Method and system for adjusting levelness of offshore wind power installation platform and storage medium

Abstract

The application relates to the technical field of ocean engineering, and provides a levelness adjustment method and system of an offshore wind power installation platform and a storage medium. The levelness adjustment method comprises the following steps: acquiring levelness data collected by a levelness sensor; calculating the relative heights of the suction buckets based on the levelness data; calculating the maximum height difference between the suction buckets based on the relative heights of the suction buckets; determining whether the maximum height difference is greater than a preset error threshold; and outputting suction prompt information corresponding to a target suction bucket with the highest relative height in the case that the maximum height difference is greater than the error threshold, so that the problem of high installation cost of the offshore wind power installation platform can be solved. Since the sensing data collected by the levelness sensor can be acquired, the maximum height difference of each suction bucket is calculated based on the sensing data, and manual levelness observation by workers is not required, so that the installation period of the offshore wind power installation platform can be shortened, and the installation cost of the offshore wind power installation platform can be reduced.

Description

Technical Field

[0001] This application relates to the field of marine engineering technology, and in particular to methods, systems and storage media for adjusting the levelness of offshore wind power installation platforms. Background Technology

[0002] During the installation of offshore wind power equipment, some special geological conditions necessitate the pre-installation of an offshore wind turbine platform in a designated area before installing the wind turbine equipment on it. During platform installation, a workboat is used to hoist the platform to the designated sea area. Then, suction equipment on the workboat is used to pump suction from multiple suction barrels on the platform, securing it in the designated area. Ensuring the platform's levelness is crucial during installation.

[0003] To ensure construction safety, workers cannot stand on the wind turbine installation platform while the suction equipment is used to pump the suction tank. Based on this technology, workers must climb onto the wind turbine installation platform after the vacuuming process stops and use equipment such as a level to check the levelness of various points on the platform. If the levelness of the wind turbine installation platform does not meet the requirements, workers must leave the platform, and then readjust the levelness using the suction tank. After adjustment, workers must climb back onto the wind turbine installation platform to check again until the levelness meets the design requirements. This results in a long installation period, leading to high installation costs for offshore wind turbine installation platforms. Summary of the Invention

[0004] To help address the issue of high installation costs for offshore wind power installation platforms, this application provides a method, system, and storage medium for adjusting the levelness of offshore wind power installation platforms.

[0005] Firstly, this application provides a method for adjusting the levelness of an offshore wind power installation platform, employing the following technical solution: A method for adjusting the levelness of an offshore wind power installation platform, the method comprising: The system acquires levelness data collected by a levelness sensor; the levelness sensor is mounted on a flange of an offshore wind power installation platform, and the flange is used to install wind power equipment. The relative height of each suction barrel on the offshore wind power installation platform is calculated based on the levelness data. The maximum height difference between the suction barrels is calculated based on the relative height of each suction barrel. Determine whether the maximum height difference is greater than a preset error threshold; If the maximum height difference is greater than the error threshold, the suction bucket with the highest relative height among all the suction buckets is determined as the target suction bucket; Output the suction prompt information corresponding to the target suction barrel to prompt the suction of the target suction barrel.

[0006] By adopting the above technical solution, the problem of high installation costs for offshore wind power installation platforms can be effectively addressed. By acquiring sensor data from level sensors mounted on the flange, and calculating the maximum height difference between each suction tank based on this data, the system outputs a suction prompt message corresponding to the target suction tank with the highest relative height when the maximum height difference exceeds an error threshold. This automatically guides workers to suction the target suction tank without requiring them to stop work and manually observe the levelness on the installation platform. Therefore, the installation cycle of offshore wind power installation platforms can be shortened, thereby reducing installation costs.

[0007] Optionally, the levelness sensor includes two or more sensors, with different installation positions; the calculation of the relative height of each suction barrel on the offshore wind power installation platform based on the levelness data includes: The level data collected by each level sensor is fused based on the conversion relationship to obtain reference level data. The conversion relationship is based on the orientation of each level sensor. The relative height of each of the suction buckets is determined based on the reference level data.

[0008] By adopting the above technical solution, the levelness data collected by each levelness sensor can be fused and processed based on the conversion relationship during the leveling process to obtain reference levelness data, thereby improving the accuracy of the reference levelness data, and further improving the accuracy of the relative height of each suction barrel determined based on the reference levelness data.

[0009] Optionally, the step of fusing the levelness data collected by each levelness sensor based on the transformation relationship to obtain reference levelness data includes: The levelness data collected by each levelness sensor is converted based on the conversion relationship to obtain the converted levelness data; it is then determined whether there is any error data in each of the converted levelness data. If the error data exists in the converted levelness data, the reference levelness data is determined based on the other converted levelness data besides the error data; If the error data is not present in the converted levelness data, the reference levelness data is determined based on each of the converted levelness data.

[0010] By adopting the above technical solution, after converting the levelness data collected by each levelness sensor, analyzing the converted levelness data to determine whether there is any erroneous data, and excluding erroneous data in the calculation of reference levelness data, the accuracy of the determined reference levelness data can be improved.

[0011] Optionally, if error data exists in the converted levelness data, the method further includes: The error count of the target level sensor corresponding to the error data increases by one; Determine whether the number of errors of the target level sensor has reached a preset threshold. If the number of errors of the target level sensor reaches the threshold, the calculation of reference level data based on the level data collected by the target level sensor is stopped, and a prompt message corresponding to the abnormality of the target level sensor is output.

[0012] By adopting the above technical solution, if there is erroneous data in the converted levelness data, the error count of the target levelness sensor can be increased by one. When the error count of the target levelness sensor reaches a preset threshold, the calculation of reference levelness data based on the sensor data collected by the target levelness sensor will be stopped. This makes it easier to exclude levelness data collected by levelness sensors with abnormal states from the source, thereby reducing the amount of computation in the reference levelness data calculation process while ensuring the accuracy of the calculated reference levelness data.

[0013] Optionally, the levelness data includes levelness in a first direction and levelness in a second direction, the second direction being perpendicular to the first direction; calculating the relative height of each of the suction barrels based on the levelness data includes: For each of the suction buckets, a first height of the suction bucket is determined based on the levelness in the first direction and the coordinates of the suction bucket in the X-axis direction of the reference coordinate system; the reference coordinate system is pre-established with the reference position as the origin, the first direction as the positive X-axis direction, and the second direction as the positive Y-axis direction; The second height of the suction bucket is determined based on the levelness in the second direction and the coordinates of the suction bucket in the Y-axis direction of the reference coordinate system. The sum of the first height and the second height is determined as the relative height of the suction bucket.

[0014] By adopting the above technical solution, the height difference caused by the inclination of the suction bucket in the first direction and the inclination in the second direction can be calculated separately, and the sum of the height differences caused by the inclination in the two directions can be determined as the relative height of the suction bucket, thus improving the accuracy of the calculated relative height of the suction bucket.

[0015] Optionally, the step of outputting the adsorption prompt information corresponding to the target suction barrel includes: The target suction volume is determined based on the maximum height difference and the design parameters of the target suction barrel. The suction prompt information is generated based on the target suction volume and the identification information of the target suction barrel, and then output.

[0016] By adopting the above technical solution, since the suction prompt information includes the target suction volume, it is easier for staff to operate the suction equipment to suction the suction tank according to the suction prompt information, which can help to further improve the construction efficiency of offshore wind power installation platforms and further reduce the installation cost of offshore wind power installation platforms.

[0017] Optionally, after outputting the suction prompt information corresponding to the target suction barrel, the method further includes: After the target suction barrel has been suctioned, determine whether the maximum height difference between each of the suction barrels is greater than the preset error threshold. If the maximum height difference is greater than the error threshold, the suction bucket with the highest relative height among all the suction buckets is determined as the target suction bucket, and the process returns to the step of outputting the suction prompt information corresponding to the target suction bucket to prompt the suction of the target suction bucket; If the maximum height difference is less than or equal to the error threshold, output a prompt message indicating that suction is complete.

[0018] By adopting the above technical solution, after the target suction barrel has been pumped out, it is determined whether the maximum height difference exceeds a preset error threshold. If the maximum height difference exceeds the preset error threshold, the target suction barrel is re-identified, and the pumping prompt information corresponding to the target suction barrel is output again. This facilitates guidance for workers to continuously pump each suction barrel to adjust the levelness of the offshore wind power installation platform, thereby helping to further improve the construction efficiency of the offshore wind power installation platform and further reduce the installation cost. Secondly, this application provides a leveling adjustment system for an offshore wind power installation platform, which adopts the following technical solution: a leveling adjustment system for an offshore wind power installation platform, the system including at least one leveling sensor and a controller, the controller being signal-connected to the leveling sensor, the leveling sensor being installed on the flange of the offshore wind power installation platform, and the flange being used to install wind power equipment; The controller is used to execute any of the leveling methods for offshore wind power installation platforms provided in the first aspect.

[0019] Optionally, the levelness sensor includes a first levelness sensor and a second levelness sensor. The first levelness sensor is disposed at the intersection of the line connecting the geometric center of the preset suction barrel and the geometric center of the flange with the flange. The orientation of the first levelness sensor and the orientation of the second levelness sensor are both parallel and tangent to the flange. The orientation of the second level sensor is opposite to that of the first level sensor, or the orientation of the second level sensor is perpendicular to that of the first level sensor.

[0020] By adopting the above technical solution, since the first level sensor and the second level sensor are oriented perpendicularly or oppositely, and both are parallel to the flange, it is convenient to fuse the level data collected by the first level sensor and the level data collected by the second level sensor, thereby helping to improve the accuracy of the determined level of the flange.

[0021] Thirdly, this application provides a computer-readable storage medium, which adopts the following technical solution: A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform any of the leveling methods for offshore wind power installation platforms provided in the first aspect.

[0022] In summary, this application includes at least one of the following beneficial technical effects: 1. It can help solve the problem of high installation costs for offshore wind power installation platforms. By acquiring sensor data from level sensors mounted on the flange, the maximum height difference between each suction tank can be calculated based on this data. If the maximum height difference exceeds an error threshold, a suction prompt message is output for the target suction tank with the highest relative height. This automatically guides workers to suction the target suction tank without requiring them to stop work and manually check the levelness on the installation platform. Therefore, the installation cycle of offshore wind power installation platforms can be shortened, thereby reducing installation costs. 2. Since the first level sensor and the second level sensor are oriented perpendicularly or oppositely, and both are parallel to the flange, it is convenient to fuse the level data collected by the first level sensor and the level data collected by the second level sensor, which can help improve the accuracy of the determined level of the flange. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the leveling system of the offshore wind power installation platform provided in the embodiments of this application.

[0024] Figure 2 This is a schematic diagram of an installation position of the level sensor provided in an embodiment of this application.

[0025] Figure 3 This is a schematic diagram of another installation location for the levelness sensor provided in an embodiment of this application.

[0026] Figure 4 This is another schematic diagram of the installation position of the level sensor provided in the embodiments of this application.

[0027] Figure 5 This is a flowchart illustrating the method for adjusting the levelness of an offshore wind power installation platform provided in this application embodiment.

[0028] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0029] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figure 1-6 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0030] To facilitate the explanation of the leveling adjustment system and method provided in this application, a brief introduction to the offshore wind power installation platform is given below.

[0031] An offshore wind turbine installation platform includes a platform body, two or more suction tanks, and flanges. The suction tanks and flanges are mounted on the platform body. Specifically, the suction tanks are installed below the platform body to support it. During the installation process, suction equipment is used to pull the suction tanks into the sea area, thus securing the offshore wind turbine installation platform. Two or more suction tanks are installed at different positions below the platform body, allowing the platform's level to be adjusted by varying the relative heights of the tanks. The flanges are located on the platform body and are used to install the wind turbine equipment.

[0032] This application discloses a leveling adjustment system for an offshore wind power installation platform, with reference to... Figure 1 The leveling adjustment system includes at least one leveling sensor 110 and a controller 120.

[0033] The controller 120 is connected to the level sensor 110, which is installed on the flange of the offshore wind power installation platform to measure the levelness of the flange.

[0034] Since wind turbines are ultimately fixed to the offshore wind turbine installation platform via flanges, the key to adjusting the level of the offshore wind turbine installation platform lies in ensuring the level of the flanges. Therefore, directly installing level sensors on the flanges can accurately measure the level of the flanges, which facilitates adjusting the level of the offshore wind turbine installation platform based on the level of the flanges.

[0035] Optionally, the controller 120 and the level sensor 110 are connected wirelessly. Specifically, the wireless communication can be based on radio communication or other wireless communication methods, such as wireless cellular networks, ZigBee, etc. This embodiment does not limit the wireless communication method.

[0036] Optionally, the number of level sensors 110 can be one or more. When there are two or more level sensors 110, the two or more level sensors 110 can be connected to the controller 120 signal respectively, or they can be connected to the controller 120 signal through a repeater. This embodiment does not limit the number of level sensors.

[0037] In this embodiment, the level sensor 110 can be used to measure levelness, that is, tilt. In one example, the levelness data output by the level sensor 110 includes the tilt angle.

[0038] Optionally, the level sensor 110 can be a single-axis level sensor or a dual-axis level sensor. This embodiment does not limit the type of level sensor 110.

[0039] In one example, there are more than two level sensors 110, and the installation positions of the different level sensors 110 are different. Due to the manufacturing process, there may be slight height differences at different positions of the flange. By installing level sensors at different positions of the flange, the accuracy of determining the level of the flange can be improved.

[0040] Since offshore wind turbine installation platforms may tilt in any direction, in one example, the sensing direction of the level sensor includes a first direction and a second direction, wherein the first direction is the same as the orientation of the level sensor and the second direction is perpendicular to the first direction. In this case, the level data includes level data in the first direction and level data in the second direction. Thus, by using the level data in the first direction and the level data in the second direction, it is possible to accurately determine whether the offshore wind turbine platform is tilted and the direction of tilt of the platform.

[0041] In another example, there are two or more level sensors with different orientations. This makes it easier to process the level data collected by the level sensors based on their installation positions, and also makes it easier to set different orientations for different level sensors.

[0042] Optional, see reference Figure 2 and Figure 3 The level sensor 110 includes a first level sensor 110a and a second level sensor 110b; the first level sensor 110a is disposed at the intersection of the line connecting the geometric center of the preset suction barrel and the geometric center of the flange with the flange; the orientation of the first level sensor 110a and the orientation of the second level sensor 110b are both parallel and tangent to the flange; the orientation of the second level sensor 110b is opposite to the orientation of the first level sensor 110a. Figure 2 Alternatively, the orientation of the second level sensor 110b is perpendicular to the orientation of the first level sensor 110a. Figure 3 ).

[0043] Among them, the preset suction tank is a suction tank pre-designated on the offshore wind power installation platform.

[0044] In the above technical solution, since the first level sensor and the second level sensor are oriented perpendicularly or oppositely, and both are parallel to the flange, it is convenient to fuse the level data collected by the first level sensor and the level data collected by the second level sensor, thereby helping to improve the accuracy of the determined level of the flange.

[0045] Further reference Figure 4The level sensor 110 also includes a third level sensor 110c and a fourth level sensor 110d. In this case, the orientation of the second level sensor 110b is obtained by rotating the orientation of the first level sensor 110a counterclockwise by 90 degrees, the orientation of the third level sensor 110c is obtained by rotating the orientation of the first level sensor 110a counterclockwise by 180 degrees, and the orientation of the fourth level sensor 110d is obtained by rotating the orientation of the first level sensor 110a counterclockwise by 270 degrees. The orientations of the first level sensor 110a, the second level sensor 110b, the third level sensor 110c, and the fourth level sensor 110d are all parallel to and tangent to the flange.

[0046] Optionally, the level sensor can be leveled and zeroed before being installed on the flange. This can help improve the accuracy of the level data measured by the level sensor.

[0047] The controller 120 is a device with computing capabilities, such as a computer, a platform computer, or a controller (Microcontroller Unit; MCU). This embodiment does not limit the type of controller 120.

[0048] The controller 120 is used to execute the leveling method provided in the embodiment of the following offshore wind power installation platform leveling method section to assist in leveling the offshore wind power installation platform.

[0049] Optionally, the controller 120 also provides an output interface for outputting the acquired levelness information and the processing results of the acquired levelness information.

[0050] In actual implementation, the level adjustment system may also include other devices, such as signal output devices. This embodiment does not limit the types of devices included in the level adjustment system.

[0051] This application also provides a method for horizontal adjustment of an offshore wind power installation platform, which is used in an electronic device. In this embodiment, the electronic device is the controller 120 in the above-mentioned embodiment of the horizontal adjustment system of the offshore wind power installation platform. In actual implementation, the electronic device can also be other devices with computing functions. This embodiment does not limit the type of electronic device.

[0052] refer to Figure 5 The method for adjusting the level includes the following steps: Step 201: Obtain the levelness data collected by the levelness sensor.

[0053] Optionally, levelness data can be expressed in terms of tilt angle. In one example, the levelness data is accurate to one-thousandth of a degree.

[0054] Optionally, when there are multiple level sensors, the acquisition of level data collected by the level sensors includes: acquiring the level data collected by each level sensor separately.

[0055] Step 202: Calculate the relative height of each suction barrel on the offshore wind power installation platform based on the levelness data.

[0056] The relative height refers to the height of the suction tank relative to a reference position on the offshore wind turbine installation platform. Specifically, the reference position can be the geometric center of a suction tank, the geometric center of the flange, or any other position on the offshore wind turbine installation platform. This embodiment does not limit the calculation method of the reference position.

[0057] In one example, there are two or more level sensors installed at different locations. In this case, the relative height of each suction barrel on the offshore wind power installation platform is calculated based on the level data, including: fusing the level data collected by each level sensor based on the conversion relationship to obtain reference level data; and determining the relative height of each suction barrel based on the reference level data.

[0058] The conversion relationship is based on a pre-set orientation of each level sensor. Different level sensors have different conversion relationships depending on their orientation.

[0059] Since the reference direction for the levelness data collected by the levelness sensor is the orientation of the levelness sensor, and the orientations of different levelness sensors may differ, a conversion relationship is pre-set based on the orientation of each sensor. In this way, during the leveling process, the levelness data collected by each levelness sensor can be fused based on the conversion relationship to obtain reference levelness data, thereby improving the accuracy of the reference levelness data. In turn, this improves the accuracy of the relative height of each suction barrel determined based on the reference levelness data.

[0060] Optionally, the reference direction for the levelness data is determined when setting the conversion relationship. Specifically, the reference direction used for the levelness data can be set based on the orientation of one of the levelness sensors, or it can be a direction preset by the user. This embodiment does not limit the method of determining the reference direction used for the levelness data.

[0061] Optionally, if the level sensor has more than two level measurement directions, the level data may also include data from more than two measurement directions. In this case, the reference level data also includes directions other than the reference direction, and the relationship between the other directions and the reference direction is set based on the relationship between the level sensor's various level measurement directions and the level sensor's orientation.

[0062] In one example, the levelness sensor measures in two directions: a first direction and a second direction. The first direction is aligned with the sensor's orientation, and the second direction is perpendicular to the first direction and is obtained by rotating the first direction 90 degrees counterclockwise. The reference levelness data also includes levelness data in both the first and second directions, with the first direction serving as the reference direction and the second direction being obtained by rotating the first direction 90 degrees counterclockwise. This facilitates the fusion of levelness data collected by the levelness sensor to obtain the reference levelness data.

[0063] Optionally, the level data collected by each level sensor is fused based on the transformation relationship to obtain reference level data, including: transforming the level data collected by each level sensor based on the transformation relationship to obtain transformed level data; and determining the reference level data based on the transformed level data.

[0064] The reference direction of the converted levelness data is the same as that of the reference levelness data.

[0065] Optionally, determining reference level data based on the transformed level data includes: determining the mean of the transformed level data as the reference level data.

[0066] When the reference level data includes level data in two or more directions, the mean of the transformed level data is determined as the reference level data, including: for each direction, the mean of the transformed level data in that direction is determined as the value of the reference level data in that direction.

[0067] In one example, level data collected by various level sensors are fused based on a transformation relationship to obtain reference level data. This includes: transforming the level data collected by various level sensors based on the transformation relationship to obtain transformed level data; determining whether there is error data in each transformed level data; if there is error data in the transformed level data, determining reference level data based on other transformed level data besides the error data; if there is no error data in the transformed level data, determining reference level data based on each transformed level data.

[0068] The reference direction of the converted levelness data is the same as that of the reference levelness data.

[0069] In the above technical solution, after converting the levelness data collected by each levelness sensor, the converted levelness data is analyzed to determine whether there is any error data, and the error data is excluded in the calculation of the reference levelness data, thus improving the accuracy of the determined reference levelness data.

[0070] Optionally, determining whether there is error data in each of the transformed levelness data includes: calculating the difference between each of the transformed levelness data; determining whether there is a target transformed data whose difference with other transformed data is greater than a preset difference threshold; if so, determining that there is error data in each of the transformed levelness data and identifying the target transformed data as error data; if not, determining that there is no error data in each of the transformed levelness data.

[0071] The difference threshold is preset. In one example, the difference threshold is set based on the flange's machining accuracy and the data acquisition accuracy of the levelness sensor.

[0072] In actual implementation, it is also possible to determine whether there is error data in each of the transformed levelness data based on other methods, such as determining whether there is error data based on the mean of each of the transformed levelness data. This embodiment does not limit the method of analyzing whether there is error data.

[0073] In one example, if error data exists in the converted levelness data, the method further includes: increasing the error count of the target levelness sensor corresponding to the error data by one; determining whether the error count of the target levelness sensor has reached a preset threshold; if the error count of the target levelness sensor reaches the preset threshold, stopping the calculation of reference levelness data based on the sensor data collected by the target levelness sensor, and outputting a prompt message corresponding to the abnormality of the target levelness sensor.

[0074] The threshold for the number of errors is preset; the error count corresponding to the levelness sensor is stored in the electronic device. In one example, the error count corresponding to each levelness sensor is reset to zero before each construction phase.

[0075] In the above technical solution, if there is erroneous data in the converted levelness data, the error count of the target levelness sensor is increased by one. When the error count of the target levelness sensor reaches a preset threshold, the calculation of reference levelness data based on the sensor data collected by the target levelness sensor is stopped. This can facilitate the elimination of levelness data collected by levelness sensors with abnormal states from the source, thereby reducing the amount of computation in the reference levelness data calculation process while ensuring the accuracy of the calculated reference levelness data.

[0076] In addition, since the target level sensor is only identified as abnormal when the number of errors reaches a threshold, this helps to avoid errors in abnormal judgment caused by data acquisition or transmission errors, thereby improving the accuracy of abnormal judgment of the level sensor.

[0077] Optionally, the method to stop calculating the reference level data based on the sensor data collected by the target level sensor can be to stop adding the acquired level data collected by the target level sensor to the calculation of the reference level data, or it can be to stop acquiring the level data collected by the target level sensor. This embodiment does not limit the method of stopping the calculation of the reference level data based on the sensor data collected by the target level sensor.

[0078] Optionally, the levelness data includes levelness in a first direction and levelness in a second direction, the second direction being perpendicular to the first direction; determining the relative height of the suction bucket based on the levelness data and the relative positional relationship between the suction bucket and the reference position includes: for each suction bucket, determining a first height based on the coordinates of the suction bucket in the X-axis direction of the reference coordinate system and the levelness data in the first direction; determining a second height based on the coordinates of the suction bucket in the Y-axis direction of the reference coordinate system and the levelness data in the second direction; and determining the relative height of the suction bucket by summing the first height and the second height.

[0079] The reference coordinate system is pre-established with the reference position as the origin, the first direction as the positive X-axis, and the second direction as the positive Y-axis.

[0080] The method for determining the reference position is the same as that for determining the reference position in step 102, and will not be repeated here in this embodiment.

[0081] The coordinates of each suction bucket in the reference coordinate system are predetermined based on the relative positional relationship between the suction bucket and the reference position. Specifically, the coordinates of the suction bucket in the reference coordinate system include the coordinates of the suction bucket along the X-axis and the coordinates of the suction bucket along the Y-axis.

[0082] In the above technical solution, since the levelness data includes levelness data in the first direction and levelness data in the second direction, and the height difference caused by the inclination of the suction bucket in the first direction and the inclination in the second direction are calculated respectively, and the sum of the height differences caused by the inclination in the two directions is determined as the relative height of the suction bucket, the accuracy of the calculated relative height of the suction bucket can be improved.

[0083] In one example, the relative height of the suction bucket is calculated using the following formula: h = X × tan(θ1) + Y × tan(θ2) Where h is the relative height of the suction bucket; X is the coordinate of the suction bucket in the X-axis direction; Y is the coordinate of the suction bucket in the Y-axis direction; θ1 is the levelness data in the first direction; and θ2 is the levelness data in the second direction.

[0084] In one example, there is one level sensor, or there are two or more level sensors with the same orientation. In this case, the first direction can be the orientation of the level sensor.

[0085] In another example, the level sensor has more than two data points with different orientations. In this case, the first orientation can be the reference orientation of the pre-set level data.

[0086] Optionally, after calculating the relative height of each suction barrel on the offshore wind power installation platform based on the levelness data, the method also includes: outputting the relative height of each suction barrel so that staff can monitor the relative height of each suction barrel.

[0087] Step 203: Calculate the maximum height difference between the suction buckets based on the relative height of each suction bucket.

[0088] Optionally, the maximum height difference between the suction buckets can be calculated based on the relative height of each suction bucket, including: sorting the suction buckets in descending order of relative height; and determining the height difference between the suction bucket with the highest relative height and the suction bucket with the lowest relative height as the maximum height difference.

[0089] In practice, the maximum height difference can be obtained by sorting the calculated height differences based on the height differences between each suction bucket.

[0090] Step 204: Determine whether the maximum height difference is greater than the preset error threshold.

[0091] The error threshold is preset according to the actual construction and acceptance standards.

[0092] Step 205: If the maximum height difference is greater than the error threshold, determine the suction bucket with the highest relative height among all suction buckets as the target suction bucket, and proceed to step 206.

[0093] If the maximum error height is less than or equal to the error threshold, output a prompt message indicating that the suction is complete to notify the user.

[0094] Furthermore, when the error height is less than or equal to the error threshold, a prompt message corresponding to the completion of suction is output, including: when the error height is less than or equal to the error threshold, determining whether the suction depth of each suction bucket has reached the design depth range; when the suction depth of each suction bucket has reached the design depth range, outputting a prompt message corresponding to the completion of suction; when there is a suction bucket whose suction depth has not reached the design depth range, identifying the suction bucket with the highest relative height among all suction buckets as the target suction bucket, and outputting a suction prompt message corresponding to the target suction bucket to prompt suction of the target suction bucket.

[0095] Since the suction depth of the suction barrel has not reached the design depth range, the suction barrel with the highest relative height among all suction barrels is identified as the target suction barrel, and the suction is prompted to continue to the target suction barrel. This makes it easier for the suction depth of the suction barrel to reach the design depth range, thereby further ensuring that the installation of the offshore wind power installation platform meets the design requirements.

[0096] Step 206: Output the suction prompt information corresponding to the target suction barrel to prompt the suction of the target suction barrel.

[0097] In one example, the suction prompt includes the identification information for the target suction tank, which varies depending on the suction tank. For example, it might be displayed on a screen or announced via voice prompts such as "Suction the XX suction tank."

[0098] In another example, the methods for outputting the suction prompt information corresponding to the target suction barrel include: displaying the prompt information in the display position corresponding to the target suction barrel. For example, highlighting the target suction barrel on the display interface, or illuminating the indicator light corresponding to the target suction barrel.

[0099] In actual implementation, other methods can also be used to output suction prompt information. This embodiment does not limit the method of outputting suction prompt information.

[0100] Furthermore, the system outputs suction prompt information corresponding to the target suction barrel, including: determining the target suction volume based on the maximum height difference and the design parameters of the target suction barrel; generating suction prompt information based on the target suction volume and the identification information of the target suction barrel, and outputting the suction prompt information.

[0101] The design parameters of the suction tank are set in advance by the staff.

[0102] In the above technical solution, since the suction prompt information includes the target suction volume, it is convenient for staff to operate the suction equipment to suction the suction tank according to the suction prompt information, which can help to further improve the construction efficiency of the offshore wind power installation platform and further reduce the installation cost of the offshore wind power installation platform.

[0103] In one example, the design parameters include the diameter of the suction barrel, and the target suction volume is determined based on the maximum height difference and the design parameters of the target suction barrel, including: determining the target suction volume based on the maximum height difference and the diameter of the target suction barrel.

[0104] Furthermore, the suction prompt information also includes the target suction duration. After determining the target suction volume based on the maximum height difference and the design parameters of the target suction tank, it also includes determining the target suction duration based on the target suction volume and the suction speed of the suction equipment. This further facilitates staff in controlling the suction equipment to suction the target suction tank based on the suction prompt information.

[0105] The suction speed of the suction equipment is preset by the staff.

[0106] Optionally, after outputting the suction prompt information corresponding to the target suction bucket, the method further includes: if the target suction bucket has been suctioned, determining whether the maximum height difference between each suction bucket is greater than a preset error threshold; if the maximum height difference is greater than the error threshold, determining the suction bucket with the highest relative height among all suction buckets as the target suction bucket, returning to the step of outputting the suction prompt information corresponding to the target suction bucket to prompt the suction of the target suction bucket, i.e., returning to step 206; if the maximum height difference is less than or equal to the error threshold, outputting the prompt information corresponding to the suction completion.

[0107] In the above technical solution, after the target suction barrel has been suctioned, it is determined whether the maximum height difference is greater than the preset error threshold. If the maximum height difference is greater than the preset error threshold, the target suction barrel is re-determined, and the suction prompt information corresponding to the target suction barrel is output again. This facilitates the guidance of staff to continuously suction each suction barrel to adjust the level of the offshore wind power installation platform, thereby helping to further improve the construction efficiency of the offshore wind power installation platform and further reduce the installation cost of the offshore wind power installation platform.

[0108] Optionally, the method for determining that the target suction barrel has been completed may include receiving a suction completion instruction sent by the staff, or it may include detecting that the height difference between the target suction barrel and the suction barrel with the lowest relative height is less than an error threshold, or it may include detecting that the suction volume has reached the target suction volume. This embodiment does not limit the method for determining that the target suction barrel has been completed.

[0109] The implementation principle of the leveling adjustment method for an offshore wind power installation platform provided in this application embodiment is as follows: Leveling data collected by a leveling sensor is acquired; the leveling sensor is installed on the flange of the offshore wind power installation platform, and the flange is used to install wind power equipment; the relative height of each suction barrel on the offshore wind power installation platform is calculated based on the leveling data; the maximum height difference between the suction barrels is calculated based on the relative height of each suction barrel; it is determined whether the maximum height difference is greater than a preset error threshold; if the maximum height difference is greater than the error threshold, the suction barrel with the highest relative height among the suction barrels is determined as the target suction barrel; a suction prompt message corresponding to the target suction barrel is output to prompt suction of the target suction barrel, which can help solve the problem of high installation cost of offshore wind power installation platforms. Because it can acquire sensing data from the level sensor installed on the flange, calculate the maximum height difference between each suction barrel based on the sensing data, and output suction prompt information corresponding to the target suction barrel with the highest relative height when the maximum height difference is greater than the error threshold, it can automatically guide the staff to suction the target suction barrel without the need for the staff to stop work and climb the installation platform to manually observe the levelness. Therefore, it can shorten the installation cycle of the offshore wind power installation platform and reduce the installation cost of the offshore wind power installation platform.

[0110] This application also provides an electronic device. In this embodiment, the electronic device is the controller 120 in the embodiment of the horizontal adjustment system of the offshore wind power installation platform. In actual implementation, the electronic device can also be other devices. This embodiment does not limit the type of electronic device.

[0111] like Figure 6 As shown, Figure 6 The illustrated electronic device 300 includes a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, for example, via a bus 302. Optionally, the electronic device 300 may also include a transceiver 304. It should be noted that in practical applications, the transceiver 304 is not limited to one type, and the structure of this electronic device 300 does not constitute a limitation on the embodiments of this application.

[0112] Processor 301 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 301 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0113] Bus 302 may include a pathway for transmitting information between the aforementioned components. Bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 302 can be divided into address bus, data bus, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0114] The memory 303 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0115] The memory 303 is used to store application code that executes the solution of this application, and its execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the content shown in the foregoing method embodiments.

[0116] Electronic devices include, but are not limited to: mobile terminals such as mobile phones, laptops, PDAs (personal digital assistants), and PADs (tablet computers), as well as fixed terminals such as digital TVs and desktop computers. They can also serve as server-side components. Figure 6 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0117] This application also provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed in a computer, it causes the computer to perform the leveling method for the offshore wind power installation platform provided in the above embodiments.

[0118] It should be understood that although the steps in the flowcharts in the accompanying drawings are shown sequentially as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise expressly stated herein, there is no strict order in which these steps are performed, and they may be performed in other orders.

[0119] The above are only some embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for adjusting the levelness of an offshore wind power installation platform, characterized in that, The method includes: The system acquires levelness data collected by levelness sensors. These levelness sensors include two or more sensors with different installation positions. Each levelness sensor is mounted on a flange of an offshore wind power installation platform, used to mount wind power equipment. The levelness sensors include a first levelness sensor and a second levelness sensor. The first levelness sensor is positioned at the intersection of the line connecting the geometric center of the preset suction tank and the geometric center of the flange with the flange. The system also includes a third levelness sensor and a fourth levelness sensor. The orientation of the second levelness sensor is obtained by rotating the orientation of the first levelness sensor counterclockwise by 90 degrees. The orientation of the third levelness sensor is obtained by rotating the orientation of the first levelness sensor counterclockwise by 180 degrees. The orientation of the fourth levelness sensor is obtained by rotating the orientation of the first levelness sensor counterclockwise by 270 degrees. The orientations of the first, second, third, and fourth levelness sensors are all parallel to and tangent to the flange. The levelness data includes levelness in a first direction and levelness in a second direction, with the second direction perpendicular to the first direction. The relative height of each suction barrel on the offshore wind power installation platform is calculated based on the levelness data. The maximum height difference between the suction barrels is calculated based on the relative height of each suction barrel. Determine whether the maximum height difference is greater than a preset error threshold; If the maximum height difference is greater than the error threshold, the suction bucket with the highest relative height among all the suction buckets is determined as the target suction bucket; Output the suction prompt information corresponding to the target suction barrel to prompt the suction of the target suction barrel; The calculation of the relative height of each suction barrel on the offshore wind turbine installation platform based on levelness data includes: The level data collected by each level sensor is converted based on the conversion relationship to obtain the converted level data. The conversion relationship is based on the orientation of each level sensor. The reference direction used for the reference level data is set based on the orientation of one of the level sensors. The reference level data includes level data in a first direction and level data in a second direction. The first direction is the reference direction, and the second direction is obtained by rotating the first direction counterclockwise by 90 degrees. Determine whether there are error data in each of the transformed levelness data; If the error data exists in the converted levelness data, the reference levelness data is determined based on the other converted levelness data besides the error data; the mean of the converted levelness data is determined as the reference levelness data; for each direction, the mean of the converted levelness data in that direction is determined as the value of the reference levelness data in that direction. If the error data is not present in the converted levelness data, the reference levelness data is determined based on each of the converted levelness data; the error count of the target levelness sensor corresponding to the error data is incremented by one; it is determined whether the error count of the target levelness sensor has reached a preset threshold; if the error count of the target levelness sensor reaches the threshold, the calculation of the reference levelness data based on the levelness data collected by the target levelness sensor is stopped, and a prompt message corresponding to the abnormality of the target levelness sensor is output; The relative height of each of the suction barrels is determined based on the reference level data; The output of the suction prompt information corresponding to the target suction barrel includes: The target suction volume is determined based on the maximum height difference and the design parameters of the target suction barrel. The suction prompt information is generated based on the target suction volume and the identification information of the target suction barrel, and then the suction prompt information is output. If the target suction barrel is completely sucked up, determine whether the maximum height difference between each suction barrel is greater than the preset error threshold; if the maximum height difference is greater than the error threshold, determine the suction barrel with the highest relative height among the suction barrels as the target suction barrel, and return to the step of outputting the suction prompt information corresponding to the target suction barrel to prompt the suction of the target suction barrel; When the maximum height difference is less than or equal to the error threshold, the suction depth of each of the suction barrels is determined. Whether the suction depth of each suction barrel reaches the design depth range; assuming the suction depth of each suction barrel reaches the design depth range. In this case, a prompt message indicating that suction is complete will be output; in cases where the suction depth has not reached the designed depth range, the suction barrel will be activated. In the case of this, the suction bucket with the highest relative height among all the suction buckets is determined as the target suction bucket, and the target suction bucket is output. The suction prompt message corresponding to the suction barrel is used to prompt the suction barrel to be suctioned.

2. The method according to claim 1, characterized in that, The calculation of the relative height of each of the suction barrels based on the levelness data includes: For each of the suction buckets, a first height of the suction bucket is determined based on the levelness in the first direction and the coordinates of the suction bucket in the X-axis direction of the reference coordinate system; the reference coordinate system is pre-established with the reference position as the origin, the first direction as the positive X-axis direction, and the second direction as the positive Y-axis direction; The second height of the suction bucket is determined based on the levelness in the second direction and the coordinates of the suction bucket in the Y-axis direction of the reference coordinate system. The sum of the first height and the second height is determined as the relative height of the suction bucket.

3. A leveling adjustment system for an offshore wind power installation platform, characterized in that, The system includes at least one level sensor and a controller, the controller being signal-connected to the level sensor, the level sensor being mounted on a flange of the offshore wind power installation platform, the flange being used to install wind power equipment; The controller is used to perform the leveling adjustment method for the offshore wind power installation platform as described in any one of claims 1 or 2.

4. The system according to claim 3, characterized in that, The first levelness sensor is positioned at the intersection of the line connecting the geometric center of the preset suction barrel and the geometric center of the flange with the flange; the orientation of the first levelness sensor and the orientation of the second levelness sensor are both parallel and tangent to the flange.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed in the computer, it causes the computer to perform the leveling method for the offshore wind power installation platform as described in claim 1 or 2.

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