Safety control system for cabin crane of wind generating set

Abstract

The invention discloses a wind generating set cabin crane safety control system, and relates to the technical field of wind power generation, the wind generating set cabin crane safety control system comprises a monitoring center, the monitoring center is in communication connection with a monitoring module, a data processing module, a judgment module, a crane motor control module and an alarm and prompt module, all the modules are in electric signal connection, and the monitoring module is in communication connection with the data processing module. The monitoring module is used for monitoring environment data and working state data of the crane in real time, and the environment data comprises wind speed, wind direction, temperature and humidity; the working state information of the crane comprises the speed, the lifting rope position, the load weight and the like. By integrating various sensors and a real-time monitoring technology, the operation state and the surrounding environment of the crane are accurately sensed, and when abnormal conditions are detected, the system immediately triggers an early warning or emergency shutdown mechanism, so that accidents are effectively avoided, and the safety accident risk caused by man-made misjudgment or equipment failure is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of wind power generation, and in particular to a wind power generator cabin crane safety control system. Background Art

[0002] Against the backdrop of the accelerated transformation of the global energy structure, renewable energy, especially wind power generation, as a clean and sustainable form of energy, is increasingly receiving widespread attention and wide application around the world. The rapid advancement of technology has not only promoted a significant increase in wind power generation efficiency, but also prompted the continuous increase in the unit capacity of wind turbines, and the unit design has become more complex and sophisticated. These large wind turbines are often located in remote and harsh areas, facing multiple challenges such as extreme weather and complex terrain, which puts unprecedented high standards on the safety and reliability of the unit equipment. In this context, the wind turbine cabin crane is an indispensable tool for ensuring the maintenance, overhaul and replacement of key components of the unit. Its operation safety has become an important part of the entire wind power operation system that cannot be ignored. In order to ensure that the crane can perform tasks safely and efficiently in harsh environments and reduce operational risks and accident rates, it is particularly urgent and important to develop and apply advanced safety control systems. Through real-time monitoring and intelligent judgment, the system can timely discover and eliminate potential safety hazards, provide reliable protection for operators and equipment, and ensure the continuous and stable operation of wind farms.

[0003] In the prior art, wind turbine generator sets are usually equipped with a crane device in a high cabin for lifting objects from the ground to the cabin or from the cabin to the ground. At present, most cabin cranes still use manual remote control to control the rise and fall of the lifting rope. This method relies on the experience and judgment of the operator, but fails to fully consider real-time wind speed, wind direction and other environmental factors under complex and changeable environmental conditions, resulting in the inability to automatically adjust the operation strategy when the wind speed is high or the crane is in an unfavorable position, such as when it is close to the wind direction of the transmission line, increasing the risk of accidents such as falling objects, objects hitting, and electric shock. Therefore, it is our current problem to conduct early warning monitoring of wind speed and wind direction and improve the safety performance of the wind turbine generator cabin crane. Summary of the invention

[0004] The object of the present invention is to provide a wind turbine nacelle crane safety control system to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A wind turbine nacelle crane safety control system includes a monitoring center, wherein the monitoring center is communicatively connected with a monitoring module, a data processing module, a judgment module, a crane motor control module and an alarm and prompt module, wherein the modules are connected with electrical signals;

[0007] The monitoring module is used to monitor the environmental data and the working status data of the crane in real time. The environmental data includes wind speed, wind direction, temperature and humidity; the working status information of the crane includes speed, rope position, load weight, etc., providing the system with key and accurate environmental parameters and providing a basis for the decision-making and control of the system;

[0008] The data processing module is used to receive data from the monitoring module, and pre-process the received data to extract key features, such as data fusion, anomaly detection, etc.;

[0009] The judgment module is used to receive the key features output by the data processing module, judge the current crane operation environment, and compare it with the preset safety wind speed and wind direction standards and the direction of the high-voltage transmission line around the wind turbine to judge whether the current environment is suitable for crane operation, so as to provide a basis for control decision-making;

[0010] The crane motor control module is used to control the start, stop and forward and reverse rotation of the crane motor according to the results of the data processing module and the judgment module, and control the rise and fall of the suspension rope;

[0011] The alarm and prompt module is used to send a warning signal and alarm information to the operator when unsafe environmental data is detected and the crane is in a dangerous position.

[0012] A further improvement of the technical solution of the present invention is that the process of obtaining the environmental parameters and the crane working status is as follows:

[0013] Install anemometers and wind vanes on the top and around the nacelle of the wind turbine to capture current wind speed and direction data;

[0014] Install temperature and humidity sensors inside and outside the cabin to monitor changes in temperature and humidity in the cabin and surrounding environment;

[0015] The anemometer and wind vane convert the real-time measured wind speed and wind direction information into electrical signals and transmit them to the data processing module wirelessly;

[0016] The temperature and humidity sensor transmits the real-time measured temperature and humidity information to the data processing module wirelessly;

[0017] Status sensors are installed on key components of the crane, such as motors, reducers, and lifting ropes, to monitor the working status of the crane, such as the motor speed, the position and tension of the lifting ropes, etc. The real-time position of the lifting ropes is monitored through sensors to determine whether the hanging objects are at a safe height and position, thereby preventing accidents such as falling objects from high altitudes.

[0018] A further improvement of the technical solution of the present invention is that the process of extracting key features is:

[0019] Receive environmental data from the monitoring module and crane operating status data, and perform data cleaning, data conversion and data integration to form a unified data set, reduce redundant information, and facilitate subsequent analysis;

[0020] Extract key features and temperature and humidity change trends from the data set, perform feature extraction on wind speed data to obtain wind speed interference factors, perform feature extraction on wind direction data to obtain wind direction interference factors, and perform feature extraction on the working status of the crane to obtain the abnormal factors of the crane status;

[0021] The process of obtaining wind speed interference factors is as follows: analyzing wind speed data, extracting statistical characteristics of wind speed change such as frequency, amplitude, average value, standard deviation as wind speed interference factors;

[0022] The process of obtaining the wind direction interference factor is as follows: extracting the angle change, dominant wind direction, wind direction change frequency and other characteristics of the wind direction data as the wind direction interference factor;

[0023] The process of obtaining abnormal factors of crane status is as follows: extracting the crane's operating time, load conditions, fault records, etc. as status features, and using machine learning algorithms to identify abnormal factors in the working status, such as abnormal vibration, overheating, etc.;

[0024] According to the pre-processed environmental data and the working status data of the crane, the associated data of the wind speed interference factor and the wind direction interference factor are analyzed, which are the wind speed threshold data and the wind direction angle data respectively, and an analysis report is obtained;

[0025] Combining the correlation data of wind speed interference factor, wind direction interference factor and crane status abnormality factor, the wind speed interference index, wind direction interference index and crane status abnormality index are obtained respectively, and the wind speed interference index, wind direction interference index and crane status abnormality index are integrated to obtain the crane risk assessment coefficient.

[0026] A further improvement of the technical solution of the present invention is that the calculation formula of the wind speed interference index is:

[0027]

[0028] Among them, WI is the wind speed interference index, V is the current wind speed, V safeis the safe wind speed threshold, V max is the maximum wind speed, V min is the minimum value of wind speed, ΔV is the change of wind speed over a period of time, ΔV thresh is the threshold value of wind speed change;

[0029] The calculation formula of the wind direction interference index is:

[0030]

[0031] Among them, DI is the wind direction interference index, θ is the current wind direction angle, and θ pref is the optimal wind direction angle, Δθ is the change in wind direction over a period of time, θ thresh is the threshold value of wind direction change;

[0032] The calculation formula of the abnormal crane status index is:

[0033]

[0034] Among them, CI is the abnormality index of the crane status, S i is the current value of the i-th state parameter, S i，norm is the normal value of the i-th state parameter; S i , max is the maximum value of the i-th state parameter, S i , min is the minimum value of the i-th state parameter, and n is the total number of state parameters.

[0035] A further improvement of the technical solution of the present invention is that the calculation formula of the crane risk assessment coefficient is:

[0036]

[0037] Among them, RAC is the crane risk assessment coefficient, WI is the wind speed interference index, DI is the wind direction interference index, CI is the crane state abnormality index, α is the weight coefficient of wind direction interference, and β is the amplification coefficient of the crane state abnormality.

[0038] A further improvement of the technical solution of the present invention is that the process of determining the current crane operation environment is:

[0039] According to the analysis report, set a reasonable wind speed threshold and wind direction angle range as a reference standard for safe crane operation.

[0040] The wind speed interference index is compared with the preset wind speed threshold to determine whether the wind speed is suitable for operation. If the wind speed exceeds the safe range, a warning or stop operation instruction is issued. At the same time, the stability of wind direction and the impact on crane operation are analyzed. If a sudden change in wind direction may cause the crane to become unstable, timely measures must be taken. The working state parameters of the crane are comprehensively considered to determine whether the crane is in normal working condition. If an abnormality occurs, such as excessive load or excessive vibration, the operation must be stopped immediately and checked and repaired;

[0041] Summarize the judgment of wind speed, wind direction and crane working status, and output the judgment results.

[0042] When all judgment conditions are met, normal operation instructions are output to allow the crane to continue operating.

[0043] When conditions such as wind speed and wind direction are close to but have not exceeded the safety range, output restricted operation instructions, such as limiting the crane's operating height and speed.

[0044] When any condition such as wind speed, wind direction, temperature and humidity or crane status exceeds the safety range, a stop operation command is output;

[0045] According to the data set matching crane risk situation, different warning levels are determined, including low warning level, medium warning level, high warning level and emergency warning level, and the different warning levels are matched with the results of the crane risk assessment coefficient, and corresponding warning thresholds are set for different warning levels;

[0046] Arrange all crane risk assessment coefficient values ​​from high to low, assign a corresponding warning level to each value, make a warning assessment sequence, and list the corresponding relationship between the crane risk assessment coefficient and the warning level.

[0047] A further improvement of the technical solution of the present invention is that: the multiple warning levels correspond to multiple warning thresholds, wherein the warning thresholds include an upper threshold and a lower threshold;

[0048] The multiple warning levels and the multiple warning thresholds satisfy the following relationship:

[0049] Low alert level 0 <RAC≤L1;

[0050] Intermediate warning level L1 <RAC≤L2;

[0051] Advanced warning level L2 <RAC≤L3;

[0052] Emergency warning level L3 <RAC≤1;

[0053] Among them, RAC is the crane risk assessment coefficient, L1 is the upper threshold corresponding to the low warning level and the lower threshold corresponding to the intermediate warning level, L2 is the upper threshold corresponding to the intermediate warning level and the lower threshold corresponding to the high warning level, and L3 is the upper threshold corresponding to the high warning level and the lower threshold corresponding to the emergency warning level.

[0054] A further improvement of the technical solution of the present invention is that the process of controlling the rise and fall of the suspension rope is:

[0055] Receive the analysis report from the data processing module and the judgment result from the judgment module to determine the running state of the motor and the position of the suspension rope;

[0056] Based on the crane risk assessment coefficient, the judgment module confirms the environmental conditions and crane status, and the crane motor control module issues a start command to start the crane motor through electrical control. During the startup process, the crane motor control module monitors the motor's current, voltage and other parameters to ensure that the motor starts smoothly. The crane motor control module issues a command due to abnormal environmental data and crane working status, cuts off the power supply and sends a stop signal to stop the crane from operating;

[0057] The judgment module receives control instructions based on real-time analysis of environmental parameters and crane status. The crane motor control module controls the forward and reverse rotation of the motor and corresponding transmission mechanisms such as winches and pulleys to raise and lower the rope, and monitors the tension and position of the rope to ensure the safety and stability of the lifting and lowering process.

[0058] A further improvement of the technical solution of the present invention is that the process of sending the early warning signal and alarm information to the operator is:

[0059] Based on temperature and humidity sensors, anemometers, wind vanes, temperature and humidity sensors and status sensors, real-time monitoring of the environmental data of crane operations and the operating status of the crane;

[0060] The monitoring center and the judgment module evaluate the safety hazards of crane operations according to the preset safety thresholds and generate corresponding early warning signals;

[0061] Based on the early warning information, the alarm information is sent to the operator through other communication methods such as sound and light alarms, display screens and mobile devices, and the detailed information of the alarm event is recorded, including time, type, duration, etc.

[0062] The alarm information should include the specific type of danger, the degree of danger and the recommended response measures so that operators can respond quickly;

[0063] After receiving the alarm information, the operator takes corresponding measures and feedbacks the processing results.

[0064] Due to the adoption of the above technical solution, the present invention has the following technical advances compared with the prior art:

[0065] 1. The present invention provides a wind turbine nacelle crane safety control system, which integrates multiple sensors and real-time monitoring technologies to accurately sense the operating status and surrounding environment of the crane. When an abnormal situation is detected, the system immediately triggers an early warning or emergency shutdown mechanism, effectively avoiding the occurrence of accidents and reducing the risk of safety accidents caused by human misjudgment or equipment failure.

[0066] 2. The present invention provides a wind turbine cabin crane safety control system, which improves the safety of crane operations by real-time monitoring of key environmental parameters such as wind speed, wind direction, temperature, humidity, and the working status of the crane. The system automatically evaluates the safety of the working environment. Once it is found that the wind speed exceeds the safety threshold or the crane is in an unfavorable position, the system automatically issues an early warning and takes necessary control measures, thereby effectively avoiding accidents such as falling objects from high altitudes, object strikes, electric shocks, etc. caused by environmental factors, reducing the reliance on the operator's experience and judgment, and ensuring the safety of crane operations under complex and changeable environmental conditions.

[0067] 3. The present invention provides a wind turbine nacelle crane safety control system, which records the crane's operating data in real time, including working hours, load conditions, and fault records, providing a valuable reference for subsequent maintenance, helping to discover potential problems in advance and perform preventive maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0069] Figure 1 It is a module structure diagram of the present invention;

[0070] Figure 2 It is a flow chart for extracting the key features of the present invention;

[0071] Figure 3 It is a flow chart for judging the current crane operating environment of the present invention. DETAILED DESCRIPTION

[0072] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0073] Embodiment 1, as Figure 1-3 As shown, the present invention provides a wind turbine nacelle crane safety control system, including a monitoring center, the monitoring center is communicatively connected with a monitoring module, a data processing module, a judgment module, a crane motor control module and an alarm and prompt module, wherein the modules are connected with electrical signals;

[0074] The monitoring module is used to monitor the environmental data and the working status data of the crane in real time. The environmental data includes wind speed, wind direction, temperature and humidity. The working status information of the crane includes speed, rope position, load weight, etc., which provides the system with key and accurate environmental parameters and provides a basis for the decision-making and control of the system. The process of obtaining environmental parameters and the working status of the crane is as follows: an anemometer and wind vane are installed on the top and around the cabin of the wind turbine generator set to capture the current wind speed data and wind direction data; temperature and humidity sensors are installed inside and outside the cabin to monitor the temperature and humidity changes in the cabin and the surrounding environment; the anemometer and wind vane convert the real-time measured wind speed and wind direction information into electrical signals and transmit them to the data processing module wirelessly; the temperature and humidity sensor transmits the real-time measured temperature and humidity information to the data processing module wirelessly; state sensors are installed on key components of the crane, such as motors, reducers, ropes, etc., to monitor the working status of the crane, such as the speed of the motor, the position and tension of the ropes, etc., and the real-time position of the ropes is monitored through sensors to determine whether the hanging objects are at a safe height and position to prevent accidents such as falling objects from high altitudes;

[0075] The data processing module is used to receive data from the monitoring module, pre-process the received data, and extract key features, such as data fusion and anomaly detection. The process of extracting key features is as follows:

[0076] Receive environmental data and crane working status data from the monitoring module, and perform data cleaning, data conversion and data integration to form a unified data set, reduce redundant information, and facilitate subsequent analysis. Extract key features and temperature and humidity change trends from the data set, perform feature extraction on wind speed data to obtain wind speed interference factors, perform feature extraction on wind direction data to obtain wind direction interference factors, and perform feature extraction on the working status of the crane to obtain crane status abnormality factors. According to the preprocessed environmental data and crane working status data, analyze the associated data of wind speed interference factors and wind direction interference factors, which are wind speed threshold data and wind direction angle data, and obtain an analysis report. Combine the associated data of wind speed interference factors, wind direction interference factors and crane status abnormality factors to obtain wind speed interference index, wind direction interference index and crane status abnormality index, and integrate the wind speed interference index, wind direction interference index and crane status abnormality index to obtain the crane risk assessment coefficient.

[0077] Furthermore, the process of obtaining the wind speed interference factor is as follows: analyzing the wind speed data, extracting the statistical characteristics of the wind speed change, such as the frequency, amplitude, average value, and standard deviation, as the wind speed interference factor;

[0078] The process of obtaining the wind direction interference factor is as follows: extracting the angle change, dominant wind direction, wind direction change frequency and other characteristics of the wind direction data as the wind direction interference factor;

[0079] The process of obtaining abnormal factors of crane status is as follows: extracting the crane's operating time, load conditions, fault records, etc. as status features, and using machine learning algorithms to identify abnormal factors in the working status, such as abnormal vibration, overheating, etc.;

[0080] The judgment module is used to receive the key features output by the data processing module, judge the current crane operation environment, and compare it with the preset safe wind speed and wind direction standards and the direction of the high-voltage transmission lines around the wind turbine to judge whether the current environment is suitable for crane operation, providing a basis for control decisions; the process of judging the current crane operation environment is: according to the analysis report, set a reasonable wind speed threshold and wind direction angle range as a reference standard for safe crane operation, and compare the wind speed interference index with the preset wind speed threshold to judge whether the wind speed is suitable for operation. If the wind speed exceeds the safe range, a warning or stop operation instruction is issued. At the same time, the stability of the wind direction and the impact on the crane operation are analyzed. If a sudden change in wind direction may cause the crane to become unstable, timely measures must be taken, and the crane's working status parameters are comprehensively considered to determine whether the crane is in normal working condition. If an abnormality occurs, such as excessive load or excessive vibration, the operation must be stopped immediately and checked for maintenance. , summarize the judgment of wind speed, wind direction and crane working status, output the judgment result, when all judgment conditions are met, output normal operation instructions, allow the crane to continue to operate, when wind speed, wind direction and other conditions are close but not beyond the safety range, output restricted operation instructions, such as limiting the crane operation height, speed, etc., when any condition such as wind speed, wind direction, temperature and humidity or crane status exceeds the safety range, output stop operation instructions; match the crane risk situation according to the data set, determine different warning levels, respectively low warning level, medium warning level, high warning level and emergency warning level, and match different warning levels with the results of crane risk assessment coefficient, set corresponding warning thresholds for different warning levels; arrange all crane risk assessment coefficient values ​​in order from high to low, and assign corresponding warning levels to each value, make a warning assessment sequence, and list the corresponding relationship between crane risk assessment coefficient and warning level;

[0081] The crane motor control module is used to control the start, stop and forward and reverse rotation of the crane motor according to the results of the data processing module and the judgment module, and control the rise and fall of the suspension rope at the same time; the process of controlling the rise and fall of the suspension rope is: receiving the analysis report from the data processing module and the judgment result of the judgment module, determining the operating status of the motor and the position of the suspension rope, based on the crane risk assessment coefficient, the judgment module confirms the environmental conditions and the crane status, the crane motor control module issues a start command, and starts the crane motor to work through electrical control. During the startup process, the crane motor control module monitors the current, voltage and other parameters of the motor to ensure that the motor starts smoothly. The crane motor control module issues instructions due to abnormal environmental data and crane working status, cuts off the power supply and sends a stop signal to stop the crane from operating, and receives control instructions from the judgment module. These instructions are based on real-time analysis of environmental parameters and crane status. The crane motor control module controls the forward and reverse rotation of the motor and the corresponding transmission mechanisms such as winches and pulleys to make the suspension rope rise and fall, and monitors the tension and position of the suspension rope to ensure the safety and stability of the lifting and lowering process;

[0082] The alarm and prompt module is used to send warning signals and alarm information to the operator when unsafe environmental data is detected and the crane is in a dangerous position; the process of sending warning signals and alarm information to the operator is: based on temperature and humidity sensors, anemometers, wind vanes, temperature and humidity sensors and status sensors, the environmental data of the crane operation and the operating status of the crane are monitored in real time. The monitoring center and the judgment module evaluate the safety hazards of the crane operation according to the preset safety threshold and generate corresponding warning signals. Based on the warning information, the alarm information is sent to the operator through other communication methods such as sound and light alarms, display screens and mobile devices, and the detailed information of the alarm event, including time, type, duration, etc., is recorded. The alarm information should include the specific type of danger, degree of danger and recommended countermeasures so that the operator can respond quickly. After receiving the alarm information, the operator takes corresponding measures and feedbacks the processing results.

[0083] Furthermore, by real-time monitoring of key environmental parameters such as wind speed, wind direction, temperature, humidity, and the working status of the crane, the safety of crane operations is improved. The system automatically evaluates the safety of the working environment. Once the wind speed exceeds the safety threshold or the crane is in an unfavorable position, the system automatically issues an early warning and takes necessary control measures, thereby effectively avoiding accidents such as falling objects, object strikes, electric shocks, etc. caused by environmental factors, reducing reliance on the operator's experience and judgment, and ensuring the safety of crane operations under complex and changing environmental conditions.

[0084] Embodiment 2, as Figure 1-3 As shown, based on Example 1, the present invention provides a technical solution: Preferably, the calculation formula of the wind speed interference index is:

[0085]

[0086] Among them, WI is the wind speed interference index, V is the current wind speed, V safe is the safe wind speed threshold, V max is the maximum wind speed, V min is the minimum value of wind speed, ΔV is the change of wind speed over a period of time, ΔV thresh is the threshold value of wind speed change;

[0087] The calculation formula of wind direction interference index is:

[0088]

[0089] Among them, DI is the wind direction interference index, θ is the current wind direction angle, and θ pref is the optimal wind direction angle, Δθ is the change in wind direction over a period of time, θ thresh is the threshold value of wind direction change;

[0090] The calculation formula of the abnormal index of crane status is:

[0091]

[0092] Among them, CI is the abnormality index of the crane status, S i is the current value of the i-th state parameter, S i，norm is the normal value of the i-th state parameter; S i，max is the maximum value of the i-th state parameter, S i，min is the minimum value of the i-th state parameter, and n is the total number of state parameters;

[0093] Calculation formula for crane risk assessment coefficient:

[0094]

[0095] Among them, RAC is the crane risk assessment coefficient, WI is the wind speed interference index, DI is the wind direction interference index, CI is the crane state abnormality index, α is the weight coefficient of wind direction interference, and β is the amplification coefficient of the crane state abnormality;

[0096] Furthermore, multiple warning levels correspond to multiple warning thresholds, wherein the warning thresholds include an upper threshold and a lower threshold;

[0097] Multiple warning levels and multiple warning thresholds satisfy the following relationship:

[0098] Low alert level 0 <RAC≤L1;

[0099] Intermediate warning level: L1<RAC≤L2;

[0100] Advanced warning level L2<RAC≤L3;

[0101] Emergency warning level L3 <RAC≤1;

[0102] Among them, RAC is the crane risk assessment coefficient, L1 is the upper threshold corresponding to the low warning level and the lower threshold corresponding to the intermediate warning level, L2 is the upper threshold corresponding to the intermediate warning level and the lower threshold corresponding to the high warning level, and L3 is the upper threshold corresponding to the high warning level and the lower threshold corresponding to the emergency warning level.

[0103] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A wind turbine nacelle crane safety control system, comprising a monitoring center, characterized in that: The monitoring center is connected to the monitoring module, data processing module, judgment module, crane motor control module and alarm and prompt module in communication, wherein the modules are connected by electrical signals; The monitoring module is used to monitor environmental data and crane working status data in real time, wherein the environmental data includes wind speed, wind direction, temperature and humidity; The data processing module is used to receive data from the monitoring module, pre-process the received data, and extract key features; The judgment module is used to receive the key features output by the data processing module and judge the current crane operation environment; The crane motor control module is used to control the start, stop and forward and reverse rotation of the crane motor according to the results of the data processing module and the judgment module, and control the rise and fall of the suspension rope; The alarm and prompt module is used to send a warning signal and alarm information to the operator when unsafe environmental data is detected and the crane is in a dangerous position.

2. A wind turbine nacelle crane safety control system according to claim 1, characterized in that: The process of obtaining the environmental parameters and the crane working status is as follows: Install anemometers and wind vanes on the top and around the nacelle of the wind turbine to capture current wind speed and direction data; Install temperature and humidity sensors inside and outside the cabin to monitor changes in temperature and humidity in the cabin and surrounding environment; The anemometer and wind vane convert the real-time measured wind speed and wind direction information into electrical signals and transmit them to the data processing module wirelessly; The temperature and humidity sensor transmits the real-time measured temperature and humidity information to the data processing module wirelessly; Install status sensors on key components of the crane to monitor the working status of the crane.

3. A wind turbine nacelle crane safety control system according to claim 2, characterized in that: The process of extracting key features is as follows: Receive environmental data from the monitoring module and crane operating status data, and perform data cleaning, data conversion and data integration to form a unified data set; Extract key features and temperature and humidity change trends from the data set, perform feature extraction on wind speed data to obtain wind speed interference factors, perform feature extraction on wind direction data to obtain wind direction interference factors, and perform feature extraction on the working status of the crane to obtain the abnormal factors of the crane status; According to the pre-processed environmental data and the working status data of the crane, the associated data of the wind speed interference factor and the wind direction interference factor are analyzed, which are the wind speed threshold data and the wind direction angle data respectively, and an analysis report is obtained; Combining the correlation data of wind speed interference factor, wind direction interference factor and crane status abnormality factor, the wind speed interference index, wind direction interference index and crane status abnormality index are obtained respectively, and the wind speed interference index, wind direction interference index and crane status abnormality index are integrated to obtain the crane risk assessment coefficient.

4. A wind turbine nacelle crane safety control system according to claim 3, characterized in that: The calculation formula of the wind speed interference index is: Among them, WI is the wind speed interference index, V is the current wind speed, V safe is the safe wind speed threshold, V max is the maximum wind speed, V min is the minimum value of wind speed, ΔV is the change of wind speed over a period of time, ΔV thresh is the threshold value of wind speed change; The calculation formula of the wind direction interference index is: Among them, DI is the wind direction interference index, θ is the current wind direction angle, and θ pref is the optimal wind direction angle, Δθ is the change in wind direction over a period of time, θ thresh is the threshold value of wind direction change; The calculation formula of the abnormal crane status index is: Among them, CI is the abnormality index of the crane status, S i is the current value of the i-th state parameter, S i,norm is the normal value of the i-th state parameter; S i,max is the maximum value of the i-th state parameter, S i,min is the minimum value of the i-th state parameter, and n is the total number of state parameters.

5. A wind turbine nacelle crane safety control system according to claim 4, characterized in that: The calculation formula of the crane risk assessment coefficient is: Among them, RAC is the crane risk assessment coefficient, WI is the wind speed interference index, DI is the wind direction interference index, CI is the crane state abnormality index, α is the weight coefficient of wind direction interference, and β is the amplification coefficient of the crane state abnormality.

6. A wind turbine nacelle crane safety control system according to claim 5, characterized in that: The process of judging the current crane operation environment is as follows: According to the analysis report, set a reasonable wind speed threshold and wind direction angle range; Compare the wind speed interference index with the preset wind speed threshold to determine whether the wind speed is suitable for operation. Analyze the stability of wind direction and its impact on crane operation. Combined with the working status of the crane, determine whether the crane is in normal working condition. Summarize the judgments of wind speed, wind direction and crane working status, and output the judgment results; According to the data set matching crane risk situation, different warning levels are determined, namely low warning level, medium warning level, high warning level and emergency warning level. The different warning levels are matched with the results of the crane risk assessment coefficient, and corresponding warning thresholds are set for different warning levels.

7. A wind turbine nacelle crane safety control system according to claim 6, characterized in that: A plurality of the warning levels correspond to a plurality of the warning thresholds, wherein the warning thresholds include an upper threshold and a lower threshold; The multiple warning levels and the multiple warning thresholds satisfy the following relationship: Low alert level 0 <RAC≤L1; Intermediate warning level L1 <RAC≤L2; Advanced warning level L2 <RAC≤L3; Emergency warning level L3 <RAC≤1; Among them, RAC is the crane risk assessment coefficient, L1 is the upper threshold corresponding to the low warning level and the lower threshold corresponding to the intermediate warning level, L2 is the upper threshold corresponding to the intermediate warning level and the lower threshold corresponding to the high warning level, and L3 is the upper threshold corresponding to the high warning level and the lower threshold corresponding to the emergency warning level.

8. A wind turbine nacelle crane safety control system according to claim 7, characterized in that: The process of controlling the rise and fall of the suspension rope is as follows: Receive the analysis report from the data processing module and the judgment result from the judgment module to determine the running state of the motor and the position of the suspension rope; Based on the risk assessment coefficient of the crane, the judgment module confirms the environmental conditions and the crane status, and the crane motor control module issues a start command to start the crane motor through electrical control. The crane motor control module issues a command due to abnormal environmental data and the crane working status, cuts off the power supply and sends a stop signal to stop the crane from operating; The crane motor control module receives control instructions from the judgment module, and controls the forward and reverse rotation of the motor to raise and lower the rope, and monitors the tension and position of the rope.

9. A wind turbine nacelle crane safety control system according to claim 1, characterized in that: The process of sending the early warning signal and alarm information to the operator is as follows: Based on temperature and humidity sensors, anemometers, wind vanes, temperature and humidity sensors and status sensors, real-time monitoring of the environmental data of crane operations and the operating status of the crane; The monitoring center and the judgment module evaluate the safety hazards of crane operations according to the preset safety thresholds and generate corresponding early warning signals; Based on the early warning information, the system sends alarm information to operators through sound and light alarms, display screens and mobile devices, and records detailed information of the alarm event; After receiving the alarm information, the operator takes corresponding measures and feedbacks the processing results.

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