Operation and maintenance method, device and system for mud floating type offshore wind turbine

Abstract

The invention relates to the technical field of offshore wind turbines, in particular to an operation and maintenance method, device and system for a mud floating type offshore wind turbine. The method comprises the following steps: acquiring real-time operation data of the mud floating type offshore wind turbine; inputting the real-time operation data into a pre-constructed fault prediction model, and outputting to obtain a prediction result of the mud floating type offshore wind turbine; obtaining a judgment result confirmed by a worker aiming at the prediction result; and if the prediction result is the same as the judgment result, the underwater robot is controlled to maintain the corresponding position of the mud floating type offshore wind turbine. According to the technical scheme, the operation and maintenance efficiency can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore wind turbines, and in particular to an operation, maintenance and repair method, device and system for a mud-floating offshore wind turbine. Background Art

[0002] As the energy crisis becomes increasingly prominent, offshore wind power, as a renewable energy source, has become a crucial component of the current energy mix and a key energy source for resolving the crisis. However, the operation, maintenance, and inspection of mud-floating offshore wind turbines, as they are commonly known, rely primarily on manual labor, resulting in low efficiency.

[0003] Therefore, there is an urgent need to provide a mud-floating offshore wind turbine system that cooperates with marine environment monitoring to solve the above technical problems. Summary of the Invention

[0004] The embodiments of the present invention provide an operation, maintenance and repair method, device and system for a mud-floating offshore wind turbine, which can effectively improve the operation, maintenance and repair efficiency.

[0005] In a first aspect, an embodiment of the present invention provides an operation, maintenance and repair method for a mud-floating offshore wind turbine, comprising:

[0006] Obtain real-time operating data of mud-floating offshore wind turbines;

[0007] Inputting the real-time operating data into a pre-built fault prediction model, and outputting a prediction result of the mud-floating offshore wind turbine;

[0008] Obtaining a judgment result confirmed by a staff member on the prediction result;

[0009] If the prediction result is the same as the judgment result, the underwater robot is controlled to repair the corresponding position of the mud-floating offshore wind turbine.

[0010] In a second aspect, an embodiment of the present invention further provides an operation and maintenance device for a mud-floating offshore wind turbine, comprising:

[0011] The first acquisition module is used to obtain real-time operating data of the mud-floating offshore wind turbine;

[0012] A prediction module, configured to input the real-time operating data into a pre-built fault prediction model and output a prediction result of the mud-floating offshore wind turbine;

[0013] A second acquisition module is used to obtain the judgment result confirmed by the staff on the prediction result;

[0014] The control module is configured to control the underwater robot to repair the corresponding position of the mud-floating offshore wind turbine if the prediction result is the same as the judgment result.

[0015] In a third aspect, an embodiment of the present invention further provides an operation and maintenance system for a mud-floating offshore wind turbine, wherein the mud-floating offshore wind turbine comprises a wind turbine, a tower, a foundation, and a pedestal connected sequentially from top to bottom, wherein the foundation is sequentially connected to a lateral anchor chain and an anchor, and a vertical anchor chain is connected between the foundation and the pedestal. The operation and maintenance system comprises a dredging device and a controller disposed in the tower, wherein the controller is configured to execute the above-mentioned method. The dredging device comprises:

[0016] A mechanical arm grab bucket provided on the outer side wall of the base is used to remove stones and upper silt inside the base;

[0017] A vibrating rod disposed inside the base, used to loosen the lower layer of silt inside the base;

[0018] The sludge suction pump arranged on the base is used to suck the loosened lower layer sludge out of the base.

[0019] The present invention provides a method, device, and system for the operation, maintenance, and repair of mud-floating offshore wind turbines. These methods utilize underwater robots (AUVs) to replace manual labor for underwater maintenance operations, reducing the risk of personnel operating in harsh marine environments while also improving maintenance efficiency and quality. The AUVs, equipped with autonomous navigation, intelligent detection, and partial repair capabilities, can independently complete various tasks in complex underwater environments according to pre-programmed procedures, reducing reliance on large offshore platforms and specialized divers, and lowering operation and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 This is a flow chart of an operation, maintenance, and repair method for a mud-floating offshore wind turbine provided by an embodiment of the present invention;

[0022] Figure 2 is a hardware architecture diagram of an electronic device provided by an embodiment of the present invention;

[0023] Figure 3 This is a structural diagram of an operation and maintenance device for a mud-floating offshore wind turbine provided by an embodiment of the present invention;

[0024] Figure 4 1 is a schematic structural diagram of a mud-floating offshore wind turbine provided by an embodiment of the present invention;

[0025] Figure 5 for Figure 4 The structural diagram of the foundation of the mud-floating offshore wind turbine shown;

[0026] Figure 6 for Figure 4 The structural diagram of the base of the mud-floating offshore wind turbine shown in FIG.

[0027] Figure 7 for Figure 6 an enlarged schematic diagram of the base shown;

[0028] Figure 8 for Figure 4 The schematic diagram of the structure of the anchor in the mud-floating offshore wind turbine is shown.

[0029] Reference numerals:

[0030] 1-wind turbine; 2-tower; 3-foundation; 4-pedestal; 41-groove; 42-dividing plate; 5-lateral anchor chain; 6-anchor; 7-vertical anchor chain;

[0031] 1a-robotic arm grab bucket; 2a-vibrating rod; 3a-mud suction pump; 4a-camera; 5a-spiral blade; 6a-air outlet; 7a-annular belt; 8a-first water outlet; 9a-water inlet; 10a-booster; 11a-second water outlet; 12a-flushing pipe. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0033] A mud-floating offshore wind turbine refers to a wind turbine foundation that can be converted between a suspended state and a mud-floating state. The suspended state means that the wind turbine foundation is suspended on the sea surface or in the sea water. In this state, the upper wind turbine works at a higher height, which is conducive to improving power generation efficiency and is suitable for conditions with better marine environments; the mud-floating state means that the wind turbine foundation is fixed in the mud layer on the seabed. In this state, the upper wind turbine works at a lower height, which is conducive to improving safety and is suitable for conditions with harsher marine environments.

[0034] like Figure 1 As shown, an embodiment of the present invention provides an operation, maintenance and repair method for a mud-floating offshore wind turbine, comprising:

[0035] Step 100: Acquire real-time operating data of a mud-floating offshore wind turbine;

[0036] Step 102: input the real-time operating data into a pre-built fault prediction model, and output a prediction result of the mud-floating offshore wind turbine;

[0037] Step 104: Obtain the judgment result confirmed by the staff on the prediction result;

[0038] Step 106: If the prediction result and the judgment result are the same, control the underwater robot to repair the corresponding position of the mud-floating offshore wind turbine.

[0039] In this embodiment, underwater robots are used to replace manual labor for underwater maintenance operations, reducing the risk of personnel operating in harsh marine environments while also improving maintenance efficiency and quality. The underwater robots, equipped with autonomous navigation, intelligent detection, and partial repair capabilities, can independently complete various tasks in complex underwater environments according to pre-programmed procedures, reducing reliance on large offshore platforms and professional divers, and lowering operational and maintenance costs.

[0040] In one embodiment of the present invention, the real-time operation data is measured by a displacement sensor, an angle sensor, and an inertial measurement unit. The specific real-time operation data will not be described in detail here, as those skilled in the art are well aware of it.

[0041] In one embodiment of the present invention, the fault prediction model is a digital twin model. The specific digital twin model will not be described in detail here, as it is well known to those skilled in the art.

[0042] In one embodiment of the present invention, step 106 may specifically include:

[0043] Determine the target maintenance strategy based on the prediction results and the pre-set maintenance strategy database;

[0044] Based on the target maintenance strategy, the underwater robot is controlled to repair the corresponding position of the mud-floating offshore wind turbine.

[0045] It is understandable that the system is applied to the later operation and maintenance and overhaul stage of mud-floating offshore wind power infrastructure. The entire system is divided into three levels, including the data layer, the analysis layer and the application layer. The data layer is responsible for collecting basic relevant data and connecting to the analysis layer. The analysis layer inputs the data to the application layer after processing. The application layer is connected to the alarm device to report abnormal conditions in a timely manner. After diagnosis and decision-making, underwater robots are used for maintenance and processing, and the maintenance plan and data are analyzed and fed back, and re-input into the data layer to optimize the system. The present invention innovatively uses underwater robots to repair the infrastructure, which has the advantages of reducing labor costs, improving the timeliness and effectiveness of operation and maintenance, and can effectively improve the efficiency of the later operation and maintenance and overhaul of the infrastructure and extend the life of the structure. In addition, the specific underwater robots are not described in detail here, and those skilled in the art are already aware of them.

[0046] Specifically, the data layer stores the collected data and inputs it into the analysis layer. The analysis layer receives and calculates the data, judges the current status of the foundation based on the calculation results, and predicts and diagnoses possible faults. The analysis layer inputs the judgment results into the alarm device and notifies the relevant person in charge, allowing the person in charge to remotely reconfirm the system's judgment results. After confirmation, the application layer makes maintenance decisions and uses underwater robots to repair the basic structure system, records the maintenance results and re-enters the data layer to allow the system to optimize and learn.

[0047] The data layer consists of three parts: data acquisition, data transmission and data storage. The data acquisition part refers to collecting real-time data of the infrastructure through sensors installed on the infrastructure and transmitting the data. After the transmission is completed, the system automatically performs the data storage step and stores the data in the database.

[0048] The analysis layer includes four parts: data processing, state judgment, fault prediction and fault diagnosis. Data processing refers to further calculation and integration of data, comparison with the normal state data input in advance, and judgment of whether the current infrastructure is in an abnormal state. If the judgment result is yes, the possible fault is predicted based on the abnormal data, supported by other data, and finally the cause of the fault is determined and the information is passed to the application layer.

[0049] The application layer is divided into seven parts, including alarm and notification, remote diagnosis, maintenance decision-making, underwater robot maintenance, maintenance records, data analysis and feedback, and optimized operation and maintenance strategies.

[0050] Alarms and notifications are connected to upper-level fault diagnosis. After receiving the fault signal transmitted by the system, they will respond to the alarm in a timely manner and synchronize the diagnosis results to the corresponding person in charge.

[0051] Remote diagnosis means that the relevant person in charge remotely makes a secondary judgment on the system's diagnostic results after receiving abnormal information, reducing the probability of system misjudgment and improving the accuracy of operation and maintenance.

[0052] Maintenance decision-making means that after the person in charge confirms that the system's judgment is correct, the system will give the best maintenance plan based on the fault situation and real-time sea conditions. The person in charge can also modify it manually. After the plan is confirmed to be correct, the system will arrange for an underwater robot to go for maintenance. The robot has autonomous navigation, intelligent detection and partial repair functions, and can independently complete various tasks in complex underwater environments according to preset programs.

[0053] Maintenance records mean that after the underwater robot maintenance phase is completed, the underwater robot will automatically transmit the relevant data of the maintenance to the system, which is convenient for relevant personnel to view and manage in the future.

[0054] Data analysis and feedback means that after the underwater robot's data is transmitted back to the system, the system will conduct further data analysis on the maintenance records, improve the background database of the infrastructure system, and improve the accuracy of the data records of the infrastructure system. Optimizing the operation and maintenance strategy means that the system will synchronously feedback the analysis results and maintenance plans to the data layer, optimize the maintenance plans for abnormal situations and the ability to predict failures.

[0055] Compared with the prior art, the technical solution of the present invention has the following advantages:

[0056] 1) The system achieves intelligent perception through intelligent sensing, edge computing, and robotics technologies. By integrating multiple sensor types, it enables comprehensive, multi-parameter real-time monitoring of mud-floating offshore wind turbine foundations. By deeply mining massive amounts of monitoring data through big data analysis and machine learning algorithms, it can more accurately predict potential failure risks in the foundation and issue early warnings. This changes the passive, post-repair approach of traditional O&M, significantly improving the timeliness and effectiveness of O&M.

[0057] 2) The system leverages interconnected technologies such as ICT, big data analysis, the Internet of Things, and cloud computing to gradually achieve autonomous and intelligent operation and maintenance, improve the operation and maintenance decision-making level of floating offshore wind power, and reduce the labor cost of operation and maintenance management.

[0058] 3) The system utilizes underwater robots (AUVs) to replace manual labor for underwater maintenance operations, reducing the risk of personnel operating in harsh marine environments while also improving maintenance efficiency and quality. The AUVs, equipped with autonomous navigation, intelligent detection, and partial repair capabilities, can independently complete various tasks in complex underwater environments according to pre-programmed procedures, reducing reliance on large offshore platforms and professional divers, and lowering operational and maintenance costs.

[0059] 4) The system collects field data and innovatively constructs a dynamic analysis model for the coupled suspended and submerged foundation structure. This model fully considers the dynamic response of the foundation structure in the suspended state and the interaction between the submerged state. By using advanced numerical simulation methods and multi-physics coupling analysis techniques, it can accurately simulate and deeply analyze the overall mechanical behavior of the structural system under various complex working conditions.

[0060] 5) The system dynamically formulates maintenance plans based on real-time monitoring data and fault warning information. This abandons the traditional periodic maintenance model and enables targeted maintenance based on the actual health of the infrastructure. This avoids excessive or untimely maintenance, improves the utilization of operation and maintenance resources, and ensures that the offshore wind power infrastructure is always in good operating condition.

[0061] 6) By collecting data, the system establishes a digital twin model of the entire life cycle of the mud-floating offshore wind turbine foundation in the fault prediction section, mapping the physical entity and virtual model in real time and deeply integrating them. Through real-time simulation and analysis of the digital twin model, the performance evolution and fault development trends of the foundation under different operating conditions can be predicted in advance, providing more scientific and accurate support for operation and maintenance decision-making. This innovative approach achieves a shift from the traditional operation and maintenance model based on experience and post-repair to a predictive operation and maintenance model driven by data and models, significantly improving the intelligence and economic efficiency of operation and maintenance.

[0062] 7) In addition to conventional horizontal and vertical displacement sensors, the system also incorporates a tilt angle sensor and an inertial measurement unit (IMU) based on MEMs (micro-electromechanical systems) technology. This system utilizes advanced intelligent control algorithms to create an adaptive balance adjustment mechanism. When the monitoring system detects that the floating structure's suspension state deviates from the preset balance range, the mechanism rapidly responds, automatically calculating and generating the optimal adjustment strategy.

[0063] 8) The system has an adaptive mechanism that can dynamically adjust control parameters according to the actual sea conditions and the real-time status of the structure after setting the threshold in advance.

[0064] 9) Data storage and usage at each level of the system have specific formats and permissions. Data at each level is used by the systems or equipment at that level, and can interact with data from adjacent levels through interfaces. Each system level can operate independently without relying on other levels.

[0065] 10) The system analyzes maintenance records and historical data, summarizing common failures and maintenance experiences. The analysis results are fed back to the operation and maintenance team to optimize operation and maintenance strategies and preventive measures.

[0066] like Figure 2 、 Figure 3 As shown, the embodiment of the present invention provides an operation and maintenance device for a mud-floating offshore wind turbine. The device embodiment can be implemented by software, hardware, or a combination of software and hardware. From the hardware level, Figure 2 The figure shows a hardware architecture diagram of an electronic device where an operation and maintenance device for a mud-floating offshore wind turbine is located, except for Figure 2 In addition to the processor, memory, network interface, and non-volatile memory shown, the electronic device in the embodiment may also include other hardware, such as a forwarding chip responsible for processing messages, etc. Taking software implementation as an example, Figure 3 As shown, as a device in a logical sense, it is formed by the CPU of the electronic device in which it is located reading the corresponding computer program in the non-volatile memory into the internal memory and running it.

[0067] This embodiment provides an operation and maintenance device for a mud-floating offshore wind turbine, comprising:

[0068] The first acquisition module 300 is used to obtain real-time operating data of the mud-floating offshore wind turbine;

[0069] The prediction module 302 is used to input the real-time operation data into a pre-built fault prediction model and output a prediction result of the mud-floating offshore wind turbine;

[0070] The second acquisition module 304 is used to obtain the judgment result confirmed by the staff based on the prediction result;

[0071] The control module 306 is configured to control the underwater robot to repair the corresponding position of the mud-floating offshore wind turbine if the prediction result and the judgment result are the same.

[0072] In an embodiment of the present invention, the first acquisition module 300 can be used to execute step 100 in the above method embodiment, the prediction module 302 can be used to execute step 102 in the above method embodiment, the second acquisition module 304 can be used to execute step 104 in the above method embodiment, and the control module 306 can be used to execute step 106 in the above method embodiment.

[0073] In one embodiment of the present invention, the real-time operating data is measured by a displacement sensor, an angle sensor, and an inertial measurement unit.

[0074] In one embodiment of the present invention, the fault prediction model is a digital twin model.

[0075] In one embodiment of the present invention, the control module 306 is configured to perform the following operations:

[0076] Determine the target maintenance strategy based on the prediction results and the pre-set maintenance strategy database;

[0077] Based on the target maintenance strategy, the underwater robot is controlled to repair the corresponding position of the mud-floating offshore wind turbine.

[0078] In the related art, during the installation and conversion from a suspended state to a mud-floating state of a mud-floating offshore wind turbine, a large amount of silt and stones will appear at the bottom of the base, which is not conducive to the foundation being embedded in the base.

[0079] In order to solve the above technical problems, the embodiment of the present invention further provides an operation and maintenance system for a mud-floating offshore wind turbine. Figure 4As shown) includes a wind turbine 1, a tower 2, a foundation 3 and a base 4 connected in sequence from top to bottom, the foundation 3 is connected with a lateral anchor chain 5 and an anchor 6 in sequence, a vertical anchor chain 7 is connected between the foundation 3 and the base 4, and the operation and maintenance system includes a dredging device (such as Figures 4 to 8 As shown) and a controller (not shown) disposed in the tower 2, the controller is used to execute any of the above-mentioned embodiments, the dredging device includes:

[0080] The mechanical arm grab bucket 1a provided on the outer wall of the base 4 is used to remove stones and upper silt inside the base 4;

[0081] The vibrating rod 2a is provided inside the base 4 and is used to loosen the lower layer of silt inside the base 4;

[0082] The sludge suction pump 3 a provided on the base 4 is used to suck the loosened lower layer sludge out of the base 4 .

[0083] In this embodiment, during installation, the device first clears the seabed to facilitate smooth installation of the mud-floating foundation 3 and pedestal 4. When transitioning from a suspended state to a mud-floating state is required in extreme marine environments, the device first clears pedestal 4 to allow the foundation 3 to be fully embedded within it. This technology features thorough dredging, a wide range of applications, and high operational efficiency, providing a strong guarantee for the stable operation and smooth state transition of the offshore wind turbine foundation 3.

[0084] Specifically, when foundation 3 transitions from a suspended state to a mud-floating state, a large amount of silt at the bottom of base 4 needs to be cleared before foundation 3 can be fully integrated with base 4. At this point, a remotely controlled robotic grab 1a is used to roughly remove the large silt and rocks accumulated on the upper portion. The vibrating rod 2a is then activated to vibrate and loosen the accumulated silt within base 4. The loosened silt is then sucked out using the sludge pump 3a, completing the silt removal work on base 4 and enabling the structure to better complete the state transition. When the structure is in the mud-floating state, the robotic grab 1a is positioned at the side wall of base 4, leaving space for foundation 3 to sink.

[0085] In one embodiment of the present invention, the bottom of the vibration rod 2a is a conical structure (not shown in the figure) so as to better insert it into the mud.

[0086] like Figure 5 As shown, in one embodiment of the present invention, a camera 4a is provided at the central bottom of the foundation 3, and the camera 4a is used to perform visual operation of the robotic arm grab 1a in conjunction with a rear-end remote control system (not shown in the figure).

[0087] In this embodiment, an underwater visualization camera 4a is installed at the bottom sphere of foundation 3. When foundation 3 transitions from a suspended state to a mud-floating state, foundation 3 descends. When the visualization of the underwater camera 4a on base 4 reaches a certain range and clarity, workers can remotely control the robotic arm grab 1a via a computer. Combined with the underwater visualization camera 4a, dredging and desilting operations can be performed intuitively and conveniently. When desilting is completed, the robotic arm grab 1a rotates back to the outside of foundation 3, leaving space for foundation 3 to sink. The underwater visualization camera 4a can monitor the silt accumulation at the bottom of the mud-floating structure in real time and, in conjunction with computer-aided equipment, control the robotic arm grab 1a to perform targeted desilting operations on base 4. This technology makes desilting intuitive and convenient, reducing the difficulty of desilting.

[0088] In some embodiments, the robotic arm grab 1a can be remotely controlled by a computer through digital twin technology, which will not be described in detail here.

[0089] In one embodiment of the present invention, a spiral blade 5 a is provided at the bottom of the outer periphery of the foundation 3 and can rotate as the foundation 3 rises and sinks.

[0090] In this embodiment, a spiral blade 5a is mounted at the bottom of foundation 3. A vertical anchor chain is connected to the center axis of the blade 5a. The blade 5a rotates as foundation 3 rises and sinks, and can also be activated and controlled by a motor. The blade 5a removes marine life from the underside of foundation 3 and cuts away flexible vegetation, such as aquatic plants, that could entangle or cling to the anchor chain. This prevents impurities from affecting the anchor chain during its extension and contraction, ensuring that the structure can smoothly transition between states.

[0091] In one embodiment of the present invention, the base 4 is provided with a plurality of grooves 41, each groove 41 corresponds to a spiral blade 5a, and the inner wall surface of each groove 41 is provided with a plurality of air outlet holes 6a to exhaust air outward in a centralized manner to remove the silt deposited in that part, thereby preventing excessive silt deposition from hindering the normal operation of the anchor chain, and playing a vital role in maintaining the stable state transition of the mud-floating structure.

[0092] In one embodiment of the present invention, a plurality of partition plates 42 are provided inside the base 4, and the partition plates 42 are used to divide the cavity inside the base 4 into a plurality of compartments, each compartment is provided with a vibrating rod 2a, and each compartment corresponds to a robotic arm grab 1a and a mud suction pump 3a.

[0093] In this embodiment, the base 4 utilizes a compartmentalized approach, with the hexagonal structure of the foundation 3 being equally divided into six compartments via compartment plates 42. Each compartment independently handles dredging tasks, reducing the overall difficulty of dredging. Each compartment is equipped with a dredge pump 3a, one end of which is connected to the interior of the base 4 compartment and the other end to the external marine environment. The dredge pump 3a, in conjunction with the vibrating rod 2a, can completely remove silt that is difficult for the robotic grab 1a to remove, ensuring cleanliness within the base 4 and providing bottom space for the structure to transition from a suspended state to a mud-floating state, allowing the foundation 3 to be fully integrated into the base 4.

[0094] In one embodiment of the present invention, the dredging device further includes an annular belt 7a arranged around the inner circle of the base 4, the annular belt 7a is connected to the compartment plate 42, and the dredge suction pump 3a is arranged on the annular belt 7a.

[0095] In one embodiment of the present invention, a micro pump (not shown in the figure) is provided inside the annular belt 7a, and a plurality of first water outlet holes 8a connected to the micro pump are provided on the outside of the annular belt 7a to flush the silt deposited on the upper part of the base 4 by spraying high-pressure water flow, thereby preventing the silt from accumulating and hindering the sinking of the foundation 3.

[0096] like Figure 8 As shown, in one embodiment of the present invention, the side wall of the anchor 6 is provided with a water inlet 9a, a booster 10a is provided inside, and a second water outlet 11a is provided on the bottom wall. The water inlet 9a, the booster 10a and the second water outlet 11a are connected in sequence.

[0097] In this embodiment, during the sinking process of the anchor 6, the water inlet 9a absorbs water. When the anchor 6 is about to reach the mud surface, the second water outlet 11a is opened and the supercharger 10a is used to spray high-pressure water outward to flush the silt on the bottom of the ocean, loosening and suspending the seabed mud layer, which has a good effect on softer mud and sediments, thereby making the seabed surface where the anchor 6 is located smoother.

[0098] In one embodiment of the present invention, a flushing pipe 12a is provided on the top of the anchor 6, the water inlet 9a, the booster 10a and the flushing pipe 12a are connected in sequence, and the outlet of the flushing pipe 12a faces the lateral anchor chain 5.

[0099] In this embodiment, the lateral anchor chain 5 is in contact with the transmission gear arranged in the anchor 6. Two flushing pipes 12a are installed on the upper part of the anchor 6. The flushing pipes 12a can use the supercharger 10a to spray high-pressure water outward to flush the marine organisms attached to the lateral anchor chain 5, and at the same time clean the lateral anchor chain 5 to prevent the lateral anchor chain 5 from rusting and the large amount of marine organisms attached to make it difficult for the lateral anchor chain 5 to retract normally.

[0100] It should be understood that the structure illustrated in the embodiments of the present invention does not constitute a specific limitation on the operation, maintenance, and repair device for a mud-floating offshore wind turbine. In other embodiments of the present invention, the operation, maintenance, and repair device for a mud-floating offshore wind turbine may include more or fewer components than illustrated, or may combine or separate certain components, or employ a different component arrangement. The illustrated components may be implemented in hardware, software, or a combination of both.

[0101] The information interaction, execution process, etc. between the modules in the above-mentioned device are based on the same concept as the embodiment of the method of the present invention. For specific contents, please refer to the description in the embodiment of the method of the present invention and will not be repeated here.

[0102] An embodiment of the present invention further provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, an operation, maintenance and repair method of a mud-floating offshore wind turbine according to any embodiment of the present invention is implemented.

[0103] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the processor executes a method for operating, maintaining, and repairing a mud-floating offshore wind turbine according to any embodiment of the present invention.

[0104] Specifically, a system or device equipped with a storage medium can be provided, on which software program codes that implement the functions of any of the above-mentioned embodiments are stored, and a computer (or CPU or MPU) of the system or device can be enabled to read and execute the program codes stored in the storage medium.

[0105] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute part of the present invention.

[0106] Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, the program code can be downloaded from a server computer via a communication network.

[0107] In addition, it should be clear that the functions of any of the above embodiments can be achieved not only by executing the program code read by the computer, but also by enabling the operating system operating on the computer to complete part or all of the actual operations based on the instructions of the program code.

[0108] In addition, it can be understood that the program code read from the storage medium is written into a memory provided in an expansion board inserted into the computer or into a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above embodiments.

[0109] It should be noted that, in this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or electronic device that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements that are inherent to such process, method, article or electronic device. In the absence of further restrictions, the elements defined by the sentence "including a..." do not exclude the presence of other identical factors in the process, method, article or electronic device that includes the elements.

[0110] Those skilled in the art will understand that all or part of the steps of implementing the above-mentioned method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiment; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk, etc. Various storage media that can store program codes.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for operation, maintenance and repair of a mud-floating offshore wind turbine, characterized in that: include: Obtain real-time operating data of mud-floating offshore wind turbines; Inputting the real-time operating data into a pre-built fault prediction model, and outputting a prediction result of the mud-floating offshore wind turbine; Obtaining a judgment result confirmed by a staff member on the prediction result; If the prediction result is the same as the judgment result, the underwater robot is controlled to repair the corresponding position of the mud-floating offshore wind turbine.

2. The method according to claim 1, characterized in that The real-time operation data is measured by a displacement sensor, an angle sensor and an inertial measurement unit.

3. The method according to claim 2, characterized in that The fault prediction model is a digital twin model.

4. The method according to any one of claims 1 to 3, characterized in that The controlling of the underwater robot to perform maintenance on the corresponding position of the mud-floating offshore wind turbine comprises: Determining a target maintenance strategy based on the prediction result and a pre-set maintenance strategy database; Based on the target maintenance strategy, the underwater robot is controlled to perform maintenance on the corresponding position of the mud-floating offshore wind turbine.

5. An operation and maintenance device for a mud-floating offshore wind turbine, characterized in that: include: The first acquisition module is used to obtain real-time operating data of the mud-floating offshore wind turbine; A prediction module, configured to input the real-time operating data into a pre-built fault prediction model and output a prediction result of the mud-floating offshore wind turbine; A second acquisition module is used to obtain the judgment result confirmed by the staff on the prediction result; The control module is configured to control the underwater robot to repair the corresponding position of the mud-floating offshore wind turbine if the prediction result is the same as the judgment result.

6. The device according to claim 5, characterized in that The real-time operation data is measured by a displacement sensor, an angle sensor and an inertial measurement unit.

7. The device according to claim 6, characterized in that The fault prediction model is a digital twin model.

8. The device according to any one of claims 5 to 7, characterized in that The control module is used to perform the following operations: Determining a target maintenance strategy based on the prediction result and a pre-set maintenance strategy database; Based on the target maintenance strategy, the underwater robot is controlled to perform maintenance on the corresponding position of the mud-floating offshore wind turbine.

9. An operation and maintenance system for a mud-floating offshore wind turbine, characterized in that: The mud-floating offshore wind turbine comprises a wind turbine, a tower, a foundation, and a pedestal connected in sequence from top to bottom, the foundation being connected in sequence to a lateral anchor chain and an anchor, a vertical anchor chain being connected between the foundation and the pedestal, the operation and maintenance system comprising a dredging device and a controller disposed in the tower, the controller being configured to execute the method according to any one of claims 1 to 4, the dredging device comprising: A mechanical arm grab bucket provided on the outer side wall of the base is used to remove stones and upper silt inside the base; A vibrating rod disposed inside the base, used to loosen the lower layer of silt inside the base; The sludge suction pump arranged on the base is used to suck the loosened lower layer sludge out of the base.

10. The system according to claim 9, characterized in that The side wall of the anchor is provided with a water inlet, a booster is provided inside, and a second water outlet is provided on the bottom wall, wherein the water inlet, the booster and the second water outlet are connected in sequence; A flushing pipe is provided on the top of the anchor, the water inlet, the booster and the flushing pipe are connected in sequence, and the outlet of the flushing pipe faces the lateral anchor chain.

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