A method and system for positioning a wind power operation and maintenance vessel at sea

Abstract

The present application relates to offshore wind power technology field, especially to a kind of offshore wind power operation ship berthing positioning method and system. Including: real-time acquisition obtains the image of each operation ship in the preset range of wind turbine;The image of each operation ship is compared with the several operation ship reference images pre-stored in database, and whether the operation ship is the operation ship pre-stored in database is determined;When the coincidence degree of the image of operation ship and operation ship reference image is greater than preset standard value, it is determined that the operation ship is the operation ship pre-stored in database, the parameter information of operation ship is acquired in real time, and the berthing positioning parameter of operation ship is calculated according to parameter information and the image of operation ship;Wireless communication is established with operation ship, and berthing positioning parameter is sent.The present application obtains the parameter information of operation ship in real time, and the berthing positioning parameter of operation ship is calculated according to parameter information and the image of operation ship, effectively improve the accuracy of operation ship berthing positioning.

Description

Technical Field

[0001] This invention relates to the field of offshore wind power technology, and in particular to a method and system for mooring and positioning offshore wind power operation and maintenance vessels. Background Technology

[0002] Offshore wind energy resources are abundant and stable, and global wind power development is trending from onshore to nearshore. The principle of wind power is to use wind to drive the rotation of wind turbine blades, which in turn causes a generator to produce electricity. Therefore, the local wind speed has a significant impact on the power generation. Compared to onshore wind power, offshore wind power has greater advantages due to its abundant and stable wind energy resources, the large grid capacity in coastal areas, and better access conditions.

[0003] Offshore wind turbine maintenance vessels are specialized ships used for the operation and maintenance of offshore wind turbine generators. These vessels should possess excellent maneuverability in waves, provide high comfort during navigation, and be able to berth precisely and at low speeds at the wind turbine generator foundations to prevent significant impact on the foundations, maintaining continuous contact with the foundations. They should also be able to safely and conveniently transport personnel and equipment to the wind turbine generators. The vessel's deck area should have containers for storing tools, spare parts, and other supplies, or areas for storing dedicated wind turbine generator maintenance equipment, which can be detached and unloaded. The vessel should also provide short-term accommodation for maintenance personnel and offer excellent and comfortable overnight berthing capabilities.

[0004] However, in the existing technology, when the maintenance vessel returns, it is impossible for the maintenance vessel to accurately know its mooring position. Furthermore, due to the presence of wind and waves at sea, the navigation trajectory of the maintenance vessel cannot be located as it is on land. Moreover, during the return process, the navigation tilt angle is a crucial factor in whether the vessel can return accurately. Therefore, how to provide a method and system for mooring and positioning offshore wind power maintenance vessels is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a method and system for mooring and positioning offshore wind power maintenance vessels. This invention obtains the parameter information of the maintenance vessel in real time and calculates the mooring and positioning parameters of the maintenance vessel based on the parameter information and images of the maintenance vessel, which effectively improves the accuracy of the mooring and positioning of the maintenance vessel and can also improve the efficiency of the maintenance vessel's return.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A method for mooring and positioning an offshore wind power maintenance vessel, comprising:

[0008] Real-time acquisition of images of each maintenance vessel within a preset range of the wind turbine;

[0009] The images of each maintenance vessel are compared with several pre-stored reference images of maintenance vessels in the database to determine whether the maintenance vessel is a pre-stored maintenance vessel in the database; wherein,

[0010] When the overlap between the image of the maintenance vessel and the reference image of the maintenance vessel is greater than a preset standard value, the maintenance vessel is determined to be a maintenance vessel pre-stored in the database. The parameter information of the maintenance vessel is obtained in real time, and the berthing and positioning parameters of the maintenance vessel are calculated based on the parameter information and the image of the maintenance vessel. The parameter information includes the volume parameter and mass parameter M of the maintenance vessel.

[0011] Establish wireless communication with the maintenance vessel and send the berthing positioning parameters to the central control data station of the maintenance vessel;

[0012] The step of calculating the berthing and positioning parameters of the maintenance vessel based on the parameter information and the image of the maintenance vessel also includes:

[0013] The distance L between the maintenance vessel and the berthing post of the wind turbine is calculated based on the volume parameters and the image of the maintenance vessel.

[0014] In some embodiments of this application, after determining that the maintenance vessel is a pre-stored maintenance vessel in the database, the method further includes: real-time acquisition of the current speed V of the maintenance vessel;

[0015] A preset speed matrix T0 and a preset navigation tilt angle matrix A are pre-set. For the preset navigation tilt angle matrix A, A(A1,A2,A3,A4) is set, where A1 is the first preset navigation tilt angle, A2 is the second preset navigation tilt angle, A3 is the third preset navigation tilt angle, and A4 is the fourth preset navigation tilt angle, and A1 < A2 < A3 < A4.

[0016] For the preset maintenance vessel speed matrix T0, T0(T01,T02,T03,T04) is set, where T01 is the first preset maintenance vessel speed, T02 is the second preset maintenance vessel speed, T03 is the third preset maintenance vessel speed, T04 is the fourth preset maintenance vessel speed, and T01 < T02 < T03 < T04.

[0017] The corresponding navigation tilt angle is selected as the navigation tilt angle parameter in the berthing and positioning parameters of the maintenance vessel based on the relationship between V and the preset maintenance vessel speed matrix T0.

[0018] When V < T01, the fourth preset sailing tilt angle A4 is selected as the sailing tilt angle parameter in the berthing and positioning parameters of the maintenance vessel.

[0019] When T01≤V<T02, the third preset navigation tilt angle A3 is selected as the navigation tilt angle parameter in the berthing and positioning parameters of the maintenance vessel.

[0020] When T02≤V<T03, the second preset navigation tilt angle A2 is selected as the navigation tilt angle parameter in the berthing positioning parameters of the maintenance vessel.

[0021] When T03≤V<T04, the first preset navigation tilt angle A1 is selected as the navigation tilt angle parameter in the berthing positioning parameters of the maintenance vessel.

[0022] In some embodiments of this application, a preset maintenance vessel hull mass matrix V0 and a preset navigation tilt angle correction coefficient matrix B are pre-defined. For the preset navigation tilt angle correction coefficient matrix B, B(B1,B2,B3,B4) is defined, where B1 is the first preset navigation tilt angle correction coefficient, B2 is the second preset navigation tilt angle correction coefficient, B3 is the third preset navigation tilt angle correction coefficient, and B4 is the fourth preset navigation tilt angle correction coefficient, and 1 < B1 < B2 < B3 < B4 < 1.6; for the preset maintenance vessel hull mass matrix V0, V0(V01,V02,V03,V04) is defined, where V01 is the first preset maintenance vessel hull mass, V02 is the second preset maintenance vessel hull mass, V03 is the third preset maintenance vessel hull mass, and V04 is the fourth preset maintenance vessel hull mass, and V01 < V02 < V03 < V04.

[0023] Based on the relationship between M and the preset maintenance vessel hull mass matrix V0, a ​​corresponding correction coefficient is selected to correct each of the navigation tilt angles.

[0024] When M < V01, the fourth preset navigation tilt angle correction coefficient B4 is selected to correct the fourth preset navigation tilt angle A4. The corrected navigation tilt angle is A4*B4.

[0025] When V01≤M<V02, the third preset navigation tilt angle correction coefficient B3 is selected to correct the third preset navigation tilt angle A3. The corrected navigation tilt angle is A3*B3.

[0026] When V02≤M<V03, select the second preset navigation tilt angle correction coefficient B2 to correct the second preset navigation tilt angle A2. The corrected navigation tilt angle is A2*B2.

[0027] When V03≤M<V04, the first preset navigation tilt angle correction coefficient B1 is selected to correct the first preset navigation tilt angle A1. The corrected navigation tilt angle is A1*B1.

[0028] In some embodiments of this application, the step of calculating the berthing and positioning parameters of the maintenance vessel based on the parameter information and the image of the maintenance vessel further includes:

[0029] Based on the position of the maintenance vessel in the positioning display, the navigation direction parameter in the berthing positioning parameters of the maintenance vessel is calculated, and the navigation direction parameter includes longitude data and latitude data.

[0030] In some embodiments of this application, after acquiring images of each maintenance vessel within a preset range of the wind turbine in real time, the method further includes:

[0031] The images of the maintenance vessel are processed using intelligent image processing to improve their resolution and clarity.

[0032] To achieve the above objectives, the present invention also provides a berthing and positioning system for offshore wind power maintenance vessels, applied in the berthing and positioning method for offshore wind power maintenance vessels, comprising:

[0033] The acquisition unit is used to acquire images of each maintenance vessel within a preset range of the wind turbine in real time;

[0034] The processing unit is used to compare the images of each of the maintenance vessels with several pre-stored reference images of maintenance vessels in the database, and to determine whether the maintenance vessel is a pre-stored maintenance vessel in the database; wherein,

[0035] The calculation unit is used to determine that the maintenance vessel is a pre-stored maintenance vessel in the database when the overlap between the image of the maintenance vessel and the reference image of the maintenance vessel is greater than a preset standard value, acquire the parameter information of the maintenance vessel in real time, and calculate the mooring and positioning parameters of the maintenance vessel based on the parameter information and the image of the maintenance vessel. The parameter information includes the volume parameter and mass parameter M of the maintenance vessel.

[0036] A communication unit is used to establish wireless communication with the maintenance vessel and send the berthing positioning parameters to the central control data station of the maintenance vessel.

[0037] The calculation unit is also used to calculate the distance L between the maintenance vessel and the berthing post of the wind turbine based on the volume parameters and the image of the maintenance vessel.

[0038] In some embodiments of this application, the acquisition unit is also used to acquire the current speed V of the maintenance vessel in real time;

[0039] The computing unit is also used to obtain the current speed V of the maintenance vessel in real time;

[0040] The calculation unit is set with a preset maintenance ship speed matrix T0 and a preset navigation tilt angle matrix A. For the preset navigation tilt angle matrix A, A(A1,A2,A3,A4) is set, where A1 is the first preset navigation tilt angle, A2 is the second preset navigation tilt angle, A3 is the third preset navigation tilt angle, and A4 is the fourth preset navigation tilt angle, and A1 < A2 < A3 < A4.

[0041] For the preset maintenance vessel speed matrix T0, T0(T01,T02,T03,T04) is set, where T01 is the first preset maintenance vessel speed, T02 is the second preset maintenance vessel speed, T03 is the third preset maintenance vessel speed, T04 is the fourth preset maintenance vessel speed, and T01 < T02 < T03 < T04.

[0042] The calculation unit is also used to select the corresponding sailing tilt angle as the sailing tilt angle parameter in the berthing and positioning parameters of the maintenance vessel based on the relationship between V and the preset maintenance vessel speed matrix T0.

[0043] When V < T01, the fourth preset sailing tilt angle A4 is selected as the sailing tilt angle parameter in the berthing and positioning parameters of the maintenance vessel.

[0044] When T01≤V<T02, the third preset navigation tilt angle A3 is selected as the navigation tilt angle parameter in the berthing and positioning parameters of the maintenance vessel.

[0045] When T02≤V<T03, the second preset navigation tilt angle A2 is selected as the navigation tilt angle parameter in the berthing positioning parameters of the maintenance vessel.

[0046] When T03≤V<T04, the first preset navigation tilt angle A1 is selected as the navigation tilt angle parameter in the berthing positioning parameters of the maintenance vessel.

[0047] In some embodiments of this application, the calculation unit is further configured with a preset maintenance vessel hull mass matrix V0 and a preset navigation tilt angle correction coefficient matrix B. For the preset navigation tilt angle correction coefficient matrix B, B(B1,B2,B3,B4) is defined, where B1 is the first preset navigation tilt angle correction coefficient, B2 is the second preset navigation tilt angle correction coefficient, B3 is the third preset navigation tilt angle correction coefficient, and B4 is the fourth preset navigation tilt angle correction coefficient, and 1 < B1 < B2 < B3 < B4 < 1.6; for the preset maintenance vessel hull mass matrix V0, V0(V01,V02,V03,V04) is defined, where V01 is the first preset maintenance vessel hull mass, V02 is the second preset maintenance vessel hull mass, V03 is the third preset maintenance vessel hull mass, and V04 is the fourth preset maintenance vessel hull mass, and V01 < V02 < V03 < V04.

[0048] The calculation unit is also used to select a corresponding correction coefficient based on the relationship between M and the preset maintenance vessel hull mass matrix V0 to correct each of the navigation tilt angles.

[0049] When M < V01, the fourth preset navigation tilt angle correction coefficient B4 is selected to correct the fourth preset navigation tilt angle A4. The corrected navigation tilt angle is A4*B4.

[0050] When V01≤M<V02, the third preset navigation tilt angle correction coefficient B3 is selected to correct the third preset navigation tilt angle A3. The corrected navigation tilt angle is A3*B3.

[0051] When V02≤M<V03, select the second preset navigation tilt angle correction coefficient B2 to correct the second preset navigation tilt angle A2. The corrected navigation tilt angle is A2*B2.

[0052] When V03≤M<V04, the first preset navigation tilt angle correction coefficient B1 is selected to correct the first preset navigation tilt angle A1. The corrected navigation tilt angle is A1*B1.

[0053] In some embodiments of this application, the calculation unit is further configured to calculate the navigation direction parameter in the berthing positioning parameters of the maintenance vessel based on the position of the image of the maintenance vessel in the positioning display, wherein the navigation direction parameter includes longitude data and latitude data.

[0054] In some embodiments of this application, the acquisition unit is provided with an intelligent image processing module, which is used to process the acquired images of the maintenance vessel and improve the resolution and clarity of the images of the maintenance vessel.

[0055] This invention provides a method and system for mooring and positioning offshore wind power maintenance vessels. Compared with existing technologies, its advantages are as follows:

[0056] This invention determines the uniqueness of the target by using maintenance vessels within a range, calculates the berthing and positioning parameters of the maintenance vessel based on the acquired parameter information and images of the maintenance vessel, and determines the navigation tilt angle and navigation direction, thereby improving the accuracy of the maintenance vessel's berthing and positioning and the efficiency of the maintenance vessel's return. Attached Figure Description

[0057] Figure 1 This is a flowchart of the offshore wind power maintenance vessel mooring and positioning method in an embodiment of the present invention;

[0058] Figure 2 This is a functional block diagram of the offshore wind power maintenance vessel mooring and positioning system in an embodiment of the present invention. Detailed Implementation

[0059] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0060] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0061] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0062] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the communication between the inner sides of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0063] See Figure 1 As shown, the disclosed embodiments of the present invention provide a method for mooring and positioning an offshore wind power maintenance vessel, including:

[0064] Real-time acquisition of images of each maintenance vessel within a preset range of the wind turbine;

[0065] The images of each maintenance vessel are compared with several pre-stored baseline images of maintenance vessels in the database to determine whether the maintenance vessel is a pre-stored vessel in the database; among them,

[0066] When the overlap between the image of the maintenance vessel and the reference image of the maintenance vessel is greater than the preset standard value, the maintenance vessel is determined to be a maintenance vessel pre-stored in the database. The parameter information of the maintenance vessel is obtained in real time, and the berthing and positioning parameters of the maintenance vessel are calculated based on the parameter information and the image of the maintenance vessel. The parameter information includes the volume parameter and mass parameter M of the maintenance vessel.

[0067] Establish wireless communication with the maintenance vessel and send the berthing and positioning parameters to the central control data station of the maintenance vessel;

[0068] The berthing and positioning parameters of the maintenance vessel, calculated based on parameter information and images of the vessel, also include:

[0069] The distance L between the maintenance vessel and the wind turbine's mooring post is calculated based on the volume parameters and images of the maintenance vessel.

[0070] Understandably, by judging the overlap between the image of the maintenance vessel and the reference image of the maintenance vessel, the uniqueness of the maintenance vessel applicable to the target wind turbine can be effectively determined. When there are multiple maintenance vessels at sea, there will be no misidentification. The berthing and positioning parameters of the maintenance vessel can be calculated based on the parameter information and image of the maintenance vessel, and different processing can be applied to different models of maintenance vessels to ensure accurate berthing and positioning of the maintenance vessel.

[0071] In one specific embodiment of this application, after determining that the maintenance vessel is a pre-stored maintenance vessel in the database, the method further includes: real-time acquisition of the current speed V of the maintenance vessel;

[0072] Preset the preset speed matrix T0 of the maintenance vessel and the preset navigation tilt angle matrix A. For the preset navigation tilt angle matrix A, set A(A1,A2,A3,A4), where A1 is the first preset navigation tilt angle, A2 is the second preset navigation tilt angle, A3 is the third preset navigation tilt angle, and A4 is the fourth preset navigation tilt angle, and A1 < A2 < A3 < A4.

[0073] For the preset maintenance vessel speed matrix T0, set T0(T01,T02,T03,T04), where T01 is the first preset maintenance vessel speed, T02 is the second preset maintenance vessel speed, T03 is the third preset maintenance vessel speed, and T04 is the fourth preset maintenance vessel speed, and T01 < T02 < T03 < T04.

[0074] The corresponding sailing tilt angle is selected as the sailing tilt angle parameter in the berthing and positioning parameters of the maintenance vessel based on the relationship between V and the preset maintenance vessel speed matrix T0.

[0075] When V < T01, the fourth preset sailing tilt angle A4 is selected as the sailing tilt angle parameter in the berthing and positioning parameters of the maintenance vessel.

[0076] When T01≤V<T02, the third preset navigation tilt angle A3 is selected as the navigation tilt angle parameter in the berthing and positioning parameters of the maintenance vessel.

[0077] When T02≤V<T03, the second preset sailing tilt angle A2 is selected as the sailing tilt angle parameter in the berthing and positioning parameters of the maintenance vessel.

[0078] When T03≤V<T04, the first preset navigation tilt angle A1 is selected as the navigation tilt angle parameter in the berthing and positioning parameters of the maintenance vessel.

[0079] Understandably, maintenance vessels are affected by wind and waves while sailing at sea. Therefore, the direction of the maintenance vessel and the target mooring position are not based on a straight line. Instead, the navigation angle needs to be adjusted according to the wind, waves and sailing speed. Adjusting the navigation angle based on the sailing speed can improve the accuracy of the maintenance vessel's return navigation in wind and waves.

[0080] In one specific embodiment of this application, a preset maintenance vessel hull mass matrix V0 and a preset navigation tilt angle correction coefficient matrix B are pre-set. For the preset navigation tilt angle correction coefficient matrix B, B(B1,B2,B3,B4) is set, where B1 is the first preset navigation tilt angle correction coefficient, B2 is the second preset navigation tilt angle correction coefficient, B3 is the third preset navigation tilt angle correction coefficient, and B4 is the fourth preset navigation tilt angle correction coefficient, and 1 < B1 < B2 < B3 < B4 < 1.6; for the preset maintenance vessel hull mass matrix V0, V0(V01,V02,V03,V04) is set, where V01 is the first preset maintenance vessel hull mass, V02 is the second preset maintenance vessel hull mass, V03 is the third preset maintenance vessel hull mass, and V04 is the fourth preset maintenance vessel hull mass, and V01 < V02 < V03 < V04.

[0081] Based on the relationship between M and the preset maintenance vessel hull mass matrix V0, the corresponding correction coefficients are selected to correct each navigation tilt angle.

[0082] When M < V01, the fourth preset navigation tilt angle correction coefficient B4 is selected to correct the fourth preset navigation tilt angle A4. The corrected navigation tilt angle is A4*B4.

[0083] When V01≤M<V02, select the third preset navigation tilt angle correction coefficient B3 to correct the third preset navigation tilt angle A3. The corrected navigation tilt angle is A3*B3.

[0084] When V02≤M<V03, select the second preset navigation tilt angle correction coefficient B2 to correct the second preset navigation tilt angle A2. The corrected navigation tilt angle is A2*B2.

[0085] When V03≤M<V04, the first preset navigation tilt angle correction coefficient B1 is selected to correct the first preset navigation tilt angle A1. The corrected navigation tilt angle is A1*B1.

[0086] It is understandable that the weight of the maintenance vessel itself will also have a certain impact on the return voyage. Therefore, by correcting the navigation tilt angle by adjusting the weight of the maintenance vessel, the accuracy of the maintenance vessel's return voyage in wind and waves can be further improved.

[0087] In one specific embodiment of this application, the calculation of the berthing and positioning parameters of the maintenance vessel based on parameter information and an image of the maintenance vessel further includes:

[0088] Based on the position of the maintenance vessel in the positioning display, the navigation direction parameter in the berthing positioning parameters of the maintenance vessel is calculated. The navigation direction parameter includes longitude data and latitude data.

[0089] In one specific embodiment of this application, after acquiring images of each maintenance vessel within a preset range of the wind turbine in real time, the method further includes:

[0090] The images of the maintenance vessel are processed using intelligent image processing to improve their resolution and clarity.

[0091] Based on the same technical concept, see [reference] Figure 2 As shown, the present invention also provides a berthing and positioning system for offshore wind power maintenance vessels, applied in the berthing and positioning method of offshore wind power maintenance vessels, comprising:

[0092] The acquisition unit is used to acquire images of each maintenance vessel within a preset range of the wind turbine in real time;

[0093] The processing unit compares the images of each maintenance vessel with several pre-stored reference images of maintenance vessels in the database, and determines whether the maintenance vessel is a pre-stored maintenance vessel in the database; wherein,

[0094] The calculation unit is used to determine that the maintenance vessel is a pre-stored maintenance vessel in the database when the overlap between the image of the maintenance vessel and the reference image of the maintenance vessel is greater than a preset standard value. It also acquires the parameter information of the maintenance vessel in real time and calculates the mooring and positioning parameters of the maintenance vessel based on the parameter information and the image of the maintenance vessel. The parameter information includes the volume parameter and mass parameter M of the maintenance vessel.

[0095] The communication unit is used to establish wireless communication with the maintenance vessel and send the berthing positioning parameters to the central control data station of the maintenance vessel.

[0096] The calculation unit is also used to calculate the distance L between the maintenance vessel and the berthing post of the wind turbine based on the volume parameters and the image of the maintenance vessel.

[0097] Understandably, by judging the overlap between the image of the maintenance vessel and the reference image of the maintenance vessel, the uniqueness of the maintenance vessel applicable to the target wind turbine can be effectively determined. When there are multiple maintenance vessels at sea, there will be no misidentification. The berthing and positioning parameters of the maintenance vessel can be calculated based on the parameter information and image of the maintenance vessel, and different processing can be applied to different models of maintenance vessels to ensure accurate berthing and positioning of the maintenance vessel.

[0098] In one specific embodiment of this application, the acquisition unit is also used to acquire the current speed V of the maintenance vessel in real time;

[0099] The computing unit is also used to obtain the current speed V of the maintenance vessel in real time;

[0100] The calculation unit is set with a preset maintenance ship speed matrix T0 and a preset navigation tilt angle matrix A. For the preset navigation tilt angle matrix A, A(A1,A2,A3,A4) is set, where A1 is the first preset navigation tilt angle, A2 is the second preset navigation tilt angle, A3 is the third preset navigation tilt angle, and A4 is the fourth preset navigation tilt angle, and A1 < A2 < A3 < A4.

[0101] For the preset maintenance vessel speed matrix T0, set T0(T01,T02,T03,T04), where T01 is the first preset maintenance vessel speed, T02 is the second preset maintenance vessel speed, T03 is the third preset maintenance vessel speed, and T04 is the fourth preset maintenance vessel speed, and T01 < T02 < T03 < T04.

[0102] The calculation unit is also used to select the corresponding sailing tilt angle as the sailing tilt angle parameter in the berthing and positioning parameters of the maintenance vessel based on the relationship between V and the preset maintenance vessel speed matrix T0.

[0103] When V < T01, the fourth preset sailing tilt angle A4 is selected as the sailing tilt angle parameter in the berthing and positioning parameters of the maintenance vessel.

[0104] When T01≤V<T02, the third preset navigation tilt angle A3 is selected as the navigation tilt angle parameter in the berthing and positioning parameters of the maintenance vessel.

[0105] When T02≤V<T03, the second preset sailing tilt angle A2 is selected as the sailing tilt angle parameter in the berthing and positioning parameters of the maintenance vessel.

[0106] When T03≤V<T04, the first preset navigation tilt angle A1 is selected as the navigation tilt angle parameter in the berthing and positioning parameters of the maintenance vessel.

[0107] Understandably, maintenance vessels are affected by wind and waves while sailing at sea. Therefore, the direction of the maintenance vessel and the target mooring position are not based on a straight line. Instead, the navigation angle needs to be adjusted according to the wind, waves and sailing speed. Adjusting the navigation angle based on the sailing speed can improve the accuracy of the maintenance vessel's return navigation in wind and waves.

[0108] In one specific embodiment of this application, the calculation unit is further configured with a preset maintenance vessel hull mass matrix V0 and a preset navigation tilt angle correction coefficient matrix B. For the preset navigation tilt angle correction coefficient matrix B, B(B1,B2,B3,B4) is set, where B1 is the first preset navigation tilt angle correction coefficient, B2 is the second preset navigation tilt angle correction coefficient, B3 is the third preset navigation tilt angle correction coefficient, and B4 is the fourth preset navigation tilt angle correction coefficient, and 1 < B1 < B2 < B3 < B4 < 1.6; for the preset maintenance vessel hull mass matrix V0, V0(V01,V02,V03,V04) is set, where V01 is the first preset maintenance vessel hull mass, V02 is the second preset maintenance vessel hull mass, V03 is the third preset maintenance vessel hull mass, and V04 is the fourth preset maintenance vessel hull mass, and V01 < V02 < V03 < V04.

[0109] The calculation unit is also used to select the corresponding correction coefficients based on the relationship between M and the preset maintenance vessel hull mass matrix V0 to correct each navigation tilt angle.

[0110] When M < V01, the fourth preset navigation tilt angle correction coefficient B4 is selected to correct the fourth preset navigation tilt angle A4. The corrected navigation tilt angle is A4*B4.

[0111] When V01≤M<V02, select the third preset navigation tilt angle correction coefficient B3 to correct the third preset navigation tilt angle A3. The corrected navigation tilt angle is A3*B3.

[0112] When V02≤M<V03, select the second preset navigation tilt angle correction coefficient B2 to correct the second preset navigation tilt angle A2. The corrected navigation tilt angle is A2*B2.

[0113] When V03≤M<V04, the first preset navigation tilt angle correction coefficient B1 is selected to correct the first preset navigation tilt angle A1. The corrected navigation tilt angle is A1*B1.

[0114] It is understandable that the weight of the maintenance vessel itself will also have a certain impact on the return voyage. Therefore, by correcting the navigation tilt angle by adjusting the weight of the maintenance vessel, the accuracy of the maintenance vessel's return voyage in wind and waves can be further improved.

[0115] In one specific embodiment of this application, the calculation unit is further configured to calculate the navigation direction parameter in the berthing positioning parameters of the maintenance vessel based on the position of the image of the maintenance vessel in the positioning display. The navigation direction parameter includes longitude data and latitude data.

[0116] In one specific embodiment of this application, the acquisition unit is provided with an intelligent image processing module, which is used to process the acquired images of the maintenance vessel and improve the resolution and clarity of the images of the maintenance vessel.

[0117] In summary, this invention determines the uniqueness of the target based on the range of maintenance vessels, calculates the berthing and positioning parameters of the maintenance vessel based on the obtained parameter information and images of the maintenance vessel, and determines the navigation tilt angle and navigation direction, thereby improving the accuracy of the maintenance vessel's berthing and positioning and the efficiency of the maintenance vessel's return journey.

[0118] The above description is merely one embodiment of the present invention, but it cannot be used to limit the scope of the present invention. Any structural changes made based on the present invention, as long as they do not lose the essence of the present invention, should be considered to fall within the protection scope of the present invention and be subject to its restrictions.

[0119] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process and related descriptions of the system described above can be found in the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0120] It should be noted that the system provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the modules or steps in the embodiments of the present invention can be further decomposed or combined. For example, the modules in the above embodiments can be merged into one module, or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the various modules or steps and are not considered as an improper limitation of the present invention.

[0121] Those skilled in the art will recognize that the modules and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. The programs corresponding to the software modules and method steps can be placed in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in the art. To clearly illustrate the interchangeability of electronic hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the invention.

[0122] The term "comprising" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus / device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent in such process, method, article, or apparatus / device.

[0123] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0124] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention.

Claims

1. A method for mooring and positioning an offshore wind power maintenance vessel, characterized in that, include: Real-time acquisition of images of each maintenance vessel within a preset range of the wind turbine; The images of each maintenance vessel are compared with several pre-stored reference images of maintenance vessels in the database to determine whether the maintenance vessel is a pre-stored maintenance vessel in the database; wherein, When the overlap between the image of the maintenance vessel and the reference image of the maintenance vessel is greater than a preset standard value, the maintenance vessel is determined to be a maintenance vessel pre-stored in the database. The parameter information of the maintenance vessel is obtained in real time, and the mooring and positioning parameters of the maintenance vessel are calculated based on the parameter information and the image of the maintenance vessel. The parameter information includes the volume parameter and mass parameter M of the maintenance vessel. Establish wireless communication with the maintenance vessel and send the berthing positioning parameters to the central control data station of the maintenance vessel; The step of calculating the berthing and positioning parameters of the maintenance vessel based on the parameter information and the image of the maintenance vessel also includes: The distance L between the maintenance vessel and the berthing post of the wind turbine is calculated based on the volume parameters and the image of the maintenance vessel. After determining that the maintenance vessel is a pre-stored maintenance vessel in the database, the method further includes: real-time acquisition of the current speed V of the maintenance vessel; A preset speed matrix T0 and a preset navigation tilt angle matrix A are pre-set. For the preset navigation tilt angle matrix A, A(A1,A2,A3,A4) is set, where A1 is the first preset navigation tilt angle, A2 is the second preset navigation tilt angle, A3 is the third preset navigation tilt angle, and A4 is the fourth preset navigation tilt angle, and A1 < A2 < A3 < A4. For the preset maintenance vessel speed matrix T0, T0(T01,T02,T03,T04) is set, where T01 is the first preset maintenance vessel speed, T02 is the second preset maintenance vessel speed, T03 is the third preset maintenance vessel speed, T04 is the fourth preset maintenance vessel speed, and T01 < T02 < T03 < T04. The corresponding navigation tilt angle is selected as the navigation tilt angle parameter in the berthing and positioning parameters of the maintenance vessel based on the relationship between V and the preset maintenance vessel speed matrix T0. When V < T01, the fourth preset sailing tilt angle A4 is selected as the sailing tilt angle parameter in the berthing and positioning parameters of the maintenance vessel. When T01≤V<T02, the third preset navigation tilt angle A3 is selected as the navigation tilt angle parameter in the berthing and positioning parameters of the maintenance vessel. When T02≤V<T03, the second preset navigation tilt angle A2 is selected as the navigation tilt angle parameter in the berthing positioning parameters of the maintenance vessel. When T03≤V<T04, the first preset navigation tilt angle A1 is selected as the navigation tilt angle parameter in the berthing positioning parameters of the maintenance vessel. A preset maintenance vessel hull mass matrix V0 and a preset navigation tilt angle correction coefficient matrix B are pre-defined. For the preset navigation tilt angle correction coefficient matrix B, B(B1,B2,B3,B4) is defined, where B1 is the first preset navigation tilt angle correction coefficient, B2 is the second preset navigation tilt angle correction coefficient, B3 is the third preset navigation tilt angle correction coefficient, and B4 is the fourth preset navigation tilt angle correction coefficient, and 1 < B1 < B2 < B3 < B4 < 1.6; for the preset maintenance vessel hull mass matrix V0, V0(V01,V02,V03,V04) is defined, where V01 is the first preset maintenance vessel hull mass, V02 is the second preset maintenance vessel hull mass, V03 is the third preset maintenance vessel hull mass, and V04 is the fourth preset maintenance vessel hull mass, and V01 < V02 < V03 < V04. Based on the relationship between M and the preset maintenance vessel hull mass matrix V0, a ​​corresponding correction coefficient is selected to correct each of the navigation tilt angles. When M < V01, the fourth preset navigation tilt angle correction coefficient B4 is selected to correct the fourth preset navigation tilt angle A4. The corrected navigation tilt angle is A4*B4. When V01≤M<V02, the third preset navigation tilt angle correction coefficient B3 is selected to correct the third preset navigation tilt angle A3. The corrected navigation tilt angle is A3*B3. When V02≤M<V03, select the second preset navigation tilt angle correction coefficient B2 to correct the second preset navigation tilt angle A2. The corrected navigation tilt angle is A2*B2. When V03≤M<V04, the first preset navigation tilt angle correction coefficient B1 is selected to correct the first preset navigation tilt angle A1. The corrected navigation tilt angle is A1*B1.

2. The method for mooring and positioning an offshore wind power maintenance vessel according to claim 1, characterized in that, The calculation of the berthing and positioning parameters of the maintenance vessel based on the parameter information and the image of the maintenance vessel also includes: Based on the position of the maintenance vessel in the positioning display, the navigation direction parameter in the berthing positioning parameters of the maintenance vessel is calculated, and the navigation direction parameter includes longitude data and latitude data.

3. The method for mooring and positioning an offshore wind power maintenance vessel according to claim 1, characterized in that, After acquiring images of each maintenance vessel within a preset range of the wind turbine in real time, the process also includes: The images of the maintenance vessel are processed using intelligent image processing to improve their resolution and clarity.

4. A mooring and positioning system for an offshore wind power operation and maintenance vessel, applied in the mooring and positioning method for an offshore wind power operation and maintenance vessel as described in any one of claims 1-3, characterized in that, include: The acquisition unit is used to acquire images of each maintenance vessel within a preset range of the wind turbine in real time; The processing unit is used to compare the images of each of the maintenance vessels with several pre-stored reference images of maintenance vessels in the database, and to determine whether the maintenance vessel is a pre-stored maintenance vessel in the database; wherein, The calculation unit is used to determine that the maintenance vessel is a pre-stored maintenance vessel in the database when the overlap between the image of the maintenance vessel and the reference image of the maintenance vessel is greater than a preset standard value, acquire the parameter information of the maintenance vessel in real time, and calculate the mooring and positioning parameters of the maintenance vessel based on the parameter information and the image of the maintenance vessel. The parameter information includes the volume parameter and mass parameter M of the maintenance vessel. A communication unit is used to establish wireless communication with the maintenance vessel and send the berthing positioning parameters to the central control data station of the maintenance vessel. The calculation unit is also used to calculate the distance L between the maintenance vessel and the berthing post of the wind turbine based on the volume parameters and the image of the maintenance vessel.

5. A mooring and positioning system for an offshore wind power maintenance vessel according to claim 4, characterized in that, The data acquisition unit is also used to collect the current speed V of the maintenance vessel in real time; The processing unit is also used to obtain the current speed V of the maintenance vessel in real time; The processing unit is configured with a preset maintenance vessel speed matrix T0 and a preset navigation tilt angle matrix A. For the preset navigation tilt angle matrix A, A(A1,A2,A3,A4) is set, where A1 is the first preset navigation tilt angle, A2 is the second preset navigation tilt angle, A3 is the third preset navigation tilt angle, and A4 is the fourth preset navigation tilt angle, and A1 < A2 < A3 < A4. For the preset maintenance vessel speed matrix T0, T0(T01,T02,T03,T04) is set, where T01 is the first preset maintenance vessel speed, T02 is the second preset maintenance vessel speed, T03 is the third preset maintenance vessel speed, T04 is the fourth preset maintenance vessel speed, and T01 < T02 < T03 < T04. The processing unit is also used to select the corresponding sailing tilt angle as the sailing tilt angle parameter in the berthing and positioning parameters of the maintenance vessel based on the relationship between V and the preset maintenance vessel speed matrix T0. When V < T01, the fourth preset sailing tilt angle A4 is selected as the sailing tilt angle parameter in the berthing and positioning parameters of the maintenance vessel. When T01≤V<T02, the third preset navigation tilt angle A3 is selected as the navigation tilt angle parameter in the berthing and positioning parameters of the maintenance vessel. When T02≤V<T03, the second preset navigation tilt angle A2 is selected as the navigation tilt angle parameter in the berthing positioning parameters of the maintenance vessel. When T03≤V<T04, the first preset navigation tilt angle A1 is selected as the navigation tilt angle parameter in the berthing positioning parameters of the maintenance vessel.

6. The offshore wind power maintenance vessel mooring and positioning system according to claim 5, characterized in that, The processing unit also includes a preset maintenance vessel hull mass matrix V0 and a preset navigation tilt angle correction coefficient matrix B. For the preset navigation tilt angle correction coefficient matrix B, B(B1, B2, B3, B4) is defined, where B1 is the first preset navigation tilt angle correction coefficient, B2 is the second preset navigation tilt angle correction coefficient, B3 is the third preset navigation tilt angle correction coefficient, and B4 is the fourth preset navigation tilt angle correction coefficient, with 1 < B1 < B2 < B3 < B4 < 1.

6. For the preset maintenance vessel hull mass matrix V0, V0(V01, V02, V03, V04) is defined, where V01 is the first preset maintenance vessel hull mass, V02 is the second preset maintenance vessel hull mass, V03 is the third preset maintenance vessel hull mass, and V04 is the fourth preset maintenance vessel hull mass, with V01 < V02 < V03 < V04. The processing unit is also used to select a corresponding correction coefficient based on the relationship between M and the preset maintenance vessel hull mass matrix V0 to correct each of the navigation tilt angles. When M < V01, the fourth preset navigation tilt angle correction coefficient B4 is selected to correct the fourth preset navigation tilt angle A4. The corrected navigation tilt angle is A4*B4. When V01≤M<V02, the third preset navigation tilt angle correction coefficient B3 is selected to correct the third preset navigation tilt angle A3. The corrected navigation tilt angle is A3*B3. When V02≤M<V03, select the second preset navigation tilt angle correction coefficient B2 to correct the second preset navigation tilt angle A2. The corrected navigation tilt angle is A2*B2. When V03≤M<V04, the first preset navigation tilt angle correction coefficient B1 is selected to correct the first preset navigation tilt angle A1. The corrected navigation tilt angle is A1*B1.

7. A mooring and positioning system for an offshore wind power maintenance vessel according to claim 6, characterized in that, The processing unit is also used to calculate the navigation direction parameter in the berthing positioning parameters of the maintenance vessel based on the position of the image of the maintenance vessel in the positioning display. The navigation direction parameter includes longitude data and latitude data.

8. A mooring and positioning system for an offshore wind power maintenance vessel according to claim 4, characterized in that, The acquisition unit is equipped with an intelligent image processing module, which is used to process the acquired images of the maintenance vessel and improve the resolution and clarity of the images.

Images