-hydraulic push rods, and an adaptive adjustment unit; The bearing unit is used to bear the fan blades; It should be noted that considering the large span of the sizes of fan blades of different models, the bearing unit can be quickly replaced and adjusted, and can achieve size adaptation of the fan blades and the bearing unit in the horizontal, vertical, and longitudinal directions, ensuring that the fan blades can be stably mounted under the airship.

[0045] The connecting body is used to connect the bearing unit and the airship; It should be noted that the connecting body is made of a special alloy material with high strength and flexibility, which can bear a weight of dozens of tons. Its flexibility can effectively buffer the pulling force caused by factors such as inertia and airflow impact, ensuring the stability of the blade suspension.

[0046] The electro-hydraulic push rods are used to adjust the extension length and angle of the bearing unit; The adaptive adjustment unit is on the bearing unit and is used to detect the structure and displacement of the fan blades, and control the plurality of electro-hydraulic push rods to adjust the extension length and angle of the bearing unit according to the structure and displacement.

[0047] It should be noted that high-precision shape sensors are set at the key parts of the bearing unit in contact with the fan blades. If it is detected that the blades change their shape due to their own structural characteristics or external forces during flight, the electro-hydraulic push rods are controlled to adjust the extension length and angle of the bearing unit, so that the mounting points always closely fit the blade surface and maintain uniform force.

[0048] In some embodiments of the present invention, such asFigure 3 As shown Figure 3 This is a schematic structural diagram of an embodiment of the lift sub-module provided by the present invention. The lift sub-module 130 includes a lifting gas control unit 131 and a rudder wing control unit 132; The lifting gas control unit 131 is used to control the injection or discharge of lifting gas into the lifting gas chamber to control the flight altitude of the airship; It should be noted that the lifting gas control unit 131, based on an intelligent algorithm, combines the flight strategy sent by the intelligent control module according to the current airship state (such as airship altitude and airship attitude, etc.), accurately calculates various flight parameters of the airship, and controls the injection or discharge of the lifting gas in the lifting gas chamber of the airship according to the flight parameters.

[0049] The rudder wing control unit 132 is used to control the rudder wing angle to control the flight direction of the airship.

[0050] It should be noted that the rudder wing control unit 132 is driven by a precision electric servo mechanism, so that the rudder wing responds to the control instruction of the rudder wing in the flight strategy sent by the intelligent control module within milliseconds, accurately adjusts the angle of the rudder wing, and realizes the precise control of the flight direction of the airship.

[0051] This embodiment controls multiple parameters such as the flight altitude and flight direction of the airship through a precise control algorithm, improving the safety and intelligence of the airship transportation process.

[0052] In some embodiments of the present invention, the intelligent navigation control module 200 includes a satellite positioning sub-module 210, an inertial navigation sub-module 220, a data acquisition sub-module 230, an image recognition sub-module 240, and a flight control sub-module 250; The satellite positioning sub-module 210 is used to receive signals from multiple satellites, locate the position of the airship, and monitor the flight trajectory of the airship; It should be noted that this embodiment integrates the signal receiving functions of multiple global satellite navigation systems such as GPS, Beidou, and Galileo, and through a built-in complex and precise algorithm chip, performs real-time calculation on the collected signals to accurately locate the coordinate position of the airship in three-dimensional space.

[0053] The inertial navigation sub-module 220 is used to calculate the attitude, speed, and position information of the airship according to the inertial principle of the airship itself, and monitor the flight trajectory of the airship; It should be noted that in this embodiment, an independent navigation system is constructed by using a high-precision fiber optic gyroscope and a microelectromechanical accelerometer. When the airship encounters extreme situations such as being blocked by mountainous terrain, satellite signals being interrupted by mountains, or entering a strong electromagnetic interference area where satellite signals are severely disrupted, the inertial navigation device, relying on its excellent inertial measurement technology, continuously and stably calculates the attitude, speed, and position change information of the airship. In addition, the fiber optic gyroscope can accurately capture every fluctuation of the flight acceleration and more precisely monitor the flight state of the airship.

[0054] The data acquisition sub-module 230 is used to collect the flight data of the airship and the environmental data of the flight environment of the airship during the flight of the airship. It should be noted that through an omni-directional distributed sensing network, multi-modal data such as the flight state of the airship, the working conditions of equipment, and the state of the fan blades are collected; the sensing network includes high-precision inertial measurement units (IMUs), barometric altimeters, airspeed tubes, etc. The IMU captures the three-axis acceleration and angular velocity of the airship in real time, and combines complex attitude resolution algorithms to accurately restore the pitch, roll, and yaw attitudes of the airship; the barometric altimeter calculates the flight altitude based on the change in atmospheric pressure, and the airspeed tube accurately measures the relative airspeed, providing basic data for flight control. The working conditions of the equipment are monitored by deploying sensors such as temperature, pressure, current, and vibration at key systems such as energy supply, power propulsion, and mounting devices, and using a fault diagnosis model to monitor the health status of the equipment in real time and prevent potential faults. The blade state uses strain gauges, displacement sensors, and image acquisition devices, combined with digital image processing technology and structural health monitoring algorithms, to accurately monitor the strain distribution, displacement changes, and surface damage of the blades.

[0055] Furthermore, the collected data is aggregated to the electronic terminal via a high-speed data bus. Through the data analysis software of the electronic terminal, advanced big data processing technologies are used, such as filtering algorithms based on wavelet transform to remove noise interference and feature extraction models based on deep learning to mine data associations, providing a basis for flight control and obstacle avoidance decisions.

[0056] The image recognition sub-module 240 is used to monitor the displacement of the fan blades during transportation and issue a displacement warning according to the displacement situation. It should be noted that the image acquisition method includes, but is not limited to, using high-resolution industrial cameras and appropriate lighting equipment, selecting identifiers with high contrast and easy to recognize, installing the industrial camera and lighting equipment at the leading edge, trailing edge or tip of the blade and other parts prone to wear, as well as the connection between the blade and the airship. The acquisition frequency is determined according to the operating conditions of the fan and the possible development speed of wear. During transportation, the acquisition frequency should be appropriately increased. The acquired images are transmitted to the electronic terminal in real time through wireless network or wired network, and operations such as preprocessing, enhancement, segmentation, and detection are performed on the images through the image processing software on the electronic terminal.

[0057] Specifically, first, perform preprocessing operations such as denoising and enhancement on the acquired images, and convert the color images into grayscale images for subsequent operations such as threshold segmentation and edge detection. Then, separate the blade and the identifier from the background through the threshold segmentation algorithm to obtain a binary image. Use the edge detection algorithm, combined with morphological image processing technology, to extract the edge contours of the blade and the identifier. Through the analysis of the edge contours, quantitative and qualitative evaluations are carried out from two aspects: blade displacement and blade wear. Among them, when the displacement of the blade exceeds the preset safety threshold, the system will immediately trigger dual acoustic and optical alarms, and simultaneously push the alarm information to the display screen in the airship cockpit and the monitoring terminal of the ground control center, so that the operator can take timely countermeasures such as adjusting the flight attitude and checking the mounting system to ensure the safety of the blade throughout the transportation process. On the other hand, for the analysis of blade wear, measure the thickness difference of the blade before and after wear, calculate characteristic parameters such as the gray-level co-occurrence matrix of the blade surface texture to reflect the change of surface roughness. The qualitative evaluation mainly judges the damage degree of the blade during transportation according to cracks, scratches, etc. on the blade surface. Establish a special database to store relevant information such as the image data collected each time. Through the analysis of a large amount of image data and relevant parameters, establish a prediction model for blade wear to predict the blade wear trend. According to the set wear threshold and prediction results, establish a corresponding alarm mechanism. When the wear degree of the blade and the blade displacement exceed the set threshold or prediction value, the system automatically sends an alarm signal to remind the maintenance personnel to check and repair in time.

[0058] The flight control sub-module 250 is used to predict potential obstacles and optimize the flight strategy according to the flight trajectory, flight environment and flight data.

[0059] It should be noted that the time-of-flight ranging principle is adopted. The surrounding airspace is scanned by a high-frequency pulsed laser beam, and the round-trip time of the laser is measured to calculate the distance to the obstacle, generating a three-dimensional point cloud map with millimeter-level resolution to accurately construct the environmental geometric model. For the near-field blind area of the lidar, the reflection characteristics of high-frequency sound waves are used to detect small obstacles such as kite strings and tree branches to improve the reliability of short-distance perception. Combining with the deep learning object detection algorithm, dynamic / static obstacles are identified in real time, and the movement trajectory of the obstacles is predicted by the optical flow method to enhance the dynamic adaptability of environmental perception.

[0060] Specifically, an innovative algorithm combining model predictive control (MPC) and adaptive control is used to construct the dynamic model of the airship. Flight data such as the pitch angle, roll angle, and yaw angle of the airship are collected in real time. The change in atmospheric pressure is sensed by a barometric altitude sensor, and the speed of the airship relative to the surrounding air is monitored by an airspeed sensor. These flight data, barometric change data, relative air speed, and meteorological data are combined with the preset flight mission. In each control cycle, the flight state of the airship in the next period of time is quickly predicted. By continuously solving optimization problems, the optimal flight strategy is planned in advance, including the angle adjustment sequence of the rudder wings, the helium adjustment command of the lift system, and the combination of the rotation speed and thrust direction of the vector propellers, ensuring that the airship can efficiently cope with complex working conditions such as upcoming airflow changes and wind direction changes and always move forward stably along the predetermined route. At the same time, the adaptive control algorithm monitors the deviation between the actual flight state of the airship and the model prediction value in real time. The flight control sub-module 250 controls the flight attitude and flight parameters of the airship according to the optimal flight strategy. Finally, the volume of the lifting gas in the lifting gas chamber and the angle of the rudder wings are controlled by the lifting gas control unit 131 and the rudder wing control unit 132.

[0061] Furthermore, the Dijkstra path planning algorithm is used to search for the global optimal path in the complex three-dimensional environmental model. The artificial potential field method is used to construct a virtual gravitational and repulsive field for the airship, so that the airship is guided by the repulsive force to automatically avoid when approaching the obstacle. The two work together to quickly plan a safe and energy-saving avoidance path in real time based on the multi-sensor fusion data, drive the actuator to adjust the flight attitude, ensure the safety of the transportation mission, and comprehensively update the environmental model in real time based on the lidar point cloud, ultrasonic distance data, and visual recognition results to quickly generate a safe avoidance path.

[0062] In terms of the hardware architecture, a remote control receiver is equipped on the airship to obtain flight control signals and transmit them to the associated control unit to control the flight parameters of the airship. The signal data collected by the ultrasonic sensor is used to accurately calculate the actual distance between the airship and the surrounding environmental objects. The obtained basic information and data parameters are summarized in real time to the Arduino UNO platform, and these signals are interpreted and analyzed to determine the relationship parameters between the airship and the obstacles, and a scientific and reasonable logical judgment control mode is constructed to ensure to a great extent that the airship can safely and stably avoid obstacles and maintain a good flight trajectory when performing flight tasks. In the software processing link, strictly follow the application operation specifications of the automatic obstacle avoidance technology, obtain the PPM signal parameters of the remote control and the signal content of the ultrasonic sensor, and judge whether the airship and the surrounding objects are within the safe distance range according to the preset judgment rules. If within the safe distance, the system directly outputs the original remote control signal to maintain the current flight state of the airship; if exceeding the safe distance, the information of the difference between the safe distance and the measured distance is immediately output so that the airship can re-modulate the corresponding command signal to achieve effective obstacle avoidance.

[0063] Furthermore, the flight control sub-module 250 also sets up an independent control unit for the airship acceleration and rudder channels. Based on integrating various flight-related information, this unit accurately determines and analyzes the flight state of the airship, and effectively controls the operation process of the elevator and ailerons accordingly. In case of sudden events, the operator can quickly adjust the operation state of the airship by controlling the acceleration and rudder in a timely manner, significantly reducing the safety risks. At the same time, in line with the application requirements of the airship automatic obstacle avoidance technology and in accordance with the precise control requirements of the command information, the program is defined and analyzed in detail to further optimize the control processing flow between the airship and the obstacles. By setting reasonable safety distance parameters, the distance variable is accurately controlled in a flexible way of free definition to ensure that the airship is always in a safe flight state. When the airship enters a high-risk flight area, the automatic obstacle avoidance module is quickly activated, accurately delimits and deeply analyzes the command information interval, and resolutely executes the corresponding commands according to the assignment changes of the safety distance and design variable parameters to achieve the automatic and precise obstacle avoidance of the airship, providing a solid and reliable guarantee for the intelligent transportation and installation operations of the wind turbine blades.

[0064] This embodiment accurately controls the flight parameters of the airship through the flight control sub-module 250, and adjusts the flight strategy in real time according to the real-time flight situation of the airship combined with the environmental data to ensure the safety of the wind turbine blade transportation.

[0065] In some embodiments of the present invention, the installation assistance module 300 includes a lifting and fastening sub-module 310 and an automatic installation sub-module 320; The lifting and fastening sub-module 310 is used to move the wind turbine blade to the installation position and fasten it; Specifically, the lifting and tightening submodule 310 relies on a high-precision electric winch and an intelligent wire rope transmission system to build a powerful vertical lifting force. The electric winch uses vector control technology to accurately control the output torque and speed to ensure that the blades are lifted smoothly and avoid the risk of collision caused by excessive acceleration or shaking. The intelligent wire rope has a built-in optical fiber sensor to monitor the tension and strain distribution of the wire rope in real time. With the advanced tension balancing algorithm, it automatically adjusts the force of each wire rope so that the blades always maintain a horizontal posture during the lifting process. The wind turbine blades are positioned by integrating laser measurement, machine vision and spatial coordinate positioning technology. The laser rangefinder measures the distance deviation between the blade and the hub from multiple angles. The machine vision camera captures the characteristic images of the blade and the hub, identifies the key feature points through the image processing algorithm, and combines the spatial coordinate transformation model to accurately calculate the translation and rotation adjustment of the blade, and guide the lifting device to accurately align the blade with the hub installation position at the millimeter level. Through electric bolt tightening technology, precise torque values ​​are preset according to the mechanical standards of wind turbine design to tighten the wind turbine blades. The torque sensor provides real-time feedback on the tightening torque, and the control system accurately controls the tightening rhythm based on the feedback to ensure that each bolt is tightened according to the standard, thus building a solid and reliable connection between the blades and the hub, meeting the long-term stable operation requirements of wind power generation.

[0066] The automatic installation submodule 320 is used to dynamically optimize the installation strategy according to the sensor signals at the installation location based on the model predictive control algorithm.

[0067] Specifically, the automatic installation submodule 320 is used to realize the intelligent control of the wind turbine blade installation process. Its hardware architecture is based on a high-performance industrial control computer, with a high-speed data acquisition card, a motion control card and a reliable communication module, to build a powerful information processing and command transmission capability. At the software level, an algorithm system based on model predictive control (MPC) is adopted, which integrates the regression algorithm in machine learning for real-time parameter estimation and provides accurate reference for control decisions in advance. Through the torque sensors, position sensors and force sensors installed in key parts, the data collected by these sensors are used to remove noise interference using advanced filtering algorithms to ensure data accuracy, and the optimal control sequence is planned based on the MPC algorithm to drive the motion control card to accurately control the actuators such as the mechanical arm and the electric winch to achieve dynamic optimization of the lifting adjustment and tightening operation. At the same time, with the help of remote management and cloud computing technology, the field data is uploaded to the Internet of Things cloud platform in real time, and the cloud big data analysis is used to dig out potential problems, and the adjustment strategy is fed back in time to ensure the efficiency, accuracy and stability of the installation process in all aspects, meeting the installation requirements under complex working conditions of wind power generation.

[0068] In some embodiments of the present invention, the scheduling module 400 includes a flight plan scheduling submodule 410, a transportation and installation scheduling submodule 420, and an auxiliary scheduling submodule 430; The flight plan scheduling sub-module 410 is used to determine the flight route according to meteorological data and the performance status of the airship; It should be noted that the weather changes are monitored in real time, including factors such as wind speed, wind direction, temperature, and air pressure. When severe weather occurs, the flight plan is adjusted in a timely manner to ensure the safety of the airship and the wind turbine blades. Secondly, it is the performance status of the airship. The various parameters of the airship are continuously monitored, such as flight altitude, speed, load capacity, etc., to determine the actual performance of the airship. According to the actual performance of the airship, the number and size of the wind turbine blades that can be carried are determined, as well as the optimal flight route and speed.

[0069] The transportation and installation scheduling sub-module 420 is used to determine the priority according to the urgency and importance of the wind turbine blade transportation and installation tasks, and adjust the flight route according to the priority; The auxiliary scheduling sub-module 430 is used to arrange auxiliary equipment, materials and operators according to the wind turbine blade installation tasks.

[0070] It should be noted that after determining the transportation and installation tasks that can be completed within the current window period, the scheduling system will further determine elements such as the airships to be used, operators, auxiliary equipment and materials. For the selection of airships, the scheduling system will make a match according to the requirements of the tasks and the performance characteristics of the airships. The arrangement of operators is also crucial. The scheduling system will make a reasonable allocation according to the complexity of the tasks and the skill levels of the operators. Ensure that each operator can be competent for their own work tasks, and at the same time ensure the safety and efficiency of the entire transportation and installation process. The preparation of auxiliary equipment and materials is also one of the important tasks of the scheduling system. According to the requirements of the transportation and installation tasks, the scheduling system will prepare the required auxiliary equipment and materials in advance to ensure that they can be used in a timely manner during the transportation and installation process and improve work efficiency.

[0071] To better implement the wind turbine blade transportation and installation system in the embodiments of the present invention, correspondingly, on the basis of the wind turbine blade transportation and installation system, as Figure 4 shown, the embodiments of the present invention also provide a wind turbine blade transportation and installation method, including: S401. Fix and suspend the wind turbine blade for loading, and suspend and fly to transport the wind turbine blade according to the preset flight route; S402. Monitor the flight trajectory, collect flight data and environmental data during the flight, and predict potential obstacles according to the flight data and environmental data to optimize the flight strategy; S403. Move the wind turbine blade to the installation position, align the wind turbine blade with the wind turbine hub, and fasten and install it; S404. Determine the flight plan according to meteorological data, the performance of the flight transportation module, and the priority of the transportation and installation tasks, and monitor and adjust the flight transportation and installation process.

[0072] It should be noted that: the method for transporting and installing the fan blade provided in the above embodiment can implement the technical solution described in the embodiment of the above fan blade transportation and installation system. For the principle or specific implementation details realized by the above steps, reference can be made to the corresponding content in the above embodiment of the intelligent charging system, and details will not be elaborated here one by one.

[0073] An embodiment of the present invention further provides a flying device including the fan blade transportation and installation system in the above embodiment for transporting and installing fan blades.

[0074] The flying device provided in the above embodiment can implement the technical solution described in the embodiment of the above fan blade transportation and installation system. For the specific implementation principle, reference can be made to the corresponding content in the above embodiment of the fan blade transportation and installation system, and details will not be elaborated here.

[0075] Those skilled in the art can understand that all or part of the processes for implementing the methods in the above embodiments can be completed by instructing relevant hardware (such as a processor, a controller, etc.) through a computer program. The computer program can be stored in a computer-readable storage medium. Among them, the computer-readable storage medium is a disk, an optical disc, a read-only memory, or a random access memory, etc.

Claims

1. A wind turbine blade transportation and installation system, characterized in that: It includes flight transportation module, intelligent navigation control module, installation auxiliary module and scheduling module; The flight transport module is used to suspend and load the fan blades, and transport the fan blades in a suspended flight according to a preset flight route; The intelligent navigation control module is used to monitor the flight trajectory, collect flight data and environmental data during the flight, predict potential obstacles based on the flight data and environmental data, and optimize the flight strategy; The installation auxiliary module is used to move the fan blades to the installation position, align the fan blades with the fan hub, and tighten and install them; The scheduling module is used to determine the flight plan according to meteorological data, the performance of the flight transportation module and the priority of the transportation and installation tasks, and to monitor and adjust the flight transportation and installation process.

2. The wind turbine blade transportation and installation system according to claim 1, characterized in that: The flight transport module includes the airship, the mounting submodule and the lift submodule; The airship is used for low-altitude flight and transportation of wind turbine blades; The mounting submodule is arranged under the airship and is used to suspend the fan blades and adaptively adjust and control the angle of the suspended fan blades; The lift submodule is used to control the flight parameters of the airship, and the flight parameters include flight direction, flight altitude and flight speed.

3. The wind turbine blade transportation and installation system according to claim 2, characterized in that: The airship comprises a boat bladder, at least one buoyancy air chamber and rudder wings; The boat bladder is a three-bladder valve structure, which is used to protect the buoyancy air chamber; The buoyancy gas chamber is used to store buoyancy gas, and the flight altitude and flight speed of the airship are controlled by injecting and discharging buoyancy gas; The rudder wing is used to control the flying direction of the airship.

4. The wind turbine blade transportation and installation system according to claim 2, characterized in that: The mounting submodule includes a carrying unit, a connecting body, a plurality of electric hydraulic push rods and an adaptive adjustment unit; The bearing unit is used to bear the fan blades; The connecting body is used to connect the carrying unit and the airship; The electric hydraulic push rod is used to adjust the extension length and angle of the load-bearing unit; The adaptive adjustment unit is arranged on the bearing unit, and is used for detecting the structure and displacement of the fan blades, and controlling the plurality of electric hydraulic push rods to adjust the extension length and angle of the bearing unit according to the structure and displacement.

5. The wind turbine blade transportation and installation system according to claim 3, characterized in that: The lift submodule includes a buoyancy gas control unit and a rudder wing control unit; The buoyancy gas control unit is used to control the injection or discharge of buoyancy gas from the buoyancy gas chamber to control the flight altitude and flight speed of the airship; The rudder control unit is used to control the flight direction of the airship by controlling the angle of the rudder.

6. The wind turbine blade transportation and installation system according to claim 1, characterized in that: The intelligent navigation control module includes a satellite positioning submodule, an inertial navigation submodule, a data acquisition submodule, an image recognition submodule and a flight control submodule; The satellite positioning submodule is used to receive multiple satellite signals, locate the position of the airship, and monitor the flight trajectory of the airship; The inertial navigation submodule is used to calculate the attitude, speed and position information of the airship according to the inertial principle of the airship itself, and monitor the flight trajectory of the airship; The data acquisition submodule is used to collect the flight data of the airship and the environmental data of the airship's flight environment during the airship's flight; The image recognition submodule is used to monitor the displacement of the fan blades during transportation and issue a displacement alarm according to the displacement; The flight control submodule is used to predict potential obstacles and optimize flight strategies based on the flight trajectory, flight environment and flight data.

7. The wind turbine blade transportation and installation system according to claim 1, characterized in that: The installation auxiliary module includes a lifting and fastening submodule and an automatic installation submodule; The lifting and fastening submodule is used to move the fan blades to the installation position and fasten them; The automatic installation submodule is used to dynamically optimize the installation strategy according to the sensor signals at the installation location based on the model predictive control algorithm.

8. The wind turbine blade transportation and installation system according to claim 7, characterized in that: The scheduling module includes a flight plan scheduling submodule, a transportation and installation scheduling submodule, and an auxiliary scheduling submodule; The flight plan scheduling submodule is used to determine the flight route according to meteorological data and airship performance status; The transport and installation scheduling submodule is used to determine the priority according to the urgency and importance of the wind turbine blade transport and installation tasks, and adjust the flight route according to the priority; The auxiliary scheduling submodule is used to arrange auxiliary equipment, materials and operators according to the wind turbine blade installation task.

9. A method for transporting and installing fan blades, characterized in that: The wind turbine blade transportation and installation system according to any one of claims 1 to 8, wherein the method comprises: The fan blades are fixedly hung and loaded, and transported by suspended flight according to the preset flight route; Monitor flight trajectory, collect flight data and environmental data during flight, predict potential obstacles and optimize flight strategies based on flight data and environmental data; Move the fan blades to the installation position, align the fan blades with the fan hub, and tighten them; Determine the flight plan based on meteorological data, the performance of the flight transport module and the priority of the transport and installation tasks, and monitor and adjust the flight transportation and installation process.

10. A flying device, characterized in that: The flying device comprises the wind blade transportation and installation system according to any one of claims 1 to 8, which is used for transporting and installing wind blades.

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