A method, device and system for operation and maintenance of a mud floating offshore wind turbine

Abstract

The present application relates to the technical field of offshore wind turbine, and particularly relates to a mud floating offshore wind turbine operation and maintenance method, device and system. The method comprises the following steps: acquiring real-time operation data of the mud floating offshore wind turbine; inputting the real-time operation data into a pre-constructed fault prediction model to output a prediction result of the mud floating offshore wind turbine; acquiring a judgment result confirmed by a worker according to the prediction result; if the prediction result and the judgment result are the same, controlling an underwater robot to maintain a corresponding position of the mud floating offshore wind turbine. The above technical solution can effectively improve the operation and maintenance efficiency.

Description

TECHNICAL FIELD

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

[0002] With the increasingly prominent energy crisis, offshore wind power as a renewable energy has become an important part of the current energy structure and an important energy to solve the energy crisis. In related technologies, the operation and maintenance of mud-floating offshore wind turbines mainly relies on manual operation, and therefore the operation and maintenance efficiency is low.

[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

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

[0005] In a first aspect, the embodiments of the present application provide a method for operation and maintenance of a mud-floating offshore wind turbine, comprising:

[0006] obtaining real-time operation data of the mud-floating offshore wind turbine;

[0007] inputting the real-time operation data into a pre-constructed fault prediction model to output a prediction result of the mud-floating offshore wind turbine;

[0008] obtaining a judgment result confirmed by a worker for the prediction result;

[0009] if the prediction result and the judgment result are the same, controlling an underwater robot to perform maintenance on a corresponding position of the mud-floating offshore wind turbine.

[0010] In a second aspect, the embodiments of the present application further provide a device for operation and maintenance of a mud-floating offshore wind turbine, comprising:

[0011] a first obtaining module configured to obtain real-time operation data of the mud-floating offshore wind turbine;

[0012] a prediction module configured to input the real-time operation data into a pre-constructed fault prediction model to output a prediction result of the mud-floating offshore wind turbine;

[0013] a second obtaining module configured to obtain a judgment result confirmed by a worker for the prediction result;

[0014] a control module configured to, if the prediction result and the judgment result are the same, control an underwater robot to perform maintenance on a corresponding position of the mud-floating offshore wind turbine.

[0015] In a third aspect, the embodiments of the present application also provide an operation and maintenance system for a mud-floating offshore wind turbine, the mud-floating offshore wind turbine comprising a wind turbine, a tower, a foundation and a base connected in sequence from top to bottom, the foundation being connected with a lateral anchor chain and an anchor stock in sequence, the foundation and the base being connected with a vertical anchor chain, the operation and maintenance system comprising a dredging device and a controller arranged in the tower, the controller being used to execute the above method, and the dredging device comprising:

[0016] a mechanical arm grab bucket arranged on the outer wall of the base and used to remove stones and upper silt in the base;

[0017] a vibrating rod arranged in the base and used to loosen lower silt in the base;

[0018] a suction dredge pump arranged on the base and used to suck out the loosened lower silt to the outside of the base.

[0019] The embodiments of the present application provide an operation and maintenance method, device and system for a mud-floating offshore wind turbine, which use an underwater robot to replace manual underwater maintenance work, thereby not only reducing the risk of personnel work in a harsh marine environment, but also improving the maintenance efficiency and quality. The underwater robot has the functions of autonomous navigation, intelligent detection and partial repair, can independently complete various tasks in a complex underwater environment according to a preset program, reduces the dependence on large offshore operation platforms and professional divers, and reduces the operation and maintenance cost. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the following will briefly introduce the drawings needed to be used in the embodiments or related art descriptions. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0021] Figure 1 is the operation and maintenance method flowchart of the mud-floating offshore wind turbine provided by the embodiments of the present application;

[0022] Figure 2 is the hardware architecture diagram of the electronic device provided by the embodiments of the present application;

[0023] Figure 3 is the structure diagram of the operation and maintenance device for the mud-floating offshore wind turbine provided by the embodiments of the present application;

[0024] Figure 4 is the structure diagram of the mud-floating offshore wind turbine provided by the embodiments of the present application;

[0025] Figure 5 is the structure diagram of the mud-floating offshore wind turbine provided by the embodiments of the present application;Figure 4 Fig. 2 shows a structural schematic diagram of a foundation in a mud-floating offshore wind turbine according to an embodiment of the present application;

[0026] Figure 6 Fig. 3 shows a structural schematic diagram of a base in a mud-floating offshore wind turbine according to an embodiment of the present application; Figure 4

[0027] Figure 7 Fig. 4 shows an enlarged schematic diagram of the base according to an embodiment of the present application; Figure 6

[0028] Figure 8 Fig. 5 shows a structural schematic diagram of an anchor stock in a mud-floating offshore wind turbine according to an embodiment of the present application. Figure 4

[0029] Reference signs:

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

[0031] 1a-mechanical arm grab bucket; 2a-vibrating rod; 3a-mud suction pump; 4a-camera; 5a-spiral blade; 6a-air outlet; 7a-loop 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 objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0033] The 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 refers to that the wind turbine foundation is suspended in the sea surface or seawater. In this state, the working height of the upper wind turbine is high, which is conducive to improving the power generation efficiency and is suitable for the case that the marine environment is good. The mud-floating state refers to that the wind turbine foundation is fixed in the mud layer of the seabed. In this state, the working height of the upper wind turbine is low, which is conducive to improving the safety and is suitable for the case that the marine environment is poor.

[0034] As shown in Figure 1 The embodiment of the present application provides a method for operation and maintenance of a mud-floating offshore wind turbine, which comprises the following steps:

[0035] Step 100, acquiring real-time operation data of the mud-floating offshore wind turbine;

[0036] ​​​Step 102, input real-time operation data into the pre-constructed fault prediction model, and output the prediction result of the mud floating offshore wind turbine;

[0037] Step 104, obtaining the judgment result confirmed by the staff for the prediction result;

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

[0039] In this embodiment, the underwater robot is used instead of manual underwater maintenance operation, which not only reduces the risk of personnel operation in harsh marine environment, but also improves the maintenance efficiency and quality. The underwater robot has the functions of autonomous navigation, intelligent detection and partial repair, and can independently complete various tasks in complex underwater environment according to the preset program, reduces the dependence on large offshore operation platform and professional divers, and reduces the operation and maintenance cost.

[0040] In an embodiment of the present application, the real-time operation data is measured by displacement sensors, angle sensors and inertial measurement units. The specific real-time operation data is not described here, which is known to those skilled in the art.

[0041] In an embodiment of the present application, the fault prediction model is a digital twin model. The specific digital twin model is not described here, which is known to those skilled in the art.

[0042] In an embodiment of the present application, step 106 can specifically include:

[0043] Based on the prediction result and the pre-set maintenance strategy database, the target maintenance strategy is determined;

[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 can be understood that the system is applied to the later operation and maintenance stage of the mud floating offshore wind power foundation structure, and the whole system is divided into three levels, including data layer, analysis layer and application layer. The data layer is responsible for collecting basic related data and connecting the analysis layer, the analysis layer inputs the processed data to the application layer, the application layer connects the alarm device, reports the abnormal situation in time, and uses the underwater robot for maintenance treatment after diagnosis and decision, and analyzes and feeds back the maintenance scheme and data, and re-inputs to the data layer, optimizes the system. The underwater robot is used to repair the foundation structure, which has the advantages of reducing labor cost, improving the timeliness and effectiveness of operation and maintenance, etc., can effectively improve the efficiency of later operation and maintenance of the foundation structure, and prolong the service life of the structure. In addition, the specific underwater robot is not described here, which is known to those skilled in the art.

[0046] Specifically, the data layer stores the collected data and inputs it to the analysis layer. The analysis layer receives and calculates the data, judges the current state of the foundation based on the calculation results, predicts and diagnoses possible faults, inputs the judgment results to the alarm device and notifies the corresponding person in charge, lets the person in charge remotely confirm the judgment results of the system, and makes maintenance decisions in the application layer after confirming that the judgment results are correct, and uses underwater robots to maintain the foundation structure system, records the maintenance results and re-enters the data into the data layer to optimize and learn the system.

[0047] The data layer includes data acquisition, data transmission and data storage. The data acquisition part refers to collecting real-time data of the foundation structure through sensors installed on the foundation structure and transmitting the data. After the transmission is completed, the system automatically stores the data in the database.

[0048] The analysis layer includes data processing, state judgment, fault prediction and fault diagnosis. Data processing refers to further calculation and integration of data, comparison with previously input normal state data, judgment of whether the foundation structure is in an abnormal state, prediction of possible faults through abnormal data, corroboration by other data, final judgment of fault causes, and information transmission to the application layer.

[0049] The application layer includes seven parts, including alarm and notification, remote diagnosis, maintenance decision, underwater robot maintenance, maintenance record, data analysis and feedback, and optimization of operation and maintenance strategy.

[0050] Alarm and notification are connected to the upper layer fault diagnosis. After receiving the signal of the system that there is a fault, the alarm will respond in time and synchronize the diagnosis results to the corresponding person in charge.

[0051] Remote diagnosis refers to the corresponding person in charge remotely judging the diagnosis results of the system after receiving abnormal information, reducing the probability of system misjudgment and improving the accuracy of operation and maintenance.

[0052] Maintenance decision refers to the system giving the best maintenance plan based on fault conditions and real-time sea conditions after the person in charge confirms that the system judgment is correct. The person in charge can also manually modify the plan. After confirming that the plan is correct, the system will arrange underwater robots to go to maintenance. The robot has the functions of autonomous navigation, intelligent detection and partial repair, and can independently complete various tasks in complex underwater environment according to the preset program.

[0053] Maintenance record refers to the underwater robot automatically transmitting the relevant data of this maintenance to the system after the underwater robot maintenance link is completed, which is convenient for relevant personnel to check and manage in the future.

[0054] Data analysis and feedback refers to the underwater robot data transmission back to the system, the system will record this maintenance for further data analysis, improve the database of the background about the basic structure system, improve the accuracy of the data record of the basic structure system, optimize the operation and maintenance strategy refers to the system will analyze the results and maintenance scheme synchronous feedback to the data layer, optimize the maintenance scheme of abnormal situation and the prediction ability of fault.

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

[0056] 1) The system realizes intelligent perception through intelligent sensing technology, edge computing technology and robot technology, etc., comprehensively uses various types of sensors, realizes real-time monitoring of mud floating offshore wind power foundation structure in all directions and multi-parameters. Through big data analysis and machine learning algorithm, the massive monitoring data can be deeply mined to more accurately predict the potential failure risk of the foundation structure, issue early warning, change the passive situation of traditional operation and maintenance, and greatly improve the timeliness and effectiveness of operation and maintenance.

[0057] 2) The system uses ICT, big data analysis, Internet of Things and cloud computing and other interconnection technologies to gradually realize the autonomy and intelligence of operation and maintenance, improve the operation and maintenance decision level of floating offshore wind power, and reduce the labor cost of operation and maintenance management.

[0058] 3) The system uses underwater robots to replace manual underwater maintenance operations, not only reduces the risk of personnel operation in harsh marine environment, but also improves the maintenance efficiency and quality. The underwater robot has the functions of autonomous navigation, intelligent detection and partial repair, and can independently complete various tasks in complex underwater environment according to the preset program, reduces the dependence on large offshore operation platform and professional divers, and reduces the operation and maintenance cost.

[0059] 4) The system collects field data and innovatively constructs a suspended state and mud foundation structure coupling dynamic analysis model. The model fully considers the dynamic response of the foundation structure in the suspended state and the interaction relationship between the suspended state and the mud state, and through the use of advanced numerical simulation method and multi-physical field coupling analysis technology, the overall mechanical behavior of the structure system under various complex working conditions can be accurately simulated and deeply analyzed.

[0060] 5) The system dynamically formulates maintenance plans according to real-time monitoring data and fault warning information. The traditional periodic maintenance mode is abandoned, targeted maintenance according to the actual health status of the foundation structure is realized, the problems of excessive maintenance or insufficient maintenance are avoided, the utilization efficiency of operation and maintenance resources is improved, and the offshore wind power foundation structure is ensured to be in good running state at all times.

[0061] 6) The system collects data to establish a full-life-cycle digital twin model of the mud floating offshore wind foundation structure in the fault prediction part, and maps and deeply integrates the physical entity and the virtual model in real time. Through real-time simulation and analysis of the digital twin model, the performance evolution and fault development trend of the foundation structure under different working conditions can be predicted in advance, providing more scientific and accurate support for operation and maintenance decision-making. This innovative method realizes the transformation from the traditional operation and maintenance mode based on experience and after-service repair to the predictive operation and maintenance mode based on data and model driving, significantly improving the intelligent level and economy of operation and maintenance.

[0062] 7) In addition to using conventional horizontal and vertical displacement sensors, the system also adds an inclination angle sensor and an inertial measurement unit (IMU) based on MEM (Micro Electro Mechanical System) technology, and uses advanced intelligent control algorithms to build an adaptive balance adjustment mechanism. When the monitoring system detects that the suspension state of the floating structure deviates from the preset balance range, the mechanism can quickly respond and automatically calculate and generate the best adjustment strategy.

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

[0064] 9) The data in the system has its specific form and permission at each level of storage and use. The data at each level is used by the system or equipment at that level, and can also interact with the data of adjacent layers through interfaces. Each layer of the system can work independently without relying on other layers.

[0065] 10) The system analyzes maintenance records and historical data to summarize common faults and maintenance experience. The analysis results are fed back to the operation and maintenance team for optimizing operation and maintenance strategies and preventive measures.

[0066] As shown in Figure 2 , Figure 3 , the embodiment of the present application provides an operation and maintenance device for a mud floating offshore wind turbine. The device embodiment can be realized by software, or by hardware or a combination of software and hardware. From the hardware layer, as shown in Figure 2 , a hardware architecture diagram of an electronic device in which the operation and maintenance device for a mud floating offshore wind turbine is provided by the embodiment of the present application, in addition to the processor, memory, network interface, and non-volatile memory shown in Figure 2 , the electronic device in which the device is located in the embodiment can usually include other hardware, such as a forwarding chip responsible for processing messages, etc. Taking software implementation as an example, as shown in Figure 3 , as a logically meaningful device, 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 memory for running.

[0067] The embodiment provides a mud floating offshore wind turbine operation and maintenance device, which comprises:

[0068] The first acquisition module 300 is configured to acquire real-time operation data of the mud floating offshore wind turbine.

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

[0070] The second acquisition module 304 is configured to acquire a judgment result confirmed by a worker for the prediction result.

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

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

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

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

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

[0076] determining a target maintenance strategy based on the prediction result and a pre-set maintenance strategy database;

[0077] controlling the underwater robot to perform maintenance on a corresponding position of the mud floating offshore wind turbine based on the target maintenance strategy.

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

[0079] To solve the above technical problems, the embodiment of the application further provides a mud floating offshore wind turbine operation and maintenance system, which comprises a mud floating offshore wind turbine (such as Figure 4The structure shown) includes a fan 1, a tower drum 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 spindle 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 The structure shown) and a controller (not shown in the figure) arranged in the tower drum 2, the controller is used for executing the method of any one of the above embodiments, and the dredging device includes:

[0080] A mechanical arm grab bucket 1a arranged on the outer side wall of the base 4 is used for removing the stones and upper sludge in the inside of the base 4;

[0081] A vibration rod 2a arranged in the inside of the base 4 is used for loosening the lower sludge in the inside of the base 4;

[0082] A sludge suction pump 3a arranged on the base 4 is used for sucking out the loosened lower sludge to the outside of the base 4.

[0083] In this embodiment, during the installation process, the device is first used for dredging the seabed, so as to facilitate the smooth installation of the mud floating foundation 3 and the base 4, and when the suspended state needs to be converted into the mud floating state in the extreme marine environment, the device first dredges the base 4, so that the foundation 3 can be completely embedded into the base 4. The technology has the characteristics of complete dredging, wide application range and high operation efficiency, and provides a strong guarantee for the stable operation and smooth state conversion of the offshore wind power foundation 3.

[0084] Specifically, when the foundation 3 is converted from the suspended state to the mud floating state, a large amount of sludge needs to be cleaned at the bottom of the base 4, and then the foundation 3 is completely integrated with the base 4. At this time, the remote controllable mechanical arm grab bucket 1a is used to roughly remove the large sludge and stones accumulated on the upper part, then the vibration rod 2a is started to loosen the sludge accumulated in the base 4, and then the sludge is sucked out by the sludge suction pump 3a, so as to complete the dredging work of the base 4, and the structure can better complete the state conversion. When the structure is in the mud floating state, the mechanical arm grab bucket 1a is located at the side wall of the base 4, so as to leave space for the sinking of the foundation 3.

[0085] In an embodiment of the present application, the bottom of the vibration rod 2a is a conical structure (not shown in the figure), so as to be better inserted into the mud.

[0086] As shown in Figure 5 In an embodiment of the present application, a camera 4a is arranged at the center bottom of the foundation 3, and the camera 4a is used for visual operation of the mechanical arm grab bucket 1a in combination with the remote control system (not shown in the figure) at the rear end.

[0087] In this embodiment, an underwater visual camera 4a is installed at the lower spherical ball of the foundation 3. When the foundation 3 is in the process of changing from the floating state to the mud floating state, the foundation 3 is lowered. When the underwater camera 4a of the base 4 can visualize a certain range and clarity, the staff remotely controls the mechanical arm grab bucket 1a through the computer terminal, and combines the underwater visual camera 4a to intuitively and conveniently carry out the dredging and desilting work. When the desilting work is completed, the mechanical arm grab bucket 1a is rotated to the outside of the foundation 3 again to leave space for the sinking of the foundation 3. The underwater visual camera 4a can detect and observe the silt accumulation state at the bottom of the mud floating structure in real time, and cooperate with the computer aided equipment to control the mechanical arm grab bucket 1a to desilt the base 4 in a targeted manner. This technology can make the desilting work intuitive and convenient, and reduce the difficulty of desilting.

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

[0089] In an embodiment of the present application, the outer periphery of the foundation 3 is provided with a spiral blade 5a which can rotate with the rising and sinking of the foundation 3.

[0090] In this embodiment, the spiral blade 5a is installed at the bottom of the foundation 3, and the vertical anchor chain is connected to the central axis of the spiral blade 5a. The spiral blade 5a can rotate with the rising and sinking of the foundation 3, and can also be controlled by starting the motor. The spiral blade 5a can remove marine organisms attached to the lower part of the foundation 3, and can remove the entanglement and attachment of water grass and other flexible plants to the anchor chain, prevent the influence of impurities when the anchor chain rises and sinks, and ensure that the structure can smoothly complete the state conversion.

[0091] In an embodiment of the present application, the base 4 is provided with a plurality of grooves 41, each groove 41 corresponding to a spiral blade 5a, and the inner wall surface of each groove 41 is provided with a plurality of air outlets 6a to concentrate the air exhaust and remove the silt deposited in this part, prevent the silt from depositing too much and hindering the normal operation of the anchor chain, and play a crucial role in maintaining the stable state conversion of the mud floating structure.

[0092] In an embodiment of the present application, the base 4 is internally provided with a plurality of partition plates 42, which are used to divide the cavity inside the base 4 into a plurality of compartments. Each compartment is provided with a vibration rod 2a, and each compartment corresponds to a mechanical arm grab bucket 1a and a mud suction pump 3a.

[0093] In this embodiment, the base 4 adopts a compartmentalized approach, dividing the hexagonal structure of the foundation 3 into six equal compartments via compartmentalized plates 42. Each compartment independently undertakes dredging work, reducing the difficulty of dredging the entire structure. Each compartment is equipped with a sludge suction pump 3a, one end of which is connected to the interior of the compartment of the base 4, and the other end is connected to the external marine environment. The sludge suction pump 3a, in conjunction with the vibrating rod 2a, can completely suck out the sludge that is difficult to remove by the robotic arm grab bucket 1a, ensuring the cleanliness of 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 completely fitted into the base 4.

[0094] In one embodiment of the present invention, the dredging device further includes an annular belt 7a surrounding the inner ring of the base 4, the annular belt 7a being connected to the compartment plate 42, and the sludge pump 3a being disposed 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 ring 7a, and a plurality of first water outlet holes 8a connected to the micro pump are provided on the outside of the ring 7a, so as to flush the silt deposited on the upper part of the base 4 by spraying high-pressure water flow, so as to prevent 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 hole 9a, the inside is provided with a booster 10a, and the bottom wall is provided with a second water outlet hole 11a. The water inlet hole 9a, the booster 10a and the second water outlet hole 11a are connected in sequence.

[0097] In this embodiment, during the sinking of the anchor 6, the water inlet 9a draws in water. When the anchor 6 is about to reach the mud surface, the second water outlet 11a opens and uses the booster 10a to spray high-pressure water outward to flush the silt on the seabed, loosening and suspending the seabed mud and sand layer. This has a good effect on softer mud and sediment, 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, and the water inlet 9a, the booster 10a and the flushing pipe 12a are connected in sequence, with the outlet of the flushing pipe 12a facing the lateral anchor chain 5.

[0099] In this embodiment, the lateral anchor chain 5 contacts the transmission gear set 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 booster 10a to spray high-pressure water to flush away marine organisms attached to the lateral anchor chain 5. At the same time, it cleans the lateral anchor chain 5 and prevents the lateral anchor chain 5 from rusting and the large amount of marine organisms attached, which would make it difficult for the lateral anchor chain 5 to retract normally.

[0100] It can be understood that the structure of the embodiment of the present application does not constitute a specific limitation of the operation and maintenance device for the mud floating offshore wind turbine. In other embodiments of the present application, the operation and maintenance device for the mud floating offshore wind turbine can include more or fewer components than the illustration, or combine certain components, or split certain components, or different component arrangement. The illustrated components can be implemented in hardware, software, or a combination of software and hardware.

[0101] The information interaction and execution process between the modules in the device are based on the same concept as the method embodiments of the present application, and the specific content can be referred to the description in the method embodiments of the present application, which will not be repeated here.

[0102] The embodiment of the present application also provides an electronic device, including a memory and a processor, the memory stores a computer program, and the processor executes the computer program to realize the operation and maintenance method of the mud floating offshore wind turbine in any embodiment of the present application.

[0103] The embodiment of the present application also provides a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program is executed by a processor to make the processor execute the operation and maintenance method of the mud floating offshore wind turbine in any embodiment of the present application.

[0104] Specifically, a system or device equipped with a storage medium can be provided, and the storage medium stores software program code for realizing the functions of any one of the above embodiments, and the computer (or CPU or MPU) of the system or device reads and executes the program code stored in the storage medium.

[0105] In this case, the program code read from the storage medium itself can realize the functions of any one of the above embodiments, so the program code and the storage medium storing the program code constitute a part of the present application.

[0106] The storage medium for providing the program code includes 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 ROM. Alternatively, the program code can be downloaded from a server computer through a communication network.

[0107] In addition, it should be clear that not only the program code read by the computer can be executed, but also part or all of the actual operation can be completed by the operating system and the like operating on the computer based on the instructions of the program code, so as to realize the functions of any one of the above embodiments.

[0108] Further, it is understood that the programs while being read by the storage media are written into the memory provided in the extension board inserted into the computer or the memory provided in the extension module connected to the computer, and then the CPU or the like mounted on the extension board or the extension module is caused to perform part or all of the actual operations based on the instructions of the program codes, thereby realizing the functions of any of the above-described embodiments.

[0109] It is noted that the terms such as first and second are used herein only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Also, the terms "comprising", "containing" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or electronic device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or electronic device. Without more limitations, the element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the process, method, article or electronic device including the element.

[0110] It is understood by those of ordinary skill in the art that all or part of the steps of the above-described method embodiments can be completed by program instruction related hardware, and the aforementioned program can be stored in a computer readable storage medium, which, when executed, performs steps including the above-described method embodiments; and the aforementioned storage medium includes ROM, RAM, magnetic disc or optical disc and 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 application, and not to limit it; although the present application has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the above embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A system for operation and maintenance of 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 base connected in sequence from top to bottom, the foundation is connected with a lateral anchor chain and an anchor stock in sequence, a vertical anchor chain is connected between the foundation and the base, the operation and maintenance system comprises a dredging device and a controller arranged in the tower, the dredging device comprises: a mechanical arm grab bucket arranged on the outer side wall of the base, for removing stones and upper silt in the interior of the base; a vibration rod arranged in the interior of the base, for loosening lower silt in the interior of the base; a suction pump arranged on the base, for sucking out the loosened lower silt to the outside of the base; a plurality of partition plates are arranged in the interior of the base, the partition plates are used for dividing the cavity in the interior of the base into a plurality of chambers, one vibration rod is arranged in each chamber, and each chamber corresponds to one mechanical arm grab bucket and one suction pump; the controller is used for executing an operation and maintenance method of the mud floating offshore wind turbine, the method comprises: obtaining real-time operation data of the mud floating offshore wind turbine; inputting the real-time operation data into a pre-constructed fault prediction model to output a prediction result of the mud floating offshore wind turbine; obtaining a judgment result confirmed by a worker for the prediction result; if the prediction result and the judgment result are the same, controlling an underwater robot to maintain a corresponding position of the mud floating offshore wind turbine.

2. The system of claim 1, wherein, The real-time operation data is measured by a displacement sensor, an angle sensor and an inertial measurement unit.

3. The system of claim 2, wherein, The fault prediction model is a digital twin model.

4. The system according to any one of claims 1-3, characterized in that, The control of the underwater robot to maintain 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; controlling the underwater robot to maintain the corresponding position of the mud floating offshore wind turbine based on the target maintenance strategy.

5. The system of claim 1, wherein, The side wall of the anchor stock is provided with a water inlet hole, the inside is provided with a booster, the bottom wall is provided with a second water outlet hole, the water inlet hole, the booster and the second water outlet hole are connected in sequence; the top of the anchor stock is provided with a flushing pipe, the water inlet hole, 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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