An automated system for supplementary monitoring of sea breeze resources and a monitoring method

Abstract

The present invention relates to the technical field of sea breeze monitoring, and discloses an automated system and a monitoring method for supplementary monitoring of sea breeze resources, including: a plurality of unmanned aerial vehicle monitoring modules, a plurality of unmanned ship monitoring modules, an unmanned aerial vehicle airport, an unmanned dock and a control center. Among them, the unmanned aerial vehicle airport is used to control the corresponding unmanned aerial vehicle monitoring module to perform sea breeze data collection operations based on the unmanned aerial vehicle operation instructions sent by the control center; the unmanned dock is used to control the corresponding unmanned ship monitoring module to perform sea breeze data collection operations based on the unmanned ship operation instructions sent by the control center; the unmanned aerial vehicle monitoring module and the unmanned ship monitoring module are respectively used to collect sea breeze data above the target sea area and on the sea surface; after the control center performs superposition analysis on the sea breeze data above the target sea area and the sea breeze data on the sea surface of the target sea area, sea breeze resource data for the entire space of the target sea area is obtained. The present invention can obtain accurate and complete sea breeze resource data, thereby obtaining a high-precision sea breeze model.

Description

Technical Field

[0001] The present invention relates to the technical field of sea breeze monitoring, and particularly to an automated system and method for supplementary monitoring of sea breeze resources. Background Art

[0002] Offshore wind power, as an important part of the clean energy field, plays an important role. In recent years, on the one hand, with the great development of offshore wind power, the resources suitable for development in the nearshore area are becoming fewer and fewer; on the other hand, the increasingly mature wind power technology and the gradually reduced cost have made the development and utilization of deep - sea and far - sea wind power receive more and more attention and become the main direction of future offshore wind power development. The deep - sea and far - sea areas have a large developable area, and the wind resources vary greatly due to height and scope, with great research and development potential. However, the construction cost of the anemometer tower is high, the cycle is long, and the monitoring range is limited.

[0003] Currently, the monitoring of marine wind resources mainly uses fixed anemometer towers or floating lidar anemometry devices. First of all, the cost and technical difficulty of building fixed anemometer towers in the deep - sea and far - sea areas are even greater, and the construction and operation and maintenance costs of deploying floating anemometry devices are also very high; secondly, the current anemometry methods can only obtain wind resource data at a single point due to the fixed position, with limited representative range and height, making it difficult to achieve area - like monitoring and irregular area monitoring, and there is a problem of insufficient spatial representativeness of the wind resource monitoring results. Based on the current technical means, to obtain regional wind resource monitoring results, generally, according to a small amount of point - like anemometry data, mathematical methods such as numerical simulation are used to simulate the area - like wind resource data within a certain range, which will have problems of low model accuracy and inaccurate data. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to solve the problem that only individual single - point wind resource data can be obtained in the prior art for sea breeze resource monitoring, and thus provide an automated system and method for supplementary monitoring of sea breeze resources.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] In a first aspect, the present invention provides an automated system for supplementary monitoring of sea breeze resources, comprising: a plurality of unmanned aerial vehicle (UAV) monitoring modules, a plurality of unmanned ship monitoring modules, a UAV airport, an unmanned dock, and a control center. Among them, the control center is set on shore and communicates with the UAV airport and the unmanned dock via satellite communication; the UAV airport is fixedly connected to an offshore anemometer tower, communicates wirelessly with each UAV monitoring module, is used to provide a take-off and landing site for each UAV monitoring module, and controls the corresponding UAV monitoring module to perform sea breeze data acquisition operations based on the UAV operation instructions sent by the control center. At the same time, it monitors and adjusts the flight parameters of the UAV monitoring module in real time; the unmanned dock is fixedly connected to the anemometer tower, communicates wirelessly with each unmanned ship monitoring module, is used to provide a storage site for each unmanned ship monitoring module, and controls the corresponding unmanned ship monitoring module to perform sea breeze data acquisition operations based on the unmanned ship operation instructions sent by the control center. At the same time, it monitors and adjusts the navigation parameters of the unmanned ship monitoring module in real time; each UAV monitoring module is used to transmit the sea breeze data above the target sea area collected to the control center through the UAV airport; each unmanned ship monitoring module is used to transmit the sea breeze data on the sea surface of the target sea area collected to the control center through the unmanned dock; after the control center performs superposition analysis on the sea breeze data above the target sea area and the sea breeze data on the sea surface of the target sea area, the sea breeze resource data of the entire space of the target sea area is obtained.

[0007] The automated system for supplementary monitoring of sea breeze resources provided by the present invention uses the UAV airport to control the UAV monitoring module to collect the sea breeze data above the target sea area, and at the same time uses the unmanned dock to control the unmanned ship monitoring module to collect the sea breeze data on the sea surface of the target sea area, comprehensively collecting the sea breeze of the target sea area. Compared with the existing fixed anemometer tower, it increases the operation range, expands the collection area, can obtain the wind resource data outside the effective range of the anemometer tower, and realizes the dynamic automated monitoring of the sea breeze resources in the entire space range of the target sea area. The control center can obtain more spatial positions and higher time-resolution wind resource data for superposition analysis, making up for the deficiency that traditional anemometry can only obtain the sea breeze resource data at a single point, and greatly improving the accuracy of sea breeze resource assessment. The present invention can expand the monitoring range, improve the monitoring accuracy and density on the basis of the existing anemometer tower, reduce the number of anemometer towers built while shortening the construction period, realize effective deep-sea sea breeze resource monitoring, and guide the scientific planning and micro-site selection of wind farms, improving the investment return.

[0008] In an alternative embodiment, the UAV airport includes: a take-off and landing platform, a UAV charging station, a UAV base station, and a UAV positioning module. Among them, the take-off and landing platform is fixedly connected to the anemometer tower and is used to accommodate the UAV monitoring module and provide a take-off and landing site for the UAV monitoring module; the UAV charging station shares a power supply system with the anemometer tower and is used to charge the UAV monitoring module; the UAV base station is internally provided with a UAV positioning module. It is used to control the UAV monitoring module to collect sea breeze data according to preset flight parameters based on the UAV operation instruction. After that, it can monitor the position, flight trajectory and attitude of the UAV monitoring module in real time through the UAV positioning module, eliminate the flight parameter deviation of the UAV monitoring module according to the preset flight parameters, and at the same time correct the wind measurement data deviation caused by the relative movement during flight of the UAV monitoring module based on the flight parameters.

[0009] For the automated supplementary monitoring system of sea breeze resources provided by the present invention, the UAV base station can monitor parameters such as the flight trajectory and pose of the UAV monitoring module in real time through the UAV positioning module and make real-time adjustments, and eliminate the deviation of wind measurement data such as meteorological data caused by the relative movement during the flight of the UAV monitoring module, so that the UAV monitoring module sails and collects data according to preset parameters on the preset track, reducing the impact of errors on data accuracy, realizing controllable fixed-point sea breeze collection over the target sea area, and improving the accuracy of wind measurement.

[0010] In an alternative embodiment, the UAV airport further includes: a first monitoring module, which is used to automatically track the UAV monitoring module and record the sea conditions of the target sea area.

[0011] In an alternative embodiment, the UAV monitoring module includes: a UAV, a first wind measurement module, a first meteorological monitoring module, and a first wind measurement correction module. Among them, the first wind measurement module, the first meteorological monitoring module, and the first wind measurement correction module are all carried on the UAV; the first wind measurement module is used to obtain the wind direction and wind speed over the target sea area; the first meteorological monitoring module is used to obtain the meteorological data over the target sea area; the first wind measurement correction module is used to send the real-time flight parameters of the UAV to the UAV airport, and adjust the flight parameters of the UAV based on the adjustment instruction of the UAV airport. At the same time, it corrects the wind measurement data deviation caused by the relative movement during flight of the UAV monitoring module based on the flight parameters; the UAV is used to fly over the target sea area based on the flight parameters sent by the UAV airport and send the data collected by the first wind measurement module, the first meteorological monitoring module, and the first wind measurement correction module to the UAV airport.

[0012] In an alternative embodiment, the unmanned dock includes: a hollow chassis, an unmanned ship charging station, an unmanned ship base station, and an unmanned ship positioning module. Among them, the hollow chassis is fixedly connected to the wind measurement tower and is used to house the unmanned ship monitoring module; the unmanned ship charging station shares a power supply system with the wind measurement tower and is used to charge the unmanned ship monitoring module; the unmanned ship base station is internally provided with an unmanned ship positioning module, which is used to control the unmanned ship monitoring module to perform sea breeze data collection operations according to preset navigation parameters based on the unmanned ship operation instructions, and then, through the unmanned ship positioning module, it can monitor the position, navigation trajectory, and attitude of the unmanned ship monitoring module in real time, eliminate the navigation parameter deviation of the unmanned ship monitoring module according to the preset navigation parameters, and at the same time correct the wind measurement data deviation caused by the relative movement during navigation of the unmanned ship monitoring module based on the navigation parameters.

[0013] For the sea breeze resource supplementary monitoring automation system provided by the present invention, the unmanned dock can monitor parameters such as the navigation trajectory and pose of the unmanned ship monitoring module in real time through the unmanned ship positioning module and make real-time adjustments, and eliminate the deviation of wind measurement data such as meteorological data caused by the relative movement during the navigation of the unmanned ship monitoring module, so that the unmanned ship monitoring module sails and collects data according to preset parameters on the preset waterway, reduces the impact of errors on the data accuracy, realizes controllable fixed-point sea breeze collection on the sea surface of the target sea area, and improves the accuracy of wind measurement.

[0014] In an alternative embodiment, the unmanned dock further includes: a second monitoring module, which is used to automatically track the unmanned ship monitoring module and record the sea conditions of the target sea area.

[0015] In an alternative embodiment, the unmanned ship monitoring module includes: an unmanned ship, a second wind measurement module, a second meteorological monitoring module, and a second wind measurement correction module. Among them, the second wind measurement module, the second meteorological monitoring module, and the second wind measurement correction module are all carried on the unmanned ship; the second wind measurement module is used to obtain the wind direction and wind speed of the sea surface of the target sea area; the second meteorological monitoring module is used to obtain the meteorological data of the sea surface of the target sea area; the second wind measurement correction module is used to send the real-time navigation parameters of the unmanned ship to the unmanned dock, and adjust the navigation parameters of the unmanned ship based on the adjustment instructions of the unmanned dock. At the same time, it corrects the wind measurement data deviation caused by the relative movement during navigation of the unmanned ship monitoring module based on the navigation parameters; the unmanned ship is used to sail on the target sea area based on the navigation parameters sent by the unmanned dock and send the data collected by the second wind measurement module, the second meteorological monitoring module, and the second wind measurement correction module to the unmanned dock.

[0016] In an alternative embodiment, the control center includes a control module and a data receiving and processing module. Among them, both the control module and the data receiving and processing module communicate with the UAV airport and the unmanned wharf via satellite communication. The control module is used to send UAV operation instructions to the UAV airport and send unmanned ship operation instructions to the unmanned wharf. The data receiving and processing module is used to process, analyze, and display the received sea breeze data.

[0017] In a second aspect, the present invention provides a method for supplementary monitoring of sea breeze resources, which is applied to the control center in the first aspect. The method includes: obtaining the preset flight parameters of the UAV monitoring module and the preset navigation parameters of the unmanned ship monitoring module; controlling the UAV monitoring module to collect sea breeze data according to the preset flight parameters, and after controlling the unmanned ship monitoring module to collect sea breeze data according to the preset navigation parameters, obtaining the corresponding sea breeze data; after performing meteorological correction and attitude correction on all the sea breeze data, constructing a sea breeze resource evaluation system for the entire target sea area; comparing and analyzing the sea breeze data at multiple time periods in the same sea area, analyzing the change trend of the sea breeze resources on different time scales, and performing visual display.

[0018] The method for supplementary monitoring of sea breeze resources provided by the present invention uses the UAV airport to control the UAV monitoring module to collect the sea breeze data above the target sea area, and at the same time uses the unmanned wharf to control the unmanned ship monitoring module to collect the sea breeze data on the sea surface of the target sea area, collecting the sea breeze of the target sea area in all directions. Compared with the existing fixed anemometer tower, the operation range is increased, the collection area is expanded, and the wind resource data outside the effective range of the anemometer tower can be obtained, realizing the dynamic and automated monitoring of the sea breeze resources in the entire space range of the target sea area. The control center can obtain more wind resource data at different spatial positions and higher time resolutions for superposition analysis, visually display the change trend of the sea breeze resources on different time scales, make up for the deficiency of traditional anemometry that can only obtain the sea breeze resource data of a single point, and greatly improve the accuracy of sea breeze resource evaluation.

[0019] In an alternative embodiment, the process of performing meteorological correction and attitude correction on all the sea breeze data includes: eliminating the deviation of the sea breeze data caused by the attitude and meteorological factors of the UAV monitoring module and the unmanned ship monitoring module during the collection operation according to the meteorological information and attitude information in the sea breeze data returned by the UAV monitoring module and the unmanned ship monitoring module.

[0020] The method for supplementary monitoring of sea breeze resources provided by the present invention further improves the accuracy of the obtained sea breeze resources by eliminating the deviation of the data returned by the UAV and the unmanned ship. Description of the Drawings

[0021] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0022] Figure 1 It is a schematic structural diagram of an automated system for supplementary monitoring of sea breeze resources according to an embodiment of the present invention;

[0023] Figure 2 It is a schematic structural diagram of a drone airport according to an embodiment of the present invention;

[0024] Figure 3 It is a schematic structural diagram of a drone monitoring module according to an embodiment of the present invention;

[0025] Figure 4 It is a schematic structural diagram of an unmanned wharf according to an embodiment of the present invention;

[0026] Figure 5 It is a schematic structural diagram of an unmanned ship monitoring module according to an embodiment of the present invention;

[0027] Figure 6 It is a schematic structural diagram of a control center according to an embodiment of the present invention;

[0028] Figure 7 It is a schematic flowchart of a method for supplementary monitoring of sea breeze resources according to an embodiment of the present invention;

[0029] Figure 8 It is a schematic diagram of an application scenario of an automated system for supplementary monitoring of sea breeze resources according to an embodiment of the present invention. Specific Embodiments

[0030] The following will clearly and completely describe the technical solutions of the present invention with reference to the drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0031] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and should not be construed as indicating or implying relative importance.

[0032] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can also be the communication inside two elements. It can be a wireless connection or a wired connection. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0033] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0034] Traditional sea breeze resource monitoring mainly uses fixed anemometers. Due to its fixed position, it can only obtain wind resource data at a single point, and it is difficult to achieve planar area monitoring and irregular area monitoring. When obtaining planar sea breeze resources, usually the obtained point resources are used, and through mathematical methods such as numerical simulation, planar wind resource data is simulated. Due to the low accuracy of the model or the one-sided and inaccurate obtained data, the simulated planar wind resource data will be inaccurate. Therefore,

[0035] This embodiment provides an automated system for supplementary monitoring of sea breeze resources, as Figure 1 shown, including: a plurality of unmanned aerial vehicle monitoring modules 1, an unmanned aerial vehicle airport 2, a plurality of unmanned ship monitoring modules 3, an unmanned dock 4, and a control center 5.

[0036] Figure 1 Among them, the control center 5 is set on the shore and communicates with the unmanned aerial vehicle airport 2 and the unmanned dock 4 by satellite communication.

[0037] Figure 1Among them, there is a drone airport 2, which is fixedly connected to an existing fixed offshore anemometer tower, communicates wirelessly with each drone monitoring module 1, is used to provide a takeoff and landing site for each drone monitoring module 1, and controls the corresponding drone monitoring module 1 to perform sea breeze data collection operations based on the drone operation instructions sent by the control center 5, while monitoring and adjusting the flight parameters of the drone monitoring module 1 in real time.

[0038] Specifically, Figure 1 Among them, an automated system for supplementary monitoring of sea breeze resources is built using an existing fixed offshore anemometer tower. When it is necessary to obtain the sea breeze resource parameters of a certain preset sea area, the operator sends the drone operation instructions and the unmanned ship operation instructions to the drone airport 2 and the unmanned dock 4 through satellite in the control center 5. When the drone airport 2 receives the drone operation instructions, it analyzes and processes information such as the flight-related control parameters, resource collection-related control parameters, and control object parameters in the instructions, and then guides one or more corresponding drone monitoring modules 1 to take off and start performing sea breeze data collection operations above the target sea area. During the operation of the drone monitoring module 1, the drone airport 2 obtains the flight parameters of the drone monitoring module 1, such as flight attitude, trajectory, speed, direction, yaw angle, etc. in real time, and compares them with the relevant preset parameters in the drone operation instructions, and adjusts and eliminates the flight deviation of the drone monitoring module 1 in real time.

[0039] Figure 1 Among them, there is an unmanned dock 4, which is fixedly connected to the anemometer tower, communicates wirelessly with each unmanned ship monitoring module 3, is used to provide a storage site for each unmanned ship monitoring module 3, and controls the corresponding unmanned ship monitoring module 3 to perform sea breeze data collection operations based on the unmanned ship operation instructions sent by the control center 5, while monitoring and adjusting the navigation parameters of the unmanned ship monitoring module 3 in real time.

[0040] Specifically, Figure 1 Among them, when the unmanned dock 4 receives the unmanned ship operation instructions, it analyzes and processes information such as the flight-related control parameters, resource collection-related control parameters, and control object parameters in the instructions, and then guides one or more corresponding unmanned ship monitoring modules 3 to take off and start performing sea breeze data collection operations on the sea surface of the target sea area. During the operation of the unmanned ship monitoring module 3, the unmanned dock 4 obtains the navigation parameters of the unmanned ship monitoring module 3, such as navigation attitude, trajectory, speed, direction, yaw angle, etc. in real time, and compares them with the relevant preset parameters in the unmanned ship operation instructions, and adjusts and eliminates the navigation deviation of the unmanned ship monitoring module 3 in real time.

[0041] Figure 1In this system, each unmanned aerial vehicle (UAV) monitoring module 1 is used to transmit the sea breeze data collected above the target sea area back to the control center 5 through the UAV airport 2; each unmanned ship monitoring module 3 is used to transmit the sea breeze data collected on the sea surface of the target sea area back to the control center 5 through the unmanned dock 4.

[0042] Specifically, Figure 1 In this system, when each UAV monitoring module 1 and unmanned ship monitoring module 3 are performing sea breeze data collection operations, they can respectively correct the deviation of the wind measurement data generated by relative motion during the collection process according to the data sent by the UAV airport 2 and the unmanned dock 4. After that, all data such as wind data (wind speed, wind direction, etc.), air pressure, temperature, humidity, precipitation, etc. obtained are sent to the control center 5 through the UAV airport 2 and the unmanned dock 4. Then, the control center 5 performs superposition analysis on the sea breeze data above the target sea area and the sea breeze data on the sea surface of the target sea area, eliminates the sea breeze data deviation caused by their postures and meteorological factors during the collection operations of the UAV monitoring module 1 and the unmanned ship monitoring module 3, performs meteorological correction and attitude correction on the sea breeze data, eliminates the influence of meteorological factors on wind measurement, and eliminates the influence of the postures and running speeds of the UAV monitoring module 1 and the unmanned ship monitoring module 3 on the measurement of wind direction and wind speed. After that, the control center 5 performs joint analysis on the aerial wind measurement data obtained by the UAV monitoring module 1 and the sea surface wind measurement data obtained by the unmanned ship monitoring module 3 to obtain the sea breeze resource data of the entire space of the target sea area. Compared with the point-like sea breeze resources, in this embodiment, the sea breeze resources above the sea surface and on the sea surface are collected and analyzed simultaneously, and the obtained data is more comprehensive and the monitoring range is wider.

[0043] It should be noted that the control center can also be set in an existing fixed offshore wind measurement tower. When the control center is set in an existing fixed offshore wind measurement tower, it can communicate with the UAV airport and the unmanned dock in a wired or wireless manner to increase the data transmission volume and accuracy. If this method is adopted, the wind measurement data results and key process data processed by the control center can be transmitted back to the data result requester through satellite communication.

[0044] The automated sea breeze resource supplementary monitoring system provided in this embodiment uses a drone airport to control the drone monitoring module to collect sea breeze data above the target sea area, and at the same time uses an unmanned dock to control the unmanned ship monitoring module to collect sea breeze data on the sea surface of the target sea area, collecting the sea breeze of the target sea area in all directions. Compared with the existing fixed anemometer tower, it increases the operation range and expands the collection area, can obtain wind resource data outside the effective range of the anemometer tower, and realizes the dynamic automated monitoring of sea breeze resources in the entire space of the target sea area. The control center can obtain more wind resource data at different spatial positions and higher time resolutions for superposition analysis, making up for the deficiency of traditional anemometry that can only rely on the sea breeze resource data obtained at a single point, and greatly improving the accuracy of sea breeze resource assessment. This embodiment can expand the monitoring range, improve the monitoring accuracy and density on the basis of the existing anemometer tower, reduce the number of anemometer towers to be built while shortening the construction period, realize effective deep-sea sea breeze resource monitoring, and guide the scientific planning and micro-site selection of wind farms, improving the investment return.

[0045] In some alternative embodiments, as Figure 2 shown, the drone airport 2 includes: a take-off and landing platform 21, a drone charging station 22, a drone base station 23 and a drone positioning module 24. Among them, the take-off and landing platform 21 is fixedly connected to the anemometer tower and is used to store the drone monitoring module 1 and provide a take-off and landing site for the drone monitoring module 1; the drone charging station 22 shares the power supply system with the anemometer tower and is used to charge the drone monitoring module 1; the drone base station 23 is internally provided with the drone positioning module 24. After receiving the drone operation instruction and controlling the drone monitoring module 1 to collect sea breeze data according to the preset flight parameters, it can monitor the position, flight trajectory and attitude of the drone monitoring module 1 in real time through the drone positioning module 24, eliminate the flight parameter deviation of the drone monitoring module 1 according to the preset flight parameters, and at the same time correct the anemometry data deviation caused by the relative movement of the drone monitoring module during flight based on the flight parameters.

[0046] Specifically, Figure 2 in, both the drone charging station 22 and the drone base station 23 are arranged on the take-off and landing platform 21. The power supply of the drone charging station 22 is taken from the original power supply system of the fixed anemometer tower and is used to charge the drone monitoring module 1 when the drone monitoring module 1 is not working. The drone base station 23, as a device for communicating with the drone monitoring module 1 and the control center 5, is used to receive the drone operation instruction, analyze and process it, then send the instruction information to start the collection operation to the corresponding drone monitoring module 1, and integrate and send the sea breeze data returned by the drone monitoring module 1 to the control center 5.

[0047] Specifically, Figure 2Among them, the UAV base station 23 integrates a UAV positioning module 24 internally. The UAV base station 23 is used to provide navigation and positioning services for the UAV monitoring module 1, and provide high-precision differential positioning data services for the UAV monitoring module 1 to carry out wind measurement operations. The UAV positioning module 24 may include a Global Navigation Satellite System (GNSS) or other high-precision positioning devices, use satellite-based differential to provide a positioning reference for the UAV monitoring module 1, perform differential processing on the UAV monitoring module 1 through a GNSS receiver, collect the speed, direction, yaw angle and position of the UAV monitoring module 1, and correct the deviation of the sea breeze data returned by it according to the relative motion data of the UAV monitoring module 1 to achieve high-precision positioning.

[0048] Optionally, the UAV airport can be built with a sealed housing and equipped with an automated hatch. The automated hatch uses a movable guide rail for opening and closing, and both have good compatibility and scalability. It is used to provide a site for the automatic takeoff and landing of the UAV monitoring module 1, store and protect the UAV module, provide automatic charging services for the UAV monitoring module 1, plan flight routes, guide the takeoff and landing operations of the UAV monitoring module 1, and perform data storage and transmission. The UAV airport 2 can be built on an existing fixed anemometer tower or on existing structures in the nearby waters.

[0049] Specifically, Figure 2 Among them, the UAV airport 2 further includes: a first monitoring module 25, which is used to automatically track the UAV monitoring module 1, remotely view sea conditions, swell conditions, the operating status of the monitoring system, etc., and record the sea conditions of the target sea area. The first monitoring module 25 includes multiple cameras, has an automatic tracking function, and has good waterproof, moisture-proof, corrosion-resistant and anti-interference performance.

[0050] In some alternative embodiments, as Figure 3 shown, the UAV monitoring module 1 includes: a UAV 11, a first wind measurement module 12, a first meteorological monitoring module 13 and a first wind measurement correction module 14. Among them, the first wind measurement module 12, the first meteorological monitoring module 13 and the first wind measurement correction module 14 are all carried on the UAV 11.

[0051] Specifically, Figure 3Among them, the first wind measurement module 12 is used to obtain the wind direction and wind speed over the target sea area. Inside, it uses high-precision radar sensor equipment to obtain data such as wind direction and wind speed. The first meteorological monitoring module 13 is used to obtain meteorological data over the target sea area. Inside, it integrates a barometric pressure sensor, a temperature sensor, a humidity sensor, a rain gauge sensor, etc., to obtain data such as barometric pressure, temperature, humidity, and precipitation, monitor the operation range of the unmanned aerial vehicle 11 and the surrounding meteorological conditions, record various meteorological monitoring data, ensure that the unmanned aerial vehicle 11 operates in a safe environment, and provide correction data support for the control center 5 to process and analyze sea breeze resource data.

[0052] Specifically, Figure 3 Among them, the first wind measurement correction module 14 is used to send the real-time flight parameters of the unmanned aerial vehicle 11 to the unmanned aerial vehicle airport 2 and adjust the flight parameters of the unmanned aerial vehicle 11 based on the adjustment instructions of the unmanned aerial vehicle airport 2. The first wind measurement correction module 14 includes inertial sensors such as gyroscopes and accelerometers, an electronic compass, and a GNSS, which can record the speed, direction, yaw angle, and position of the unmanned aerial vehicle 11 during operation. On the one hand, it realizes route control, and on the other hand, it is used to correct the wind measurement deviation caused by relative motion. It corrects the flight parameter deviation generated during the flight of the unmanned aerial vehicle in real time according to the positioning information of the unmanned aerial vehicle airport 2, eliminates the deviation of the wind measurement data, and provides correction data support for the control center 5 to process and analyze sea breeze resource data. The unmanned aerial vehicle 11 is used to fly over the target sea area based on the flight parameters sent by the unmanned aerial vehicle airport 2 and send the data collected by the first wind measurement module 12, the first meteorological monitoring module 13, and the first wind measurement correction module 14 to the unmanned aerial vehicle airport 2. It has long endurance, automatic obstacle avoidance, automatic return ability in case of signal loss and low battery, and at the same time has good waterproof, moisture-proof, sealing, corrosion-resistant, wave-resistant, and anti-collision performance.

[0053] In some alternative embodiments, such as Figure 4 shown, the unmanned dock 4 includes: a hollow chassis 41, an unmanned ship charging station 42, an unmanned ship base station 43, and an unmanned ship positioning module 44. Among them, the hollow chassis 41 is fixedly connected to the wind measurement tower and is used to house the unmanned ship monitoring module 3. The unmanned ship charging station 42 shares the power supply system with the wind measurement tower and is used to charge the unmanned ship monitoring module 3. The unmanned ship base station 43 is internally provided with the unmanned ship positioning module 44, which is used to control the unmanned ship monitoring module 3 to collect sea breeze data according to the preset navigation parameters based on the unmanned ship operation instructions, and then, through the unmanned ship positioning module 44, it monitors the position, navigation trajectory, and attitude of the unmanned ship monitoring module 3 in real time, eliminates the navigation parameter deviation of the unmanned ship monitoring module 3 according to the preset navigation parameters, and at the same time corrects the wind measurement data deviation generated by the relative motion of the unmanned ship monitoring module during navigation based on the navigation parameters.

[0054] Specifically,Figure 4 In it, the unmanned ship charging station 42 and the unmanned ship base station 43 are both arranged on the hollow chassis 41. The power supply of the unmanned ship charging station 42 is taken from the original power supply system of the fixed anemometer tower and is used to charge the unmanned ship monitoring module 3 when the unmanned ship monitoring module 3 is not working. The unmanned ship base station 43, as a device for communicating with the unmanned ship monitoring module 3 and the control center 5, is used to receive the unmanned ship operation instructions, analyze and process them, then send the instruction information to start the acquisition operation to the corresponding unmanned ship monitoring module 3, and integrate the sea breeze data returned by the unmanned ship monitoring module 3 and send it to the control center 5.

[0055] Specifically, Figure 4 In it, the unmanned ship base station 43 internally integrates an unmanned ship positioning module 44. The unmanned ship base station 43 is used to provide navigation and positioning services for the unmanned ship monitoring module 3 and provide high-precision differential positioning data services for the unmanned ship monitoring module 3 to carry out wind measurement operations. The unmanned ship positioning module 44 is for the unmanned ship monitoring module 3, and its function and structure are the same as those of the unmanned aerial vehicle positioning module 24, so it will not be elaborated here.

[0056] Optionally, the unmanned dock can be built with a sealed enclosure and equipped with an automated hatch. The automated hatch uses a movable guide rail for opening and closing. It is used to store and protect the unmanned ship monitoring module 3, provide automatic charging services for the unmanned ship monitoring module 3, plan the measurement route, guide the operation of the unmanned ship monitoring module 3, and perform data storage and transmission. The unmanned dock 4 can be built on an existing fixed anemometer tower or on existing structures in the nearby waters.

[0057] Specifically, Figure 4 In it, the unmanned dock 4 further includes: a second monitoring module 45, which is used to automatically track the unmanned ship monitoring module 3, remotely watch the sea conditions, swell conditions, operation status of the monitoring system, etc., and record the sea conditions of the target sea area. The second monitoring module 45 includes multiple cameras, has an automatic tracking function, and has good waterproof, moisture-proof, corrosion-resistant, and anti-interference performance.

[0058] In some alternative embodiments, as Figure 5 shown, the unmanned ship monitoring module 3 includes: an unmanned ship 31, a second wind measurement module 32, a second meteorological monitoring module 33, and a second wind measurement correction module 34. Among them, the second wind measurement module 32, the second meteorological monitoring module 33, and the second wind measurement correction module 34 are all carried on the unmanned ship 31; the second wind measurement module 32 is used to obtain the wind direction and wind speed on the sea surface of the target sea area; the second meteorological monitoring module 33 is used to obtain the meteorological data on the sea surface of the target sea area; the second wind measurement correction module 34 is used to send the real-time navigation parameters of the unmanned ship 31 to the unmanned dock 4, and adjust the navigation parameters of the unmanned ship 31 based on the adjustment instructions of the unmanned dock 4. At the same time, it corrects the wind measurement data deviation caused by the relative movement of the unmanned ship monitoring module during navigation based on the navigation parameters.

[0059] Specifically, Figure 5 in Figure 5 , the unmanned ship 31 is used to navigate in the target sea area based on the navigation parameters sent by the unmanned dock 4, and send the data collected by the second anemometry module 32, the second meteorological monitoring module 33 and the second anemometry correction module 34 to the unmanned dock 4. It has the capabilities of automatic obstacle avoidance and automatic return, and also has good waterproof, moisture-proof, sealing, corrosion-resistant, wave-resistant and anti-collision performances.

[0060] It should be noted that the functions of the second anemometry module 32, the second meteorological monitoring module 33 and the second anemometry correction module 34 are respectively the same as those of the first anemometry module 12, the first meteorological monitoring module 13 and the first anemometry correction module 14 in terms of function and structure, and will not be elaborated here.

[0061] In some alternative embodiments, as Figure 6 shown, the control center 5 includes: a control module 51 and a data reception and processing module 52. Among them, both the control module 51 and the data reception and processing module 52 use satellite communication with the UAV airport 2 and the unmanned dock 4; the control module 51 is used to send UAV operation instructions to the UAV airport 2 and send unmanned ship operation instructions to the unmanned dock 4; the data reception and processing module 52 is used to process, analyze and display the received sea breeze data.

[0062] Specifically, Figure 6 in Figure 6 , the control module 51 is used to remotely send instructions to control the operations of the UAV airport 2, the UAV monitoring module 1, the unmanned dock 4 and the unmanned ship monitoring module 3. The control module 51 includes a central processor, a memory, input and output devices, etc., and is used to identify and process the input signals of the operator, generate instructions through control algorithm operations, and output corresponding control signals.

[0063] Specifically, Figure 6 in Figure 6 , the data reception and processing module 52 is used to receive and process the sea breeze collection data returned by the UAV monitoring module 1 and the unmanned ship monitoring module 3, and perform data processing, analysis, display, etc. Among them, the data reception and processing module 52 includes hardware such as a signal converter, a central processor, a memory and an interface, as well as software related to wind resource data processing, such as Windographer, etc., to realize the processing, analysis and visual display of anemometry data.

[0064] This embodiment provides a supplementary monitoring method for sea breeze resources, as Figure 7 shown, applied to the control center of the above embodiments and any of their alternative embodiments. The method includes:

[0065] Step S1: Obtain the preset flight parameters of the UAV monitoring module and the preset navigation parameters of the unmanned ship monitoring module.

[0066] Specifically, referring toFigure 1 When it is necessary to obtain the sea breeze resource data of a certain sea area, the operator inputs the coordinates of the target sea area and the desired monitoring radius into the control center 5, and uses the system built into the control center 5 to plan the preset flight parameters of the UAV monitoring module 1 and the preset navigation parameters of the unmanned ship monitoring module 3, and then generates the UAV operation instruction and the unmanned ship operation instruction respectively.

[0067] Step S2: Control the UAV monitoring module to perform sea breeze data collection operations according to the preset flight parameters, and control the unmanned ship monitoring module to perform sea breeze data collection operations according to the preset navigation parameters, and then obtain the corresponding sea breeze data.

[0068] Specifically, referring to Figure 1 After the control center 5 sends the UAV operation instruction and the unmanned ship operation instruction to the UAV airport 2 and the unmanned wharf 4 respectively, the UAV airport 2 controls the corresponding UAV monitoring module 1 to collect sea breeze data above the sea surface of the target sea area, and the unmanned wharf 4 controls the corresponding unmanned ship monitoring module 3 to collect sea breeze data above the sea surface of the target sea area. Then the UAV airport 2 sends the sea breeze data above the target sea area returned by the UAV monitoring module 1 to the control center 5, and the unmanned wharf 4 sends the sea breeze data of the sea surface of the target sea area returned by the unmanned ship monitoring module 3 to the control center 5. While the UAV monitoring module 1 and the unmanned ship monitoring module 3 are performing wind measurement work, they will collect the position and attitude data of the UAV monitoring module 1 and the unmanned ship monitoring module 3 at the wind measurement moment. The position data is represented by three-dimensional space coordinates, and the attitude data is the pitch angle, yaw angle and roll angle. Then the above data are integrated and sent to the control center 5 respectively.

[0069] Step S3: After performing meteorological correction and attitude correction on all the sea breeze data, construct the sea breeze resource assessment system for the entire target sea area.

[0070] Specifically, referring to Figure 1 After the control center 5 eliminates the gross errors of the sea breeze data obtained from the sea surface of the target sea area and the sea breeze data of the sea surface of the target sea area according to the principle of more than 3 times the error, according to the meteorological information and attitude information in the sea breeze data returned by the UAV monitoring module 1 and the unmanned ship monitoring module 3, it eliminates the sea breeze data deviation caused by the attitude and meteorological factors when the UAV monitoring module 1 and the unmanned ship monitoring module 3 are performing collection operations, and performs meteorological correction and attitude correction on the sea breeze data to eliminate the influence of meteorological factors on wind measurement and eliminate the influence of the attitude and running speed of the UAV monitoring module 1 and the unmanned ship monitoring module 3 on the measurement of wind direction and wind speed.

[0071] Specifically, referring to Figure 1, and then the control center 5 performs joint analysis on the aerial wind measurement data obtained by the UAV monitoring module 1 and the sea surface wind measurement data obtained by the unmanned ship monitoring module 3 to construct a spatial wind resource assessment system for the entire area of interest.

[0072] Step S4: Compare and analyze the sea breeze data for multiple periods in the same sea area, analyze the change trend of the sea breeze resources on different time scales, and perform visual display.

[0073] Specifically, referring to Figure 1 , the control center 5 compares and analyzes the wind measurement data for multiple periods in the same area. After analyzing the change trend of the wind resources on different time scales, a wind energy resource distribution map, a wind frequency map, a wind direction rose diagram, etc. are constructed and superimposed on the earth model for visual display.

[0074] Specifically, Figure 8 FIG. 13 is a schematic diagram of the application scenario of the sea breeze resource supplementary monitoring automation system. In this scenario, 101 is the area of the planned wind farm to be evaluated for the spatial wind resources in this area, 102 is an existing fixed anemometer tower, and 103 is the effective observation range of the anemometer tower. It can be seen that there is a certain area around the site that exceeds the effective observation range of the anemometer tower. Therefore, the system and method of this embodiment can be used to supplement the collection of wind resource information in the area outside the circle. On the one hand, it can avoid building several more anemometer towers or deploying multiple floating anemometer devices, reducing the construction cost; on the other hand, it can obtain wind resource data at more spatial positions and higher time resolutions, which can not only make up for the deficiency of the spatial representativeness of the wind resources within the effective measurement range of the existing anemometer tower, but also obtain wind resource data outside the effective range of the anemometer tower, providing more representative and complete wind resource data, optimizing the micro-siting of the wind turbines, increasing the power generation, and enhancing the economic benefits.

[0075] The sea breeze resource supplementary monitoring method provided in this embodiment uses the UAV airport to control the UAV monitoring module to collect the sea breeze data above the target sea area, and at the same time uses the unmanned dock to control the unmanned ship monitoring module to collect the sea breeze data on the sea surface of the target sea area, collecting the sea breeze of the target sea area in all directions. Compared with the existing fixed anemometer tower, it increases the operation range, expands the collection area, can obtain wind resource data outside the effective range of the anemometer tower, and realizes the dynamic and automatic monitoring of the sea breeze resources in the entire space range of the target sea area. The control center can obtain more wind resource data at different spatial positions and higher time resolutions for superposition analysis, and perform visual display on the change trend of the sea breeze resources on different time scales, making up for the deficiency of traditional wind measurement that can only be based on the single-point sea breeze resource data obtained, greatly improving the accuracy of the sea breeze resource assessment, which is of great significance for the wind farm siting and the micro-siting of the wind turbines, thus effectively enhancing the investment return.

[0076] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations fall within the scope defined by the appended claims.

Claims

1. An automated system for supplementing and monitoring sea breeze resources, characterized in that: include: Multiple drone monitoring modules, multiple unmanned ship monitoring modules, drone airports, unmanned docks and control centers, among which, A control center is arranged on the shore and communicates with the drone airport and the unmanned wharf by satellite; A drone airport is fixedly connected to an offshore wind tower and uses wireless communication with each drone monitoring module to provide a take-off and landing site for each drone monitoring module, and controls the corresponding drone monitoring module to collect sea wind data based on the drone operation instructions sent by the control center, and monitors and adjusts the flight parameters of the drone monitoring module in real time; the drone airport also includes: a first monitoring module, which is used to automatically track the drone monitoring module and record the sea conditions of the target sea area; An unmanned wharf, which is fixedly connected to the wind tower, and uses wireless communication with each of the unmanned ship monitoring modules, and is used to provide a storage space for each of the unmanned ship monitoring modules, and to control the corresponding unmanned ship monitoring module to perform sea breeze data collection operations based on the unmanned ship operation instructions sent by the control center, and to monitor and adjust the navigation parameters of the unmanned ship monitoring module in real time; the unmanned wharf also includes: a second monitoring module, which is used to automatically track the unmanned ship monitoring module and record the sea conditions of the target sea area; Each of the drone monitoring modules is used to transmit the collected sea wind data above the target sea area back to the control center through the drone airport; the drone monitoring module includes: a drone, a first wind measurement module, a first meteorological monitoring module and a first wind measurement correction module, wherein: The first wind measurement module, the first meteorological monitoring module and the first wind measurement correction module are all mounted on the UAV; The first wind measurement module is used to obtain the wind direction and wind speed over the target sea area; The first meteorological monitoring module is used to obtain meteorological data over the target sea area to ensure that the UAV operates in a safe environment and provide correction data support for the control center to process and analyze sea wind resource data; the first wind measurement correction module is used to send the real-time flight parameters of the UAV to the UAV airport, and adjust the flight parameters of the UAV based on the adjustment instructions of the UAV airport, and correct the wind measurement data deviation of the UAV monitoring module caused by the relative motion during flight based on the flight parameters, wherein the flight parameters include flight attitude, trajectory, speed, direction and yaw angle; The drone is used to fly over the target sea area based on the flight parameters sent by the drone airport, and send the data collected by the first wind measurement module, the first meteorological monitoring module and the first wind measurement correction module to the drone airport; Each of the unmanned ship monitoring modules is used to transmit the collected sea wind data of the target sea area to the control center through the unmanned dock; the unmanned ship monitoring module includes: an unmanned ship, a second wind measurement module, a second meteorological monitoring module and a second wind measurement correction module, wherein: The second wind measurement module, the second meteorological monitoring module and the second wind measurement correction module are all mounted on the unmanned ship; The second wind measurement module is used to obtain the wind direction and wind speed of the target sea area; The second meteorological monitoring module is used to obtain meteorological data of the sea surface of the target sea area; The second wind measurement correction module is used to send the real-time navigation parameters of the unmanned ship to the unmanned dock, and adjust the navigation parameters of the unmanned ship based on the adjustment instructions of the unmanned dock, and correct the wind measurement data deviation generated by the relative motion of the unmanned ship monitoring module during navigation based on the navigation parameters; The unmanned ship is used to navigate in the target sea area based on the navigation parameters sent by the unmanned terminal, and send the data collected by the second wind measurement module, the second meteorological monitoring module and the second wind measurement correction module to the unmanned terminal; The control center obtains the sea breeze resource data of the entire space of the target sea area after superimposing and analyzing the sea breeze data above the target sea area and the sea breeze data on the sea surface of the target sea area.

2. The sea breeze resource supplementary monitoring automation system according to claim 1 is characterized in that: The drone airport includes: a take-off and landing platform, a drone charging station, a drone base station and a drone positioning module, wherein: A take-off and landing platform, which is fixedly connected to the wind tower and is used to accommodate the drone monitoring module and provide a take-off and landing site for the drone monitoring module; A drone charging station, which shares a power supply system with the wind tower and is used to charge the drone monitoring module; A drone base station is provided with a drone positioning module inside, which is used to control the drone monitoring module to collect sea breeze data according to preset flight parameters based on the drone operation instructions, and then monitor the position, flight trajectory and posture of the drone monitoring module in real time through the drone positioning module, and eliminate the flight parameter deviation of the drone monitoring module according to the preset flight parameters, and correct the wind measurement data deviation of the drone monitoring module caused by the relative movement during flight based on the flight parameters.

3. The sea breeze resource supplementary monitoring automation system according to claim 1 is characterized in that: The unmanned dock includes: a hollow chassis, an unmanned boat charging station, an unmanned boat base station and an unmanned boat positioning module, wherein: A hollow chassis, which is fixedly connected to the wind tower and is used to accommodate the unmanned ship monitoring module; An unmanned ship charging station, which shares a power supply system with the wind tower and is used to charge the unmanned ship monitoring module; An unmanned ship base station is provided with an unmanned ship positioning module inside, which is used to control the unmanned ship monitoring module to collect sea wind data according to preset navigation parameters based on the unmanned ship operation instructions, and then monitor the position, navigation trajectory and posture of the unmanned ship monitoring module in real time through the unmanned ship positioning module, and eliminate the navigation parameter deviation of the unmanned ship monitoring module according to the preset navigation parameters, and at the same time correct the wind measurement data deviation of the unmanned ship monitoring module caused by the relative movement during navigation based on the navigation parameters.

4. The sea breeze resource supplementary monitoring automation system according to claim 1 is characterized in that: The control center includes: a control module and a data receiving and processing module, wherein: The control module and the data receiving and processing module both use satellite communication with the drone airport and the unmanned wharf; The control module is used to send the drone operation instruction to the drone airport and send the unmanned ship operation instruction to the unmanned dock; The data receiving and processing module is used to process, analyze and display the received sea breeze data.

5. A method for supplementing monitoring of sea breeze resources, characterized in that: The method applied to the sea wind resource supplementary monitoring automation system according to any one of claims 1 to 4 comprises: Obtaining preset flight parameters of the drone monitoring module and preset navigation parameters of the unmanned ship monitoring module; Control the UAV monitoring module to collect sea wind data according to preset flight parameters, and control the unmanned ship monitoring module to collect sea wind data according to preset navigation parameters, and then obtain corresponding sea wind data; After meteorological correction and attitude correction of all sea breeze data, a sea breeze resource assessment system for the entire target sea area is constructed; Compare and analyze the sea breeze data of the same sea area in multiple time periods, analyze the changing trends of sea breeze resources on different time scales and display them visually.

6. The method for supplementing monitoring of sea breeze resources according to claim 5, characterized in that: The process of performing meteorological correction and attitude correction on all sea wind data includes: According to the meteorological information and attitude information in the sea breeze data returned by the UAV monitoring module and the unmanned ship monitoring module, the sea breeze data deviation caused by the attitude and meteorological factors of the UAV monitoring module and the unmanned ship monitoring module when performing collection operations is eliminated.

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