Fan hoisting control system and method based on satellite positioning system
Through the fan lifting control system based on the satellite positioning system, the control problems during the lifting of fan parts are solved, and higher safety, accuracy and efficiency are achieved.
Patent Information
- Application Number
- CN202510047003.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-13
- Publication Date
- 2025-05-13
AI Technical Summary
It is difficult to achieve precise control during the lifting of fan components, resulting in low safety, accuracy and efficiency.
The fan lifting control system based on the satellite positioning system is adopted, and the positioning module is used to obtain the position information of the fan components, and transmitted to the lifting simulation system. The lifting plan is determined based on the three-dimensional model and historical data, and the voice guidance is output through the mobile terminal.
It improves the safety, accuracy and efficiency of the fan parts lifting process, reduces manual monitoring and empirical operations, and enhances the identification of safety hazards.
Smart Images
Figure CN119976633A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the technical field of hoisting control, and in particular to a wind turbine hoisting control system and method based on a satellite positioning system. Background Art
[0002] During the construction of new energy projects, the hoisting of wind turbine components is a major dangerous project, and its safety management is still mainly based on manual supervision and visual inspection. Usually, professional safety technicians conduct on-site supervision, and the hoisting operation is performed by experienced crane drivers, assisted by the crane's built-in limit and speed limit devices. Under the overall coordination of the supervisor, the crane driver relies on experience to operate.
[0003] However, the lifting speed and displacement distance during the hoisting process need to be strictly controlled. It is difficult to achieve no exceeding the limit, no overspeed, precise positioning, and controllable swing in three-dimensional space, which leads to low safety, accuracy and efficiency in the hoisting process of wind turbine components. Summary of the invention
[0004] In order to overcome the problems existing in the related art, the purpose of the present disclosure is to provide a wind turbine hoisting control system and method based on a satellite positioning system.
[0005] According to a first aspect of an embodiment of the present disclosure, there is provided a wind turbine hoisting control system based on a satellite positioning system, including a positioning module, a mobile terminal and a hoisting simulation system; The positioning module is used to obtain first position information of the wind turbine component from a satellite positioning system, and send the first position information to the mobile terminal; The mobile terminal is used to receive the first position information sent by the positioning module, and send the first position information to the hoisting simulation system; The hoisting simulation system is used to receive the first position information sent by the mobile terminal, determine a hoisting scheme according to the first position information, the three-dimensional model data of the wind turbine component and historical hoisting data, and send the hoisting scheme to the mobile terminal; The mobile terminal is used to control the wind turbine hoisting process according to the hoisting plan.
[0006] Optionally, the positioning module includes a satellite positioning chip, a signal processor and a signal transmitter.
[0007] Optionally, the system further comprises a multi-point position signal transceiver, The multi-point position signal transceiver is used to receive the first position information sent by the multiple positioning modules, and send the first position information to the multiple mobile terminals; The mobile terminal is used to receive the first position information sent by the multi-point position signal transceiver, and send the first position information to the hoisting simulation system.
[0008] According to a second aspect of an embodiment of the present disclosure, a wind turbine hoisting control method based on a satellite positioning system is provided, which is applied to a wind turbine hoisting control system based on a satellite positioning system, comprising: The positioning module obtains first position information of the wind turbine component from the satellite positioning system, and sends the first position information to the hoisting simulation system through the mobile terminal; The hoisting simulation system determines a hoisting plan according to the first position information, the three-dimensional model data of the wind turbine component and the historical hoisting data, and sends the hoisting plan to the mobile terminal; The mobile terminal outputs voice guidance instructions according to the lifting plan to guide the staff's lifting operations.
[0009] Optionally, there are multiple positioning modules and multiple mobile terminals, and the method further includes: Each of the positioning modules sends the first location information to a multi-point location signal transceiver; The multipoint location signal transceiver sends the first location information to each of the mobile terminals.
[0010] Optionally, the hoisting simulation system determines a hoisting scheme according to the first position information, the three-dimensional model data of the wind turbine component and historical hoisting data, and sends the hoisting scheme to the mobile terminal, including: The hoisting simulation system determines hoisting parameters according to the first position information and the three-dimensional model data, wherein the hoisting parameters include hoisting operation space, hoisting height, horizontal moving direction, horizontal moving distance and in-position target position; The hoisting simulation system determines the hoisting plan according to the hoisting parameters and historical hoisting data, and the hoisting plan includes lifting height, hovering time, moving speed, moving direction, mid-air adjustment position, mid-air adjustment direction, in-position position and in-position direction.
[0011] Optionally, the mobile terminal outputs voice guidance instructions according to the hoisting scheme to guide the staff's hoisting operation, including: The mobile terminal simulates the hoisting process according to the hoisting plan and determines the hoisting simulation result; The mobile terminal updates the hoisting plan according to the hoisting simulation result to obtain a target hoisting plan; The mobile terminal outputs voice guidance instructions according to the target lifting plan to guide the lifting operation of the staff.
[0012] Optionally, the method further comprises: The positioning module obtains second position information of the wind turbine component during the actual hoisting process, and sends the second position information to the hoisting simulation system through the mobile terminal; The hoisting simulation system determines the current hoisting data of the wind turbine component according to the second position information and the three-dimensional model data, and the current hoisting data includes position coordinates, shape information, moving speed, moving direction, moving angle and moving trajectory.
[0013] Optionally, the method further comprises: The hoisting simulation system compares the current hoisting data with the target hoisting plan to determine the hoisting deviation; The hoisting simulation system sends an alarm message to the mobile terminal when the hoisting deviation exceeds the warning value, and the alarm message includes that the hovering time is less than a preset time, the moving speed exceeds a preset speed value, the moving direction deviation value exceeds a preset direction deviation value, and the instantaneous moving trajectory deviation exceeds a preset trajectory deviation value; The mobile terminal outputs voice alarm information according to the alarm information to remind the staff.
[0014] Optionally, the method further comprises: The hoisting simulation system, after the hoisting operation is completed, stores the target hoisting scheme and the current hoisting data in a database of the hoisting simulation system to form the historical hoisting data.
[0015] The above technical solution obtains the precise location information of the wind turbine components from the satellite positioning system through the positioning module and transmits it to the hoisting simulation system; the simulation system can calculate the optimal hoisting plan based on the location of the wind turbine components, three-dimensional models and other information; the mobile terminal provides real-time voice guidance to the operators based on the plan output by the simulation system, which can reduce manual monitoring and empirical operations. Through the automated control of the above system, manual participation can be reduced and the efficiency of the wind turbine component hoisting process can be greatly improved; and getting rid of the traditional mode of relying solely on manual supervision, introducing technical means such as satellite positioning and simulation analysis can better identify safety hazards and improve the safety and accuracy of the wind turbine component hoisting process.
[0016] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings: Figure 1is a block diagram of a wind turbine hoisting control system based on a satellite positioning system according to an exemplary embodiment of the present disclosure; Figure 2 is a block diagram of a positioning module according to an exemplary embodiment of the present disclosure; Figure 3 is a schematic diagram showing a multi-point position signal transceiver connected to a positioning module and a mobile terminal respectively according to an exemplary embodiment of the present disclosure; Figure 4 The present invention is a flowchart of a wind turbine hoisting control method based on a satellite positioning system according to an exemplary embodiment of the present invention.
[0018] Description of Reference Numerals Positioning module 110 , satellite positioning chip 111 , signal processor 112 , signal transmitter 113 , mobile terminal 120 , hoisting simulation system 130 , multi-point position signal transceiver 310 . DETAILED DESCRIPTION
[0019] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.
[0020] The terms "first", "second", etc. used in the present disclosure are to distinguish one element from another element and have no order or importance. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.
[0021] Figure 1 is a block diagram of a wind turbine hoisting control system based on a satellite positioning system according to an exemplary embodiment of the present disclosure, such as Figure 1 As shown, an embodiment of the present disclosure provides a wind turbine hoisting control system based on a satellite positioning system, including a positioning module 110, a mobile terminal 120 and a hoisting simulation system 130; the positioning module 110 is used to obtain first position information of a wind turbine component from the satellite positioning system, and send the first position information to the mobile terminal 120; the mobile terminal 120 is used to receive the first position information sent by the positioning module 110, and send the first position information to the hoisting simulation system 130; the hoisting simulation system 130 is used to receive the first position information sent by the mobile terminal 120, and determine a hoisting plan according to the first position information, the three-dimensional model data of the wind turbine component and the historical hoisting data, and send the hoisting plan to the mobile terminal 120; the mobile terminal 120 is used to control the wind turbine hoisting process according to the hoisting plan.
[0022] Here, wind turbine refers to the equipment in the wind turbine generator set that converts wind energy into mechanical energy, including blades, hubs, nacelles, towers and other components. Wind turbine hoisting refers to the process of hoisting and assembling the various components of the wind turbine (such as blades, hubs, nacelles, towers, etc.) using cranes and other equipment. Because wind turbine components are large in size and weight, incorrect hoisting may cause damage or personal injury, so wind turbine hoisting requires a high degree of accuracy and safety. The satellite positioning system can provide accurate location information of wind turbine components, and the positioning information using the satellite positioning system can greatly improve the accuracy of positioning.
[0023] The first position information may include information such as longitude coordinates, latitude coordinates, altitude, timestamp, etc. The positioning module 110 is a hardware device for obtaining the first position information of the wind turbine components from the satellite positioning system. The positioning module 110 can be set in the following components of the wind turbine: blades, hubs, nacelles, and towers to fully obtain the position and attitude information of the wind turbine. For example, 2-3 positioning modules 110 can be set on each blade, one installed at the root of the blade, one installed in the middle of the blade, and one installed at the tip of the blade; 1-2 positioning modules 110 can be set on the hub, one installed in the center of the hub, and the other installed at the edge of the hub; 2-4 positioning modules 110 can be set on the nacelle shell, respectively installed at the four corners or key positions of the nacelle; 3-5 positioning modules 110 can be set on the tower, respectively installed at the bottom, middle and top of the tower.
[0024] The mobile terminal 120 may be an electronic device such as an industrial tablet computer, a handheld industrial PDA (Personal Digital Assistant), a smart phone, etc. The hoisting simulation system 130 may be a software system, and its hardware carrier may be an industrial-grade computer.
[0025] It should be understood that the entire hoisting process can be divided into different processes, and one or more mobile terminals 120 are assigned to each process, so that each process has a dedicated mobile terminal 120 responsible for data collection and / or task execution. The hoisting simulation system 130 can divide the entire process into specific hoisting tasks according to the generated hoisting plan, and distribute each hoisting task to the mobile terminal 120 of the corresponding process, so that each mobile terminal 120 only receives and executes the hoisting tasks of its own process, so that the construction personnel (such as crane operators, supervisors, etc.) of each process on site who hold the corresponding mobile terminal 120 can cooperate with the construction and improve the degree of construction coordination.
[0026] The above technical solution obtains the precise location information of the wind turbine components from the satellite positioning system through the positioning module 110 and transmits it to the hoisting simulation system 130; the simulation system can calculate the optimal hoisting plan based on the location of the wind turbine components, three-dimensional models and other information; the mobile terminal 120 provides real-time voice guidance to the operators based on the plan output by the simulation system, which can reduce manual monitoring and empirical operations. Through the automated control of the above system, manual participation can be reduced and the efficiency of the wind turbine component hoisting process can be greatly improved; and getting rid of the traditional mode of relying solely on manual supervision, introducing technical means such as satellite positioning and simulation analysis, can better identify safety hazards and improve the safety and accuracy of the wind turbine component hoisting process.
[0027] Figure 2 is a block diagram of a positioning module 110 according to an exemplary embodiment of the present disclosure, such as Figure 2 As shown, in a possible embodiment, the positioning module 110 may include a satellite positioning chip 111 , a signal processor 112 , and a signal transmitter 113 .
[0028] Here, the satellite positioning chip 111 may be a high-precision global navigation satellite system chip, such as GPS (Global Positioning System), GLONASS (Globalnaya Navigatsionnaya Sputnikovaya Sistema, Russian Global Navigation Satellite System), Beidou Satellite Navigation System, etc. The satellite positioning chip 111 may receive and analyze positioning signals from multiple satellites to obtain high-precision positioning data.
[0029] The signal processor 112 can process and analyze the original positioning data collected by the satellite positioning chip 111, and can use algorithm filtering, fusion and other technologies to improve positioning accuracy and reliability, and perform format conversion, data compression and other processing on the positioning data according to actual application requirements. The signal transmitter 113 can send the first location information obtained after processing the positioning data to the mobile terminal 120 through the wireless communication module, and can use wireless communication technologies such as WiFi, Bluetooth, 4G / 5G, etc.
[0030] The satellite positioning chip 111, the signal processor 112 and the signal transmitter 113 may be integrated in the positioning module 110 to provide accurate, real-time and reliable first position information of the wind turbine components, thereby improving the accuracy and safety of the wind turbine hoisting process.
[0031] Figure 3 FIG. 1 is a schematic diagram showing a multi-point position signal transceiver 310 connected to a positioning module 110 and a mobile terminal 120 respectively according to an exemplary embodiment of the present disclosure. Figure 3As shown, in a possible embodiment, the system may also include a multi-point position signal transceiver 310, and the multi-point position signal transceiver 310 is used to receive the first position information sent by multiple positioning modules 110, and send the first position information to multiple mobile terminals 120; the mobile terminal 120 is used to receive the first position information sent by the multi-point position signal transceiver 310, and send the first position information to the lifting simulation system 130.
[0032] It should be understood that there may be some obstacles or interference sources at the hoisting construction site, which may affect the direct communication between the positioning module 110 and the mobile terminal 120, and the multi-point position signal transceiver 310 can be deployed at a suitable location to avoid these obstacles and improve the reliability of signal transmission. Figure 3 As shown, multiple positioning modules 110 can be arranged on the fan component, such as positioning module No. 1, positioning module No. 2, ..., positioning module No. n (n is a natural number greater than or equal to 1), and the multi-point position signal transceiver 310 can centrally receive the first position information sent by n positioning modules 110, and perform data fusion on multiple first position information. Figure 3 As shown, at the wind turbine hoisting construction site, there can be multiple mobile terminals 120 participating, such as mobile terminal No. 1, mobile terminal No. 2, ..., mobile terminal No. m (m is a natural number greater than or equal to 1). The multi-point position signal transceiver 310 can uniformly send the fused first position information to these mobile terminals 120 to achieve information sharing, thereby better adapting to the complex environment of the wind turbine hoisting construction site and improving the reliability and accuracy of the positioning data.
[0033] Based on the same concept, the present disclosure also provides a wind turbine hoisting control method based on a satellite positioning system, which is applied to a wind turbine hoisting control system based on a satellite positioning system. Figure 4 is a flow chart of a wind turbine hoisting control method based on a satellite positioning system according to an exemplary embodiment of the present disclosure. Figure 4 As shown, the method includes the following steps.
[0034] In step 410, the mobile terminal obtains first position information of the wind turbine component from the satellite positioning system, and sends the first position information to the hoisting simulation system through the mobile terminal.
[0035] In step 420, the hoisting simulation system determines a hoisting plan according to the first position information, the three-dimensional model data of the wind turbine component and the historical hoisting data, and sends the hoisting plan to the mobile terminal.
[0036] In step 430, the mobile terminal outputs voice guidance instructions according to the lifting plan to guide the staff's lifting operation.
[0037] Here, the 3D model data of the wind turbine components can be a CAD (Computer-Aided Design) model provided by the wind turbine manufacturer. The hoisting simulation system can import the 3D model data into its own database. The historical hoisting data includes various data recorded during the previous wind turbine hoisting processes and is stored in the database of the hoisting simulation system.
[0038] The hoisting plan refers to the optimal hoisting plan calculated by the hoisting simulation system based on the three-dimensional model of the wind turbine components, historical hoisting data and the current first position information, including specific operation instructions such as lifting height, hovering time, moving speed, moving direction, mid-air adjustment position, mid-air adjustment direction, in-position position and in-position direction. Specifically, the hoisting simulation system first obtains the weight, size and other parameters of each wind turbine component based on the three-dimensional model of the wind turbine components; then determines the specific position of the current component in combination with the first position information obtained from the mobile terminal; and then generates a feasible hoisting plan in combination with the historical hoisting data.
[0039] The hoisting simulation system can send the generated hoisting plan to the relevant mobile terminals through the network. Construction personnel with different roles, such as crane operators, supervisors, etc., can receive the hoisting plan corresponding to their roles through the corresponding mobile terminals.
[0040] The mobile terminal can generate corresponding voice instructions based on the received lifting plan through speech synthesis technology, such as "Start lifting the wind turbine blades, slowly rise to a height of 10 meters", or "Please operate carefully, the current lifting height has reached 15 meters", etc. These voice instructions can be directly conveyed to the on-site staff to guide them to perform the correct lifting operations.
[0041] Through the above-mentioned wind turbine hoisting control method based on the satellite positioning system, accurate and real-time hoisting guidance can be provided to construction personnel at the wind turbine hoisting site, thereby improving the safety, accuracy and efficiency of wind turbine hoisting.
[0042] In a possible embodiment, there are multiple mobile terminals, and the method may further include: each of the mobile terminals sends the first location information to a multi-point location signal transceiver; and the multi-point location signal transceiver sends the first location information to each of the mobile terminals.
[0043] It should be understood that the multi-point position signal transceiver can centrally receive the first position information sent by each positioning module, and perform data fusion on multiple first position information, and then uniformly send the fused first position information to each mobile terminal to realize information sharing, thereby better adapting to the complex environment of the wind turbine hoisting construction site and improving the reliability and accuracy of the positioning data.
[0044] In a possible embodiment, step 420 may include: the hoisting simulation system determines the hoisting parameters according to the first position information and the three-dimensional model data, and the hoisting parameters include the hoisting working space, hoisting height, horizontal moving direction, horizontal moving distance and in-place target position; the hoisting simulation system determines the hoisting plan according to the hoisting parameters and historical hoisting data, and the hoisting plan includes lifting height, hovering time, moving speed, moving direction, air adjustment position, air adjustment direction, in-place position and in-place direction.
[0045] Here, the hoisting operation space refers to the spatial range in which the fan component can move. The in-place target position refers to the position where the fan component needs to be finally in place. The hoisting height refers to the height that the fan component needs to move to the in-place target position. The horizontal movement direction refers to the direction in which the fan component needs to move horizontally to move to the in-place target position. The horizontal movement distance refers to the distance that the fan component needs to move horizontally to move to the in-place target position. The above hoisting parameters can all be calculated by the hoisting simulation system based on the first position information and the three-dimensional model data.
[0046] It should be understood that the entire wind turbine is composed of multiple large components such as blades, hubs, nacelles, towers, etc. It is difficult to complete the installation of the entire wind turbine in a single hoisting operation. It can be carried out in steps to improve the safety and accuracy of the hoisting process. The hoisting of the entire wind turbine components can be carried out in multiple times, and each hoisting operation has corresponding parameters for hoisting height, hovering time, moving speed, moving direction, mid-air adjustment position, mid-air adjustment direction, in-position position, and in-position direction.
[0047] Here, the lifting height may refer to the height of the crane hook from the ground during each lifting. The hovering time may refer to the time that the fan component hovers in the air during each lifting. The moving speed may refer to the speed of the horizontal movement of the fan component during each lifting. The moving direction may refer to the direction of the horizontal movement of the fan component during each lifting. The air adjustment position may refer to the adjustment of the component position in the air during each lifting. The air adjustment direction may refer to the adjustment of the direction of the fan component in the air. The in-place position may refer to the position where the fan component needs to be in place during each lifting. The in-place direction may refer to the direction in which the fan component needs to be in place during each lifting.
[0048] Through the above-mentioned multiple hoisting of wind turbine components, the load of a single hoisting can be reduced, and the safety, stability and efficiency of the entire hoisting operation can be improved.
[0049] In a possible embodiment, step 430 may include: the mobile terminal simulates the lifting process according to the lifting plan and determines the lifting simulation result; the mobile terminal updates the lifting plan according to the lifting simulation result to obtain the target lifting plan; the mobile terminal outputs voice guidance instructions according to the target lifting plan to guide the staff's lifting operations.
[0050] Here, the mobile terminal can run the hoisting simulation locally, simulate the entire hoisting process according to the hoisting plan provided by the hoisting simulation system, and present it in the form of animated graphics with annotated parameters; through simulation, the holder of the mobile terminal can modify the parameters of the hoisting plan according to the actual situation at the construction site, and the mobile terminal obtains the modified parameters to obtain the hoisting simulation results; and update the hoisting plan according to the hoisting simulation results to obtain a target hoisting plan that is closer to the actual situation; convert the optimized target hoisting plan into voice commands, and guide the construction personnel to perform hoisting operations through voice.
[0051] Through the above-mentioned process of simulating, modifying and updating the hoisting plan, a target hoisting plan that is closer to the actual situation can be obtained, thereby improving the safety and accuracy of wind turbine hoisting.
[0052] In a possible embodiment, the method may further include: the mobile terminal obtains second position information of the wind turbine component during the actual lifting process, and sends the second position information to the lifting simulation system through the mobile terminal; the lifting simulation system determines the current lifting data of the wind turbine component based on the second position information and the three-dimensional model data, and the current lifting data includes position coordinates, morphological information, moving speed, moving direction, moving angle and moving trajectory.
[0053] Here, the second position information is obtained in the actual hoisting process in the same way as the acquisition and transmission of the first position information. The hoisting simulation system determines the current hoisting data of the wind turbine components based on the second position information and the three-dimensional model data, and can monitor the real-time hoisting operation, thereby improving the accuracy and reliability of the wind turbine hoisting, and ultimately improving the safety and efficiency of the wind turbine hoisting.
[0054] In a possible embodiment, the method may further include: the hoisting simulation system compares the current hoisting data with the target hoisting plan to determine the hoisting deviation; the hoisting simulation system, when the hoisting deviation exceeds the warning value, sends an alarm message to the mobile terminal, the alarm information including a hovering time less than a preset duration, a moving speed exceeding a preset speed value, a moving direction deviation value exceeding a preset direction deviation value, and an instantaneous moving trajectory deviation exceeding a preset trajectory deviation value; the mobile terminal outputs a voice alarm message based on the alarm information to remind the staff.
[0055] Here, the hoisting deviation refers to the difference between the various parameters in the actual hoisting process and the target hoisting plan. The hoisting deviation exceeding the warning value can be specifically that the hovering time is less than the preset duration, the moving speed exceeds the preset speed value, the moving direction deviation value exceeds the preset direction deviation value, and the instantaneous moving trajectory deviation exceeds the preset trajectory deviation value. The preset duration of the hovering time refers to the maximum hovering time allowed for the fan component during the hoisting process. The preset speed value of the moving speed refers to the maximum moving speed allowed for the fan component during the hoisting process. The preset direction deviation value of the moving direction refers to the maximum moving direction deviation angle allowed for the fan component during the hoisting process. The preset trajectory deviation value of the moving trajectory refers to the maximum moving trajectory deviation allowed for the fan component during the hoisting process. An alarm can be triggered when any of the above parameters exceeds the corresponding warning value. Adding the above-mentioned warning mechanism based on the hoisting simulation system and the mobile terminal can improve the safety and accuracy of fan hoisting.
[0056] In a possible embodiment, the method may further include: the hoisting simulation system, after the hoisting operation is completed, stores the target hoisting scheme and the current hoisting data in a database of the hoisting simulation system to form the historical hoisting data.
[0057] It should be understood that the target hoisting scheme and current hoisting data generated during this wind turbine hoisting process are stored in the database to form historical hoisting data, which can be used for subsequent wind turbine hoisting operations. Adding the above feedback mechanism can enable the hoisting simulation system to continuously learn and optimize, thereby improving the efficiency and accuracy of wind turbine hoisting.
[0058] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.
[0059] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.
[0060] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.
Claims
1. A wind turbine hoisting control system based on a satellite positioning system, characterized in that: Including positioning module, mobile terminal and hoisting simulation system; The positioning module is used to obtain first position information of the wind turbine component from a satellite positioning system, and send the first position information to the mobile terminal; The mobile terminal is used to receive the first position information sent by the positioning module, and send the first position information to the hoisting simulation system; The hoisting simulation system is used to receive the first position information sent by the mobile terminal, determine a hoisting scheme according to the first position information, the three-dimensional model data of the wind turbine component and historical hoisting data, and send the hoisting scheme to the mobile terminal; The mobile terminal is used to control the wind turbine hoisting process according to the hoisting plan.
2. The system according to claim 1, characterized in that The positioning module includes a satellite positioning chip, a signal processor and a signal transmitter.
3. The system according to any one of claims 1-2, characterized in that: Also includes a multi-point position signal transceiver, The multi-point position signal transceiver is used to receive the first position information sent by the multiple positioning modules, and send the first position information to the multiple mobile terminals; The mobile terminal is used to receive the first position information sent by the multi-point position signal transceiver, and send the first position information to the hoisting simulation system.
4. A wind turbine hoisting control method based on a satellite positioning system, characterized in that: Applied to wind turbine hoisting control system based on satellite positioning system, including: The positioning module obtains first position information of the wind turbine component from the satellite positioning system, and sends the first position information to the hoisting simulation system through the mobile terminal; The hoisting simulation system determines a hoisting plan according to the first position information, the three-dimensional model data of the wind turbine component and the historical hoisting data, and sends the hoisting plan to the mobile terminal; The mobile terminal outputs voice guidance instructions according to the lifting plan to guide the staff's lifting operations.
5. The method according to claim 4, characterized in that There are multiple positioning modules and multiple mobile terminals, and the method further includes: Each of the positioning modules sends the first location information to a multi-point location signal transceiver; The multipoint location signal transceiver sends the first location information to each of the mobile terminals.
6. The method according to claim 4, characterized in that The hoisting simulation system determines a hoisting scheme according to the first position information, the three-dimensional model data of the wind turbine component and the historical hoisting data, and sends the hoisting scheme to the mobile terminal, including: The hoisting simulation system determines hoisting parameters according to the first position information and the three-dimensional model data, wherein the hoisting parameters include hoisting operation space, hoisting height, horizontal moving direction, horizontal moving distance and in-position target position; The hoisting simulation system determines the hoisting plan according to the hoisting parameters and historical hoisting data, and the hoisting plan includes lifting height, hovering time, moving speed, moving direction, mid-air adjustment position, mid-air adjustment direction, in-position position and in-position direction.
7. The method according to claim 4, characterized in that The mobile terminal outputs voice guidance instructions according to the hoisting scheme to guide the staff's hoisting operation, including: The mobile terminal simulates the hoisting process according to the hoisting plan and determines the hoisting simulation result; The mobile terminal updates the hoisting plan according to the hoisting simulation result to obtain a target hoisting plan; The mobile terminal outputs voice guidance instructions according to the target lifting plan to guide the lifting operation of the staff.
8. The method according to any one of claims 4 to 7, characterized in that: Also includes: The positioning module obtains second position information of the wind turbine component during the actual hoisting process, and sends the second position information to the hoisting simulation system through the mobile terminal; The hoisting simulation system determines the current hoisting data of the wind turbine component according to the second position information and the three-dimensional model data, and the current hoisting data includes position coordinates, shape information, moving speed, moving direction, moving angle and moving trajectory.
9. The method according to claim 8, characterized in that Also includes: The hoisting simulation system compares the current hoisting data with the target hoisting plan to determine the hoisting deviation; The hoisting simulation system sends an alarm message to the mobile terminal when the hoisting deviation exceeds the warning value, and the alarm message includes that the hovering time is less than a preset time, the moving speed exceeds a preset speed value, the moving direction deviation value exceeds a preset direction deviation value, and the instantaneous moving trajectory deviation exceeds a preset trajectory deviation value; The mobile terminal outputs voice alarm information according to the alarm information to remind the staff.
10. The method according to claim 8, characterized in that Also includes: The hoisting simulation system, after the hoisting operation is completed, stores the target hoisting scheme and the current hoisting data in a database of the hoisting simulation system to form the historical hoisting data.