Offshore wind plant ship identification and expelling method and device

Abstract

The invention provides an offshore wind power plant ship identification and expelling method and device, and relates to the technical field of wind power plant safety management, and the method comprises the steps: obtaining the target position of each early warning object or alarm object in a wind power plant equipment protection region through a radar; and after the unmanned aerial vehicle receives the target position, fixed-point patrol, ship image recognition and sound expelling of the ship are carried out, the ship in the wind power plant equipment protection area is expelled, the risks that the ship breaks the submarine cable in an anchoring mode and the ship collides with the wind turbine generator during running are avoided, and effective protection of the submarine cable and the wind turbine generator equipment in the offshore wind power plant is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of wind farm safety management, and in particular to a method, device, electronic equipment and storage medium for identifying and driving away ships in an offshore wind farm. Background Art

[0002] The identification of ships in offshore wind farms mainly relies on the ship automatic identification system (AIS) base station, which can effectively identify ships equipped with ship-borne AIS equipment, obtain their call signs, speed, heading, tonnage and other information, and record their running tracks; but some small fishing boats may not have ship-borne AIS equipment installed, or some ships' AIS equipment may malfunction and be unable to communicate with them. In these cases, AIS cannot obtain any information about the ship, and cannot issue early warnings or alarms, or drive away.

[0003] In the related technology, the speed and position information of the object is obtained by radar, but the radar cannot determine whether the measured object is a ship, nor can it issue an early warning or alarm. In addition, the commonly used ship-repelling methods currently include very high frequency and tweeters. The very high frequency requires the ship's Maritime Mobile Service Identity (MMSI). Without the cooperation of AIS, the radar alone cannot determine whether the target is a ship, and the ship's MMSI cannot be obtained. Therefore, the very high frequency expulsion method cannot be used; the tweeter shouting expulsion method, the tweeter is usually installed on an offshore booster station or wind turbine, and its shouting range is limited. It can only be driven away when the ship is approaching, and the effect of protecting offshore wind farms cannot be achieved. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0005] To this end, the first purpose of the present invention is to propose a method for identifying and driving away ships in an offshore wind farm, which will drive away ships within the protection area of ​​the wind farm equipment, avoid the risk of ships dropping anchors and breaking submarine cables, and avoid the risk of ships colliding with wind turbines, thereby achieving effective protection of submarine cables and wind turbine equipment in offshore wind farms.

[0006] The second objective of the present invention is to provide a device for identifying and driving away ships in an offshore wind farm.

[0007] A third objective of the present invention is to provide an electronic device.

[0008] A fourth object of the present invention is to provide a non-transitory computer-readable storage medium storing computer instructions.

[0009] To achieve the above-mentioned purpose, a first embodiment of the present invention provides a method for identifying and driving away ships in an offshore wind farm, the method comprising:

[0010] Based on radar, object detection is performed in the wind farm equipment protection area in the offshore wind farm to obtain the location and status data of each detected object, wherein the wind farm equipment protection area is determined by the safety area of ​​the main submarine cable and the wind turbine, and the wind farm equipment protection area includes the early warning area and the alarm area;

[0011] According to the position and status data of each detected object, the warning object in the warning area and the alarm object in the alarm area are determined;

[0012] The target position of the warning object or the alarm object is sent to the drone, which, after receiving the signal, relies on satellite navigation to fly to the target position, and uses the video device carried by the drone to capture the object image of the warning object or the alarm object, so as to identify the object image based on the edge computing device arranged on the drone, and determine whether the warning object or the alarm object is a ship;

[0013] If the warning object is determined to be a ship, the sound equipment on the drone will be used to warn the ship and drive it away by sound until the radar detects that the target position of the warning object is no longer in the warning area;

[0014] When it is determined that the alarm object is a ship, the sound equipment on the drone will be used to sound the ship alarm and expel it by sound until the radar detects that the target position of the alarm object is no longer in the alarm area.

[0015] To achieve the above-mentioned purpose, a second embodiment of the present invention provides a device for identifying and driving away ships in an offshore wind farm, the device comprising:

[0016] A detection module is used to detect objects in the wind farm equipment protection area in the offshore wind farm based on radar to obtain the position and status data of each detected object, wherein the wind farm equipment protection area is determined by the safety area of ​​the main submarine cable and the wind turbine generator set, and the wind farm equipment protection area includes a warning area and an alarm area;

[0017] A judgment module, used to judge the warning objects in the warning area and the alarm objects in the alarm area according to the position and state data of each detected object;

[0018] an identification module, which is used to send the target position of the warning object or the alarm object to the drone, which, after receiving the target position, relies on satellite navigation to fly to the target position, and takes an object image of the warning object or the alarm object through a video device carried by the drone, so as to identify the object image based on an edge computing device arranged on the drone, and determine whether the warning object or the alarm object is a ship;

[0019] The first expulsion module is used to, when it is determined that the warning object is a ship, issue a ship warning and expel the ship by sound through the sound equipment on the drone until the radar detects that the target position of the warning object is not in the warning area;

[0020] The second expulsion module is used to, when it is determined that the alarm object is a ship, issue a ship alarm and expel it by sound through the sound equipment on the drone until the radar detects that the target position of the alarm object is not in the alarm area.

[0021] To achieve the above-mentioned purpose, the third aspect of the present invention proposes an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described in the first aspect.

[0022] In order to achieve the above-mentioned purpose, the fourth aspect of the present invention proposes a non-transitory computer-readable storage medium storing computer instructions, where the computer instructions are used to enable the computer to execute the method described in the first aspect.

[0023] The offshore wind farm ship identification and expulsion method, device, electronic device and storage medium provided by the embodiments of the present invention obtain the target position of each warning object or alarm object in the wind farm equipment protection area through radar, and use a drone to receive the target position and then patrol, identify ships by images and expel ships by sound, so as to expel ships in the wind farm equipment protection area, avoid the risk of ships dropping anchors and breaking submarine cables, and ships colliding with wind turbines, and realize effective protection of submarine cables and wind turbine equipment in offshore wind farms.

[0024] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0026] Figure 1 A schematic flow chart of a method for identifying and driving away ships in an offshore wind farm provided by an embodiment of the present invention;

[0027] Figure 2 A schematic flow chart of another method for identifying and driving away ships from an offshore wind farm provided by an embodiment of the present invention;

[0028] Figure 3A schematic structural diagram of a ship identification and expulsion device for an offshore wind farm provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0029] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0030] It should be noted that the acquisition, storage, use, and processing of data in the technical solution of the present invention are in compliance with the relevant provisions of national laws and regulations.

[0031] The following describes the offshore wind farm ship identification and expulsion method, device, electronic device and storage medium according to embodiments of the present invention with reference to the accompanying drawings.

[0032] Figure 1 A schematic flow chart of a method for identifying and driving away ships from an offshore wind farm provided by an embodiment of the present invention.

[0033] like Figure 1 As shown, the method comprises the following steps:

[0034] Step 101, based on radar, object detection is performed on the wind farm equipment protection area in the offshore wind farm to obtain the position and status data of each detected object, wherein the wind farm equipment protection area is determined by the safety area of ​​the main submarine cable and the wind turbine, and the wind farm equipment protection area includes a warning area and an alarm area.

[0035] In some embodiments, based on radar, object detection is performed on the wind farm equipment protection area in the offshore wind farm to obtain the position and status data of each detected object. One implementation method can be: based on radar, object detection is performed on the wind farm equipment protection area in the offshore wind farm to obtain all the initial detection objects in the wind farm equipment protection area; according to the area of ​​electromagnetic wave reflected by each initial detection object during object detection, floating objects smaller than a preset size are eliminated from the initial detection objects to obtain the detection objects, and the position and status data of each detection object are obtained by radar.

[0036] Preferably, the area within 200 meters on both sides of the main submarine cable in the offshore wind farm, covering the wind turbines, and the area within 200 meters from the periphery of the wind farm will be used as the alarm area; the area within 200 to 500 meters on both sides of the main submarine cable in the offshore wind farm, covering the wind turbines, and the area 200-500 meters from the periphery of the wind farm will be used as the early warning area, but not limited to this.

[0037] Optionally, the radar may be a solid-state radar, but is not limited thereto.

[0038] In addition, when eliminating floating objects smaller than a preset size from the initial detection objects to obtain the detection objects, the coordinates of the wind turbines in the nearby sea area can be given to further eliminate the influence of the wind turbines, and finally the position and status data (speed, heading, etc.) of each detection object (suspected ship) can be obtained through radar.

[0039] Step 102: According to the position and status data of each detected object, the warning objects in the warning area and the alarm objects in the alarm area are determined.

[0040] In some embodiments, the status data includes the moving speed of the detected object and the staying time of the detected object.

[0041] Furthermore, based on the position and status data of each detected object, the warning objects in the warning area and the alarm objects in the alarm area are determined. One implementation method may be that when the position of the detected object is in the warning area, the detected object in the warning area is used as a warning object; when the position of the detected object is in the alarm area and the moving speed of the detected object is less than a preset speed threshold or the stay time of the detected object is greater than a preset time threshold, the detected object in the alarm area is used as an alarm object.

[0042] Preferably, when the preset speed threshold is 5 knots and the preset time threshold is 10 minutes, an alarm will be issued for a detected object that enters the 200-meter alarm area and moves at a speed less than 5 knots or stays for more than 10 minutes, and the latitude and longitude coordinates of the detected object that issues an alarm will be recorded as the target position.

[0043] Step 103, the target position of the warning object or the alarm object is sent to the drone, which relies on satellite navigation to fly to the target position after receiving it, and captures the object image of the warning object or the alarm object through the video device carried by the drone, so as to identify the object image based on the edge computing device arranged on the drone, and determine whether the warning object or the alarm object is a ship.

[0044] In some embodiments, the radar can communicate with the drone through a network, and then send the target location of the warning object or the alarm object to the drone.

[0045] Optionally, the drone may be a multi-rotor waterproof drone, but is not limited thereto.

[0046] Optionally, the UAV is parked on a booster station corresponding to the wind farm, and after the multi-rotor waterproof UAV receives the target position, it relies on satellite navigation to fly from the booster station to the target position.

[0047] Step 104, when it is determined that the warning object is a ship, the sound equipment on the drone is used to issue a ship warning and expel the ship by sound until the radar detects that the target position of the warning object is not in the warning area.

[0048] In some embodiments, when it is determined that the warning object is a ship, the ship number and the result of being judged as a ship are sent to the radar. After receiving the radar, the position of the ship is tracked in real time, and the updated position of the ship is sent to the drone for update. At the same time, the drone can shout at the ship to drive it away until it is determined to have left the warning area.

[0049] In addition, when the drone determines that the warning object is not a ship, it will fly to the next warning object until all warning objects in the warning area have been identified.

[0050] Step 105, when it is determined that the alarm object is a ship, the sound device on the drone is used to sound the ship and expel it by sound until the radar detects that the target position of the alarm object is not in the alarm area.

[0051] In some embodiments, when it is determined that the alarm object is a ship, the ship number and the result of being determined to be a ship are sent to the radar. After receiving the radar, the position of the ship is tracked in real time, and the updated position of the ship is sent to the drone for update. At the same time, the drone can shout at the ship to drive it away until it is determined to have left the alarm area. The shouting and driving away levels of the early warning area and the alarm area are different to achieve graded alarms in the protection areas of wind farm equipment.

[0052] Optionally, when it is determined that the warning object or the alarm object is not a ship, the recognition result of the object image recognized by the edge computing device as a ship is sent to the radar, and the recognition result is deleted.

[0053] The offshore wind farm ship identification and expulsion method of the embodiment of the present invention obtains the target position of each warning object or alarm object in the wind farm equipment protection area through radar, and after receiving the target position, the drone conducts fixed-point inspection, ship image recognition and sound expulsion of ships, so as to expel ships in the wind farm equipment protection area, avoid the risk of ships dropping anchors and breaking submarine cables, and ships colliding with wind turbines, thereby realizing effective protection of submarine cables and wind turbine equipment in offshore wind farms.

[0054] In order to clearly illustrate the above embodiment, the present invention also provides a flowchart of another method for identifying and driving away ships in an offshore wind farm, as shown in FIG. Figure 2As shown in the figure, after the radar transmits electromagnetic waves, the position and status data of the detected object are obtained by receiving the reflected electromagnetic waves, and the floating objects smaller than the preset size and the interference of the wind turbines on the status data are eliminated by combining the area of ​​the reflected electromagnetic waves and the coordinates of the wind turbines in the nearby sea areas; the protection area of ​​the wind farm equipment is divided into early warning areas and alarm areas, and the position and status data (speed, heading, and stay time) of the detected objects are combined to realize hierarchical and regional alarms, and the early warning objects and alarm objects are obtained; the target position (latitude and longitude coordinates) of the early warning object or the alarm object is sent to the drone, which relies on satellite navigation to fly from the booster station to the target position after receiving it, and the image of the early warning object or the object is captured by the video device carried by the drone, so as to identify the object image based on the edge computing device arranged on the drone, and determine the early warning object or the alarm object. Whether the alarm object is a ship; in the case that the warning object / alarm object is a ship, the recognition result of the object image as a ship and the ship number are sent to the radar. After receiving the radar, the position and movement trajectory of the ship are tracked in real time. At the same time, the drone can shout to the ship to drive it away, and send the updated position of the ship to the drone for update until the updated position of the alarm / warning ship removes the warning area / alarm area. If the updated position of the alarm / warning ship is still in the warning area / alarm area, continue to shout to drive it away; judge whether all ships in the warning area and the alarm area are completely driven away. If not, repeat the recognition and driving away of the warning object and the alarm object; in addition, when it is determined that the warning object or the alarm object is not a ship, the recognition result of the object image as a ship is sent to the radar, and the radar deletes the recognition result after receiving it.

[0055] In order to implement the above embodiment, the present invention also proposes a device for identifying and driving away ships in an offshore wind farm.

[0056] Figure 3 A schematic structural diagram of a ship identification and expulsion device for an offshore wind farm provided by an embodiment of the present invention.

[0057] like Figure 3 As shown, the offshore wind farm ship identification and expulsion device 30 includes: a detection module 31 , a judgment module 32 , an identification module 33 , a first expulsion module 34 and a second expulsion module 35 .

[0058] The detection module 31 is used to detect objects in the wind farm equipment protection area in the offshore wind farm based on radar to obtain the position and status data of each detected object, wherein the wind farm equipment protection area is determined by the safety area of ​​the main submarine cable and the wind turbine generator set, and the wind farm equipment protection area includes a warning area and an alarm area;

[0059] A judgment module 32, for judging the warning objects in the warning area and the alarm objects in the alarm area according to the position and state data of each detected object;

[0060] The identification module 33 is used to send the target position of the warning object or the alarm object to the drone, which flies to the target position by satellite navigation after receiving the warning object, and takes the object image of the warning object or the alarm object through the video device carried by the drone, so as to identify the object image based on the edge computing device arranged on the drone, and determine whether the warning object or the alarm object is a ship;

[0061] The first expelling module 34 is used to, when it is determined that the warning object is a ship, issue a ship warning and expel the ship by sound through the sound equipment on the UAV until the radar detects that the target position of the warning object is not in the warning area;

[0062] The second expelling module 35 is used to, when it is determined that the alarm object is a ship, issue a ship alarm and expel it by sound through the sound equipment on the drone until the radar detects that the target position of the alarm object is not in the alarm area.

[0063] Furthermore, in a possible implementation of the embodiment of the present invention, the detection module 31 is specifically configured to:

[0064] Based on radar, object detection is performed in the wind farm equipment protection area in the offshore wind farm to obtain all the initial detection objects in the wind farm equipment protection area;

[0065] According to the area of ​​electromagnetic wave reflected by each initial detection object during object detection, floating objects smaller than a preset size in the initial detection objects are eliminated to obtain the detection objects, and the position and status data of each detection object are obtained through radar.

[0066] Furthermore, in a possible implementation of an embodiment of the present invention, an area within 200 meters on both sides of the main submarine cable in the offshore wind farm, including the wind turbines, and an area within 200 meters from the periphery of the wind farm is used as an alarm area; an area between 200 and 500 meters on both sides of the main submarine cable in the offshore wind farm, including the wind turbines, and an area between 200 and 500 meters from the periphery of the wind farm is used as an early warning area.

[0067] Furthermore, in a possible implementation manner of the embodiment of the present invention, the state data includes a moving speed of the detected object and a stay time of the detected object.

[0068] Further, in a possible implementation of the embodiment of the present invention, the judging module 32 is specifically configured to:

[0069] When the position of the detected object is within the warning area, the detected object within the warning area is regarded as a warning object;

[0070] When the position of the detected object is in the alarm area and the moving speed of the detected object is less than a preset speed threshold or the residence time of the detected object is greater than a preset time threshold, the detected object in the alarm area is regarded as an alarm object.

[0071] Furthermore, in a possible implementation of the embodiment of the present invention, the device further includes:

[0072] The deletion module is used to send the recognition result of the object image recognized by the edge computing device as a ship to the radar and delete the recognition result when it is determined that the warning object or the alarm object is not a ship.

[0073] It should be noted that the above explanation of the method embodiment is also applicable to the device of this embodiment, and will not be repeated here.

[0074] The offshore wind farm ship identification and expulsion device of the embodiment of the present invention obtains the target position of each warning object or alarm object in the protection area of ​​the wind farm equipment through radar, and after receiving the target position, the drone conducts fixed-point inspection, ship image recognition and sound expulsion of ships, so as to expel ships in the protection area of ​​the wind farm equipment, avoid the risk of ships dropping anchors and breaking submarine cables, and ships colliding with wind turbines, thereby realizing effective protection of submarine cables and wind turbine equipment in offshore wind farms.

[0075] In order to implement the above embodiment, the present invention further provides an electronic device, including:

[0076] at least one processor; and

[0077] a memory communicatively connected to the at least one processor; wherein,

[0078] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can perform the aforementioned method.

[0079] In order to implement the above embodiment, the present invention further proposes a non-transitory computer-readable storage medium storing computer instructions, where the computer instructions are used to enable the computer to execute the above method.

[0080] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0081] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0082] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0083] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0084] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0085] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0086] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of software functional modules. If the integrated module is implemented in the form of software functional modules and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0087] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A method for identifying and driving away ships in an offshore wind farm, characterized in that: The method comprises: Based on radar, object detection is performed in the wind farm equipment protection area in the offshore wind farm to obtain the location and status data of each detected object, wherein the wind farm equipment protection area is determined by the safety area of ​​the main submarine cable and the wind turbine, and the wind farm equipment protection area includes the early warning area and the alarm area; According to the position and status data of each detected object, the warning object in the warning area and the alarm object in the alarm area are determined; The target position of the warning object or the alarm object is sent to the drone, which, after receiving the signal, relies on satellite navigation to fly to the target position, and uses the video device carried by the drone to capture the object image of the warning object or the alarm object, so as to identify the object image based on the edge computing device arranged on the drone, and determine whether the warning object or the alarm object is a ship; If the warning object is determined to be a ship, the sound equipment on the drone will be used to warn the ship and drive it away by sound until the radar detects that the target position of the warning object is no longer in the warning area; When it is determined that the alarm object is a ship, the sound equipment on the drone will be used to sound the ship alarm and expel it by sound until the radar detects that the target position of the alarm object is no longer in the alarm area.

2. The method according to claim 1, characterized in that The radar-based object detection is performed on the wind farm equipment protection area in the offshore wind farm to obtain the position and status data of each detected object, including: Based on radar, object detection is performed in the wind farm equipment protection area in the offshore wind farm to obtain all the initial detection objects in the wind farm equipment protection area; According to the area of ​​electromagnetic wave reflected by each initial detection object during object detection, floating objects smaller than a preset size in the initial detection objects are eliminated to obtain the detection objects, and the position and status data of each detection object are obtained through radar.

3. The method according to claim 1, characterized in that: The area within 200 meters on both sides of the main submarine cable in the offshore wind farm, including the wind turbines, and the area within 200 meters from the periphery of the wind farm will be used as the alarm area; the area within 200 to 500 meters on both sides of the main submarine cable in the offshore wind farm, including the wind turbines, and the area 200-500 meters from the periphery of the wind farm will be used as the early warning area.

4. The method according to claim 1, characterized in that The state data includes the moving speed of the detected object and the staying time of the detected object.

5. The method according to claim 4, characterized in that The method of determining the warning objects in the warning area and the alarm objects in the alarm area according to the position and state data of each detected object includes: When the position of the detected object is within the warning area, the detected object within the warning area is regarded as a warning object; When the position of the detected object is in the alarm area and the moving speed of the detected object is less than a preset speed threshold or the residence time of the detected object is greater than a preset time threshold, the detected object in the alarm area is regarded as an alarm object.

6. The method according to claim 1, characterized in that The method further comprises: When it is determined that the warning object or the alarm object is not a ship, the recognition result of the object image recognized by the edge computing device as a ship is sent to the radar, and the recognition result is deleted.

7. An offshore wind farm ship identification and expulsion device, characterized in that: The device comprises: A detection module is used to detect objects in the wind farm equipment protection area in the offshore wind farm based on radar to obtain the position and status data of each detected object, wherein the wind farm equipment protection area is determined by the safety area of ​​the main submarine cable and the wind turbine generator set, and the wind farm equipment protection area includes a warning area and an alarm area; A judgment module, used to judge the warning objects in the warning area and the alarm objects in the alarm area according to the position and state data of each detected object; An identification module is used to send the target position of the warning object or the alarm object to the drone, which then relies on satellite navigation to fly to the target position after receiving the warning object, and captures the object image of the warning object or the alarm object through a video device carried by the drone, so as to identify the object image based on an edge computing device arranged on the drone, and determine whether the warning object or the alarm object is a ship; The first expulsion module is used to, when it is determined that the warning object is a ship, issue a ship warning and expel the ship by sound through the sound equipment on the drone until the radar detects that the target position of the warning object is not in the warning area; The second expulsion module is used to, when it is determined that the alarm object is a ship, issue a ship alarm and expel it by sound through the sound equipment on the drone until the radar detects that the target position of the alarm object is not in the alarm area.

8. The device according to claim 7, characterized in that The device further comprises: The deletion module is used to send the recognition result of the object image recognized by the edge computing device as a ship to the radar and delete the recognition result when it is determined that the warning object or the alarm object is not a ship.

9. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 6.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-6.

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