Airflow field perturbation system and method for wind turbine generator set

Abstract

The application discloses an air flow field disturbance system and method of a wind turbine generator set. The flying device comprises a spraying system loaded with an attachable object. The flying device is configured to fly to a first target position. The distance between the first target position and the position of a first target object of the wind turbine generator set satisfies a target distance. When the flying device is at the first target position, the spraying system is controlled to apply the attachable object to the first target object. The attachable object is attached to the first target object, and can disturb the air flow field within a first range around the first target object. In this way, the risk of vortex-induced vibration of the first target object can be reduced. When the first target object is a blade, the risk of vortex-induced vibration of the blade can be reduced.

Description

Technical Field

[0001] This application relates to the field of wind turbine technology, specifically to a flight device, an airflow disturbance system for a wind turbine generator set, and an airflow disturbance method for a wind turbine generator set. Background Technology

[0002] The increasing size of wind turbines makes the long, flexible characteristics of the blades more pronounced when the turbine is not powered on. This can lead to vortex-induced vibrations on the blades when air flows over them. Vortex-induced vibrations can cause blade damage and threaten the ultimate limits and fatigue loads of the wind turbine.

[0003] Currently, adjusting the blade pitch angle can be used to turbulentize the airflow near the blades, thereby reducing vortex-induced vibration. However, this method is only applicable under normal power supply conditions. Alternatively, fishing nets can be placed on the blades or drones can be used to turbulentize the airflow around the blades. However, placing fishing nets is cumbersome and labor-intensive, while using drones for airflow turbulence is also costly. Summary of the Invention

[0004] In view of this, this application provides a flight device, an airflow field disturbance system for a wind turbine generator set, and an airflow field disturbance method for a wind turbine generator set, which can reduce the risk of vortex-induced vibration of wind turbine generator set blades.

[0005] To solve the above problems, the technical solution provided in this application is as follows:

[0006] In a first aspect, this application provides a flight device, the flight device comprising:

[0007] A sprinkler system, the sprinkler system being equipped with a substrate for adhesion,

[0008] The flight equipment is configured as follows:

[0009] Fly to the first target location; the distance between the first target location and the location of the first target object of the wind turbine generator set meets the target distance; and

[0010] When the system is in the first target position (e.g., hovering at the first target position or oscillating slightly around the first target position), the spray system is controlled to apply the adherable material to the first target object (it should be understood that "applying" means spraying, sprinkling, spraying, a combination thereof or other equivalent implementations, and in this specific embodiment, spraying is mainly used as an example) to turbulent the airflow field in a first range around the first target object by attaching the adherable material to the first target object.

[0011] Secondly, this application provides an airflow field disturbance system for a wind turbine generator set, the system including the flight equipment, protective cabin and control system described above;

[0012] The protective compartment is located at the bottom of the nacelle of the wind turbine generator set;

[0013] The flight equipment and the control system are housed within the protective cabin;

[0014] The control system is used to control the opening of the hatch of the protective cabin to deploy the flight equipment, and to communicate with the base.

[0015] Thirdly, this application provides a method for airflow field disturbance in a wind turbine generator set, the method being applied to a flight equipment controller, the method comprising:

[0016] The flight equipment is controlled to fly to a first target position; the distance between the first target position and the position of the first target object of the wind turbine generator set meets the target distance; the flight equipment includes a spray system; the spray system is equipped with an adhering material;

[0017] When the flight equipment is at the first target position, the spray system is controlled to apply the adherable material to the first target object in order to turbulent the airflow field in a first range around the first target object by attaching the adherable material to the first target object.

[0018] Therefore, this application has the following beneficial effects:

[0019] This application provides a flight device including a spray system on which an adhering material is loaded. The flight device is configured to fly to a first target location. The distance between the first target location and the location of a first target object (a wind turbine generator) satisfies a target distance. When the flight device is at the first target location, the spray system is controlled to apply the adhering material to the first target object. The adhering material adheres to the first target object and can turbulent the airflow field within a first range around the first target object. This reduces the risk of vortex-induced vibration of the first target object. Specifically, when the first target object is a blade, the risk of vortex-induced vibration of the blade can be reduced. Attached Figure Description

[0020] Figure 1 A schematic diagram illustrating an exemplary application scenario provided in this application embodiment;

[0021] Figure 2 A schematic diagram of the airflow disturbance system of a wind turbine generator set provided in this application embodiment;

[0022] Figure 3This application provides an operation flowchart for a manned operation mode.

[0023] Figure 4 This application provides an operation flowchart for an unmanned operation mode.

[0024] Figure 5 A schematic diagram of the leading edge of a blade provided in an embodiment of this application;

[0025] Figure 6 A flowchart illustrating an airflow field disturbance method for a wind turbine generator set provided in this application embodiment. Detailed Implementation

[0026] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the embodiments of this application will be further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0027] To facilitate understanding and explanation of the technical solutions provided in the embodiments of this application, the background technology involved in the embodiments of this application will be introduced first.

[0028] The increasing size of wind turbines makes the long, flexible characteristics of the blades more pronounced when the turbine is not powered on. This causes vortices to form near the blades when air flows over them, potentially leading to vortex-induced vibration (VIN). VIN includes the wind turbine's installed state, maintenance state, and power outage state. VIN can damage the blades and threaten the ultimate limits and fatigue loads of the wind turbine.

[0029] Currently, adjusting the blade pitch angle can be used to turbulentize the airflow near the blades, reducing vortex-induced vibration. However, this method is only applicable under normal power supply conditions; therefore, stable power supply to the pitch system cannot be guaranteed during turbine installation or prolonged power outages. In practical applications, the yaw system may also need to coordinate with the pitch angle adjustment, which also requires power support. Alternatively, fishing nets can be placed on the blades or drones can be used to turbulentize the airflow around the blades. However, placing fishing nets is cumbersome and labor-intensive, making it inconvenient to implement when the turbine is not in a suspended state. Using drones for airflow turbulence is also costly.

[0030] Based on this, this application provides a flight device including a spray system on which an adhering material is loaded. The flight device is configured to fly to a first target location. The distance between the first target location and the location of a first target object of a wind turbine generator set satisfies a target distance. When the flight device is at the first target location, the spray system is controlled to apply the adhering material to the first target object (it should be understood that applying the adhering material means spraying, sprinkling, spraying, a combination thereof, or other equivalent implementations; the following description mainly uses spraying as an example). The adhering material adheres to the first target object, which can turbulent the airflow field within a first range around the first target object. This reduces the risk of vortex-induced vibration of the first target object. It is understood that when the first target object is a blade, the risk of vortex-induced vibration of the blade can be reduced.

[0031] To facilitate understanding of the embodiments of this application, the following is combined with... Figure 1 The example scenario is shown below. See also... Figure 1 As shown in the figure, this figure is a schematic diagram of an exemplary application scenario provided in the embodiments of this application.

[0032] like Figure 1 As shown, the wind turbine generator set includes a first blade 1011, a second blade 1012, and a third blade 1013. The wind turbine generator set also includes a tower 102 and a nacelle 103. Each blade includes a leading edge and a trailing edge, with the leading edge near the blade tip. The leading edge 1011-1 of the first blade is... Figure 1 The first blade is enclosed within the circular dashed box. The trailing edge of the first blade is the portion closest to the nacelle (not shown in the figure). Similarly, the second blade includes both a leading edge and a trailing edge, and the third blade includes both a leading edge and a trailing edge.

[0033] like Figure 1 As shown, a point mass A can be used to represent a flying device. The flying device is an electronic device with flight capabilities, such as a drone. The flying device includes a spray system, which carries an adhering material. For example, the adhering material is foam, and the spray system carries foam for spraying it.

[0034] The flying equipment will fly to the first target position, and the distance between the first target position and the first target object of the wind turbine generator set will meet the target distance. For example, the first target object can be the leading edge of the blade of the wind turbine generator set, then the flying equipment will fly to the first target position at a distance from the leading edge of the blade that is the target distance.

[0035] Furthermore, when the flight equipment is at the first target position (e.g., hovering at the first target position or oscillating slightly around the first target position), such as Figure 1As shown, the flight equipment controls the spray system to spray foam onto the leading edge of the blades. The foam adheres to the leading edge of the blades, turbulenting the airflow field within a first region around the leading edge. This disrupts the wind trajectory, preventing the formation of stable-frequency vortices and thus suppressing vortex-induced vibrations of the wind turbine blades.

[0036] Those skilled in the art will understand that Figure 1 The schematic diagram shown is merely one example in which embodiments of this application can be implemented. The scope of application of the embodiments of this application is not limited by any aspect of this framework.

[0037] This application provides an airflow field disturbance system for a wind turbine generator set. To facilitate understanding of the technical solution provided in this application, the airflow field disturbance system for the wind turbine generator set provided in this application is first described. See also... Figure 2 , Figure 2 This is a schematic diagram of the airflow disturbance system for a wind turbine generator set, provided as an embodiment of this application. (Combined with...) Figure 2 In one possible implementation, the airflow disturbance system of the wind turbine generator includes the flight equipment, protective cabin, and control system described in any of the embodiments of this application below.

[0038] The protective compartment is located at the bottom of the nacelle of the wind turbine generator set, such as... Figure 1 The diagram shows the bottom of the nacelle 103. The protective compartment can also be installed in a location accessible to maintenance personnel, such as the top of the nacelle 103. When maintenance personnel are on the ground and operating the wind turbine via a work vehicle, the protective compartment can also be installed on the work vehicle. Thus, by using an external protective compartment and automatic doors, automatic operation and safety protection of the equipment can be achieved, while also facilitating manual equipment maintenance.

[0039] The flight equipment refers to electronic devices with flight capabilities, such as one or more unmanned aerial vehicles (UAVs); however, the specific type of flight equipment is not limited here. The flight equipment is housed within a protective cabin equipped with an automatically controlled hatch. When the flight equipment is not in operation and is not being maintained by personnel, the hatch of the protective cabin is closed. Figure 2 As shown, the flight equipment includes a spray system, which comprises a spraying device and a storage device. The storage device is used to store an adhering material, such as foam. The spraying device is used to spray the adhering material, such as foam. The spray system remains permanently installed with the flight equipment. In one or more embodiments, as... Figure 2As shown, the flight equipment also includes a spatial positioning system, an image recognition system, and / or a distance sensing system. The spatial positioning system provides latitude, longitude, and altitude information for any location in space to determine that location. The distance sensing system uses radar to determine the distance between nearby objects and the radar. The radar can be lidar, millimeter-wave radar, acoustic radar, etc., and is not limited here. The image recognition system processes information collected by the camera based on image recognition algorithms to identify objects in the image.

[0040] In one or more embodiments, the airflow disturbance system of the wind turbine generator also includes various sensors, such as environmental sensors. Environmental sensors are used to sense the surrounding environment of the wind turbine generator. These environmental sensors include weather condition sensors, wind speed sensors, etc. The weather condition sensors are used to sense the weather conditions outside the protective cabin, and the wind speed sensors are used to measure the wind speed outside the protective cabin. Various sensors can also be arranged within a separate protective cabin. As an optional example, the control system, various sensors, and flight equipment can be combined to form an airflow disturbance device; thus, the airflow disturbance system of the wind turbine generator can be considered to include both the airflow disturbance device and the protective cabin.

[0041] The control system is also housed within the protective cabin, meaning the entire flow field disturbance device can be housed within a separate protective cabin. The control system operates in two modes: manned and unmanned. It controls the opening of the protective cabin door to release the flight equipment and sends control commands to the equipment. Furthermore, the control system acquires status information from the flight equipment and various sensors. The flight equipment's status information includes its operational status (e.g., active and dormant). When active, this includes the equipment's waiting status within the protective cabin and its spraying status. The status information may also include the number of times the equipment has operated, the remaining amount of adherable material in the spray system's storage device, its consumption, and the number of times the remaining material has been used. Sensor status information includes their operational status (e.g., active and dormant) and the data they collect. The control system is located on an operator's console, allowing operators to trigger it. All the flight equipment and sensor status information acquired by the control system is displayed on the console, enabling maintenance personnel to monitor and promptly address any issues.

[0042] In addition, such as Figure 2As shown, the control system is also used to communicate with the base. Specifically, the control system communicates with the base via a communication system, providing feedback on the status information of the flight equipment and various sensors, so that base maintenance personnel can monitor and handle operations promptly. The communication system is based on a mobile communication network and is mainly used for transmitting operational status between the control system and the base.

[0043] It is understood that the airflow disturbance system for wind turbine generators provided in this application is suitable for disturbing the airflow near structures in the wind turbine generator that may experience vortex-induced vibration when the generator is not powered on. For example, when the blades of a wind turbine generator may experience vortex-induced vibration when the generator is not powered on, the airflow disturbance system provided in this application can disturb the airflow near the blades to mitigate the vortex-induced vibration of the wind turbine blades. As another example, when the tower of a wind turbine generator may experience vortex-induced vibration when the generator is not powered on, the airflow disturbance system provided in this application can disturb the airflow near the tower to mitigate the vortex-induced vibration of the tower.

[0044] Based on the airflow disturbance system for wind turbine generators provided in the above embodiments of this application, this application also provides a flight device. This flight device, along with its functions, can disturb the airflow field near the wind turbine generator. The relevant functions of the flight device provided in this application will be described below with reference to the accompanying drawings.

[0045] This application provides a flight device, which includes a spray system and is equipped with an adhering material.

[0046] The flight equipment is configured as follows:

[0047] Fly to the first target location; the distance between the first target location and the location of the first target object of the wind turbine generator set meets the target distance requirement; and

[0048] When at the first target position, the spray system is controlled to apply an adherable material to the first target object in order to turbulent the airflow field within a first range around the first target object by attaching the adherable material to the first target object.

[0049] It is understood that the first target object is a structure on a wind turbine generator that may generate vortex-induced vibration. To mitigate the vortex-induced vibration of the first target object, it is necessary to turbulent the airflow field within a first range surrounding the first target object. Specifically, in this embodiment, an attachable material (e.g., spraying, sprinkling, jetting, a combination thereof, or other equivalent implementations) is applied to the first target object to form irregularly shaped protrusions, disrupting the wind path and turbulenting the airflow field within the first range surrounding the first target object, preventing the formation of frequency-stable vortices and thus suppressing the vortex-induced vibration of the first target object. The first target object is located within a first range; however, this embodiment does not limit the first range, as long as it reduces the risk of vortex-induced vibration of the first target object. For example, the first range could be a spherical area of ​​100m around the first target object.

[0050] As an optional example, the attachable material is stored in the spray system. The spray system includes a spraying device and a storage device, with the attachable material stored in the storage device. In one or more embodiments, the spray system may be mounted on a flight device. When the flight device flies to and is at a first target position, it controls the spray system to spray the attachable material onto the first target object. The distance between the first target position and the position of the first target object satisfies a target distance. It is understood that the positions involved in the embodiments of this application are spatial positions, represented by longitude, latitude, and altitude information. The target distance is the distance between the two spatial positions: the first target position and the position of the first target object. The embodiments of this application do not limit the target distance; it is only necessary that when the flight device is at the first target position, it facilitates the flight device's control of the spray system to spray the attachable material onto the first target object.

[0051] As an alternative example, the adhering material can be biodegradable, meaning it is made of a naturally degradable material that can degrade naturally over time. The effective duration of the biodegradable adhering material is determined based on the materials and the environment, for example, it could be 24 hours. The biodegradable adhering material used is a pollution-free, self-degrading material that does not produce waste or exhaust gases during degradation, making it environmentally friendly. When the adhering material is biodegradable, it can be biodegradable foam. Furthermore, the biodegradable foam can also be a biodegradable foam with cleaning properties, allowing it to easily decompose stains on the surface of the first target object covered by the foam when it degrades, thus cleaning the surface of the first target object.

[0052] As another alternative example, the adhering substance is a water-soluble substance, which can be removed by rainfall or water spraying. When the adhering substance is water-soluble, it can be water-soluble foam. Furthermore, the water-soluble foam can also be a water-soluble foam with cleaning properties, so that when the water-soluble foam is removed, it facilitates the decomposition of stains on the surface of the first target object covered by the water-soluble foam, thereby cleaning the surface of the first target object.

[0053] In practice, the flight equipment can control the spray system to continuously or intermittently spray the adherable material onto the first target object in order to save adherable material.

[0054] In practical applications, flight equipment has a built-in flight equipment controller. The flight and hovering maneuvers of the flight equipment are controlled by the flight equipment controller. The flight equipment controller can receive external commands to control the flight equipment to fly or automatically control the flight equipment to fly.

[0055] As an alternative example, the operating modes of the control system include manned and unmanned modes. See also Figure 3 , Figure 3 This is a flowchart illustrating an operation in a manned mode, as provided in an embodiment of this application. Figure 3 As shown, when the control system is in manned operation mode, it provides manual control functionality, and all operations are controlled by the operator. Specifically, the operator triggers the control system to send commands to the flight equipment controller via the control panel, which in turn controls the takeoff, direction control, spraying of the sprinkler system, and return of the flight equipment.

[0056] In practical implementation, when the control system is in manned operation mode and the flight equipment is located in the protective cabin, the operator sends a cabin door opening command through the control system to open the cabin door and release the flight equipment. After the cabin door opens, the operator sends a takeoff command to the flight equipment controller through the control system. Upon receiving the flight command, the flight equipment controller controls the flight equipment to take off. Then, the operator sends a flight direction control command through the control system, and the flight equipment controller responds to this command to control the flight equipment's flight. As an optional example, when the flight equipment reaches the first target position, the operator sends a hovering command through the control system, and the flight equipment controller responds to this command, remaining at the first target position. At this time, the operator sends a spray system activation command through the control system, and the flight equipment controller responds to this command to activate the spray system. Then, the operator sends a spray command through the control system, and the flight equipment controller responds to this command to control the spray system's spray devices to spray the adherable material onto the first target object. Furthermore, the specific spray command can be used to determine whether the spraying is continuous or intermittent. After the spraying process ends, the operator sends a return-to-home command through the control system. The flight equipment controller responds to this command, controlling the flight equipment to return to its home position. For example, it can control the flight equipment to return to the protective cabin. Once back in the protective cabin, the operator or maintenance personnel can inspect the flight equipment and replenish any remaining adhering material in the spraying system if necessary.

[0057] In addition, when the control system is in manned operation mode and the flight equipment is in semi-automatic mode, only the operator controls the takeoff of the flight equipment through the control system. After takeoff, the flight equipment's direction control, the spraying of the sprinkler system, and the return to base are all automatically controlled by the flight equipment controller.

[0058] In addition, even when the wind turbine is powered on but not in operation, operators at the base can remotely activate the control system via a communication system to reduce the risk of blade vibration during maintenance.

[0059] See Figure 4 , Figure 4 This is a flowchart illustrating an operation in an unmanned mode, as provided in an embodiment of this application. Figure 4As shown, when the control system operates in unmanned mode, the takeoff, directional control, spraying of the sprinkler system, and return to base of the flight equipment are all executed automatically. Specifically, when the control system operates in unmanned mode, it communicates with the main control system of the wind turbine generator set. The main control system controls the start-up and shutdown of the wind turbine generator set and sends the status of the wind turbine generator set to the control system. For example, the wind turbine generator set may be in an idling state or a long-term power outage state. When the main control system sends information such as the idling state or power outage state of the wind turbine generator set exceeding the preset power outage time to the control system, the flight equipment control function of the control system is activated, causing the control protection cabin of the control system to open automatically and sending a takeoff command to the flight equipment controller. After receiving the flight command, the flight equipment controller automatically controls the takeoff of the flight equipment. The flight equipment controller automatically controls the direction of the flight equipment. When the flight equipment flies to and is in the first target position, the flight equipment controller automatically activates the spraying device of the sprinkler system, so that the spraying device automatically sprays the adherable material onto the first target object. Additionally, it can automatically control continuous or intermittent spraying. Furthermore, after the spraying ends, the flight equipment controller automatically controls the flight equipment's return. Figure 4 The remaining steps are described in the following embodiments.

[0060] It is evident that the control system enables remote operation of the flying equipment and the spraying system, reducing maintenance costs. The control system supports both manned and unmanned operation modes, improving its availability. Furthermore, using flying equipment carrying the spraying system allows for rapid spraying, shortening working time and reducing the vibration risk to the primary target object. Moreover, using flying equipment to carry and operate the spraying system improves work efficiency.

[0061] It is understood that the operating conditions of the flight equipment must be met before takeoff; otherwise, takeoff cannot be controlled. Based on this, in one or more embodiments, the flight equipment is also suitable for:

[0062] Before flying to the first target location, confirm that the working conditions are met.

[0063] Among them, determining whether the working conditions are met includes:

[0064] Acquire environmental information within a second range surrounding the first target object, as well as data on adherable materials in the sprinkler system;

[0065] When the environmental information meets the preset environmental conditions and the data of the adherents in the sprinkler system meets the first preset threshold, it is determined that the working conditions are met.

[0066] In this embodiment, the second range refers to the operating range of the flight equipment, which includes the first target object. Environmental information includes weather information, wind speed information, and other information that may affect the operation of the flight equipment. It is understood that the environmental information within the operating range of the flight equipment must be determined before takeoff to prevent the equipment from malfunctioning or even failing to return. Therefore, the environmental information must meet preset environmental conditions, such as sunny weather and wind speed within the range required for normal operation.

[0067] In practical applications, environmental information within a second range surrounding the first target object can be measured by various sensors in the protective cabin. These sensors can be manually activated by the operator before measurement or automatically activated upon receiving information from the main control system indicating that the wind turbine's idling or power outage status has exceeded a preset power outage time. In one possible implementation, the sensors send the measured environmental information to the flight equipment controller, which then determines whether the operating conditions are met. Understandably, in this case, the control system has already sent a takeoff command to the flight equipment controller, and takeoff occurs only after the controller determines that the operating conditions are met. In another possible implementation, the sensors can also send the measured environmental information to the control system, which records and displays it, and then determines whether the operating conditions are met. Once the operating conditions are met, a takeoff command is sent to the flight equipment controller, which then controls the flight equipment to take off.

[0068] In addition, before the flight equipment takes off, the data of the adherable material in the spray system's storage device needs to be checked. The data of the adherable material in the spray system's storage device must meet a first preset threshold to ensure that there is enough adherable material for spraying. As an optional example, the spray system's storage device is equipped with a balance detection sensor and a consumption detection sensor. The balance detection sensor can automatically detect the remaining amount of adherable material in the storage device, and the consumption detection sensor can automatically detect the consumption of adherable material in the storage device. Based on this, in one or more embodiments, the data of the adherable material in the storage device can be the remaining amount of adherable material (e.g., the amount of adherable material in the storage device). Figure 4As shown in the diagram, the first preset threshold is a first margin threshold, and the margin of the attachable material must meet the first margin threshold. In one possible implementation, the flight equipment controller determines whether the operating conditions are met based on the data of the attachable material. It is understood that in this case, the control system has already sent a takeoff command to the flight equipment controller, and takeoff occurs only after the flight equipment controller determines that the operating conditions are met. In another possible implementation, the flight equipment controller can send the measured data of the attachable material in the spray system's storage device to the control system, which records and displays the data, and then determines whether the operating conditions are met based on the data. After the operating conditions are met, a takeoff command is sent to the flight equipment controller, which, upon receiving the takeoff command, can control the flight equipment to take off.

[0069] Additionally, if the data on adherent material in the spray system's storage device does not meet the first preset threshold before the flight equipment takes off, the adherent material needs to be replenished. (Refer to...) Figure 4 The storage device of the sprinkler system is manually removed to replenish the adhering material.

[0070] It is understandable that, regardless of whether the control system is in manned or unmanned operation mode, the flight equipment must meet the working conditions before takeoff, namely, the environmental information within the second range around the first target object must meet the preset environmental conditions and the data of the attachable objects in the spray system must meet the first preset threshold.

[0071] In one or more embodiments, the flight device further includes an image recognition system and a distance sensing system. The image recognition system is configured to acquire image data of a first target object and determine the position of the first target object based on the image data.

[0072] The distance sensing system is configured to measure a first distance from the current position of the flight equipment to the position of the first target object.

[0073] The flight equipment is suitable for determining the arrival at the first target location when the first distance meets the target distance.

[0074] It is understandable that, such as Figure 4As shown, after takeoff, the flight equipment can be guided to the first target position by a combination of an image recognition system and a distance sensing system. Specifically, the image recognition system identifies and collects image data of the first target object, and determines the position of the first target object based on this image data. For example, when the first target object is the leading edge of a blade, the image recognition system can identify the leading edge and collect its image data. The flight equipment controller adjusts its flight attitude according to the position of the first target object to control the flight equipment towards it. Simultaneously, the distance sensing system measures a first distance from the current position of the flight equipment to the position of the first target object. When the first distance meets the target distance, the flight equipment controller determines that the flight equipment has reached the first target position.

[0075] As can be seen, the embodiments of this application provide a specific implementation method for determining the position of a flying device when it reaches a first target location, based on an image recognition system and a distance sensing system. It is understood that the above implementation method can be implemented in a manned operation mode with the flying device in a semi-automatic mode, or it can be implemented automatically by the flying device controller in an unmanned operation mode.

[0076] Because wind turbine blades can experience vortex-induced vibrations, in one or more embodiments, the first target object includes one or more leading edges of the first, second, and third blades of the wind turbine. That is, an adherable material can be sprayed onto one or more blade leading edges. It is understood that the preferred location for spraying the adherable material is the blade leading edge. Compared to other locations on the blade, spraying the adherable material at the blade leading edge has a better effect on suppressing vortex-induced vibrations. In this case, the target distance is specifically a first target distance.

[0077] When the first target object includes multiple blade leading edges among the first, second, and third blade leading edges of a wind turbine generator, the first target position includes the target sub-position corresponding to each blade leading edge. That is, when spraying multiple blade leading edges, the flight equipment needs to reach the target sub-position corresponding to each blade leading edge to spray the adherable material onto the blade leading edges. The distance between the position of each blade leading edge and the corresponding target sub-position satisfies the first target distance.

[0078] The flight equipment is configured as follows:

[0079] Fly to the target sub-position corresponding to the leading edge of each blade in a preset order; and

[0080] When the target sub-position corresponding to the leading edge of each blade is reached, the spray system is controlled to spray the adherable material onto the leading edge of the blade.

[0081] For example, if the first target object includes the leading edges of the first, second, and third blades of a wind turbine generator, then the first target location includes a first target sub-location, a second target sub-location, and a third target sub-location. The first target sub-location corresponds to the leading edge of the first blade, the second target sub-location corresponds to the leading edge of the second blade, and the third target sub-location corresponds to the leading edge of the third blade.

[0082] As an optional example, the preset order is the leading edge of the first blade, the leading edge of the second blade, and the leading edge of the third blade. That is, the flight equipment is controlled to first fly to and be at the first target sub-position to spray the adherable material onto the leading edge of the first blade, then the flight equipment is controlled to fly to and be at the second target sub-position to spray the adherable material onto the leading edge of the second blade, and finally the flight equipment is controlled to fly to and be at the third target sub-position to spray the adherable material onto the leading edge of the third blade. It is understood that this application does not limit the preset order and can be set according to the actual situation.

[0083] It is understood that the above implementation methods can be implemented in a manned operation mode of the control system, or in a manned operation mode with the flight equipment in a semi-automatic mode, or automatically in an unmanned operation mode. In a manned operation mode, the operator needs to send flight control commands and hovering commands through the control system so that the flight equipment, upon receiving the commands, flies to and positions itself at each target sub-location in a preset sequence. The operator will also send spraying commands through the control system so that the flight equipment controller, upon receiving the spraying commands, controls the spraying system to spray the adherable material onto the leading edge of the blades. In a manned operation mode with the flight equipment in a semi-automatic mode, or in an unmanned operation mode, the flight equipment controller executes the above steps automatically.

[0084] See Figure 5 , Figure 5 This is a schematic diagram of the leading edge of a blade provided in an embodiment of this application. Figure 5 As shown, after spraying an adherable material onto the leading edge of the blade, an irregular three-dimensional shape can be formed on the surface of the leading edge of the blade to disturb the airflow field in the first range around the leading edge of the blade, avoid the airflow from forming a stable flow around the blade and then generating regular vortex-induced vibration, and reduce or eliminate the vibration risk of the blade in the non-power generation state of the wind turbine generator.

[0085] Since wind turbine towers can also experience vortex-induced vibrations, in one or more embodiments, the first target object is the outer surface of the target side of the wind turbine tower; that is, an adhesive is sprayed onto the outer surface of the target side of the wind turbine tower. In this case, the target distance is a second target distance, which may be the same as or different from the first target distance, depending on the actual situation.

[0086] As an alternative example, the target side of the wind turbine tower is determined based on the wind direction. Specifically, the target side is in the direction perpendicular to the wind direction. The wind turbine tower includes four sides: east, west, south, and north. For example, when the wind direction is east-west, the target side is the north and south sides of the wind turbine tower. In practical applications, the wind direction may change at any time, so the target side can also be all sides of the wind turbine. When the first target object is the outer surface of the target side of the wind turbine tower, the first target location can include multiple sub-locations, allowing the flight equipment to spray from each sub-location to achieve a spiral spray on the outer surface of the target side of the tower.

[0087] It is understood that the above implementation can be carried out in a manned operation mode of the control system, or in a manned operation mode of the control system and a semi-automatic operation mode of the flight equipment, or it can be carried out automatically in an unmanned operation mode. This is similar to the embodiment of the leading edge of the blade described above, and will not be repeated here.

[0088] It is also understandable that spraying an adhesive onto the outer surface of the target side of the wind turbine tower can form an irregular three-dimensional shape on the outer surface, thereby disturbing the airflow field in the first range around the wind turbine tower, preventing the airflow from forming a stable flow around the tower and thus generating regular vortex-induced vibration, reducing or eliminating the vibration risk of the tower when the wind turbine is not generating electricity.

[0089] In one or more embodiments, the flight device includes an image recognition system. The flight device is suitable for:

[0090] Fly from the takeoff point to the first target location;

[0091] Flight equipment is also suitable for:

[0092] Receive image data of the first target object to which an adhesive is applied, acquired by the image recognition system;

[0093] Based on the image data of the first target object to which the attachable material is applied, determine whether the application process of the first target object has ended;

[0094] Once the application process is complete, return to the departure point.

[0095] In practical applications, the flight equipment takes off from a launch point and flies to the first target location. For example, the launch point may be inside a protective cabin. At the end of the application process to the first target object, the flight equipment is controlled to return to the launch point. This can be achieved by using an image recognition system to collect image data of the first target object with the applicable material applied, and by using this image data to determine whether the application process has ended. For example, if the image data shows that the first target object has an applicable material attached and that the material covers the first target object, then the application process is considered complete. It should be understood that "application" can mean spraying, sprinkling, spraying, a combination thereof, or other equivalent implementation methods.

[0096] It is understood that the above implementation methods can be implemented in a manned operation mode of the control system, or in a manned operation mode of the control system and a semi-automatic mode of the flight equipment, or automatically in an unmanned operation mode. When implemented in a manned operation mode of the control system, the operator sends a return-to-home command through the control system. Upon receiving the return-to-home command, the flight equipment controller controls the flight equipment to return to home. When the control system is in a manned operation mode of the control system and the flight equipment is in a semi-automatic mode, or when the control system is in an unmanned operation mode, the flight equipment controller automatically controls the return-to-home process.

[0097] Based on the above, in one or more embodiments, the flight device further includes a spatial positioning system and a distance sensing system. The flight device is suitable for:

[0098] The system acquires the return route and takeoff location information sent by the spatial positioning system, and returns to the takeoff location based on the return route and takeoff location information; the takeoff location information is collected by the spatial positioning system when the flight equipment takes off.

[0099] or,

[0100] Acquire image data of the takeoff location collected by the image recognition system, and determine the location of the takeoff location based on the image data;

[0101] The aircraft flies towards the takeoff location and receives the third distance from the current location of the flight equipment to the takeoff location, sent by the distance sensing system.

[0102] When the third distance is a specific value or a specific range, the flight equipment is determined to return to the takeoff location.

[0103] As an alternative example, when the flight equipment takes off from the takeoff point, the location information of the takeoff point can be collected using a spatial positioning system, which can be referenced. Figure 4The takeoff location is a spatial location, and its location information is also spatial location information. This information includes the longitude, latitude, and altitude of the takeoff location. When the flight equipment needs to return, the spatial positioning system can design a return route based on the takeoff location information and send this route and the takeoff location information to the flight equipment controller. This allows the controller to return to the takeoff location based on the chosen route and the takeoff location information.

[0104] As an alternative example, when the flight equipment needs to return to its origin, instead of a spatial positioning system, an image recognition system and a distance sensing system can jointly guide the flight equipment back to its takeoff location. Specifically, the image recognition system identifies and collects image data of the takeoff location and determines its position based on this data. The flight equipment controller adjusts its flight attitude according to the takeoff location to guide the flight equipment towards it. Simultaneously, the distance sensing system measures a third distance from the flight equipment's current position to the takeoff location. When this third distance is a specific value or a specific range, the flight equipment controller determines that the flight equipment is returning to its takeoff location. The specific value can be 0, meaning the flight equipment's position coincides with the takeoff location, indicating that the flight equipment is returning to its takeoff location. Based on this, the specific range can be a range close to 0 under certain distance error conditions.

[0105] It is understood that the above implementation method can be implemented in a manned operation mode and a semi-automatic mode of flight equipment, or it can be implemented automatically in an unmanned operation mode, with the flight equipment controller automatically executing the above steps to control the flight equipment to return to base.

[0106] In practical applications, the adhering material on the first target object may become ineffective, for example, through natural degradation or detachment. In this case, it is necessary to reapply the adhering material to the first target object to continuously reduce the risk of vortex-induced vibration. Based on this, in one or more embodiments, the flight equipment is also suitable for:

[0107] Record the first application time of the spray system to spray the adherent material onto the first target object;

[0108] The failure time of the adherent material is obtained based on the wind speed, ambient temperature, and air humidity within a third range around the first target object.

[0109] The second application time is obtained based on the first application time and the failure time;

[0110] When the second application time is met, fly back to the first target position and control the spray system to spray the adherable material onto the first target object a second time.

[0111] It is understood that the failure time of the adherable material on the first target object may be related to the wind speed, ambient temperature, and air humidity within a third range around the first target object. This application does not limit the third range and can determine it according to the actual situation. The higher the wind speed, the higher the temperature, and the lower the humidity, the faster the adherable material fails and the shorter the failure time.

[0112] Record the first application time of the spray system spraying the adherend onto the first target object, and obtain the failure time of the adherend on the first target object. As an optional example, the sum of the first application time and the failure time is determined as the second application time. For example, if the first application time is 16:00 on May 22nd and the failure time is 18 hours, then the second application time is 10:00 on May 23rd. When the second application time is met, re-control the flight equipment to fly to the first target position and control the spray system to spray the adherend onto the first target object a second time.

[0113] It is understood that the embodiments of this application do not limit the implementation method of calculating the time for the second spraying of the adherent material. For example, the time when the flight equipment returns to the cabin can also be recorded, and the second application time can be calculated based on the time when the flight equipment returns to the cabin. This will not be described in detail here, and can be calculated according to the actual situation.

[0114] In practical applications, after the flying equipment finishes spraying the first target object, it can also spray adherable materials onto the remaining structures in the wind turbine generator sets that may experience vortex-induced vibration. Based on this, in one or more embodiments, the flying equipment is also suitable for:

[0115] When the data of the adherent material in the sprinkler system meets the second preset threshold, it flies to the second target location; the distance between the second target location and the location of the second target object of the target wind turbine generator meets the target distance.

[0116] When in the second target position, the spray system is controlled to spray an adherable material onto the second target object to turbulent the airflow field within a first range around the second target object by adhering the adherable material to the second target object.

[0117] As an optional example, the data for the adherable material in the spray system refers to the remaining amount of adherable material in the spray system, and the second preset threshold is a second reserve threshold. The remaining amount of adherable material must meet the second reserve threshold. When the remaining amount of adherable material meets the second reserve threshold, it indicates that the remaining amount of adherable material can still meet the spray volume required to spray the second target object of the wind turbine generator. At this time, the flight equipment flies to and is at the second target position, and controls the spray system to spray the adherable material onto the second target object, so as to disturb the airflow field in the first range around the second target object by attaching the adherable material to the second target object. For specific technical details, please refer to the first target object, which will not be repeated here.

[0118] Understandably, before controlling the flight equipment to fly toward the second target object, in addition to the data of the attachable objects in the spray system meeting the second preset threshold, the power of the flight equipment must also meet the power requirements to avoid the flight equipment being unable to return due to insufficient power.

[0119] The above implementation can be carried out in a manned operation mode of the control system, in a manned operation mode of the flight equipment in a semi-automatic mode, or automatically by the flight equipment controller in an unmanned operation mode. When implemented in a manned operation mode, before controlling the flight equipment to fly towards the second target object, in addition to the data of the attachable objects in the spray system meeting the second preset threshold, the communication distance between the control system and the flight equipment must also meet a preset distance so that the flight equipment can still communicate with the control system when it reaches the second target location. Furthermore, the power supply of the control system must also meet the power requirements to avoid insufficient power in the control system causing the flight equipment to be unable to return.

[0120] Understandably, the second target object could also be the leading edge of a wind turbine blade or the tower.

[0121] In one or more embodiments, the flight device includes:

[0122] Image recognition system;

[0123] Distance sensing system; and

[0124] Spatial positioning system

[0125] Flight equipment is suitable for:

[0126] Receive the location information of the target wind turbine generator sent by the spatial positioning system, and fly towards the target wind turbine generator according to the location information of the target wind turbine generator;

[0127] When the target wind turbine is reached, the image information of the second target location collected by the image recognition system is received, and the location of the second target object is determined based on the image information of the second target object.

[0128] Fly to the location of the second target object and receive the second distance from the current location of the flight equipment to the location of the second target object sent by the distance sensing system;

[0129] When the second distance meets the target distance, the second target location is determined to have been reached.

[0130] Understandably, a spatial positioning system can acquire the location information of each wind turbine. If it is necessary to spray a suitable object onto a second target object of the target wind turbine, the spatial positioning system can obtain the location information of the target wind turbine. The flight equipment controller receives the location information of the target wind turbine from the spatial positioning system and flies towards the target wind turbine based on that information. Once the flight equipment reaches the location of the target wind turbine, the image recognition system and distance sensing system can jointly guide the flight equipment to the second target location.

[0131] Specifically, an image recognition system identifies and acquires image data of the second target object, and determines the position of the second target object based on this image data. For example, when the second target object is the leading edge of a blade, the image recognition system can identify the leading edge and acquire its image data. The flight equipment controller in the flight equipment adjusts its flight attitude according to the position of the second target object to control the flight equipment to fly towards it. Simultaneously, a distance sensing system measures a second distance from the current position of the flight equipment to the position of the second target object. When the second distance meets the target distance, the flight equipment controller determines that the flight equipment has reached the second target position.

[0132] As can be seen, the above steps are a specific implementation method for determining the flight equipment's position to the second target location. It is understood that the above implementation method can be implemented in a manned operation mode with the flight equipment in a semi-automatic mode, or it can be automatically implemented by the flight equipment controller in an unmanned operation mode.

[0133] Based on the technical solutions provided in the embodiments of this application, the near-field airflow field of the structure in the wind turbine generator set that may generate vortex-induced vibration can be interfered with during the installation, maintenance and long-term power outage phases of the wind turbine generator set, thereby mitigating the risk of vortex-induced vibration.

[0134] This application embodiment also provides a method for airflow field disturbance of a wind turbine generator set, which is applied to a flight equipment controller, and the method includes:

[0135] S601: Control the flight equipment to fly to the first target position; the distance between the first target position and the position of the first target object of the wind turbine generator set meets the target distance; the flight equipment includes a spray system; the spray system is loaded with a material to adhere to;

[0136] S602: When the flight equipment is at the first target position, the spray system is controlled to apply an adherable material to the first target object in order to turbulent the airflow field in a first range around the first target object by attaching the adherable material to the first target object.

[0137] As an optional example, the flight equipment is equipped with an image recognition system and a distance sensing system. Based on this, in one possible implementation, this application embodiment provides a specific implementation method for controlling the flight equipment to fly to the first target position in S601, including:

[0138] Receive image data of a first target object collected by an image recognition system, and determine the position of the first target object based on the image data of the first target object;

[0139] Control the flight equipment to fly towards the location of the first target object, and receive the first distance from the current location of the flight equipment to the location of the first target object sent by the distance sensing system;

[0140] When the first distance meets the target distance, the flight equipment is determined to have reached the first target position.

[0141] As an optional example, the first target object includes one or more blade leading edges of the first blade leading edge, the second blade leading edge, and the third blade leading edge of the wind turbine generator, and the target distance is the first target distance.

[0142] When the first target object includes multiple blade leading edges among the first blade leading edge, second blade leading edge, and third blade leading edge of a wind turbine generator set, the first target position includes the target sub-position corresponding to each blade leading edge, and the distance between the position of each blade leading edge and the target sub-position corresponding to the blade leading edge satisfies the first target distance.

[0143] Based on this, in one possible implementation, this application embodiment provides a specific implementation method for controlling the flight equipment to fly to the first target position in S601, including:

[0144] The flight equipment is controlled to fly to the target sub-position corresponding to the leading edge of each blade in a preset sequence.

[0145] In one possible implementation, this application embodiment provides a specific implementation method for controlling the spray system to spray an adherent material onto the first target object when the flight equipment is at the first target position in S602, including:

[0146] When the flight equipment reaches the target sub-position corresponding to the leading edge of each blade, the control spray system applies an adherable material to the leading edge of the blade.

[0147] In one possible implementation, the first target object is the outer surface of the target side of the wind turbine tower, and the target distance is the second target distance; the target side of the wind turbine tower is determined according to the wind direction.

[0148] In one possible implementation, the airflow disturbance method of the wind turbine generator before controlling the flight equipment to fly to the first target position further includes:

[0149] Determine that the flight equipment meets the operating conditions.

[0150] The specific implementation methods for determining whether the flight equipment meets the operating conditions include:

[0151] Acquire environmental information within a second range surrounding the first target object, as well as data on adherable materials in the sprinkler system;

[0152] When the environmental information meets the preset environmental conditions and the data of the attachable objects in the spray system meets the first preset threshold, it is determined that the flight equipment meets the working conditions.

[0153] In one possible implementation, the airflow field disturbance method of the wind turbine generator also includes:

[0154] When the data of the adherent material in the spray system meets the second preset threshold, the flight equipment is controlled to fly to the second target position; the distance between the second target position and the position of the second target object of the target wind turbine generator meets the target distance.

[0155] When the flight equipment is at the second target position, the control spray system applies an adherable material to the second target object to turbulent the airflow field in a first range around the second target object by attaching the adherable material to the second target object.

[0156] As an optional example, the flight equipment is equipped with an image recognition system, a distance sensing system, and a spatial positioning system. In one possible implementation, this application provides a specific method for controlling the flight equipment to fly to a second target location, including:

[0157] Receive the location information of the target wind turbine generator sent by the space positioning system, and control the flight equipment to fly towards the target wind turbine generator based on the location information of the target wind turbine generator;

[0158] When the flight equipment reaches the location of the target wind turbine, it receives image information of the second target location collected by the image recognition system, and determines the location of the second target object based on the image information of the second target object;

[0159] Control the flight equipment to fly towards the location of the second target object, and receive the second distance from the current location of the flight equipment to the location of the second target object sent by the distance sensing system;

[0160] When the second distance meets the target distance, the flight equipment is determined to have reached the second target position.

[0161] In one possible implementation, the adhering material is a biodegradable adhering material or a water-soluble adhering material.

[0162] In one possible implementation, the biodegradable adhering material is biodegradable foam with cleaning properties; the water-soluble adhering material is water-soluble foam with cleaning properties.

[0163] In one possible implementation, the airflow field disturbance method of the wind turbine generator also includes:

[0164] Record the first application time of the spray system to spray the adherent material onto the first target object;

[0165] Based on the wind speed, ambient temperature, and air humidity within the third range of the first target object, the failure time of the adherent material is obtained;

[0166] The second application time is obtained based on the first application time and the failure time;

[0167] When the second application time is met, control the flight equipment to fly back to the first target position and control the spray system to apply the adhesive to the first target object a second time.

[0168] As an optional example, the flight equipment is equipped with an image recognition system. In one possible implementation, this application embodiment provides a specific implementation of controlling the flight equipment to fly to a first target position in step S601, including:

[0169] Control the flight equipment to fly from the takeoff point to the first target position.

[0170] Based on this, the method also includes the following steps:

[0171] The image data of the first target object to which the attachable object is applied is acquired by the image recognition system.

[0172] Based on the image data of the first target object to which the attachable material is applied, it is determined whether the application process of the first target object has ended;

[0173] Once the application process is complete, control the flight equipment to return to the takeoff location.

[0174] As an optional example, the flight equipment is also equipped with a spatial positioning system and a distance sensing system. Based on this, this application provides a specific implementation method for controlling the flight equipment to return to its takeoff location, including:

[0175] The system acquires the return route and takeoff location information sent by the spatial positioning system, and controls the flight equipment to return to the takeoff location based on the return route and takeoff location information; the takeoff location information is collected by the spatial positioning system when the flight equipment takes off.

[0176] or,

[0177] Acquire image data of the takeoff location collected by the image recognition system, and determine the location of the takeoff location based on the image data;

[0178] Control the flight equipment to fly towards the takeoff point and receive the third distance from the current position of the flight equipment to the takeoff point from the distance sensing system;

[0179] When the third distance is a specific value or a specific range, the flight equipment is determined to return to the takeoff location.

[0180] This application provides a method for airflow disturbance in a wind turbine generator set. This method is applied in a flight equipment controller to control the flight equipment to fly to a first target position. The flight equipment includes a spray system with an adhering material attached to it. The distance between the first target position and the position of the first target object of the wind turbine generator set satisfies a target distance. When the flight equipment is at the first target position, the spray system is controlled to apply the adhering material to the first target object. The adhering material adheres to the first target object, disturbing the airflow in a first range around the first target object. This reduces the risk of vortex-induced vibration of the first target object.

[0181] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems or apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to the method section.

[0182] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0183] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0184] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0185] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A flying apparatus, characterized by, The flight equipment includes: A sprinkler system, the sprinkler system being equipped with a substrate for adhesion, The flight equipment is configured as follows: Fly to the first target location; the distance between the first target location and the location of the first target object of the wind turbine generator set meets the target distance; and When at the first target location, the spray system is controlled to apply the adhesive to the first target object in order to turbulent the airflow field in a first range around the first target object by attaching the adhesive to the first target object.

2. The flying apparatus according to claim 1, wherein The flight equipment also includes: An image recognition system is configured to acquire image data of the first target object and determine the position of the first target object based on the image data of the first target object; A distance sensing system is configured to measure a first distance from the current position of the flight device to the position of the first target object; The flight equipment is adapted to determine the arrival at the first target location when the first distance meets the target distance.

3. The flying apparatus according to claim 1 or 2, characterized by, The first target object includes one or more blade leading edges of the first blade leading edge, the second blade leading edge, and the third blade leading edge of the wind turbine generator set, and the target distance is the first target distance; When the first target object includes multiple blade leading edges among the first blade leading edge, second blade leading edge, and third blade leading edge of the wind turbine generator set, the first target position includes a target sub-position corresponding to each blade leading edge, and the distance between the position of each blade leading edge and the target sub-position corresponding to the blade leading edge satisfies the first target distance. The flight equipment is configured as follows: Fly to the target sub-position corresponding to the leading edge of each blade in a preset order; and When the target sub-position corresponding to the leading edge of each blade is reached, the spray system is controlled to apply the adherable material to the leading edge of the blade.

4. The flying apparatus according to claim 1 or 2, characterized by, The first target object is the outer surface of the target side of the wind turbine tower, and the target distance is the second target distance; the target side of the wind turbine tower is determined according to the wind direction.

5. The flying apparatus according to claim 1, wherein The flight equipment is also suitable for: Before flying to the first target position, it is determined that the working conditions are met; Among them, determining whether the working conditions are met includes: Acquire environmental information within a second range surrounding the first target object and data on adherable materials in the sprinkler system; When the environmental information meets the preset environmental conditions and the data of the adherents in the sprinkler system meets the first preset threshold, it is determined that the working conditions are met.

6. The flying apparatus according to claim 1, wherein The flight equipment is also suitable for: When the data of the attachable objects in the spray system meets the second preset threshold, the object flies to the second target location; the distance between the second target location and the location of the second target object of the target wind turbine generator meets the target distance. When in the second target position, the spray system is controlled to apply the adhesive to the second target object to turbulent the airflow field in a first range around the second target object by attaching the adhesive to the second target object.

7. The flying apparatus according to claim 6, wherein The flight equipment includes: Image recognition system; Distance sensing system; and Spatial positioning system The flight equipment is suitable for: Receive the location information of the target wind turbine generator sent by the spatial positioning system, and fly towards the target wind turbine generator according to the location information of the target wind turbine generator; When the location of the target wind turbine is reached, the image information of the second target location collected by the image recognition system is received, and the location of the second target object is determined based on the image information of the second target object; Fly to the location of the second target object and receive the second distance from the current location of the flight device to the location of the second target object sent by the distance sensing system; When the second distance meets the target distance, the second target location is determined to have been reached.

8. The flight equipment according to claim 1, characterized in that, The adhering material is a degradable adhering material or a water-soluble adhering material.

9. The flight equipment according to claim 8, characterized in that, The biodegradable adhering material is biodegradable foam with cleaning properties; the water-soluble adhering material is water-soluble foam with cleaning properties.

10. The flight equipment according to claim 1, characterized in that, The flight equipment is also suitable for: Record the time when the spray system first applies the adhesive to the first target object; The failure time of the attachable material is obtained based on the wind speed, ambient temperature and air humidity within a third range around the first target object. The second application time is obtained based on the first application time and the failure time; When the second application time is met, the system flies back to the first target position and controls the spray system to apply the adhesive to the first target object a second time.

11. The flight equipment according to claim 1, characterized in that, The flight equipment includes an image recognition system, and the flight equipment is suitable for: Fly from the takeoff point to the first target location; The flight equipment is also suitable for: Receive image data of the first target object being subjected to the attachable material, acquired by the image recognition system; Based on the image data of the first target object to which the attachable material is applied, it is determined whether the application process of the first target object has ended; If the application process is completed, return to the stated departure point.

12. The flight equipment according to claim 11, characterized in that, The flight equipment also includes a spatial positioning system and a distance sensing system; the flight equipment is suitable for: The system acquires the return route and the location information of the takeoff point sent by the spatial positioning system, and returns to the takeoff point based on the return route and the location information of the takeoff point; the location information of the takeoff point is collected by the spatial positioning system when the flight equipment takes off. or, The image recognition system acquires image data of the takeoff location and determines the location of the takeoff location based on the image data. The aircraft flies toward the takeoff location and receives a third distance from the current location of the flight equipment to the takeoff location, sent by the distance sensing system. When the third distance is a specific value or a specific range, the flight equipment is determined to return to the takeoff location.

13. An airflow field disturbance system for a wind turbine generator set, characterized in that, The system includes the flight equipment, protective cabin, and control system as described in any one of claims 1-12; The protective compartment is located at the bottom of the nacelle of the wind turbine generator set; The flight equipment and the control system are housed within the protective cabin; The control system is used to control the opening of the hatch of the protective cabin to deploy the flight equipment, and to communicate with the base.

14. A method for turbulent airflow field in a wind turbine generator set, characterized in that, The method is applied to a flight equipment controller, and the method includes: The flight equipment is controlled to fly to a first target position; the distance between the first target position and the position of the first target object of the wind turbine generator set meets the target distance; the flight equipment includes a spray system; the spray system is equipped with an adhering material; When the flight equipment is at the first target position, the spray system is controlled to apply the adherable material to the first target object in order to turbulent the airflow field in a first range around the first target object by attaching the adherable material to the first target object.

Images