Hydraulic regulation and control system and method based on intelligent sensing

Abstract

The hydraulic regulation and control system comprises a fixing frame, a hydraulic system is arranged on the fixing frame, the hydraulic system is connected with a hydraulic rod and a hydraulic motor, the hydraulic rod and the hydraulic motor are connected with an adjusting frame, an adjusting rotary disc and a fixing disc are arranged on the adjusting frame, and the adjusting rotary disc is connected with the fixing disc. A wind power blade is fixed on the fixing disc, a laser monitor is arranged on the adjusting frame, the laser monitor is used for monitoring the states of obstacles and the wind power blade in the construction transportation process in real time, and the hydraulic system conducts regulation and control in real time according to the monitoring result of the laser monitor. The system has the advantages that the high-pressure and high-flow hydraulic system is intelligently regulated and controlled based on intelligent sensing laser monitoring, precise obstacle avoidance of sea and land wind power blade construction transportation is achieved, wind loads are reduced, and timely adaptive adjustment of blade positions and postures is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic systems and offshore and onshore wind power construction, and in particular to a hydraulic control system and method based on intelligent sensing. Background Art

[0002] At present, in the transportation process of wind turbine blades for offshore and onshore wind power construction, high-pressure and high-flow hydraulic systems play a vital role. They are used to adjust the position and status of wind turbine blades in real time according to factors such as wind direction and obstacles.

[0003] In the prior art, the high-pressure, high-flow hydraulic system for transporting wind turbine blades has high reliability requirements for hydraulic oil. When wind turbine construction is carried out on land or sea, wind turbine blades need to be transported in real time according to wind direction and obstacles during transportation. When there are many obstacles and the wind direction is changeable, frequent adjustments are required, which will cause the hydraulic oil temperature to rise. However, when there are fewer obstacles and the wind direction is stable, the hydraulic oil temperature is too low, which will increase the viscosity and reduce the fluidity, resulting in slow real-time adjustment and reduced reliability. During the land and sea transportation of wind turbine blades, obstacles will hinder transportation and bumps on land, so it is necessary to monitor the status and position of wind turbine blades in real time. During the ocean transportation, due to the changeable wind direction and wind and waves, it is necessary to monitor the status and position of wind turbine blades in real time. The existing technology is difficult to monitor reliably and difficult to adjust the status of wind turbine blades in real time during wind turbine construction and transportation. It is easy to hit obstacles, resulting in low stability of road transport vehicles or sea transport ships, affecting the safety of transportation.

[0004] In summary, there is at least one of the following technical problems: The high-pressure, high-flow hydraulic system for transporting wind turbine blades has high requirements for the reliability of the hydraulic oil. When transporting wind turbine blades during wind power construction on land or sea, real-time adjustments need to be made according to wind direction and obstacles during transportation. When there are many obstacles and the wind direction is changeable, frequent adjustments are required, which will cause the hydraulic oil temperature to rise. However, when there are fewer obstacles and the wind direction is stable, too low a hydraulic oil temperature will cause increased viscosity and reduced fluidity, resulting in slow real-time adjustment and reduced reliability.

[0005] During the sea and land transportation of wind turbine blades, obstacles and bumps will hinder transportation on land, so the status and position of the wind turbine blades need to be monitored in real time. During ocean transportation, the wind direction is changeable and the waves are turbulent, so the status and position of the wind turbine blades need to be monitored in real time. Existing technologies are difficult to monitor reliably and difficult to make adaptive real-time adjustments. The status of wind turbine blades during wind power construction and transportation is prone to hit obstacles, resulting in low stability of road transport vehicles or sea transport ships, affecting transportation safety. Summary of the invention

[0006] The main object of the present invention is to provide a hydraulic regulation system and method based on intelligent sensing, so as to solve the problem in the prior art that the high-pressure and large-flow hydraulic system for transporting wind power blades has relatively high requirements for the reliability of hydraulic oil. When wind power construction is carried out on land or at sea and wind power blades are transported, real-time adjustment needs to be made according to the wind direction and obstacles during the transportation process. When there are many obstacles and the wind direction is changeable, frequent adjustment is required, which will cause the hydraulic oil temperature to rise. However, when there are few obstacles and the wind direction is stable, too low hydraulic oil temperature will cause an increase in viscosity and a decrease in fluidity, resulting in sluggish real-time adjustment and reduced reliability. During the land and sea transportation of wind power blades, on land, due to obstacles hindering transportation and jolting, it is necessary to monitor the state and position of the wind power blades in real time. During sea transportation, due to the changeable wind direction and wave jolting, it is necessary to monitor the state and position of the wind power blades in real time. The existing technologies are difficult to reliably monitor and are difficult to make adaptive real-time adjustments to the state of wind power blades during the construction and transportation process, and are prone to hitting obstacles, resulting in low stability of the road transport vehicle or the sea transport ship hull, affecting the safety of transportation.

[0007] To achieve the above object, according to one aspect of the present invention, a hydraulic regulation system based on intelligent sensing is provided, including a fixed frame, on which a hydraulic system is provided. The hydraulic system is connected to a hydraulic rod and a hydraulic motor. The hydraulic rod and the hydraulic motor are connected to an adjustment frame. An adjustment turntable and a fixed disk are provided on the adjustment frame. A wind power blade is fixed on the fixed disk. A laser monitor is provided on the adjustment frame. Among them, the laser monitor is used to monitor the state of obstacles and wind power blades in real time during construction and transportation, and the hydraulic system makes real-time regulation according to the monitoring results of the laser monitor.

[0008] Preferably, the adjustment frame is hinged to the fixed frame. One end of the hydraulic rod is connected to the fixed frame, and the other end is hinged to the adjustment frame. The adjustment turntable is rotatably connected to the adjustment frame. The adjustment turntable is connected to the fixed disk. The fixed disk is detachably fixed to the wind power blade. An annular laser monitor is provided on the adjustment frame. The hydraulic rod and the hydraulic motor are connected to the hydraulic system through hydraulic pipelines. The hydraulic system includes a high-flow hydraulic pump.

[0009] Preferably, a hydraulic oil temperature regulation module and a hydraulic oil temperature monitoring module are provided in the hydraulic system. The hydraulic oil temperature regulation module includes a heating device and a refrigeration device. The hydraulic oil temperature monitoring module uses a hydraulic oil temperature monitoring sensor, which is used to monitor the hydraulic oil temperature of the hydraulic system in real time.

[0010] Preferably, it further includes a controller, which includes a central processing unit, a hydraulic oil temperature control module, an alarm control module, a wind direction sensing control module, a wind force sensing control module, a hydraulic regulation control module, a laser control module, a data analysis and processing module, a hydraulic motor control module, and a comparison module. The hydraulic oil temperature control module, the alarm control module, the wind direction sensing control module, the wind force sensing control module, the hydraulic regulation control module, the laser control module, the data analysis and processing module, the hydraulic motor control module, and the comparison module are respectively connected to the central processing unit.

[0011] Preferably, the hydraulic oil temperature control module is connected to the oil temperature regulation module, the alarm control module is connected to the alarm, the wind direction sensing control module is connected to the wind direction sensing module, the wind force sensing control module is connected to the wind force sensing module, the hydraulic regulation control module is connected to the hydraulic system, the laser control module is connected to the laser monitor, and the hydraulic motor control module is connected to the hydraulic motor.

[0012] Preferably, the laser monitors are arranged in a ring matrix in layers to form a laser monitoring area. The laser monitoring area is cylindrical and surrounds the wind power blade. The laser monitoring area includes a first area, a second area, a third area, a fourth area, and a fifth area. The first area, the second area, and the third area surround the wind power blade. The fourth area and the fifth area intersect with the wind power blade. The first area, the second area, and the third area are used for grading early warning of obstacles. The third area and the fourth area are used for real-time monitoring of the tilt and stability state of the wind power blade, and the tilt state of the wind power blade is calculated according to the wind direction and wind force and regulated through the hydraulic system.

[0013] Preferably, when an obstacle first enters the first area and blocks the laser monitor in the first area, a low-level early warning is formed. When the obstacle enters the second area from the first area and blocks the laser monitor in the second area, a medium-level early warning is formed. When the obstacle enters the third area from the second area and blocks the laser monitor in the third area, a high-level early warning is formed. The low-level, medium-level, and high-level early warnings are respectively given through the alarm. The low-level early warning warns that the obstacle is approaching the wind power blade. The medium-level early warning warns that the obstacle is approaching the wind power blade further. The high-level early warning warns that the obstacle is about to contact the wind power blade and obstacle avoidance must be carried out. Through the laser monitors arranged in a ring matrix, the position of the obstacle is accurately locked in real time, and the tilt angle of the wind power blade is monitored in real time through the laser monitors in the fourth area and the fifth area for obstacle avoidance adjustment.

[0014] Preferably, the laser monitors in the fourth domain and the fifth domain dynamically monitor the state of the wind turbine blade in real time, including the tilt angle and the vibration state, and dynamically adjust in real time according to the wind direction and wind force. By the occlusion of the corresponding azimuths of the laser monitors arranged in a circular array by the widest position of the blade, the real-time monitoring of the tilt angle of the wind turbine blade is realized, and by switching the occlusion of the laser monitor azimuths, the vibration state of the blade is judged for vibration monitoring. When the threshold is exceeded, the controller controls the hydraulic motor to drive the adjustment turntable to rotate, and then drives the fixed disc to rotate, and then adaptively adjusts the tilt angle of the wind turbine blade according to the wind direction monitored by the wind direction monitoring module and the wind force monitored by the wind force monitoring module, reducing the influence of the side wind load on the transportation of the wind turbine blade. The appropriateness of the angle of the wind turbine blade after the feedback correction adjustment is carried out through the vibration monitoring of the wind turbine blade and the fixed frame.

[0015] Preferably, the oil temperature monitoring sensor monitors the oil temperature of the hydraulic system in real time. When the environmental temperature is too low and the oil temperature is less than the threshold, the hydraulic oil temperature control module heats up the hydraulic system. When the environmental temperature is too high or the hydraulic system runs frequently and the oil temperature is greater than the threshold, the hydraulic oil temperature control system cools down the hydraulic system, so as to ensure that the wind turbine blade is adjusted accurately and timely according to the obstacles and the wind direction.

[0016] Another embodiment of the present invention provides a hydraulic control method based on intelligent sensing, including: Through multi-level laser perception and dynamic obstacle avoidance, a circular laser monitoring matrix is set up to detect the proximity of obstacles layer by layer. The tilt angle and vibration frequency are calculated in real time through the displacement change of the number of laser points blocked by the blade. Through spatial coordinate positioning, the azimuth of the obstacle is judged by the laser occlusion sequence; Combined with the azimuth of the obstacle and the attitude data of the blade, the inclination angle of the adjusting frame is adjusted by the telescopic movement of the hydraulic rod, and the attitude of the wind turbine blade is adjusted by the hydraulic motor to achieve accurate and reliable monitoring and obstacle avoidance; By integrating the wind direction sensor, the wind speed sensor and the laser attitude data, the optimal windward angle is calculated in real time based on the aerodynamic shape of the blade, and the adaptive adjustment of the attitude of the wind turbine blade is realized by driving the adjustment turntable with the hydraulic motor; The oil temperature of the hydraulic system is monitored in real time by the oil temperature monitoring sensor to ensure that the wind turbine blade is adjusted accurately and timely according to the obstacles and the wind direction.

[0017] Applying the technical solution of the present invention has the following technical effects: Through multi-level laser perception and dynamic obstacle avoidance, a ring laser monitoring matrix is set up, with a five-layer cylindrical monitoring area. The first area to the fifth area form a spatial perception network, integrating outer layer early warning and inner layer attitude monitoring. The first area to the third area form three-level safety boundaries, detecting the approaching degree of obstacles layer by layer. The fourth area and the fifth area are for inner layer attitude monitoring. The tilt angle and vibration frequency are calculated in real time through the displacement change of the number of laser points blocked by the blades. The orientation of the obstacle is judged through spatial coordinate positioning and the laser occlusion sequence. A three-level response mechanism is set up. For low-level early warning, triggered in the first area, an audible and visual alarm prompts potential risks. For medium-level early warning, triggered in the second area, the hydraulic system pre-adjustment is started. For high-level early warning, triggered in the second area, the obstacle avoidance action is enforced. Combining the orientation of the obstacle and the attitude data of the blade, the inclination angle of the adjusting frame is adjusted by the telescopic movement of the hydraulic rod, and the attitude of the wind turbine blade is adjusted by the hydraulic motor, achieving accurate and reliable monitoring and obstacle avoidance.

[0018] Through an environment-adaptive hydraulic control system, it is dynamically regulated according to wind loads. Through multi-source sensor fusion, the wind direction sensor, wind speed sensor and laser attitude data are integrated. Based on the aerodynamic shape of the blade, the optimal windward angle is calculated in real time. The adaptive adjustment of the wind turbine blade attitude is realized by driving the adjusting turntable with a hydraulic motor. The vibration spectrum is analyzed through the vibration monitoring device on the fixed frame and the laser occlusion frequency in the fifth area, and a vibration-angle feedback mechanism is established. When the amplitude exceeds the safety threshold, the blade attitude is automatically corrected, achieving the technical effect of dynamically regulating the wind turbine blade attitude based on laser intelligent sensing monitoring.

[0019] The oil temperature of the hydraulic system is monitored in real time through an oil temperature monitoring sensor. When the environmental temperature is too low and the oil temperature is less than the threshold, the hydraulic system is heated up by the hydraulic oil temperature control module. When the environmental temperature is too high or the hydraulic system runs frequently and the oil temperature is greater than the threshold, the hydraulic system is cooled down by the hydraulic oil temperature control system, thus ensuring that the wind turbine blade is adjusted timely and accurately according to the obstacle and the wind direction. By monitoring the hydraulic oil temperature in real time through the oil temperature sensor and combining the intelligent regulation of the cooler and heater, the hydraulic oil temperature can be stabilized within a suitable working range, avoiding the change of hydraulic oil performance caused by too high or too low temperature, and ensuring the reliability and response speed of the hydraulic system with accurate temperature control.

[0020] Based on intelligent sensing and through fine adjustment of the hydraulic system, it meets the real-time adjustment requirements of wind turbine blades in different transportation environments, improving the safety and stability of transportation. The wind direction and wind force sensors and laser monitoring sensors can monitor the state of the wind turbine blades and changes in the transportation environment in real time. The controller generates control commands in a timely manner based on this data to achieve real-time adjustment of the position and attitude of the wind turbine blades, effectively avoiding collisions between the wind turbine blades and obstacles, and ensuring the stability of the transport vehicle or transport hull and the safety of the transportation process. It is applicable to various transportation scenarios such as on land and at sea for wind turbine blades, and can adaptively adjust the working state of the hydraulic system according to complex factors such as wind direction and obstacles in different environments, with wide applicability and good environmental adaptability. The entire hydraulic control system is based on intelligent sensing technology and advanced control strategies, realizing automated and intelligent operation, reducing manual intervention, improving work efficiency and control accuracy, and providing more reliable technical support for the transportation of wind turbine blades. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 Shows a schematic flow diagram of the method of the hydraulic control system based on intelligent sensing according to the present invention; Figure 2 Shows Figure 1 the installation structure view of the hydraulic control system based on intelligent sensing in; Figure 3 Shows Figure 1 the front view of the hydraulic control system based on intelligent sensing in; Figure 4 Shows Figure 1 the left view of the hydraulic control system based on intelligent sensing in; Figure 5 Shows Figure 1 the top view of the hydraulic control system based on intelligent sensing in; Figure 6 Shows Figure 1 the right view of the hydraulic control system based on intelligent sensing in; Figure 7 Shows Figure 1 the laser monitoring domain view of the hydraulic control system based on intelligent sensing in; Figure 8 Shows Figure 1 the laser beam view of the hydraulic control system based on intelligent sensing in; Figure 9 Shows Figure 1 the controller view of the hydraulic control system based on intelligent sensing in; Figure 10 shows Figure 1 the control system view of the intelligent sensing-based hydraulic control system in

[0022] Among them, the above-mentioned drawings include the following reference numerals: Fixing frame 1; Wind power blade 2; Fixed disc 3; Laser sensing monitoring module 4; Adjusting frame 5; Hydraulic system 6; Hydraulic rod 7; Adjusting turntable 8; Hydraulic motor 9; Laser monitoring area 10; Laser monitor 11; Marking line 12; Laser beam 13; Laser emission end 14; Laser termination end 15; Safety area 16; Laser monitoring array 17; Controller 18; Hydraulic oil temperature control module 19; Alarm controller module 20; Vibration sensing control module 21; Positioning control module 22; Wind direction sensing control module 23; Wind force sensing control module 24; Hydraulic regulation control module 25; Laser control module 26; Data analysis and processing module 27; Central processing unit 28; Hydraulic motor control module 29; Comparison module 30; Hydraulic oil temperature regulation module 31; Vibration sensing module 32; Positioning sensing module 33; Wind direction sensing module 34; Wind force sensing module 35; Hydraulic regulation module 36; Alarm 37; Display control module 38; Display 39; Early warning classification control module 40; Hydraulic oil temperature monitoring module 41; Hydraulic oil temperature sensing module 42; First area 43; Second area 44; Third area 45; Fourth area 46; Fifth area 47. Detailed implementation manners

[0023] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The present invention will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0024] As Figures 1 to 10 shown, an embodiment of the present invention provides an intelligent sensing-based hydraulic control system, including a fixing frame 1, a hydraulic system 6 is provided on the fixing frame 1, the hydraulic system 6 is connected to a hydraulic rod 7 and a hydraulic motor 9, the hydraulic rod 7 and the hydraulic motor 9 are connected to an adjusting frame 5, an adjusting turntable 8 and a fixed disc are provided on the adjusting frame 5, a wind power blade 2 is fixed on the fixed disc, a laser monitor 11 is provided on the adjusting frame 5, wherein the laser monitor 11 is used to monitor the state of obstacles and the wind power blade 2 during construction transportation in real time, and the hydraulic system 6 adjusts in real time according to the monitoring results of the laser monitor 11.

[0025] In this embodiment, the adjusting frame 5 is hinged to the fixed frame 1. The adjusting frame 5 is used for adjusting the vertical angle of the wind turbine blade 2 during construction and transportation. The fixed frame 1 is used to be installed on a transport vehicle or a transport ship. One end of the hydraulic rod 7 is connected to the fixed frame 1. The hydraulic rod 7 is used to drive the angle change of the adjusting frame 5, thereby controlling the angle adjustment of the wind turbine blade 2 in the vertical direction. The other end of the hydraulic rod 7 is hinged to the adjusting frame 5. The adjusting turntable 8 is rotatably connected to the adjusting frame 5. The adjusting turntable 8 is connected to the fixed disk. The fixed disk is detachably fixed to the wind turbine blade 2. The fixed disk 3 is used to fix the fixed end of the wind turbine blade 2. The adjusting disk is used to drive the fixed disk 3 to rotate, thereby driving the adjustment of the inclination angle of the wind turbine blade 2. An annular laser monitor 11 is provided on the adjusting frame 5. The laser monitor 11 is used to monitor the obstacles around the wind turbine blade 2 and the inclination state of the wind turbine blade 2, thereby realizing automatic obstacle avoidance and automatic adjustment of the inclination angle of the wind turbine blade 2 to adapt to the wind direction. The hydraulic rod 7 and the hydraulic motor 9 are connected to the hydraulic system 6 through hydraulic pipelines. The hydraulic system 6 includes a high-flow hydraulic pump. The hydraulic system 6 is used to control and supply hydraulic oil to the hydraulic rod 7 and the hydraulic motor 9. A hydraulic oil temperature control module 31 is provided in the hydraulic system 6. The hydraulic oil temperature control module 31 is used to control the hydraulic oil temperature. The hydraulic oil temperature monitoring module 41 is used to detect the hydraulic oil temperature. The hydraulic oil temperature control module 31 includes a heating device and a cooling device. The heating device is used to heat up the hydraulic oil. The cooling device is used to cool down the hydraulic oil. The hydraulic oil temperature monitoring module 41 uses a hydraulic oil temperature monitoring sensor. The hydraulic oil temperature monitoring sensor is used to monitor the hydraulic oil temperature of the hydraulic system 6 in real time. The oil temperature monitoring sensor monitors the oil temperature of the hydraulic system 6 in real time. When the ambient temperature is too low and the oil temperature is less than the threshold value, the hydraulic system 6 is heated up through the hydraulic oil temperature control module 19. When the ambient temperature is too high or the hydraulic system 6 runs frequently and the oil temperature is greater than the threshold value, the hydraulic system 6 is cooled down through the hydraulic oil temperature control system, thereby ensuring that the wind turbine blade 2 is adjusted accurately in a timely manner according to the obstacles and the wind direction. By monitoring the hydraulic oil temperature in real time through the oil temperature sensor and combining the intelligent control of the cooler and the heater, the hydraulic oil temperature can be stabilized within a suitable working range, avoiding changes in the performance of the hydraulic oil caused by too high or too low temperature, and ensuring the reliability and response speed of the hydraulic system 6 with accurate temperature control. Through the linkage of the hinged adjusting frame 5 and the hydraulic rod 7, accurate adjustment of the wind turbine blade 2 in the vertical direction is realized. By driving the rotation of the fixed disk 3 through the adjusting turntable 8, dynamic adjustment of the horizontal plane is supported. By setting a high-flow hydraulic pump to drive the hydraulic rod 7, reliable attitude control of the heavy-duty wind turbine blade 2 can be achieved.

[0026] In this embodiment, it further includes a controller 18. The controller 18 adopts a PLC controller 18 to control the operation of the entire system. The controller 18 includes a central processing unit 28. The central processing unit 28 is used to control each module, and respectively controls the hydraulic oil temperature control module 19, the alarm 37 control module 20, the wind direction sensing control module 23, the wind force sensing control module 24, the hydraulic regulation control module 25, the laser control module 26, the data analysis and processing module 27, the hydraulic motor 9 control module, and the comparison module 30. The hydraulic oil temperature control module 19, the alarm 37 control module 20, the wind direction sensing control module 23, the wind force sensing control module 24, the hydraulic regulation control module 25, the laser control module 26, the data analysis and processing module 27, the hydraulic motor 9 control module, and the comparison module 30 are respectively connected to the central processing unit 28. The hydraulic oil temperature control module 19 is connected to the oil temperature regulation module, and controls the oil temperature regulation module through the hydraulic oil temperature control module 19 to control the oil temperature of the hydraulic oil. The alarm 37 control module 20 is connected to the alarm 37, and controls the alarm 37 through the alarm 37 control module 20 to perform hierarchical alarm. The wind direction sensing control module 23 is connected to the wind direction sensing module 34, and the wind direction sensing control module 23 is used to control the sensor of the wind direction sensing module 34 to monitor the wind direction. The wind force sensing control module 24 is connected to the wind force sensing module 35, and the wind force sensing control module 24 is used to control the wind force sensing module 35 to monitor the wind force. The hydraulic regulation control module 25 is connected to the hydraulic system 6, and the hydraulic regulation system is used to control the hydraulic system 6 to provide hydraulic oil power for the hydraulic rod 7 and the hydraulic motor 9. The laser control module 26 is connected to the laser monitor 11, and the laser control module 26 is used to control the on and irradiation states of the laser monitor 11. The hydraulic motor 9 control module is connected to the hydraulic motor 9, and the hydraulic motor 9 control module is used to control the rotation state of the hydraulic motor 9.

[0027] In this embodiment, the oil temperature sensing module uses an oil temperature sensor, which is used to monitor the temperature of the hydraulic oil in real time. The wind direction and wind force sensing module 35 uses an anemometer and wind vane sensor to monitor the wind direction and wind speed in real time. The control module uses a controller 18, which includes a signal receiving unit, a data processing unit, and a control instruction generating unit. The signal receiving unit is used to receive various sensing signals from the intelligent sensing module. The data processing unit is used to analyze and process the received sensing signals, and calculate the regulation parameters of the hydraulic system 6 according to the preset control thresholds. The control instruction generating unit generates corresponding control instructions according to the calculation results of the data processing unit and sends them to the hydraulic regulation module 36. The hydraulic regulation module 36 includes a proportional relief valve, a proportional flow valve, a cooling module, a heating module, a hydraulic cylinder, hydraulic pipelines, etc. The proportional relief valve is installed on the main oil path of the hydraulic system 6 and is used to adjust the pressure of the hydraulic system 6 according to the instructions of the controller 18. The proportional flow valve is installed on each branch oil path of the hydraulic system 6 and is used to adjust the oil volume according to the instructions of the controller 18. The cooling module uses a cooler, which is connected to the hydraulic oil tank and pipelines and is used to cool the hydraulic oil when the hydraulic temperature is too high. The heating module uses a heater, which is connected to the hydraulic oil tank and pipelines and is used to heat the hydraulic oil when the hydraulic oil temperature is too low. The hydraulic rod 7 is connected to the adjustment device of the wind turbine blade 2 and is used to drive the wind turbine blade 2 to adjust its position and attitude according to the wind direction, obstacles, the pressure and flow rate of the hydraulic system 6. Data acquisition: Various sensors in the intelligent sensing module monitor the temperature of the hydraulic oil, the position and attitude of the wind turbine blade 2, the wind direction and wind force, and the obstacles on the transportation path in real time, and send the monitoring data to the controller 18. Data analysis and processing: After receiving the sensor data, the controller 18 performs the following analysis and processing: Judge whether it is necessary to start the cooler or heater for temperature adjustment according to the temperature of the hydraulic oil. Calculate the required pressure and flow rate regulation parameters according to the pressure of the hydraulic system 6, combined with the position and attitude of the wind turbine blade 2, the wind direction and wind force, and the obstacles. Generation and execution of regulation instructions: The controller 18 generates corresponding regulation instructions according to the data analysis and processing results and sends them to the hydraulic regulation module 36: Control the proportional relief valve to adjust the pressure of the hydraulic system 6 to the target pressure value. Control the proportional flow valve to adjust the flow rate of each branch oil path to the target flow rate value. Control the start and stop of the cooler or heater according to the hydraulic oil temperature condition to achieve precise regulation of the hydraulic oil temperature. The hydraulic regulation module 36 performs corresponding adjustments on the hydraulic system 6 according to the received regulation instructions, drives the hydraulic cylinder to act, and realizes the real-time position and attitude adjustment of the wind turbine blade 2. Fine adjustment of the hydraulic system 6 is achieved through the proportional relief valve and the proportional flow valve to meet the real-time adjustment requirements of the wind turbine blade 2 in different transportation environments, and improve the safety and stability of transportation.The wind direction and wind speed sensor and the laser monitoring sensor can monitor the status of the wind turbine blade 2 and the changes in the transportation environment in real time. The controller 18 generates control instructions in a timely manner based on this data to achieve real-time position and attitude adjustment of the wind turbine blade 2, effectively avoiding the collision of the wind turbine blade 2 with obstacles, ensuring the stability of the transport vehicle or the transport hull and the safety of the transportation process. It is applicable to various transportation scenarios of the wind turbine blade 2 on land and at sea. It can adaptively adjust the working state of the hydraulic system 6 according to complex factors such as wind direction and obstacles in different environments, and has wide applicability and good environmental adaptability. The entire hydraulic control system is based on intelligent sensing technology and advanced control strategies, realizing automated and intelligent operation, reducing manual intervention, improving work efficiency and control accuracy, and providing more reliable technical support for the transportation of the wind turbine blade 2.

[0028] In this embodiment, the laser monitors 11 are arranged in a ring matrix in layers to form a laser monitoring domain 10. The laser monitoring domain 10 is in a cylindrical shape surrounding the wind turbine blade 2. The laser monitoring domain 10 includes a first domain 43, a second domain 44, a third domain 45, a fourth domain 46 and a fifth domain 47. The first domain 43, the second domain 44 and the third domain 45 are arranged around the wind turbine blade 2. The fourth domain 46 and the fifth domain 47 intersect with the wind turbine blade 2. The first domain 43, the second domain 44 and the third domain 45 are used for grading early warning of obstacles. The third domain 45 and the fourth domain 46 are used for real-time monitoring of the inclination and stability states of the wind turbine blade 2, and calculating according to the wind direction and wind force and regulating the inclination state of the wind turbine blade 2 through the hydraulic system 6. When an obstacle first enters the first domain 43 and blocks the laser monitor 11 in the first domain 43, a low-level early warning is formed. When the obstacle enters the second domain 44 from the first domain 43 and blocks the laser monitor 11 in the second domain 44, a medium-level early warning is formed. When the obstacle enters the third domain 45 from the second domain 44 and blocks the laser monitor 11 in the third domain 45, a high-level early warning is formed. The low, medium and high-level early warnings are respectively given through the alarm 37. The low-level early warning warns that the obstacle is approaching the wind turbine blade 2. The medium-level early warning warns that the obstacle is approaching the wind turbine blade 2 further. The high-level early warning warns that the obstacle is about to contact the wind turbine blade 2 and obstacle avoidance must be carried out. Through the laser monitors 11 arranged in a ring matrix, the position of the obstacle is locked in real time and accurately, and the inclination angle of the wind turbine blade 2 is monitored in real time through the laser monitors 11 in the fourth domain 46 and the fifth domain 47 for obstacle avoidance adjustment. The laser monitors 11 in the fourth domain 46 and the fifth domain 47 dynamically monitor the state of the wind turbine blade 2 in real time, including the inclination angle and the vibration state, and adjust dynamically in real time according to the wind direction and wind force. Through the occlusion of the corresponding azimuth of the laser monitors 11 arranged in a ring array by the widest position of the blade, the real-time monitoring of the inclination angle of the wind turbine blade 2 is realized, and the vibration state of the blade is judged through the switching of the occluded azimuth of the laser monitor 11 for vibration monitoring. When the threshold is exceeded, the controller 18 controls the hydraulic motor 9 to drive the adjustment turntable to rotate, and then drives the fixed disc 3 to rotate, and then adjusts the inclination angle of the wind turbine blade 2 adaptively according to the wind direction monitored by the wind direction monitoring module and the wind force monitored by the wind force monitoring module, reducing the influence of the side wind load on the transportation of the wind turbine blade 2. The appropriateness of the angle of the adjusted wind turbine blade 2 is feedback-corrected through the vibration monitoring of the wind turbine blade 2 and the fixed frame 1.

[0029] In this embodiment, the laser monitor 11 forms a laser monitoring domain 10 and a safety domain 16. The laser monitor 11 emits from the laser emitting end 14. The laser termination end 15 is set according to the length of the wind turbine blade 2. The distance from the laser emitting end 14 to the laser termination end 15 is greater than the length of the wind turbine blade 2. When the distance from the emitting end gradually decreases, there is an obstacle approaching on the surface and it needs to be adjusted in time. The laser monitor 11 forms a laser monitoring array 17. The laser monitoring array 17 is arranged in a ring structure. The controller 18 calculates and processes the data collected by each sensor through the data analysis and processing module 27, and compares it with the threshold through the comparison module 30. A vibration sensing module 32 is provided on the fixed frame 1, which is controlled by the vibration sensing control module 21 and is used to monitor the shaking state of the transport ship and the transport vehicle. The display is used to display the state of the blade in real time and display the warning level. A detection board may also be provided on the wind turbine blade 2, on which a positioning sensor module 33 is provided, which is used to receive laser signals, and which is controlled by the positioning control module 22. The positioning sensor module 33 is provided at the end of the wind turbine blade 2, and the width of the detection board is greater than the widest width of the wind turbine blade 2. The laser sensor monitoring module 4 includes a laser monitor 11, and a marking line 12 is used to assist in the installation of the laser monitor 11. The laser monitor 11 emits a laser beam 13 to form a cylindrical laser monitoring domain 10. The hydraulic motor 9 is controlled by the hydraulic motor control module 29, the display 39 is controlled by the display control module 38, the early warning hierarchical control module 40 is used to implement early warning hierarchical control, and the hydraulic oil temperature sensor module 42 uses a temperature sensor to monitor the oil temperature of the main trunk of the hydraulic system in real time.

[0030] In summary, through multi-level laser perception and dynamic obstacle avoidance, a ring laser monitoring matrix is ​​set, a five-layer cylindrical monitoring domain, the first domain 43 to the fifth domain 47 constitute a spatial perception network, the outer warning and the inner attitude monitoring are combined, the first domain 43 to the third domain 45 form a three-level safety boundary, the obstacle proximity is detected layer by layer, the fourth domain 46 and the fifth domain 47 inner attitude monitoring, the tilt angle and vibration frequency are calculated in real time through the displacement change of the blade blocking laser points, the spatial coordinate positioning, the laser blocking sequence is used to determine the direction of the obstacle, and a three-level response mechanism is set. The low-level warning, the first domain 43 is triggered, the sound and light alarm prompts the potential risk, the intermediate warning, the second domain 44 is triggered, the hydraulic system 6 is started for pre-adjustment, and the high-level warning, the second domain 44 is triggered, and the obstacle avoidance action is enforced. Combined with the obstacle position and the attitude data of the blade, the inclination of the adjustment frame 5 is adjusted by the hydraulic rod 7, and the attitude of the wind turbine blade 2 is adjusted by the hydraulic motor 9, which has the function of realizing accurate and reliable monitoring and obstacle avoidance.

[0031] Through an environment - adaptive hydraulic control system, it dynamically adjusts according to wind loads. Through multi - source sensing fusion, it integrates wind direction sensors, wind speed sensors, and laser attitude data, calculates the optimal windward angle in real - time based on the aerodynamic shape of the blade, and realizes the adaptive adjustment of the attitude of the wind turbine blade 2 by driving the adjustment turntable 8 with a hydraulic motor 9. It analyzes the vibration spectrum through the vibration monitoring device on the fixed frame 1 and through the laser occlusion frequency in the fifth domain 47, establishes a vibration - angle feedback mechanism, and automatically corrects the blade attitude when the amplitude exceeds the safety threshold. It has the technical effect of realizing the dynamic control of the attitude of the wind turbine blade 2 by the hydraulic system 6 based on intelligent laser sensing and monitoring.

[0032] In another embodiment of the present invention, a hydraulic control method based on intelligent sensing is provided, including: Through multi - level laser perception and dynamic obstacle avoidance, set up an annular laser monitoring matrix, layer - by - layer detect the approaching degree of obstacles, calculate the tilt angle and vibration frequency in real - time through the displacement change of the number of laser points blocked by the blade, locate through spatial coordinates, and judge the orientation of the obstacle through the laser occlusion sequence; Combined with the orientation of the obstacle and the attitude data of the blade, adjust the inclination angle of the adjusting frame 5 by the telescopic movement of the hydraulic rod 7, and adjust the attitude of the wind turbine blade 2 by the hydraulic motor 9 to achieve accurate and reliable monitoring and obstacle avoidance; By integrating wind direction sensors, wind speed sensors, and laser attitude data, calculate the optimal windward angle in real - time based on the aerodynamic shape of the blade, and realize the adaptive adjustment of the attitude of the wind turbine blade 2 by driving the adjustment turntable 8 with a hydraulic motor 9; Real - time monitor the oil temperature of the hydraulic system 6 through the oil temperature monitoring sensor to ensure that the wind turbine blade 2 is adjusted accurately and timely according to obstacles and wind direction.

[0033] From the above description, it can be seen that the above - mentioned embodiments of the present invention achieve the following technical effects: Through multi - level laser perception and dynamic obstacle avoidance, set up an annular laser monitoring matrix, a five - layer cylindrical monitoring domain. The first domain 43 to the fifth domain 47 form a spatial perception network, with outer - layer early warning and inner - layer attitude monitoring combined. The first domain 43 to the third domain 45 form a three - level safety boundary, layer - by - layer detect the approaching degree of obstacles, the fourth domain 46 and the fifth domain 47 for inner - layer attitude monitoring, calculate the tilt angle and vibration frequency in real - time through the displacement change of the number of laser points blocked by the blade, locate through spatial coordinates, and judge the orientation of the obstacle through the laser occlusion sequence. Set up a three - level response mechanism. For low - level early warning, triggered by the first domain 43, with audible and visual alarms to prompt potential risks. For medium - level early warning, triggered by the second domain 44, start the pre - adjustment of the hydraulic system 6. For high - level early warning, triggered by the second domain 44, enforce the obstacle - avoidance action. Combined with the orientation of the obstacle and the attitude data of the blade, adjust the inclination angle of the adjusting frame 5 by the telescopic movement of the hydraulic rod 7, and adjust the attitude of the wind turbine blade 2 by the hydraulic motor 9, having the ability to achieve accurate and reliable monitoring and obstacle avoidance.

[0034] Through an environment - adaptive hydraulic control system, it dynamically regulates according to wind loads. Through multi - source sensing fusion, it integrates wind direction sensors, wind speed sensors, and laser attitude data, calculates the optimal windward angle in real - time based on the aerodynamic shape of the blade, and drives the adjustment turntable 8 through the hydraulic motor 9 to achieve the adaptive adjustment of the attitude of the wind turbine blade 2. It analyzes the vibration spectrum through the vibration monitoring device on the fixed frame 1 and the laser occlusion frequency in the fifth domain 47, and establishes a vibration - angle feedback mechanism. When the amplitude exceeds the safety threshold, it automatically corrects the blade attitude, achieving the technical effect of dynamically regulating the attitude of the wind turbine blade 2 based on laser intelligent sensing monitoring for the hydraulic system 6.

[0035] The oil temperature of the hydraulic system 6 is monitored in real - time by an oil temperature monitoring sensor. When the environmental temperature is too low and the oil temperature is less than the threshold, the hydraulic system 6 is heated and raised in temperature through the hydraulic oil temperature control module 19. When the environmental temperature is too high or the hydraulic system 6 runs frequently and the oil temperature is greater than the threshold, the hydraulic oil temperature control system cools the hydraulic system 6, thereby ensuring that the wind turbine blade 2 is adjusted timely and accurately according to obstacles and wind direction. By monitoring the hydraulic oil temperature in real - time with the oil temperature sensor and combining the intelligent regulation of the cooler and heater, the hydraulic oil temperature can be stabilized within a suitable working range, avoiding changes in the performance of the hydraulic oil caused by too high or too low temperature, and ensuring the reliability and response speed of the hydraulic system 6 with precise temperature control.

[0036] Based on intelligent sensing, through the fine adjustment of the hydraulic system 6, it meets the real - time adjustment requirements of the wind turbine blade 2 in different transportation environments, improving the safety and stability of transportation. The wind direction and wind force sensors and laser monitoring sensors can monitor the state of the wind turbine blade 2 and changes in the transportation environment in real - time. The controller 18 generates control commands in a timely manner based on this data to achieve real - time position and attitude adjustment of the wind turbine blade 2, effectively avoiding collisions between the wind turbine blade 2 and obstacles, and ensuring the stability of the transport vehicle or transport hull and the safety of the transportation process. It is applicable to various transportation scenarios of the wind turbine blade 2 on land and at sea, can adaptively adjust the working state of the hydraulic system 6 according to complex factors such as wind direction and obstacles in different environments, and has wide applicability and good environmental adaptability. The entire hydraulic control system is based on intelligent sensing technology and advanced control strategies, realizing automated and intelligent operation, reducing manual intervention, improving work efficiency and control accuracy, and providing more reliable technical support for the transportation of the wind turbine blade 2.

[0037] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A hydraulic regulation system based on intelligent sensing, characterized in that, it includes a fixing frame, on which a hydraulic system is provided. The hydraulic system is connected to a hydraulic rod and a hydraulic motor. The hydraulic rod and the hydraulic motor are connected to an adjusting frame. An adjusting turntable and a fixed disk are provided on the adjusting frame. A wind power blade is fixed on the fixed disk. A laser monitor is provided on the adjusting frame. Among them, the laser monitor is used to monitor the states of obstacles and wind power blades in construction transportation in real time, and the hydraulic system adjusts in real time according to the monitoring results of the laser monitor.

2. The hydraulic regulation system based on intelligent sensing according to claim 1, characterized in that, the adjusting frame is hinged to the fixing frame. One end of the hydraulic rod is connected to the fixing frame, and the other end is hinged to the adjusting frame. The adjusting turntable is rotatably connected to the adjusting frame. The adjusting turntable is connected to the fixed disk. The fixed disk is detachably fixed to the wind power blade. An annular laser monitor is provided on the adjusting frame. The hydraulic rod and the hydraulic motor are connected to the hydraulic system through hydraulic pipelines. The hydraulic system includes a high-flow hydraulic pump.

3. The hydraulic regulation system based on intelligent sensing according to claim 1, characterized in that, a hydraulic oil temperature regulation module and a hydraulic oil temperature monitoring module are provided in the hydraulic system. The hydraulic oil temperature regulation module includes a heating device and a refrigeration device. The hydraulic oil temperature monitoring module uses a hydraulic oil temperature monitoring sensor, and the hydraulic oil temperature monitoring sensor is used to monitor the hydraulic oil temperature of the hydraulic system in real time.

4. The hydraulic regulation system based on intelligent sensing according to claim 1, characterized in that, it further includes a controller, which includes a central processing unit, a hydraulic oil temperature control module, an alarm control module, a wind direction sensing control module, a wind force sensing control module, a hydraulic regulation control module, a laser control module, a data analysis and processing module, a hydraulic motor control module and a comparison module. The hydraulic oil temperature control module, the alarm control module, the wind direction sensing control module, the wind force sensing control module, the hydraulic regulation control module, the laser control module, the data analysis and processing module, the hydraulic motor control module and the comparison module are respectively connected to the central processing unit.

5. The hydraulic regulation system based on intelligent sensing according to claim 1, characterized in that, the hydraulic oil temperature control module is connected to the oil temperature regulation module. The alarm control module is connected to an alarm. The wind direction sensing control module is connected to a wind direction sensing module. The wind force sensing control module is connected to a wind force sensing module. The hydraulic regulation control module is connected to the hydraulic system. The laser control module is connected to the laser monitor. The hydraulic motor control module is connected to the hydraulic motor.

6. The hydraulic regulation system based on intelligent sensing according to claim 1, characterized in that, The laser monitors are arranged in a ring matrix in layers to form a laser monitoring area, which is cylindrical and surrounds the wind turbine blade. The laser monitoring area includes a first area, a second area, a third area, a fourth area and a fifth area. The first area, the second area and the third area are arranged around the wind turbine blade, and the fourth area and the fifth area intersect with the wind turbine blade. The first area, the second area and the third area give early warnings of obstacles at different levels. The third area and the fourth area monitor the tilt and stability of the wind turbine blade in real time, and calculate and adjust the tilt state of the wind turbine blade through the hydraulic system according to the wind direction and wind force.

7. The hydraulic control system based on intelligent sensing according to claim 1, characterized in that when an obstacle first enters the first area and blocks the laser monitors in the first area, a low-level warning is formed; when the obstacle enters the second area from the first area and blocks the laser monitors in the second area, a medium-level warning is formed; when the obstacle enters the third area from the second area and blocks the laser monitors in the third area, a high-level warning is formed. The low-level, medium-level and high-level warnings are respectively given through an alarm. The low-level warning warns that the obstacle is approaching the wind turbine blade, the medium-level warning warns that the obstacle is approaching the wind turbine blade further, and the high-level warning warns that the obstacle is about to contact the wind turbine blade and obstacle avoidance must be carried out. The laser monitors arranged in a ring matrix can accurately lock the position of the obstacle in real time, and the laser monitors in the fourth area and the fifth area monitor the tilt angle of the wind turbine blade in real time for obstacle avoidance adjustment.

8. The hydraulic control system based on intelligent sensing according to claim 1, characterized in that the laser monitors in the fourth area and the fifth area dynamically monitor the state of the wind turbine blade in real time, including the tilt angle and vibration state, and dynamically adjust in real time according to the wind direction and wind force. By the occlusion of the laser monitors at the corresponding positions of the ring array by the widest position of the blade, the real-time monitoring of the tilt angle of the wind turbine blade is realized, and the vibration state of the blade is judged by the switching of the occluded laser monitor positions for vibration monitoring. When the threshold is exceeded, the controller controls the hydraulic motor to drive the adjustment turntable to rotate, and then drives the fixed disc to rotate, and then adaptively adjusts the tilt angle of the wind turbine blade according to the wind direction monitored by the wind direction monitoring module and the wind force monitored by the wind force monitoring module, reducing the influence of side wind load on the transportation of the wind turbine blade. The suitability of the adjusted tilt angle of the wind turbine blade is feedback-corrected through the vibration monitoring of the wind turbine blade and the fixed frame.

9. The hydraulic control system based on intelligent sensing according to claim 1, characterized in that the oil temperature monitoring sensor monitors the oil temperature of the hydraulic system in real time. When the environmental temperature is too low and the oil temperature is less than the threshold, the hydraulic oil temperature control module heats up the hydraulic system. When the environmental temperature is too high or the hydraulic system runs frequently and the oil temperature is greater than the threshold, the hydraulic oil temperature control system cools down the hydraulic system, so as to ensure that the wind turbine blade is adjusted accurately and timely according to the obstacle and the wind direction.

10. A hydraulic control method based on intelligent sensing, based on the hydraulic control system based on intelligent sensing according to any one of claims 1-9, characterized in that it includes: Through multi-level laser perception and dynamic obstacle avoidance, a ring laser monitoring matrix is set up to detect the proximity of obstacles layer by layer. The tilt angle and vibration frequency are calculated in real time through the displacement change of the number of laser points blocked by the blades. The orientation of obstacles is judged through spatial coordinate positioning and the laser occlusion sequence; Combined with the orientation of obstacles and the attitude data of the blades, the inclination angle of the adjusting frame is adjusted by the telescopic movement of the hydraulic rod, and the attitude of the wind turbine blade is adjusted by the hydraulic motor to achieve accurate and reliable monitoring and obstacle avoidance; By integrating the wind direction sensor, wind speed sensor and laser attitude data, the optimal upwind angle is calculated in real time based on the aerodynamic shape of the blade, and the adaptive adjustment of the wind turbine blade attitude is realized by driving the adjustment turntable with the hydraulic motor; The oil temperature of the hydraulic system is monitored in real time through the oil temperature monitoring sensor to ensure that the wind turbine blade is adjusted accurately and timely according to the obstacles and wind direction.

Images