Early warning method, device and system for mooring failure of mud floating type offshore wind turbine

Abstract

The invention relates to the technical field of offshore wind turbines, in particular to a mooring failure early warning 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 in a suspended state; inputting the real-time operation data into a pre-constructed mooring failure early warning model, and outputting to obtain a mud floating type offshore wind turbine mooring failure prediction result; and based on the prediction result, an anchor chain and a gas-water replacement valve of the mud floating type offshore wind turbine are controlled to operate, so that the mud floating type offshore wind turbine is converted into a mud floating state from a suspended state. According to the technical scheme, safety and effectiveness of mooring failure early warning can be guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore wind turbines, and in particular to a mooring failure early warning 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 an important component of the current energy structure and a key energy source for resolving the energy crisis. However, among related technologies, mud-floating offshore wind turbines lack a safe and effective mooring failure warning solution.

[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 a mooring failure warning method, device and system for a mud-floating offshore wind turbine, which can ensure the safety and effectiveness of the mooring failure warning.

[0005] In a first aspect, an embodiment of the present invention provides a mooring failure warning method for a mud-floating offshore wind turbine, comprising:

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

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

[0008] Based on the prediction result, the anchor chain and the air-water displacement valve of the mud-floating offshore wind turbine are controlled to operate, so that the mud-floating offshore wind turbine is converted from a suspended state to a mud-floating state.

[0009] In a second aspect, an embodiment of the present invention further provides a mooring failure warning device for a mud-floating offshore wind turbine, comprising:

[0010] An acquisition module is used to obtain real-time operating data of the mud-floating offshore wind turbine in a suspended state;

[0011] A prediction module, configured to input the real-time operating data into a pre-built mooring failure warning model and output a prediction result of mooring failure of a mud-floating offshore wind turbine;

[0012] The control module is used to control the anchor chain and the air-water displacement valve of the mud-floating offshore wind turbine to operate based on the prediction result, so as to convert the mud-floating offshore wind turbine from a suspended state to a mud-floating state.

[0013] In a third aspect, an embodiment of the present invention further provides a mooring failure warning 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 mooring failure warning 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:

[0014] 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;

[0015] A vibrating rod disposed inside the base, used to loosen the lower layer of silt inside the base;

[0016] The sludge suction pump arranged on the base is used to suck the loosened lower layer sludge out of the base.

[0017] The present invention provides a mooring failure warning method, device, and system for mud-floating offshore wind turbines. When a monitoring system identifies a mooring failure in a suspended state, the system monitors operational data in real time. Based on the specific mooring failure scenarios, it proposes adjustments to the anchor chain and water-air exchange procedures, allowing the foundation to be smoothly converted to a mud-floating state for easier maintenance. This intelligent technology improves the reliability and economic efficiency of offshore wind power foundations, providing strong technical support for the sustainable development of offshore wind power. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] Figure 1 This is a flow chart of a mooring failure warning method for a mud-floating offshore wind turbine provided by an embodiment of the present invention;

[0020] Figure 2 is a hardware architecture diagram of an electronic device provided by an embodiment of the present invention;

[0021] Figure 3 This is a structural diagram of a mooring failure warning device for a mud-floating offshore wind turbine provided by an embodiment of the present invention;

[0022] Figure 4 This is a technical roadmap for a mooring failure warning method for a mud-floating offshore wind turbine provided by an embodiment of the present invention;

[0023] Figure 5This is a diagram showing the distribution of lateral tension on a mud-floating offshore wind turbine provided by an embodiment of the present invention;

[0024] Figure 6 Schematic diagram of anchor chain tension applied to a mud-floating offshore wind turbine provided by an embodiment of the present invention;

[0025] Figure 7 1 is a schematic structural diagram of a mud-floating offshore wind turbine provided by an embodiment of the present invention;

[0026] Figure 8 for Figure 7 The structural diagram of the foundation of the mud-floating offshore wind turbine shown;

[0027] Figure 9 for Figure 7 The structural diagram of the base of the mud-floating offshore wind turbine shown in FIG.

[0028] Figure 10 for Figure 9 an enlarged schematic diagram of the base shown;

[0029] Figure 11 for Figure 7 The schematic diagram of the structure of the anchor in the mud-floating offshore wind turbine is shown.

[0030] Reference numerals:

[0031] 1-wind turbine; 2-tower; 3-foundation; 4-pedestal; 41-groove; 42-dividing plate; 5-lateral anchor chain; 6-anchor; 7-vertical anchor chain;

[0032] 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

[0033] 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.

[0034] 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.

[0035] like Figure 1 As shown, an embodiment of the present invention provides a mooring failure warning method for a mud-floating offshore wind turbine, comprising:

[0036] Step 100: Acquire real-time operating data of the mud-floating offshore wind turbine in a suspended state;

[0037] Step 102: input the real-time operating data into a pre-built mooring failure warning model, and output a prediction result of mooring failure of the mud-floating offshore wind turbine;

[0038] Step 104 : Based on the prediction result, the anchor chain and the air-water displacement valve of the mud-floating offshore wind turbine are controlled to operate so as to convert the mud-floating offshore wind turbine from a suspended state to a mud-floating state.

[0039] In this embodiment, when the monitoring system identifies a mooring failure in a suspended state, it monitors real-time operational data and proposes adjustments to the anchor chain and water-air exchange procedures based on the specific mooring failure, smoothly transitioning the foundation to a mud-floating state for easier maintenance. This intelligent technology improves the reliability and economic efficiency of offshore wind turbine foundations, providing strong technical support for the sustainable development of offshore wind power.

[0040] In one embodiment of the present invention, the real-time operation data is measured by a displacement sensor, an angle sensor, a tension 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 mooring failure warning model is an LSTM model. The specific LSTM 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] The anchor chain is shortened and the air-water displacement valve is used to increase the ballast water volume of the buoy in the mud-floating offshore wind turbine.

[0044] It is understood that the monitoring system comprises five layers: the monitoring layer, the safety alarm system, the computing layer, the automatic control system, and the control layer. This layer identifies and determines the operating status of the system platform in real time. The monitoring layer incorporates a liquid level measurement system, tension sensors, inclination sensors, displacement sensors, and other devices. This allows the status monitoring system to observe in real time the ballast water level in the system platform's ballast tanks, changes in the mooring force transmitted by the anchor chains, changes in the platform's structural freedom, such as displacement and angle, as well as environmental changes such as wind, waves, currents, and tides, to determine the structure's buoyancy, stability, and strength.

[0045] The monitoring layer is equipped with an automatic alarm device. By judging the data input by the monitoring layer, when the data reaches the dangerous value of structural imbalance, the alarm system will be activated immediately.

[0046] like Figure 4 As shown in Figure 1, the calculation layer includes three parts: data analysis, load value calculation, and tension value calculation. The data analysis system comprehensively analyzes the displacement and inclination changes of the structure through the data information transmitted by the monitoring layer, and provides a variety of solutions for adjusting the stability of the system; the load value calculation system and the tension value calculation system are completed by computer software. According to the calculation principle of load value and tension, using the known parameters of the structure, a corresponding mathematical model is established, and an appropriate calculation method is used to solve the theoretical load value and tension change (see Figure 5 and Figure 6 ).

[0047] When the control system receives the calculation results obtained by the computing layer, it activates the self-regulation function of the platform, enabling the platform to perform self-regulation.

[0048] The control layer includes methods for adjusting the ballast water volume, the number of ballast tanks, the tension of the anchor chain, and the expansion and contraction of the mooring lines. The buoy foundation is equipped with a built-in air-water exchange valve. Ballast water is regulated by controlling the opening and closing of the air-water exchange valve to control the injection or discharge of water into the buoy. Ballast water can be adjusted by adjusting the number of ballast tanks to increase the speed of loading and draining water. Alternatively, by adjusting the tension or length of the anchor chain in different directions, the system can achieve balance under the action of external forces.

[0049] After the system is adjusted, the results can be fed back to the monitoring layer in real time. The monitoring layer continuously monitors the system platform in real time. The entire mooring failure intelligent warning and treatment measures are in dynamic balance, so that the status of the structure can be adjusted immediately.

[0050] Compared with the prior art, the technical solution of the present invention has the following advantages:

[0051] 1) The various systems of the present invention are interconnected, monitored in real time, and have a high degree of autonomy, which greatly reduces manpower consumption, reduces the experience requirements of technicians and operation and maintenance costs, and can enable the platform to maintain continuous stability and improve operational safety.

[0052] 2) The monitoring layer of the present invention can identify and judge the working status of the system platform in real time through the monitoring system, intuitively reflect the status of each control parameter in the system, visualize the control system, improve the convenience of operation, and enable the device to work more stably and efficiently in the designated sea area.

[0053] 3) The present invention analyzes various factors that affect platform stability through application, provides multiple solutions based on different impact levels, and selects the optimal solution by comparing various solutions to avoid human errors.

[0054] 4) The present invention takes into account the influence of environmental factors around the platform, including wind, waves, currents, and tides. By analyzing years of data, it predicts tide level changes and determines a tide level value that is closer to the actual value. According to the changes in the tide level value at the loading terminal, a reasonable operation time is selected to ensure operation safety and improve work efficiency.

[0055] 5) Based on the theory of statics, the present invention analyzes the buoyancy, stability and strength of the platform at the theoretical level. Through known parameters, a mathematical model that conforms to the actual situation is established. An appropriate calculation method is used to solve the change of the regulating force using a computer. This is more scientific and systematic, greatly simplifies the calculation process, and improves the adjustment speed of the system.

[0056] 6) The status monitoring system during the load adjustment process of the present invention has a built-in large visual screen, which can intuitively reflect the status of the platform and can directly operate the objects on the screen. After the operation is performed, the screen can immediately give feedback information or results, making it more convenient for the operator to control.

[0057] 7) The present invention utilizes intuitive images, objective data, trend prediction and other functions in the monitoring software to record the entire load adjustment process, and its alarm function is highly sensitive. When it is determined that the platform is at risk of imbalance, an alarm will be issued immediately, which can prevent accidents and improve the safety of operations.

[0058] 8) In the present invention, multiple air-water exchange valves are installed in the float, which reduces the flow and lift requirements of the air-water exchange valves, shortens the pipeline length, reduces the pipeline resistance, reduces the energy loss in the pipeline, and can significantly reduce costs.

[0059] 9) The high degree of autonomy of the present invention can minimize human operational errors and mistakes, eliminate the shortcomings of slow response, poor precision, and high experience level requirements for operators during manual adjustment, effectively reduce the risk of accidents caused by unstable floating state during state transition, ensure the safe state transition of large structures, improve the safety of state transition, and significantly improve work efficiency, reduce the time required for state transition, achieve more efficient work processes, and provide more reliable guarantees for state transition.

[0060] 10) The present invention is self-contained, and the entire state monitoring and control system is in a continuous cycle operation. The main influencing factors are fed back to the load adjustment control system in real time, so that the calculation result of the load adjustment value can be integrated with the current tide value, load adjustment efficiency, ballast system layout, data acquisition speed and accuracy, which greatly improves the accuracy of the calculation and can predict the changing trend of structural stability, which helps staff to make correct and timely judgments and make reasonable dynamic compensation for the overall measurement and calculation results.

[0061] like Figure 2 、 Figure 3 As shown, an embodiment of the present invention provides a mooring failure warning 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 for a mooring failure warning device of a mud-floating offshore wind turbine provided by an embodiment of the present invention. 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.

[0062] This embodiment provides a mooring failure warning device for a mud-floating offshore wind turbine, comprising:

[0063] An acquisition module 300 is used to acquire real-time operating data of the mud-floating offshore wind turbine in a suspended state;

[0064] The prediction module 302 is used to input the real-time operation data into a pre-built mooring failure warning model and output a prediction result of the mooring failure of the mud-floating offshore wind turbine;

[0065] The control module 304 is configured to control the anchor chain and the air-water displacement valve of the mud-floating offshore wind turbine to operate based on the prediction result, so as to convert the mud-floating offshore wind turbine from a suspended state to a mud-floating state.

[0066] In the embodiment of the present invention, the acquisition module 300 may be used to execute step 100 in the above method embodiment, the prediction module 302 may be used to execute step 102 in the above method embodiment, and the control module 304 may be used to execute step 104 in the above method embodiment.

[0067] In one embodiment of the present invention, the real-time operation data is measured by a displacement sensor, an angle sensor, a tension sensor, and an inertial measurement unit.

[0068] In one embodiment of the present invention, the mooring failure warning model is an LSTM model.

[0069] In one embodiment of the present invention, the control module 306 is configured to perform the following operations:

[0070] The anchor chain is shortened and the air-water displacement valve is used to increase the ballast water volume of the buoy in the mud-floating offshore wind turbine.

[0071] 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.

[0072] In order to solve the above technical problems, the embodiment of the present invention further provides a mooring failure warning system for a mud-floating offshore wind turbine, wherein the mud-floating offshore wind turbine (such as Figure 7 As 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 mooring failure warning system includes a dredging device (such as Figures 7 to 11 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:

[0073] 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;

[0074] The vibrating rod 2a is provided inside the base 4 and is used to loosen the lower layer of silt inside the base 4;

[0075] 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 .

[0076] 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.

[0077] 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.

[0078] 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.

[0079] like Figure 8 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).

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] like Figure 11 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] It should be understood that the structure illustrated in the embodiments of the present invention does not constitute a specific limitation on a mooring failure warning device for a mud-floating offshore wind turbine. In other embodiments of the present invention, a mooring failure warning 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.

[0094] 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.

[0095] 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, a mooring failure warning method for a mud-floating offshore wind turbine according to any embodiment of the present invention is implemented.

[0096] 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 mooring failure warning method for a mud-floating offshore wind turbine according to any embodiment of the present invention.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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 mooring failure warning method for a mud-floating offshore wind turbine, characterized in that: include: Obtain real-time operating data of mud-floating offshore wind turbines in a suspended state; Inputting the real-time operating data into a pre-built mooring failure warning model, and outputting a prediction result of mooring failure of a mud-floating offshore wind turbine; Based on the prediction result, the anchor chain and the air-water displacement valve of the mud-floating offshore wind turbine are controlled to operate, so that the mud-floating offshore wind turbine is converted from a suspended state to a mud-floating state.

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

3. The method according to claim 2, characterized in that The mooring failure warning model is an LSTM model.

4. The method according to any one of claims 1 to 3, characterized in that The operation of the anchor chain and the air-water displacement valve of the mud-floating offshore wind turbine includes: The anchor chain is shortened and the air-water displacement valve is used to increase the ballast water volume of the buoy in the mud-floating offshore wind turbine.

5. A mooring failure warning device for a mud-floating offshore wind turbine, characterized in that: include: An acquisition module is used to obtain real-time operating data of the mud-floating offshore wind turbine in a suspended state; A prediction module, configured to input the real-time operating data into a pre-built mooring failure warning model and output a prediction result of mooring failure of a mud-floating offshore wind turbine; The control module is used to control the anchor chain and the air-water displacement valve of the mud-floating offshore wind turbine to operate based on the prediction result, so as to convert the mud-floating offshore wind turbine from a suspended state to a mud-floating state.

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

7. The device according to claim 6, characterized in that The mooring failure warning model is an LSTM 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: The anchor chain is shortened and the air-water displacement valve is used to increase the ballast water volume of the buoy in the mud-floating offshore wind turbine.

9. A mooring failure warning 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 mooring failure warning 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.

Images