Offshore wind turbine inspection method and system based on drone and unmanned ship linkage

Abstract

The present invention provides an offshore wind turbine inspection method and system based on the linkage of unmanned aerial vehicles and unmanned ships, the method comprising: sending an offshore wind turbine inspection instruction to the unmanned ship, wherein the offshore wind turbine inspection instruction includes at least the take-off coordinates of the unmanned aircraft; when the unmanned ship reaches the take-off coordinates, controlling the hangar to start, so that the unmanned aircraft takes off from the take-off coordinates and performs the inspection task; obtaining the wave resistance parameters of the real-time floating position of the unmanned ship sent by the unmanned ship; and adjusting the real-time floating position of the unmanned ship in real time according to the wave resistance parameters. Through the above method, the unmanned ship can be kept within a relatively static coordinate range after the unmanned aircraft takes off for inspection. When the unmanned aircraft completes the inspection task and returns, there is no need to re-plan the return landing route, thereby improving the inspection efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of offshore wind turbine inspection, and specifically relates to an offshore wind turbine inspection method and system based on the linkage of an unmanned aerial vehicle and an unmanned ship. Background Art

[0002] Offshore wind farms refer to offshore wind power with a water depth of about 10 meters. Compared with onshore wind farms, the advantages of offshore wind farms are that they do not occupy land resources, are basically not affected by topography, have higher wind speeds, richer wind energy resources, larger wind turbine unit capacity (3 to 5 megawatts), and higher annual utilization hours. Due to the abundant wind energy resources at sea and the feasibility of current technology, the ocean will become a rapidly developing wind power market. With the development and maturity of offshore wind farm technology, wind power will surely become an important source of energy for sustainable development in the future.

[0003] Offshore wind power plants are new power plants that use offshore wind resources to generate electricity. By the end of 2010, 43 offshore wind farms had been built worldwide, with 1,339 wind turbines installed, with a total capacity of 3.666 million kilowatts. Data shows that in 2010, the world's newly installed offshore wind power capacity was 1.444 million kilowatts, a year-on-year increase of 110%, accounting for 3.7% of the world's newly installed wind power capacity, mainly distributed in the United Kingdom, Denmark, Belgium and Germany in Europe. Among them: the United Kingdom's newly installed offshore capacity in 2010 was 925,000 kilowatts; Germany has used 5 megawatt and 6 megawatt large wind turbines to build offshore wind farms in the past two years. Outside Europe, China's Shanghai East China Sea Bridge offshore wind power and Jiangsu Rudong intertidal zone two offshore wind power projects are connected to the grid for power generation.

[0004] With the large-scale construction of offshore wind farms, the inspection and maintenance of wind power equipment has become arduous. At present, the inspection of offshore wind turbines often relies on inspection personnel to send drones to the vicinity of the wind turbines by boat, and then control the drones to take off for inspection. Due to the special environment at sea, after the drone completes the current wind turbine inspection task, the position of the ship will change, and the drone needs to re-find the position of the unmanned ship, re-plan the route and then land. This method consumes computing power and leads to low inspection efficiency. Summary of the invention

[0005] The purpose of the present invention is to provide an offshore wind turbine inspection method and system based on the linkage of unmanned aerial vehicles and unmanned boats, so as to at least solve the technical problem in the existing offshore wind turbine inspection scheme that the return and landing route of the unmanned aerial vehicle must be replanned after the inspection, resulting in low inspection efficiency.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] According to a first aspect of the present invention, there is provided an offshore wind turbine inspection method based on the linkage of a drone and an unmanned ship, wherein the unmanned ship is provided with a hangar, and the method comprises:

[0008] The unmanned ship obtains an offshore wind turbine inspection instruction, wherein the unmanned ship is provided with a hangar, the unmanned aircraft can be stored in the hangar, and the offshore wind turbine inspection instruction at least includes the take-off coordinates of the unmanned aircraft;

[0009] After the unmanned ship reaches the take-off coordinates, the unmanned aerial vehicle takes off from the take-off coordinates and performs an inspection task;

[0010] Obtain the wave resistance parameters of the real-time floating position of the unmanned ship;

[0011] After the UAV takes off, the real-time floating position of the unmanned boat is adjusted in real time according to the wave resistance parameters.

[0012] As a solution in some other embodiments of the present invention, the steps are also included:

[0013] Obtaining weather information at the real-time floating position of the unmanned ship;

[0014] The inspection strategy of the UAV is dynamically adjusted according to the meteorological information, wherein the inspection strategy of the UAV at least includes the return time of the UAV.

[0015] As a solution in some other embodiments of the present invention, the step of dynamically adjusting the inspection strategy of the drone according to the meteorological information specifically includes:

[0016] The inspection strategy of the drone is dynamically adjusted based on the meteorological information and the remaining power of the drone, wherein the meteorological information is used to characterize one or more of: droplet concentration, rainfall intensity, and wind speed.

[0017] As a solution in some other embodiments of the present invention, the step of adjusting the real-time floating position of the unmanned boat in real time according to the wave resistance parameter specifically includes:

[0018] Generate position adjustment instructions;

[0019] The power equipment of the unmanned ship obtains and executes the position adjustment instruction, so that the real-time floating position of the unmanned ship and the take-off coordinates are maintained within a preset range.

[0020] As a solution in some other embodiments of the present invention, the wave resistance parameter includes: the magnitude and / or direction of the resistance encountered by the unmanned ship.

[0021] As a solution in some other embodiments of the present invention, the unmanned boat is provided with a fuel generator for charging the charging base in the hangar.

[0022] According to a second aspect of the present invention, there is provided an offshore wind turbine inspection system based on the linkage of a drone and an unmanned ship, the system comprising:

[0023] The drones were pre-stored in the hangar;

[0024] The server is used to send an offshore wind turbine inspection instruction to the unmanned ship, wherein the offshore wind turbine inspection instruction at least includes the take-off coordinates of the unmanned aircraft;

[0025] An unmanned ship provided with the hangar;

[0026] The unmanned boat is used to establish a communication relationship with the service end, and when reaching the take-off coordinates, controls the hangar to start, so that the unmanned aircraft takes off from the hangar at the take-off coordinates and performs an inspection task.

[0027] As a solution in some other embodiments of the present invention, the server is also used to receive the wave resistance parameters of the real-time floating position of the unmanned ship sent by the server, and generate a position adjustment instruction of the unmanned ship according to the wave resistance parameters.

[0028] As a solution in some other embodiments of the present invention, the unmanned boat includes a power device, which is used to receive and execute the position adjustment command sent by the server, so that the real-time floating position of the unmanned boat and the take-off coordinates remain within a preset range.

[0029] As a solution in some other embodiments of the present invention, the unmanned boat is provided with a fuel generator, and the fuel generator is used to charge the charging base of the hangar.

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0031] The present invention provides an offshore wind turbine inspection method and system based on the linkage of an unmanned aerial vehicle and an unmanned ship, the method comprising: sending an offshore wind turbine inspection instruction to the unmanned ship, wherein the offshore wind turbine inspection instruction includes at least the take-off coordinates of the unmanned aerial vehicle; when the unmanned ship reaches the take-off coordinates, controlling the hangar to start, so that the unmanned aerial vehicle takes off from the take-off coordinates and performs the inspection task; obtaining the wave resistance parameters of the real-time floating position of the unmanned ship sent by the unmanned ship; and adjusting the real-time floating position of the unmanned ship in real time according to the wave resistance parameters. Through the above method, the unmanned ship can be kept within a relatively static coordinate range after the unmanned aerial vehicle takes off for inspection. When the unmanned aerial vehicle completes the inspection task and returns, there is no need to re-plan the return landing route, thereby improving the inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0033] Figure 1 This is a flow chart of an offshore wind turbine inspection method based on the linkage of a drone and an unmanned ship according to an embodiment of the present invention;

[0034] Figure 2 It is a schematic diagram of a method for real-time adjustment of the floating position of an unmanned boat in an embodiment of the present invention.

[0035] Figure 3 It is a schematic diagram of an offshore wind turbine inspection system based on the linkage of a drone and an unmanned ship according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0037] The following detailed description is an exemplary description, which is intended to provide further detailed description of the present invention. Unless otherwise specified, all technical terms used in the present invention have the same meaning as those generally understood by those skilled in the art to which the present application belongs. The terms used in the present invention are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention.

[0038] Example 1

[0039] like Figure 1 As shown, Embodiment 1 of the present invention provides an offshore wind turbine inspection method based on the linkage of a drone and an unmanned ship, wherein the unmanned ship is provided with a hangar, and the method comprises:

[0040] Step S1, sending an offshore wind turbine inspection instruction to the unmanned ship, wherein the offshore wind turbine inspection instruction at least includes the take-off coordinates of the unmanned aerial vehicle.

[0041] As a specific example of the above content, this solution can send a wind turbine inspection command to the controller of the unmanned boat through the server. The wind turbine inspection command clearly contains the take-off coordinates (longitude and latitude coordinates) of the drone. The drone can take off from the above take-off coordinates and then inspect the wind turbine.

[0042] Step S2, after receiving the offshore wind turbine inspection instruction, the unmanned ship heads to the take-off coordinates, and when the unmanned ship reaches the take-off coordinates, controls the hangar to start, so that the unmanned aircraft takes off from the take-off coordinates and performs the inspection task.

[0043] As a specific example of the above content, the unmanned ship controls the operation of the power equipment according to the above wind turbine inspection instructions, and reaches the above take-off coordinates, and then controls the hangar to start and open, and the UAV takes off from the hangar.

[0044] Step S3, obtaining the wave resistance parameters of the real-time floating position of the unmanned ship sent by the unmanned ship.

[0045] As a specific example of the above content, this solution can obtain the wave resistance parameters of the real-time floating position of the unmanned ship through sensors set on the unmanned ship. It should be noted here that because there are often waves on the sea, when the unmanned ship is in a floating state, the above waves will generate resistance to the unmanned ship and change the floating position of the unmanned ship.

[0046] Step S4: after the UAV takes off, the real-time floating position of the unmanned boat is adjusted in real time according to the wave resistance parameter.

[0047] It should be noted here that in order to ensure that the position of the unmanned ship remains unchanged, so that the drone can quickly find the unmanned ship and land in the hangar after completing the inspection task, this solution can adjust the real-time floating position of the unmanned ship in real time according to the wave resistance parameters to which the unmanned ship is subjected, so that the real-time floating position of the unmanned ship is within a predictable range. After the drone completes the inspection task, it does not need to find the position of the ship again, but only needs to return and land according to the original inspection route. Therefore, this solution solves the technical problem of low inspection efficiency in the existing offshore wind turbine inspection solution, where the drone needs to re-plan the return and landing route after the inspection.

[0048] like Figure 2 As shown, the step of adjusting the real-time floating position of the unmanned boat in real time according to the wave resistance parameter specifically includes:

[0049] Step S41, generating a position adjustment instruction.

[0050] Step S42, sending the position adjustment instruction to the power equipment of the unmanned ship, wherein the power equipment of the unmanned ship executes the position adjustment instruction so that the real-time floating position of the unmanned ship and the take-off coordinates remain within a preset range.

[0051] In some other embodiments, the wave resistance parameter includes: the magnitude and / or direction of the resistance encountered by the unmanned vessel.

[0052] As a specific example of the above content, the present solution can control the power equipment of the unmanned ship according to the size and / or direction of the resistance encountered by the unmanned ship, that is, generate a reaction force of the resistance, so that the real-time floating position of the unmanned ship and the take-off coordinates remain within a preset range, so that the UAV can return and land according to the original inspection route after completing the inspection mission.

[0053] In some other embodiments, the method further comprises:

[0054] Step S5, obtaining weather information at the real-time floating position of the unmanned ship.

[0055] Step S6, dynamically adjusting the inspection strategy of the UAV according to the meteorological information, wherein the inspection strategy of the UAV at least includes the return time of the UAV.

[0056] As a specific example of the above content, this solution can establish a communication relationship with the weather station server, and obtain real-time weather information of the location of the unmanned ship, and dynamically adjust the inspection strategy of the unmanned aircraft according to the weather information.

[0057] It should be noted here that the marine environment is changeable, and sometimes there are sudden strong winds, heavy rain or fog, and it may be dangerous for the drone to continue patrolling. Therefore, this solution can obtain meteorological information in real time and then control the drone to return immediately based on the meteorological information. That is, in this embodiment, when it is found that the conditions for continuing patrol are no longer met based on the meteorological information, this solution can adjust the patrol strategy and control the drone to return immediately.

[0058] In some other embodiments, step S6 dynamically adjusts the inspection strategy of the drone according to the meteorological information, including:

[0059] Step S61, dynamically adjusting the inspection strategy of the drone based on the meteorological information and the remaining power of the drone, wherein the meteorological information is used to characterize one or more of: droplet concentration, rainfall intensity, and wind speed.

[0060] As a specific example of the above content, this embodiment can also comprehensively consider the remaining power of the drone and weather information to dynamically adjust the inspection strategy of the drone. For example, when the drone has sufficient power and the local weather is good, this solution can control the drone to fly at a slow speed when taking pictures of the blades, so as to obtain high-quality blade images on a safe basis, thereby completing the blade inspection work.

[0061] In some other embodiments, the unmanned boat is provided with a fuel generator, and the fuel generator is used to charge the charging base of the hangar.

[0062] As a specific example of the above content, in this solution, a fuel generator can be installed on the unmanned ship. When the weather information is relatively good, the drone often needs to continuously inspect multiple wind turbines. At this time, in order to ensure that the drone has sufficient power, this solution can generate electricity through the fuel generator installed on the unmanned ship to charge the charging base in the hangar. The drone can be charged when it returns and lands in the hangar.

[0063] Example 2

[0064] like Figure 3 As shown, embodiment 2 of the present invention is based on the same inventive concept as embodiment 1, and provides an offshore wind turbine inspection system based on the linkage of a drone and an unmanned ship, the system comprising:

[0065] The drone 20 is pre-stored in the hangar;

[0066] The server 22 is used to send an offshore wind turbine inspection instruction to the unmanned ship, wherein the offshore wind turbine inspection instruction at least includes the take-off coordinates of the unmanned aircraft;

[0067] The unmanned boat 24 establishes a communication relationship with the service end. The unmanned boat is provided with the hangar 240. The unmanned boat is used to control the hangar to start when reaching the take-off coordinates, so that the unmanned aerial vehicle takes off from the hangar at the take-off coordinates and performs the inspection task.

[0068] As a specific example of the above content, this solution can send a wind turbine inspection instruction to the controller of the unmanned ship through the server. The wind turbine inspection instruction clearly contains the take-off coordinates (longitude and latitude coordinates) of the drone. The drone can take off from the above take-off coordinates and then inspect the wind turbine. The unmanned ship controls the power equipment to work according to the above wind turbine inspection instruction, and reaches the above take-off coordinates, and then controls the hangar to start and open, and the drone takes off from the hangar. This solution can obtain the wave resistance parameters of the real-time floating position of the unmanned ship through the sensors set on the unmanned ship. It should be noted here that because there are often waves on the sea, when the unmanned ship is in a floating state, the above waves will generate resistance to the unmanned ship and change the floating position of the unmanned ship.

[0069] It should be noted here that in order to ensure that the position of the unmanned ship remains unchanged, so that the drone can quickly find the unmanned ship and land in the hangar after completing the inspection task, this solution can adjust the real-time floating position of the unmanned ship in real time according to the wave resistance parameters to which the unmanned ship is subjected, so that the real-time floating position of the unmanned ship is within a predictable range. After the drone completes the inspection task, it does not need to find the position of the ship again, but only needs to return and land according to the original inspection route. Therefore, this solution solves the technical problem of low inspection efficiency in the existing offshore wind turbine inspection solution, where the drone needs to re-plan the return and landing route after the inspection.

[0070] In some other embodiments, the server is also used to receive the wave resistance parameters of the real-time floating position of the unmanned ship sent by the server, and generate a position adjustment instruction of the unmanned ship according to the wave resistance parameters.

[0071] In some other embodiments, the unmanned ship includes a power device, which is used to receive and execute the position adjustment instruction sent by the server, so that the real-time floating position of the unmanned ship and the take-off coordinates are maintained within a preset range.

[0072] As a specific example of the above content, the present solution can control the power equipment of the unmanned ship according to the size and / or direction of the resistance encountered by the unmanned ship, that is, generate a reaction force of the resistance, so that the real-time floating position of the unmanned ship and the take-off coordinates remain within a preset range, so that the UAV can return and land according to the original inspection route after completing the inspection mission.

[0073] In some other embodiments, the unmanned boat is provided with a fuel generator, and the fuel generator is used to charge the charging base of the hangar.

[0074] As a specific example of the above content, in this solution, a fuel generator can be installed on the unmanned ship. When the weather information is relatively good, the drone often needs to continuously inspect multiple wind turbines. At this time, in order to ensure that the drone has sufficient power, this solution can generate electricity through the fuel generator installed on the unmanned ship to charge the charging base in the hangar. The drone can be charged when it returns and lands in the hangar.

[0075] It should be understood that the specific features, operations and details described hereinabove about the method of the present invention may also be similarly applied to the device and system of the present invention, or, vice versa. In addition, each step of the method of the present invention described above may be performed by the corresponding parts or units of the device or system of the present invention.

[0076] It should be understood that each module / unit of the device of the present invention can be implemented in whole or in part by software, hardware, firmware or a combination thereof. Each of the modules / units can be embedded in the processor of the computer device in the form of hardware or firmware or independent of the processor, or can be stored in the memory of the computer device in the form of software for the processor to call to perform the operation of each module / unit. Each of the modules / units can be implemented as an independent component or module, or two or more modules / units can be implemented as a single component or module.

[0077] In one embodiment, an electronic device is provided, which includes a memory and a processor, wherein the memory stores computer instructions executable by the processor, and the computer instructions instruct the processor to execute the steps of the method in the first embodiment of the present invention when executed by the processor. The computer device can be a server, a terminal, or any other electronic device with necessary computing and / or processing capabilities in a broad sense. In one embodiment, the computer device may include a processor, a memory, a network interface, a communication interface, etc. connected through a system bus. The processor of the computer device can be used to provide necessary computing, processing and / or control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. An operating system, a computer program, etc. may be stored in or on the non-volatile storage medium. The internal memory can provide an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the computer device can be used to connect and communicate with external devices through a network. The steps of the method of the present invention are executed by the processor.

[0078] The present invention may be implemented as a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, causes the steps of the method of Embodiment 1 of the present invention to be executed. In one embodiment, the computer program is distributed on a plurality of computer devices or processors coupled to a network so that the computer program is stored, accessed, and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, may be performed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations may be performed by one or more computer devices or processors, and one or more other method steps / operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step / operation, or perform two or more method steps / operations.

[0079] It will be appreciated by those skilled in the art that the method steps of the present invention may be performed by instructing related hardware such as a computer device or a processor through a computer program, and the computer program may be stored in a non-temporary computer-readable storage medium, which causes the steps of the present invention to be performed when the computer program is executed. Depending on the circumstances, any reference to memory, storage, database, or other media herein may include non-volatile and / or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0080] The various technical features described above can be combined arbitrarily. Although all possible combinations of these technical features are not described, any combination of these technical features should be considered to be covered by this specification as long as there is no contradiction in such combination.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An offshore wind turbine inspection method based on the linkage of unmanned aerial vehicles and unmanned boats, characterized in that: The steps include: The unmanned ship obtains an offshore wind turbine inspection instruction, wherein the unmanned ship is provided with a hangar, the unmanned aircraft can be stored in the hangar, and the offshore wind turbine inspection instruction at least includes the take-off coordinates of the unmanned aircraft; After the unmanned ship reaches the take-off coordinates, the unmanned aerial vehicle takes off from the take-off coordinates and performs an inspection task; Obtain the wave resistance parameters of the real-time floating position of the unmanned ship; After the UAV takes off, adjusting the real-time floating position of the unmanned boat in real time according to the wave resistance parameter; Also includes the steps: Obtaining weather information at the real-time floating position of the unmanned ship; Dynamically adjusting the inspection strategy of the drone according to the meteorological information, wherein the inspection strategy of the drone at least includes the return time of the drone; The step of dynamically adjusting the inspection strategy of the drone according to the meteorological information specifically includes: Dynamically adjusting the inspection strategy of the drone based on the meteorological information and the remaining power of the drone, wherein the meteorological information is used to characterize one or more of: the concentration of fog droplets, the intensity of rainfall, and the wind speed; The step of adjusting the real-time floating position of the unmanned ship in real time according to the wave resistance parameter specifically includes: Generate position adjustment instructions; The power equipment of the unmanned ship obtains the position adjustment instruction and executes it, so that the real-time floating position of the unmanned ship and the take-off coordinates are kept within a preset range; The wave resistance parameters include: the magnitude and / or direction of the resistance experienced by the unmanned ship; The unmanned boat is provided with a fuel generator for charging the charging base in the hangar.

2. An offshore wind turbine inspection system based on the linkage of unmanned aerial vehicles and unmanned ships, used to implement the offshore wind turbine inspection method of claim 1, characterized in that: The system comprises: The drones were pre-stored in the hangar; The server is used to send an offshore wind turbine inspection instruction to the unmanned ship, wherein the offshore wind turbine inspection instruction at least includes the take-off coordinates of the unmanned aircraft; An unmanned ship provided with the hangar; The unmanned boat is used to establish a communication relationship with the service end, and when reaching the take-off coordinates, control the hangar to start, so that the unmanned aircraft takes off from the hangar at the take-off coordinates and performs the inspection task; The server is also used to receive the wave resistance parameters of the real-time floating position of the unmanned ship sent by the server, and generate a position adjustment instruction of the unmanned ship according to the wave resistance parameters; The unmanned ship includes a power device, and the power device is used to receive and execute the position adjustment instruction sent by the service end, so that the real-time floating position of the unmanned ship and the take-off coordinates are kept within a preset range; The unmanned boat is provided with a fuel generator, and the fuel generator is used to charge the charging base of the hangar.

Images