A resident offshore wind farm security system and method

Abstract

The application discloses a kind of resident offshore wind farm security system and method, comprising: security area setting system, for reading the information of wind farm, the information of wind farm is fused with radar information, set up wind farm security area and the range of area of security is passed to ship risk assessment system;Ship risk assessment system is used to judge the risk of surrounding ship, according to the AIS information of ship in security area, judge whether there is the risk of invading offshore wind farm, if the ship has invasion risk, information is passed to unmanned ship receiving and releasing system;Unmanned ship receiving and releasing system is used to receive and supply unmanned ship, so that unmanned ship can be resident in offshore wind farm;Unmanned ship interception path planning system is used to receive the AIS information of risk ship to path planning for unmanned ship, so as to complete the interception of invading ship. By using the application, non-operating ships can be intercepted all day long, and their navigation to the wind farm water area is prevented.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of offshore wind power, and particularly relates to a resident offshore wind farm security system and method. BACKGROUND

[0002] In the past decade, with the rapid growth of wind power demand and the saturation of land resources, offshore wind power has become the focus of development in the field of renewable energy. However, the pile foundation and submarine cable of the current offshore wind farm face security problems such as being easily invaded and damaged by non-operating ships, and traditional patrols need frequent manual replacement, resulting in large consumption of human resources and defects such as operation window period, which cannot achieve all-weather protection of offshore wind farms from invasion by non-operating ships.

[0003] Chinese patent document with publication number CN102722147A discloses an intelligent remote security monitoring system for offshore wind turbine generators. The system installs 5 cameras on a single wind turbine and realizes real-time video monitoring and control of the entire offshore wind power project in the main control room, improving the safety protection and monitoring level of offshore wind turbine generators.

[0004] Chinese patent document with publication number CN114283622A discloses a sea area security method and system. The system obtains offshore facility data information, comprehensively monitors offshore facilities and ship states, and displays monitoring interfaces according to requirements to realize comprehensive monitoring. The system displays real-time conditions of wind farm facilities and ships, facilitating personnel to check and manage, and further filters ships by layers to facilitate personnel to quickly check and find ship conditions.

[0005] As can be seen, the existing offshore wind farm security mainly focuses on monitoring, and when non-operating ships invade, manual interception is still required. SUMMARY

[0006] The present application provides a resident offshore wind farm security system and method, which can intercept non-operating ships all day long and prevent them from sailing to the wind farm water area, effectively solving the problems faced by offshore wind farm security, reducing the investment of human resources, and realizing the true unmanned of offshore wind farm security operation.

[0007] A resident offshore wind farm security method, comprising:

[0008] (1) obtaining the area of the offshore wind farm, and generating a plurality of offshore wind farm security areas of different levels according to the area of the offshore wind farm;

[0009] (2) obtaining the AIS information of ships entering the lowest level security area, and dividing the evaluation indexes of the ships into static indexes and dynamic indexes according to the AIS information;

[0010] wherein the static index is the type of the ship; the dynamic index comprises the speed v of the ship, the distance d from the innermost warning area of the wind farm, and the heading angle deviation θ from the line connecting the center point of the wind farm;

[0011] (3) The ship is preliminarily evaluated according to the static index, and if the ship is an operation ship, the ship is marked as risk-free; if the ship is a non-operation ship, the ship is secondarily evaluated according to the dynamic index;

[0012] In the secondary risk evaluation, the increase of the speed v of the ship, the decrease of the heading angle deviation θ, and the decrease of the distance d are all defined as risk maneuvers, and if the ship has two consecutive risk maneuvers in four consecutive AIS update cycles, the ship is determined to have an invasion risk;

[0013] (4) The AIS information of the ship with the invasion risk is obtained, the unmanned ship is released by the unmanned ship launching and receiving system, and the improved fast marching level set algorithm is used to plan the interception path of the unmanned ship, specifically as follows:

[0014] A multi-objective evaluation framework is constructed, the path safety evaluation function, the path smoothness evaluation function, and the path distance evaluation function are constructed respectively to evaluate and score the planned path, and the multi-objective optimization method is used to optimize the path, so as to select the optimal Sat value, so that the unmanned ship can select the most efficient path for interception;

[0015] (5) After the coordinate interception task is completed, the unmanned ship automatically returns to the unmanned ship launching and receiving system and is supplied with electric energy.

[0016] In step (3), the algorithm model of the preliminary risk evaluation is as follows:

[0017]

[0018] wherein s static is the static index of the ship, and R static is the preliminary risk evaluation index.

[0019] The algorithm model of the secondary risk evaluation is as follows:

[0020] If the ship has any two of the following three situations: the speed v of the ship is increased, the distance d from the innermost warning area of the wind farm is decreased, and the heading angle deviation θ from the line connecting the center point of the wind farm is decreased, the ship is determined to have a risk maneuver at time t t = 1.

[0021] l t is recorded as the risk maneuver determination at time t, and when l t = 1, the ship has a risk maneuver

[0022]

[0023] R dynamic This is a secondary risk assessment indicator; if a vessel exhibits risky maneuvers at two consecutive points in time (l t+2 =l t+1 =1), then R dynamic A value of 1 indicates a potential intrusion risk for the vessel, as shown in the following formula:

[0024]

[0025] In step (4), the path safety evaluation function is:

[0026]

[0027] Where, p i (x,y) is the i-th path point, O j (x,y) represents the i-th obstacle point.

[0028] The path smoothing evaluation function is:

[0029]

[0030] Where, p i x is the x-coordinate of the i-th planned path point, p i y represents the y-th planned path point.

[0031] The path distance evaluation function is:

[0032]

[0033] Where, p i (x,y) represents the i-th planned path point; ||2 represents the Euclidean distance.

[0034] The objective of optimizing the path using a multi-objective optimization approach is:

[0035] Within the Sat value range, minimize the sum of the path safety evaluation function, path smoothness evaluation function, and path distance evaluation function, where Sat∈(0,1]; using a weighted sum solution, transform the multiple evaluation functions into a single solution by utilizing the weights, and rewrite the multi-objective optimization problem of path planning as:

[0036]

[0037] Among them, w G w S w D These are the weights of the safety evaluation function, the path smoothness evaluation function, and the path distance evaluation function, respectively.

[0038] Through the above manner, the optimal Sat value of the fast marching plane algorithm in the current situation can be found, so that the unmanned ship path reaches the optimal.

[0039] The application further provides a resident offshore wind farm security system, comprising:

[0040] A security area setting system is used for reading information of the wind farm, fusing the information of the wind farm with radar information, setting a security area of the wind farm and transmitting the range of the security area to a ship risk assessment system;

[0041] The ship risk assessment system is used for judging the risk of surrounding ships, judging whether there is a risk of invading the offshore wind farm according to AIS information of the ships in the security area, and transmitting information to an unmanned ship launching and receiving system if the ships have an invasion risk;

[0042] The unmanned ship launching and receiving system is used for launching and receiving the unmanned ship and supplying the unmanned ship, so that the unmanned ship can be resident in the offshore wind farm;

[0043] The unmanned ship interception path planning system is used for planning a path of the unmanned ship according to received AIS information of the risk ships, so as to complete interception of the invading ships.

[0044] Compared with the prior art, the application has the following beneficial effects:

[0045] 1. In view of the problem that offshore wind farms are easily invaded and damaged by external ships, the application adopts a resident unmanned ship to carry out security work of the offshore wind farm, which not only effectively reduces the investment of human resources, but also can avoid damage to the offshore wind farm at all times and in real time.

[0046] 2. In view of the existing public offshore wind farm ship monitoring technology, the application proposes a risk assessment algorithm based on ship maneuvering, which can judge in advance whether the ship has a risk of invading the offshore wind farm according to the maneuvering behavior of the ship.

[0047] 3. In order to improve the efficiency of the unmanned ship interception, the application proposes an improved fast marching plane algorithm, which constructs a multi-objective framework for optimization solution through a path evaluation function, so that the fast marching plane algorithm selects the optimal Sat value, so that the unmanned ship path planning reaches the optimal. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 It is a structural diagram of the resident offshore wind farm security system of the application;

[0049] Figure 2 It is a flowchart of the resident offshore wind farm security method of the application. DETAILED DESCRIPTION

[0050] The application will be described in further detail below in conjunction with the accompanying drawings and embodiments, it should be noted that the following embodiments are intended to facilitate the understanding of the application and do not limit the application in any way.

[0051] As shown in the drawings, Figure 1 A resident offshore wind farm security system comprises:

[0052] A security area setting system is used to read the information of the wind farm, fuse the information of the wind farm with radar information, set the security area of the wind farm and transmit the range of the security area to the ship risk assessment system;

[0053] A ship risk assessment system is used to judge the risk of surrounding ships, judge whether there is a risk of invading the offshore wind farm according to the AIS information of the ships in the security area, and if the ships have the risk of invasion, transmit the information to the unmanned ship launching and recovering system;

[0054] An unmanned ship launching and recovering system is used to launch and recover the unmanned ship and supply the unmanned ship, so that the unmanned ship can be resident in the offshore wind farm;

[0055] An unmanned ship interception path planning system is used to plan the path of the unmanned ship according to the received AIS information of the risk ship, so as to complete the interception of the invading ship.

[0056] In the system of the application, the necessary hardware includes AIS equipment, radar equipment and equipment for storing wind farm information.

[0057] As shown in the drawings, Figure 2 A resident offshore wind farm security method comprises the following steps:

[0058] Step 1, obtaining the area of the offshore wind farm, and generating a plurality of different level offshore wind farm security areas according to the area of the offshore wind farm.

[0059] Step 2, obtaining the AIS information of the ship entering the lowest level security area, and dividing the evaluation index of the ship into static index and dynamic index according to the AIS information. The static index is the type of the ship, and the dynamic index includes the speed v of the ship, the distance d from the innermost warning area of the wind farm, and the heading angle deviation θ from the center point of the wind farm.

[0060] Firstly, the type of the ship is preliminarily judged, if it is an offshore wind farm working ship, it is marked as no risk, if it is a non-working ship, the speed of the ship in the continuous four periods (AIS update period), the change of the sailing angle and the distance from the center area point of the wind farm are judged again, wherein the risk maneuvering is positioned if the speed of the ship is faster, the heading angle is smaller and the distance is shorter, if the ship has the risk maneuvering behavior for two times in the continuous four periods, it is judged that the ship has the risk of invasion.

[0061] Specifically, the primary risk assessment algorithm model is as follows:

[0062]

[0063] Wherein, s static is the static attribute of the ship, R static is the primary risk assessment index.

[0064] The secondary assessment algorithm model is as follows:

[0065] If the ship has any two of the following three situations: the speed v increases, the distance d to the innermost warning area of the wind farm decreases, and the heading angle deviation θ of the line connecting the center point of the wind farm decreases, then the ship is determined to have a risk maneuver C t = 1 at time t.

[0066] Let l t be the risk maneuver determination at time t, and when l t = 1, the ship has a risk maneuver.

[0067]

[0068] R dynamic is the secondary risk assessment index, and if the ship has a risk maneuver (l t+2 = l t+1 = 1) at two consecutive times, then R dynamic = 1, indicating that the ship has an invasion risk.

[0069]

[0070] Step 3, obtain the risk ship AIS information, release the unmanned ship from the unmanned ship launching and recovery system, and plan the interception path. In order to make the planned path of the unmanned ship interception safe and efficient, an improved fast marching level algorithm is used. For the defect that the traditional fast marching level algorithm cannot select the optimal Sat value for path planning, a multi-objective evaluation framework is constructed, and safety evaluation functions, path length evaluation functions, and path smoothing evaluation functions are constructed respectively to evaluate and score the planned path. A multi-objective optimization method is used to optimize the path, so as to select the optimal Sat value, so that the unmanned ship can select the most efficient path for interception.

[0071] The construction of the multi-objective optimization framework is as follows:

[0072] 1. Path safety evaluation function:

[0073]

[0074] Wherein, p i (x,y) is the i-th path point, Oj (x, y) is the i-th obstacle point.

[0075] 2. Path smoothness evaluation function:

[0076]

[0077] where p i x is the x coordinate of the i-th planned path point, p i y is the y coordinate of the i-th planned path point.

[0078] 3. Path distance evaluation function:

[0079]

[0080] where p i (x, y) is the i-th planned path point.

[0081] Decision variables and constraints

[0082] Sat∈(0, 1]

[0083] In general, the goal of this optimization framework is to minimize the sum of the above three evaluation functions within the range of Sat value. Therefore, in the form of weighted sum solution, the multi-evaluation function is changed into a single solution by using weights. Therefore, the path planning multi-objective optimization problem can be rewritten as:

[0084]

[0085] where w G , w S , w D are the weights of the evaluation functions, respectively.

[0086] By the above method, the optimal Sat value of the fast marching algorithm under the current situation can be found, so that the unmanned ship path reaches the optimal.

[0087] Step 4, the coordinate interception task is completed, the unmanned ship automatically returns to the unmanned ship launching and recovery system, and the unmanned ship system recovers it and supplies power.

[0088] The above embodiments have described the technical solutions and beneficial effects of the present application in detail. It should be understood that the above description is only a specific embodiment of the present application and is not intended to limit the present application. Any modification, supplement and equivalent replacement made within the principle range of the present application shall be included in the protection scope of the present application.

Claims

1. A method for security and safety of a permanent offshore wind farm, c h a r a c t e r i s e d in that The method comprises the following steps: (1) obtaining the area of the offshore wind farm, and generating a plurality of different levels of offshore wind farm security areas according to the area of the offshore wind farm; (2) obtaining the AIS information of the ship entering the lowest level security area, and dividing the evaluation index of the ship into static index and dynamic index according to the AIS information; Wherein, the static index is the type of the ship; the dynamic index includes the speed v of the ship, the distance d from the innermost warning area of the wind farm, and the heading angle deviation θ of the connecting line of the wind farm center point; (3) performing a primary risk assessment on the ship according to the static index, if the ship is a workship, it is marked as risk-free; if the ship is a non-workship, a secondary risk assessment is performed on the ship using the dynamic index; During the secondary risk assessment, the ship speed is increased, the heading angle deviation θ is reduced, and the distance d is shortened, which are all risk maneuvers, if the ship has a continuous two-time risk maneuvering behavior in the continuous four AIS update cycles, it is judged that the ship has an invasion risk; (4) obtaining the AIS information of the ship with invasion risk, releasing the unmanned ship by the unmanned ship launching and recovering system, and planning the interception path of the unmanned ship by using the improved fast marching level algorithm, specifically: A multi-objective evaluation framework is constructed, path safety evaluation function, path smoothing evaluation function and path distance evaluation function are constructed respectively to evaluate and score the planned path, and the path is optimized by using multi-objective optimization, so as to select the optimal Sat value, so that the unmanned ship can select the most efficient path for interception; the optimization target of the path by using multi-objective optimization is: The sum of the above path safety evaluation function, path smoothing evaluation function and path distance evaluation function is minimized within the Sat value range, Sat∈(0,1]; in the form of weighted sum, the multi-evaluation function is changed into single solution by using weight, and the multi-objective optimization problem of path planning is rewritten as: where w G , w S , w D are the weights of the safety evaluation function, the path smoothness evaluation function, and the path distance evaluation function, respectively. By the above method, the optimal Sat value of the fast marching level algorithm under the current condition can be found, so that the path of the unmanned ship reaches the optimal; (5) After completing the coordinate interception task, the unmanned ship automatically returns to the unmanned ship launching and recovering system and performs power supply.

2. The method according to claim 1, c h a r a c t e r i z e d i n that In step (3), the algorithm model of the primary risk assessment is: where s static is a static index of the ship, R static is a first risk assessment index.

3. The method according to claim 1, c h a r a c t e r i z e d i n that In step (3), the algorithm model of the secondary risk assessment is: If any two of the following three conditions exist, the vessel is determined to be at risk of maneuvering C at time t: the speed v of the vessel increases, the distance d between the vessel and the innermost warning area of the wind farm decreases, and the heading angle deviation θ between the vessel and the center point of the wind farm decreases t = 1; l t Risk maneuver decision at time t, when l t Risk maneuver exists when l = 1 R dynamic For the secondary risk assessment index, if the ship exists risk maneuvering at two continuous time points, i.e. l t+2 = 1 t+1 = 1, R dynamic is 1, and it is determined that the ship exists invasion risk, and the formula is as follows:

4. The method of claim 1, wherein, In step (4), the path safety evaluation function is: where p i (x,y) is the ith path point, O j (x,y) is the jth obstacle point.

5. The method according to claim 4, c h a r a c t e r i z e d i n that In step (4), the path smoothing evaluation function is: wherein p i x is the x coordinate of the i-th planning path point, p i y is the y of the i-th planning path point.

6. The method according to claim 5, c h a r a c t e r i z e d i n that In step (4), the path distance evaluation function is: where p i (x,y) is the i-th planned path point, and ||2denotes the Euclidean distance.

7. 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