Detection system, foundation, wind generating set and monitoring method

Abstract

The invention relates to a detection system, a foundation, a wind generating set and a monitoring method, the detection system is used for the wind generating set, the wind generating set comprises a pile foundation, and the detection system comprises a guide rail which is integrally annular and can be arranged around the pile foundation; the detection assembly comprises a moving part and a detection part arranged on the moving part, the moving part is movably connected with the guide rail and can move relative to the guide rail in the circumferential direction of the guide rail, and the detection part is configured to detect environmental information of a sea area where the pile foundation is located; the maintenance assembly comprises a lifting appliance and a driving part, the lifting appliance is used for bearing the detection assembly, and the driving part is connected with the lifting appliance and can drive the lifting appliance to reciprocate in the axial direction of the guide rail. The detection system can ensure the basic detection requirements of the wind turbine generator, and is low in damage rate and beneficial to maintenance.

Description

Technical Field

[0001] The present application relates to the field of wind power technology, and in particular to a detection system, a foundation, a wind turbine generator set and a monitoring method. Background Art

[0002] Under the long-term scouring of ocean currents and waves, scour pits of various shapes are formed on the seabed mud surface of the offshore wind power foundation, which reduces the rigidity of the foundation and the entire structure, and has an adverse impact and hidden dangers on the safety of wind turbines. The detection system can monitor the seabed scour around the pile foundation, identify and solve the hazards caused by scour in a timely manner, and help prevent disasters and ensure the normal operation of wind turbines. Scour monitoring is particularly important for offshore wind power pile foundations.

[0003] However, in the detection method of the existing detection system, the components of the detection system are in seawater for a long time, have a short service life and are not conducive to maintenance. Summary of the invention

[0004] The embodiments of the present application provide a detection system, a foundation, a wind turbine generator set and a monitoring method. The detection system can ensure the detection requirements of the foundation of the wind turbine generator set, has a low damage rate and is easy to maintain.

[0005] On the one hand, according to an embodiment of the present application, a detection system is proposed for a wind turbine generator set, wherein the wind turbine generator set includes a pile foundation, and the detection system includes: a guide rail, which is generally annular and can be arranged around the pile foundation; a detection component, including a moving part and a detection component arranged on the moving part, the moving part is movably connected to the guide rail and can move relative to the guide rail along the circumference of the guide rail, and the detection component is configured to detect environmental information of the sea area where the pile foundation is located; a maintenance component, including a hanger and a driving component, the hanger is used to carry the detection component, and the driving component is connected to the hanger and can drive the hanger to reciprocate along the axial direction of the guide rail.

[0006] According to one aspect of the embodiment of the present application, the guide rail is discontinuously arranged in the circumferential direction and has a gap, and at least a portion of the hanger can extend into the gap and dock with the guide rail.

[0007] According to one aspect of an embodiment of the present application, the lifting device includes a docking rail and a lifting portion. Along the circumferential direction, the cross-sectional shape of the docking rail is the same as the cross-sectional shape of the guide rail, and the extended dimension of the docking rail matches the opening width of the notch and can dock with the guide rail, so that the detection component can be moved from the guide rail to the docking rail, and the lifting portion is connected to the driving member.

[0008] According to one aspect of the embodiment of the present application, the maintenance assembly also includes a guide rail extending axially, and the hanger is movably connected to the guide rail.

[0009] According to one aspect of the embodiment of the present application, the guide rail has a guide section and a clamping section. Along the radial direction of the guide rail, the cross-sectional size of the clamping section gradually increases, and the hanger is slidably connected to the clamping section.

[0010] According to one aspect of an embodiment of the present application, the detection system also includes a support portion, which includes a plurality of support rods distributed along the circumferential direction, one end of each support rod is connected to the guide rail and the other end can be connected to the pile foundation, and the detection component is at least partially arranged to surround the guide rail and is movably connected to the guide rail.

[0011] According to one aspect of an embodiment of the present application, the moving part includes a mobile robot and a telescopic part arranged on the mobile robot, the mobile robot is movably connected to the guide rail, the telescopic part is telescopic in the axial direction, and the detection part is connected to the telescopic part.

[0012] According to one aspect of an embodiment of the present application, the mobile robot includes a support frame, walking wheels and a power source arranged on the support frame, the power source is connected to the walking wheels and can drive the walking wheels to move circumferentially relative to the guide rail, and the telescopic member is connected to the support frame.

[0013] According to one aspect of the embodiments of the present application, the mobile robot further includes a locking component, which is disposed on the support frame and can be frictionally braked with the guide rail.

[0014] According to one aspect of an embodiment of the present application, the telescopic member includes a telescopic cylinder; or, the telescopic member includes a base, a reel and a sleeve-type telescopic portion, the base is connected to the sleeve-type telescopic portion and drives the sleeve-type telescopic portion to extend or shorten, and the reel is arranged at the base and is used to wind or release a cable electrically connected to the detection component.

[0015] According to one aspect of the embodiment of the present application, the maintenance assembly further includes a maintenance platform, which is spaced apart from the guide rail in the axial direction and is located on the moving path of the spreader.

[0016] According to one aspect of an embodiment of the present application, the detection component includes a water depth detector, and the environmental information includes distance information from the soil layer in the sea area where the pile foundation is located to the water depth detector.

[0017] According to one aspect of an embodiment of the present application, the detection component also includes a water temperature sensor, and the environmental information also includes temperature information of the sea area where the pile foundation is located; and / or, the detection component also includes a water entry sensor, and in the axial direction, the water entry sensor and the water depth detector are arranged at the same height.

[0018] On the other hand, according to an embodiment of the present application, a foundation of a wind turbine is provided, comprising: a pile foundation; the above-mentioned detection system, wherein a guide rail is sleeved on the pile foundation and connected to the pile foundation.

[0019] In yet another aspect, according to an embodiment of the present application, there is provided a wind turbine generator set, comprising the above-mentioned foundation.

[0020] In another aspect, according to an embodiment of the present application, a monitoring method is used for the foundation of the above-mentioned wind turbine generator set, and the monitoring method includes:

[0021] Determine multiple test points distributed along the circumference of the foundation of the wind turbine;

[0022] Control the moving part to drive the detection part to move relative to the guide rail along the circumferential direction, so that the detection component passes through each test point in turn and obtains the environmental information of the wind power foundation at each test point;

[0023] The detection component is controlled to move to the hanger, and the driving member is controlled to drive the hanger to drive the detection component to move axially away from the foundation of the wind turbine generator set to a predetermined position to perform maintenance on the detection component.

[0024] According to the detection system, foundation, wind turbine generator set and monitoring method provided by the embodiment of the present application, the detection system includes a guide rail, a detection component and a maintenance component, which are annular and arranged around the pile foundation as a whole. The detection component includes a moving part and a detection part arranged on the moving part, and the detection part is configured to detect the environmental information of the sea area where the pile foundation is located to monitor the seabed scour around the pile foundation. Since the moving part is movably connected to the guide rail and can move relative to the guide rail along the circumference of the guide rail, the moving part can drive the detection part to comprehensively monitor the environmental information of the sea area where the pile foundation is located, and the monitoring data is more accurate. The maintenance component is set and includes a hanger and a driving part. The detection component can be carried by the hanger, and the driving part can drive the hanger to move back and forth along the axial direction of the guide rail, so that after the detection component monitors the environmental information around the pile foundation, the hanger can be driven by the driving part to move axially, so that the detection component is separated from the seawater to avoid long-term seawater immersion affecting its safety, and it can be moved to a predetermined height along the axial direction, which is conducive to the maintenance of the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The features, advantages and technical effects of exemplary embodiments of the present application will be described below with reference to the accompanying drawings.

[0026] Figure 1 is a structural schematic diagram of a wind turbine generator set according to an embodiment of the present application;

[0027] Figure 2 This is a schematic diagram of the structure of a wind turbine generator system according to an embodiment of the present application when the detection component cooperates with the guide rail;

[0028] Figure 3 This is a schematic diagram of the structure of a wind turbine generator system according to an embodiment of the present application when a detection component and a maintenance component cooperate with each other;

[0029] Figure 4 yes Figure 2 The cross-sectional view along the AA direction;

[0030] Figure 5 It is a structural schematic diagram of a sling according to an embodiment of the present application;

[0031] Figure 6 yes Figure 3 The cross-sectional view along the BB direction;

[0032] Figure 7 is a schematic structural diagram of a telescopic member of another embodiment of the present application;

[0033] Figure 8 is an operation logic diagram of a detection system according to an embodiment of the present application;

[0034] Fig. 9 It is a flow chart of a monitoring method according to an embodiment of the present application;

[0035] Fig.10 This is a control principle diagram of a basic method for monitoring a wind turbine generator system according to an embodiment of the present application.

[0036] in:

[0037] 1- Foundation;

[0038] 10-guide rail; 11-notch;

[0039] 20-Detection component;

[0040] 21-moving member; 211-mobile robot; 211a-support frame; 211b-travel wheel; 211c-power source; 211d-locking member; 212-telescopic member; 212a-base; 212b-reel; 212c-sleeve-type telescopic part;

[0041] 22-detection component; 221-water depth detector; 222-water temperature sensor; 223-water entry sensor;

[0042] 30-Maintenance components;

[0043] 31-lifting device; 311-docking rail; 312-lifting part; 32-driving member; 33-guide rail; 331-guiding section; 332-clamping section; 34-maintenance platform;

[0044] 40-supporting part;

[0045] 200-pile foundation; 201-support pile; 202-cage; 203-mooring pile;

[0046] 2-tower; 3-nacelle; 4-generator; 5-impeller; 510-hub; 520-blade;

[0047] X-circumferential; Y-axial; Z-radial.

[0048] In the drawings, the same reference numerals are used for the same components. The drawings are not drawn to scale. DETAILED DESCRIPTION

[0049] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In the detailed description below, many specific details are proposed to provide a comprehensive understanding of the present application. However, it is obvious to those skilled in the art that the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating examples of the present application. In the accompanying drawings and the following description, at least some of the known structures and technologies are not shown to avoid unnecessary ambiguity in the present application; and, for clarity, the size of some structures may be exaggerated. In addition, the features, structures or characteristics described below may be combined in one or more embodiments in any suitable manner.

[0050] The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of the detection system, foundation, wind turbine generator set and monitoring method of this application. In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" 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 directly connected or indirectly connected. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0051] The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of the pile foundation monitoring system, foundation, wind turbine generator set and monitoring method of this application. In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" 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 directly connected or indirectly connected. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0052] See also Figure 1The embodiment of the present application provides a wind turbine generator set, including a foundation 1, a tower 2, a nacelle 3, a generator 4 and an impeller 5. The tower 2 is connected to the foundation 1, the nacelle 3 is arranged at the top of the tower 2, and the generator 4 is arranged in the nacelle 3. In some examples, the generator 4 can be located outside the nacelle 3. The impeller 5 includes a hub 510 and a plurality of blades 520 connected to the hub 510, and the impeller 5 is connected to the rotor of the generator 4 through the hub 510. When the wind acts on the blades 520, the entire impeller 5 and the rotor of the generator 4 are driven to rotate, thereby meeting the power generation requirements of the wind turbine generator set. Figure 1 It is only used for exemplary description and is not intended to limit the solution of the present application. In specific applications, the solution of the present application is also applicable to a wind turbine generator set in which the generator is placed in the nacelle.

[0053] In order to ensure the safety performance of the wind turbine generator set, it is very necessary to ensure the stability of its foundation 1. Especially for offshore wind turbine generator sets, they must not only withstand the effect of wind energy, but also withstand the impact of seawater, so the safety performance of their foundation 1 is required to be higher.

[0054] See also Figure 2 To this end, an embodiment of the present application further provides a foundation 1 of a wind turbine unit, including a pile foundation 200 , and the pile foundation 200 is connected to a tower 2 .

[0055] Optionally, the pile foundation 200 may include a supporting pile 201 and a cage 202 disposed on the supporting pile 201, and the pile foundation 200 may be connected to the tower 2 via the supporting pile 201. The cage 202 may be disposed on the outer periphery of the supporting pile 201 and connected to the supporting pile 201 in a fixed manner or in a detachable manner. Optionally, a mooring pile 203 may be disposed on the cage 202.

[0056] Since the pile foundation 200 is under the scouring effect of ocean currents and waves for a long time, scouring pits of various shapes are formed on the seabed mud surface of the pile foundation 200, which reduces the rigidity of the pile foundation 200 and the entire structure, and brings adverse effects and hidden dangers to the safety of the wind turbine generator set. Scour detection technology can monitor the seabed scour around the pile foundation 200, identify and solve the hazards caused by scour in a timely manner, and help prevent disasters and ensure the normal operation of the generator set. Scour monitoring is particularly important for offshore wind power pile foundations.

[0057] However, the detection method of the existing detection system requires that the detection device be in seawater for a long time, which is easily affected by seawater scouring and corrosion. At the same time, when the wave current is large, it is easy to be hit by sand and stones, which is easy to be damaged and has a short service life. Moreover, when damage occurs, it is not conducive to maintenance.

[0058] Based on this, the present application provides a detection system that can be used for the foundation 1 of the wind turbine provided in the above embodiment, and can also be produced and sold as an independent product. The detection system can meet the detection requirements of the foundation 1 of the wind turbine, has a low damage rate and is easy to maintain.

[0059] like Figures 2 to 4 As shown, the detection system provided by the embodiment of the present application includes a guide rail 10, a detection component 20 and a maintenance component 30. The guide rail 10 is annular as a whole and can be arranged around the pile foundation 200. The detection component 20 includes a moving part 21 and a detection part 22 arranged on the moving part 21. The moving part 21 is movably connected to the guide rail 10 and can move relative to the guide rail 10 along the circumferential direction X of the guide rail 10. The detection part 22 is configured to detect environmental information of the sea area where the pile foundation 200 is located. The maintenance component 30 includes a sling 31 and a driving part 32. The sling 31 is used to carry the detection component 20. The driving part 32 is connected to the sling 31 and can drive the sling 31 to reciprocate along the axial direction Y of the guide rail 10.

[0060] Optionally, the guide rail 10 may be connected to the cage 202 of the pile foundation 200 and may be fixedly connected to the cage 202 by welding. Of course, the guide rail 10 may also be connected by a detachable connection method such as fastening with fasteners.

[0061] The moving part 21 included in the detection component 20 can be a mobile car or a walking robot, and can be in the form of a mechanical structure or an automatic control method. The detection part 22 can be used to detect the information required by the pile foundation 200, such as water depth information and temperature information, to feedback the shape and appearance around the pile foundation 200.

[0062] The lifting device 31 can be used to place the detection assembly 20 so that the detection assembly 20 can be separated from the guide rail 10 and moved with the lifting device 31 to be separated from the seawater.

[0063] The detection system provided in the embodiment of the present application includes a guide rail 10, a detection component 20 and a maintenance component 30, which are annular as a whole and are arranged around the pile foundation 200. The detection component 20 includes a moving part 21 and a detection part 22 arranged on the moving part 21. The detection part 22 is configured to detect environmental information of the sea area where the pile foundation 200 is located, so as to monitor the seabed scour around the pile foundation 200. Since the moving part 21 is movably connected to the guide rail 10 and can move relative to the guide rail 10 along the circumferential direction X of the guide rail 10, the moving part 21 can drive the detection part 22 to comprehensively monitor the environmental information around the pile foundation 200, and the monitoring data is more accurate. The maintenance component 30 is set up so that it includes a hanger 31 and a driving member 32. The detection component 20 can be carried by the hanger 31, and the driving member 32 can drive the hanger 31 to reciprocate along the axial direction Y of the guide rail 10, so that after the detection component 20 completes the monitoring of the sea conditions around the pile foundation 200, the hanger 31 can be driven by the driving member 32 to move along the axial direction Y, so that the detection component 20 is separated from the seawater to avoid long-term immersion in seawater affecting its safety, and can be moved to a predetermined height along the axial direction Y, which is convenient for maintenance by operators.

[0064] In some optional embodiments, in the detection system provided by the embodiments of the present application, the guide rail 10 is disconnected in the circumferential direction X and forms a notch 11 , and the hanger 31 can at least partially extend into the notch 11 and dock with the guide rail 10 .

[0065] The hanger 31 can partially extend into the notch 11 and dock with the guide rail 10 , so that the guide rail 10 and the hanger 31 form a complete ring structure.

[0066] The detection system provided in the embodiment of the present application ensures that the moving member 21 can drive the detection member 22 to move in the circumferential direction X in a complete circle by making the guide rail 10 disconnected in the axial direction Y and forming a gap 11, and at the same time making the hanger 31 at least partially extend into the gap 11 and dock with the guide rail 10, thereby ensuring that the moving member 21 can drive the detection member 22 to move in the circumferential direction X, thereby ensuring the integrity and accuracy of the environmental information monitoring around the pile foundation 200. At the same time, the above-mentioned setting is also conducive to the moving member 21 driving the detection member 22 to move from the guide rail 10 to the hanger 31, and is conducive to the switching of the moving member 21 on the hanger 31 and the guide rail 10.

[0067] like Figures 2 to 5 As shown, in some optional embodiments, the detection system provided by the embodiments of the present application, the hanger 31 includes a docking rail 311 and a hoisting portion 312, along the circumferential direction X, the cross-sectional shape of the docking rail 311 is the same as the cross-sectional shape of the guide rail 10, and the extension dimension of the docking rail 311 matches the opening width of the notch 11 and can be docked with the guide rail 10, so that the detection component 20 can be moved from the guide rail 10 to the docking rail 311, and the hoisting portion 312 is connected to the driving member 32.

[0068] When the cross-sectional shape of the guide rail 10 in the circumferential direction X is T-shaped, the cross-sectional shape of the docking rail 311 is also T-shaped. When the interface shape of the guide rail 10 in the circumferential direction X is cross-shaped, the cross-sectional shape of the docking rail 311 is also cross-shaped.

[0069] In the detection system provided in the embodiment of the present application, the hanger 31 adopts the above-mentioned structural form, which is conducive to docking and separation with the guide rail 10 through the docking rail 311, and facilitates the movement of the movable member 21 on the guide rail 10 and the docking rail 311. The setting of the lifting part 312 is conducive to connection with the driving member 32, and the driving member 32 drives the hanger 31 and the detection component 20 to move along the axial direction Y.

[0070] When the detection component 20 completes the detection of the surrounding information of the pile foundation 200, the moving part 21 can drive the detection part 22 to move on the guide rail 10 to the docking rail 311 along the circumferential direction X, and then drive the hanger 31 to move along the axial direction Y through the driving part 32, so that the docking rail 311 drives the detection component 20 to separate from the guide rail 10 and rise to a predetermined height along the axial direction Y, which can ensure separation from seawater and prevent seawater from corroding and damaging the detection component 20 for a long time, and at the same time avoid impacts such as sand and stones, thereby improving the stability of the detection system.

[0071] Moreover, after the detection assembly 20 rises to the corresponding position, it is separated from the seawater, which makes it convenient for operators to maintain it, and when a component is damaged, it is also convenient to replace the component. When it is necessary to detect again, the driving member 32 can drive the hanger 31 to descend along the axial direction Y to the height of the guide rail 10, and the docking rail 311 is docked with the guide rail 10, and the moving member 21 can drive the detection member 22 to move to the guide rail 10 again, and move on the guide rail 10 to realize the detection of the sea area information around the pile foundation 200.

[0072] Optionally, the lifting part 312 can adopt an L-shaped beam structure, including two intersecting beam structures, one of which is connected to the docking rail 311, and the other is spaced apart from and opposite to the docking rail 311 in the axial direction Y, and a lifting ring can be provided on the beam structure to connect with the driving member 32.

[0073] In the detection system provided in the embodiment of the present application, the hoisting part 312 adopts the above-mentioned structure, which can not only ensure the connection requirements between the docking rail 311 and the driving member 32, but also has a simple structure and high strength.

[0074] like Figures 2 to 5 As shown, in some optional embodiments, in the detection system provided by the embodiments of the present application, the maintenance component 30 also includes a guide rail 33 extending along the axial direction Y, and the hanger 31 is movably connected to the guide rail 33.

[0075] The number of the guide rails 33 may be one or more than two. When there are more than two guide rails 33 , the more than two guide rails 33 may be distributed along the circumferential direction X.

[0076] A slide groove matching the shape of the guide rail 33 may be provided on the hanger 31 . Of course, a slider slidably matched with the guide rail 33 may also be provided on the hanger 31 .

[0077] The detection system provided in the embodiment of the present application can provide a guide rail 33 extending along the axial direction Y so that when the driving member 32 drives the hanger 31 to move along the axial direction Y, the guide rail 33 can provide guidance, thereby preventing the hanger 31 from shaking when driving the detection component 20 to move along the axial direction Y, thereby preventing the hanger 31 from colliding with the pile foundation 200 or even shaking too much to cause the detection component 20 to separate from the hanger 31. The stability and safety of the movement of the detection component 20 driven by the hanger 31 in the process of rising or falling along the axial direction Y are improved.

[0078] like Figure 6 As shown, in some optional embodiments, the detection system provided by the embodiments of the present application, the guide rail 33 has a guide section 331 and a clamping section 332, along the radial direction Z of the guide rail 10, the cross-sectional size of the clamping section 332 gradually increases, and the hanger 31 is slidably connected to the clamping section 332.

[0079] The guiding section 331 may be a solid or hollow tubular structure, the clamping section 332 may be a solid or hollow tubular structure, and the clamping section 332 may be a solid or hollow tubular structure.

[0080] Since the guide rail 10 is annular, the radial Z of the guide rail 10 can be understood as the annular track where the guide rail 10 is located, or as the radial Z of the pile foundation 200. The end face area of ​​the clamping section 332 facing the guide section 331 is smaller than the end face area away from the guide section 331.

[0081] In the detection system provided in the embodiment of the present application, the guide rail 33 adopts the above-mentioned structural form, which can not only ensure the guiding effect on the hanger 31 along the axial direction Y, but also limit the hanger 31 in the radial direction Z to prevent the hanger 31 from separating from the guide rail 33 during the movement along the axial direction Y.

[0082] In some optional embodiments, the detection system provided by the embodiment of the present application, the guide section 331 can be a square tubular structure, and the clamping section 332 can be an isosceles trapezoidal tubular structure with a shorter top edge connected to the guide section 331. The above arrangement facilitates the forming of the guide rail 33, and the guiding of the hanger 31 in the axial direction Y and the limiting effect in the radial direction Z.

[0083] like Figures 2 to 6As shown, in some optional embodiments, the detection system provided by the embodiments of the present application further includes a support portion 40, the support portion 40 includes a plurality of support rods distributed along the circumferential direction X, one end of each support rod is connected to the guide rail 10 and the other end is configured to be connected to the pile foundation 200, and the detection component 20 is at least partially arranged to surround the guide rail 10 and is movably connected to the guide rail 10.

[0084] The support rods of the support part 40 and the guide rail 10 can be connected to each other by welding, plug connection or thread connection. One end of each support rod away from the guide rail 10 can be connected to the cage 202 of the pile foundation 200.

[0085] The detection system provided in the embodiment of the present application, by making the detection system also include a support part 40, can use the support rods of the support part 40 to support the guide rail 10, so that the guide rail 10 can be indirectly connected to the pile foundation 200 through the support part 40 and a gap is formed between the pile foundation 200, thereby ensuring the smooth movement of the moving part 21 on the guide rail 10 and avoiding the pile foundation 200 from interfering with the movement of the moving part 21.

[0086] In some optional embodiments, the detection system provided in the embodiments of the present application, the moving part 21 includes a mobile robot 211 and a telescopic part 212 arranged on the mobile robot 211, the mobile robot 211 is movably connected to the guide rail 10, the telescopic part 212 is telescopic in the axial direction Y, and the detection part 22 is connected to the telescopic part 212.

[0087] The mobile robot 211 may be an existing remotely controllable robot, or a mobile device with controllable moving time, moving speed, moving direction, etc. The telescopic member 212 includes but is not limited to a hydraulic cylinder, a pneumatic cylinder, an electric cylinder, etc.

[0088] In the detection system provided in the embodiment of the present application, the moving part 21 is in the form of a mobile robot 211 and a telescopic part 212, and the mobile robot 211 can drive the detection part 22 to move, which is conducive to automatic control. In addition, the telescopic part 212 is set and stretched along the axial direction Y, so that the height of the detection part 22 in the axial direction Y can be controlled by the telescopic part 212, which is suitable for the detection of the surrounding environment information of the pile foundation 200 under different sea level heights. In addition, when the time between two adjacent detections is short, the position of the detection part 22 in the axial direction Y can be adjusted in a small range by controlling the telescopic part 212 to separate it from the sea water, thereby optimizing the performance of the detection system.

[0089] Stay Engaged Figures 2 to 4As shown, in some optional embodiments, the detection system provided by the embodiments of the present application, the mobile robot 211 includes a support frame 211a and a walking wheel 211b and a power source 211c arranged on the support frame 211a, the power source 211c is connected to the walking wheel 211b and can drive the walking wheel 211b to move along the circumferential direction X relative to the guide rail 10, and the telescopic member 212 is connected to the support frame 211a.

[0090] There may be multiple running wheels 211b, and multiple running wheels 211b can realize multi-point support between the support frame 211a and the guide rail 10, ensuring the stability of the mobile robot 211 when moving along the guide rail 10. The power source 211c includes but is not limited to a drive motor, a transmission assembly, etc., which can be directly or indirectly connected to the running wheel 211b to drive the running wheel to rotate and move along the guide rail 10. In some optional embodiments, when the detection system is used in a wind turbine generator set, the power source 211c can be connected to the electrical cabinet of the wind turbine generator set and obtain electrical energy. Of course, an additional battery can also be provided, which can be charged by wired or wireless charging.

[0091] In the detection system provided in the embodiment of the present application, the mobile robot 211 adopts the above-mentioned structural form, which can not only ensure the movable connection requirement between the guide rail 10, but also reduce the friction resistance during movement, ensuring the stability and smoothness of movement. At the same time, the setting of the power source 211c can provide running power for the walking wheel 211b.

[0092] Optionally, the cross-sectional shape of the guide rail 10 in the circumferential direction can be a cross shape, and the support frame 211a can be provided with a mounting groove whose shape matches the shape of the guide rail 10. The guide rail 10 can be located in the mounting groove and roll with the support frame 211a through the walking wheel 211b.

[0093] In some optional embodiments, in the detection system provided by the embodiments of the present application, the mobile robot 211 further includes a locking component 211 d , which is disposed on the support frame 211 a and can be frictionally braked with the guide rail 10 .

[0094] For example, the locking component 211d may be provided with a friction disk or the like that can contact and frictionally engage with the guide rail 10 .

[0095] The detection system provided in the embodiment of the present application makes the mobile robot 211 also include a locking component 211d, so that when the moving member 21 drives the detection member 22 to move to the predetermined position along the circumferential direction X, the mobile robot 211 can be locked at the predetermined position through the locking component 211d, thereby avoiding the movement of the detection member 22 during the detection process, which may cause inaccurate detection information.

[0096] Optionally, the locking component 211d may be in the form of a telescopic cylinder with a brake disc. When braking is required, the telescopic cylinder may be used to drive the brake disc to move toward the guide rail 10 and abut against the guide rail 10 to brake the moving part.

[0097] In some optional embodiments, in the detection system provided by the embodiments of the present application, the telescopic member 212 may include a telescopic cylinder, which may be a pneumatic cylinder, a hydraulic cylinder or an electric cylinder, with a simple structure and high stability.

[0098] like Figure 7 As shown, of course, this is an optional embodiment. In some embodiments, the telescopic member 212 may also include a base 212a, a reel 212b and a sleeve-type telescopic portion 212c. The base 212a is connected to the sleeve-type telescopic portion 212c and drives the sleeve-type telescopic portion 212c to extend or shorten. The reel 212b is disposed on the base 212a and is used to wind or release a cable electrically connected to the detection component. Through the above arrangement, the telescopic member 212 can also be extended and retracted.

[0099] Stay Engaged Figures 2 to 4 As shown, in some optional embodiments, in the detection system provided by the embodiments of the present application, the detection component 22 includes a water depth detector 221, and the environmental information includes distance information from the soil layer of the sea area where the pile foundation is located to the water depth detector 221.

[0100] By making the detection component 22 include a water depth detector 221, the environmental information includes the distance information from the soil layer of the sea area where the pile foundation 200 is located to the water depth detector 221, and the distance information from the soil layer of the sea area where the pile foundation 200 is located to the water depth detector 221 can be obtained, and then the distance information within the detection area can be fed back, and the topography of the sea area where the pile foundation 200 is located can be effectively obtained to obtain the thickness of the soil layer, scouring conditions, etc.

[0101] Optionally, the water depth detector 221 may include a high water level sensor, a middle water level sensor, and a medium water level sensor to meet the detection requirements of different water levels.

[0102] As an optional implementation, the water depth detector 221 may include a multi-beam depth sounder, which is a device that uses multiple sound waves to emit, and then reflect back from the seabed or obstacles. The detector can receive the signal and calculate the distance traveled by the sound wave based on the time of receipt. Because multiple sound waves are emitted at the same time, forming a fan shape, the coverage area is larger and the monitoring effect is good.

[0103] Of course, since the water depth detector 221 is not limited to a multi-beam depth sounder, it can also be a single-beam depth sounder, which can move along the circumferential direction X with the movable part 21 to monitor different locations in the sea area where the pile foundation 200 is located, and can also meet the environmental information collection needs.

[0104] The detection member 22 also includes a water temperature sensor 222, and the environmental information also includes the temperature information of the sea area where the pile foundation 200 is located. The environmental information also includes the temperature information of the sea area where the pile foundation 200 is located. The temperature information obtained by detecting the water temperature through the water temperature sensor 222 can be used to calculate the sound wave velocity at this time. The distance information from the soil layer in the sea area where the pile foundation 200 is located to the water depth detector 221 can be accurately obtained through the calculated sound wave velocity, and then the distance information in the detection area can be reliably fed back.

[0105] As an optional implementation, the detection system provided in the embodiment of the present application further includes a water entry sensor 223. On the axial direction Y, the water entry sensor 223 and the water depth detector 221 are arranged at the same height.

[0106] Through the above configuration, the water entry sensor 223 can be used to monitor whether the water depth detector 221 is in the seawater. Specifically, when the water depth detector 221 is in the seawater, the water depth detector 221 can be controlled to be turned on to ensure the monitoring requirements. When the water depth detector 221 is out of the seawater, the water depth detector 221 is controlled to be turned off to avoid damage to the water depth detector 221 by keeping it turned on outside the sea.

[0107] Optionally, the detection member 22 may also include a wind speed sensor for detecting the wind speed in the sea area where the foundation 1 is located.

[0108] In some optional embodiments, the detection system provided in the embodiments of the present application, its detection component 20 may also include a video monitoring unit, a data acquisition unit and a wireless communication unit. The video monitoring unit can monitor the on-site environment and operating status in real time through the camera and the pan / tilt mounted on the moving part 21, the data acquisition unit includes sonar data acquisition, and the wireless communication unit can realize communication between the detection system and the centralized control center through a wireless local area network.

[0109] Continue reading Figures 2 to 4 As shown, in some optional embodiments, the detection system provided in the embodiments of the present application may also include a maintenance component 30 and a maintenance platform 34. The maintenance platform 34 is spaced apart from the guide rail 10 in the axial direction Y, and the maintenance platform 34 is located on the moving path of the sling 31.

[0110] The maintenance platform 34 may be connected to the pile foundation 200 , and may optionally be connected to a cage 202 of the pile foundation 200 .

[0111] The detection system provided in the embodiment of the present application can separate the detection component 20 from the sling 31 by setting up a maintenance platform 34, so that after the sling 31 is moved along the axial direction Y to the maintenance platform 34, it is easy to realize the inspection and maintenance of the detection component 20.

[0112] Optionally, a guardrail may be provided on the maintenance platform 34 to ensure the safety of operators.

[0113] The foundation 1 of the wind turbine generator set and the wind turbine generator set provided in the embodiments of the present application, because they include the detection systems provided in the above-mentioned embodiments, can not only ensure the acquisition of environmental information of the sea area where the pile foundation 200 is located, but also maintain the setting of the maintenance component 30 and make it include a hanger 31 and a driving member 32. The detection component 20 can be carried by the hanger 31, and the driving member 32 can drive the hanger 31 to reciprocate along the axial direction Y of the guide rail 10, so that after the detection component 20 completes the monitoring of the sea environment information around the pile foundation 200, the hanger 31 can be driven by the driving member 32 to move along the axial direction Y, so that the detection component 20 is separated from the seawater to avoid long-term immersion in seawater affecting its safety, and can be moved to a predetermined height along the axial direction Y, which is convenient for maintenance by operators.

[0114] like Figure 8 As shown, the running task of the detection system is cyclically executed. Before the detection system is operated, a system self-check is performed, including the implementation of the lighting detection function to detect whether the power is sufficient. If the power is sufficient, the environment is checked to determine whether the environmental parameters meet the conditions for operation. If the water level is too high or too low, the robot will not operate, or if the wind speed is too high, the robot will not operate. Then the sonar and acquisition unit self-checks are performed. After the above self-check processes are qualified, the robot operates normally; if they are unqualified, the robot will not operate. After the monitoring task is completed, it returns to the starting charging service station.

[0115] like Fig. 9 As shown, on the other hand, the embodiment of the present application further provides a monitoring method, which is used for the foundation 1 of the above-mentioned wind turbine generator set, and the monitoring method includes:

[0116] S100, determining a plurality of test points distributed along the circumferential direction X of the foundation 1 of the wind turbine generator set;

[0117] S200, controlling the moving member 21 to drive the detection member 22 to move relative to the guide rail 10 along the circumferential direction X, so that the detection assembly 20 passes through each test point in sequence and obtains the environmental information of the foundation 1 of the wind power foundation 1 at each test point;

[0118] S300 , control the detection assembly 20 to move to the hanger 31 , and control the driving member 32 to drive the hanger 31 to drive the detection assembly 20 to move to a predetermined position along the axial direction Y away from the foundation 1 of the wind turbine generator set, so as to maintain the detection assembly 20 .

[0119] like Fig.10 As shown, in step S100, the plurality of test points may include a head end test point aa, a tail end test point cc distributed along the circumferential direction X, and at least one transition test point bb located between the head end test point aa and the tail end test point cc.

[0120] In step S200, the moving member 21 is controlled to move along the guide rail 10 and sequentially pass through the head end test point aa, each transition test point bb and the tail end test point cc, wherein when the moving member 21 includes a mobile robot 211 and a telescopic member 212 disposed on the mobile robot 211:

[0121] At the head end test point aa, the telescopic member 212 can be controlled to extend so that the detection member 22 extends into the sea area where the pile foundation 200 is located, and the detection member 22 is further controlled to start, and the detection member 22 is used to detect the environmental information of the sea area at the head end test point aa.

[0122] At each transition test point bb, the telescopic member 212 is kept in an extended state, and the detection component is used to detect the environmental information of the sea area at each transition test point bb.

[0123] At the tail end test point cc, after using the detection member 22 to detect the environmental information of the sea area at the tail end test point cc, the telescopic member 212 is controlled to be shortened so that the detection member 22 moves above the sea level and closes the detection component.

[0124] In step S300, after the detection of each test point is completed, the detection assembly 20 can be controlled to move to the hanger 31, and the driving member 32 can be controlled to drive the hanger 31 to drive the detection assembly 20 to move to a predetermined position along the axial direction Y away from the foundation 1 of the wind turbine generator set, so as to maintain the detection assembly 20. When there is a maintenance platform 34, the hanger 31 can drive the detection assembly 20 to move to the maintenance platform 34 to facilitate the maintenance of the maintenance platform 34.

[0125] The monitoring method provided in the embodiment of the present application can not only ensure the monitoring of the environmental information of the sea area where the pile foundation 200 is located, but also, when the monitoring is completed, the detection component 20 can be controlled to move to the sling 31 and driven by the driving member 32, so that the sling 31 drives the detection component 20 to move to a predetermined position, so that after the detection component 20 completes the monitoring of the sea area conditions around the pile foundation 200, the sling 31 can be driven by the driving member 32 to move along the axial direction Y, so that the detection component 20 is separated from the seawater to avoid long-term immersion in seawater affecting its safety, and can be moved to a predetermined height along the axial direction Y, which is convenient for maintenance by operators.

[0126] Although the present application has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced with equivalents without departing from the scope of the present application. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A detection system for a wind turbine generator set, wherein the wind turbine generator set includes a pile foundation, characterized in that: The detection system comprises: A guide rail, which is generally annular and can be arranged around the pile foundation; A detection component, comprising a moving member and a detection member disposed on the moving member, wherein the moving member is movably connected to the guide rail and can move relative to the guide rail along the circumference of the guide rail, and the detection member is configured to detect environmental information of the sea area where the pile foundation is located; The maintenance component comprises a sling and a driving member, wherein the sling is configured to carry the detection component, and the driving member is connected to the sling and drives the sling to reciprocate along the axial direction of the guide rail.

2. The detection system according to claim 1, characterized in that: The guide rail is arranged to be interrupted in the circumferential direction and to form a notch, and at least a portion of the hanger can extend into the notch and dock with the guide rail.

3. The detection system according to claim 2, characterized in that: The hoist includes a docking rail and a hoisting portion. Along the circumferential direction, the cross-sectional shape of the docking rail is the same as the cross-sectional shape of the guide rail, and the extension dimension of the docking rail matches the opening width of the notch and can dock with the guide rail, so that the detection component can be moved from the guide rail to the docking rail, and the hoisting portion is connected to the driving member.

4. The detection system according to claim 1, characterized in that: The maintenance assembly further comprises a guide rail extending along the axial direction, and the hanger is movably connected to the guide rail.

5. The detection system according to claim 4, characterized in that: The guide rail comprises a guide section and a clamping section. Along the radial direction of the guide rail, the cross-sectional size of the clamping section gradually increases, and the hanger is slidably connected to the clamping section.

6. The detection system according to claim 1, characterized in that: The detection system also includes a support portion, which includes a plurality of support rods distributed along the circumferential direction, one end of each of the support rods is connected to the guide rail and the other end is configured to be connected to the pile foundation, and the detection component is at least partially arranged to surround the guide rail and is movably connected to the guide rail.

7. The detection system according to claim 1, characterized in that: The moving part comprises a mobile robot and a telescopic part arranged on the mobile robot, the mobile robot is movably connected to the guide rail, the telescopic part is telescopic in the axial direction, and the detection part is connected to the telescopic part.

8. The detection system according to claim 7, characterized in that: The mobile robot includes a support frame, a walking wheel and a power source arranged on the support frame, the power source is connected to the walking wheel and can drive the walking wheel to move along the circumferential direction relative to the guide rail, and the telescopic member is connected to the support frame.

9. The detection system according to claim 8, characterized in that: The mobile robot further comprises a locking component, which is arranged on the support frame and can be braked by friction with the guide rail.

10. The detection system according to claim 7, characterized in that: The telescopic member includes a telescopic cylinder; or, the telescopic member includes a base, a reel and a telescopic sleeve portion, the base is connected to the telescopic sleeve portion and drives the telescopic sleeve portion to extend or shorten, the reel is arranged on the base and is used to wind or release a cable electrically connected to the detection component.

11. The detection system according to any one of claims 1 to 10, characterized in that: The maintenance assembly further comprises a maintenance platform, wherein the maintenance platform is spaced apart from the guide rail in the axial direction and is located on a moving path of the spreader.

12. The detection system according to any one of claims 1 to 10, characterized in that: The detection component includes a water depth detector, and the environmental information includes distance information from the soil layer in the sea area where the pile foundation is located to the water depth detector.

13. The detection system according to claim 12, characterized in that: The detection component further includes a water temperature sensor, and the environmental information further includes temperature information of the sea area where the pile foundation is located; and / or, the detection component further includes a water entry sensor, and in the axial direction, the water entry sensor and the water depth detector are arranged at the same height.

14. A foundation of a wind turbine generator set, characterized in that: include: Pile foundation; According to the detection system as described in any one of claims 1 to 13, the guide rail is sleeved on the pile foundation and connected to the pile foundation.

15. A wind turbine generator set, characterized in that: The invention comprises a foundation of a wind turbine generator set as claimed in claim 14.

16. A monitoring method for the foundation of a wind turbine generator system as claimed in claim 14, characterized in that: The monitoring method comprises: Determine a plurality of test points distributed along the circumferential direction on the foundation of the wind turbine generator set; Controlling the moving member to drive the detecting member to move along the circumferential direction relative to the guide rail, so that the detecting assembly passes through each of the test points in sequence and obtains environmental information of the foundation of the wind power foundation at each of the test points; The detection component is controlled to move to the hanger, and the driving member is controlled to drive the hanger to drive the detection component to move to a predetermined position along the axial direction away from the foundation of the wind turbine generator set, so as to maintain the detection component.

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