Water jet landing device and control method thereof

Abstract

The application discloses a water-spraying landing device and a control method thereof, which comprises a manned base platform, a horizontal water pipe unit, a vertical water pipe unit, a control unit, a power driving unit, an inlet pipe, a six-degree-of-freedom measurement system and a positioning navigation system, the horizontal water pipe unit is arranged on the bottom of the manned base platform along the left-right direction, the vertical water pipe unit is arranged on the bottom of the manned base platform along the front-rear direction and is located below the horizontal water pipe unit, the power driving unit is connected with the horizontal water pipe unit and the vertical water pipe unit through the inlet pipe and is in communication connection with the control unit, the six-degree-of-freedom measurement system is arranged on the manned base platform and is in communication connection with the control unit, the positioning navigation system is arranged on the manned base platform and is in communication connection with the control unit, and the control unit is used for sending corresponding control instructions. The application can effectively solve the problems of difficult landing and high landing cost of offshore wind power operation and maintenance personnel.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wind power operation and maintenance, and particularly refers to a water jet landing device and a control method thereof. BACKGROUND

[0002] With the rapid development of offshore wind power industry, the operation and maintenance of offshore wind turbines have become increasingly prominent. Offshore wind turbines are mostly located in areas with strong winds, shallow water and poor sea conditions. When the maintenance ship approaches the wind turbine foundation, it is easily subjected to severe multi-degree-of-freedom motion, including roll, pitch, heave and yaw, etc., which makes the operation and maintenance personnel face great difficulties and safety risks during landing.

[0003] At present, common landing technologies mainly include hoisting type conveying system, fixed gripping type system and channel suspension ladder type system. Among them, the hoisting type conveying method relies on the crane to suspend personnel, which has the risk of dynamic out-of-control, and needs to preinstall a base on the wind turbine foundation, which has high modification cost. The fixed gripping type system is suitable for small catamarans, but can only constrain the translational degree of freedom of the ship body and cannot effectively suppress the rotational degree of freedom. When the wave height is large, the residual inclination angle of the ship body is large, which limits the number of annual operation days. The channel suspension ladder type system has a certain anti-rolling ability, but the overall weight of the system is too large, and the deck occupies a large area, which far exceeds the carrying limit of the 60-ton displacement small ship, and the modification cost is high.

[0004] Therefore, it is urgent to develop a lightweight landing device with high anti-rolling performance, so that the operation and maintenance personnel can safely and efficiently land on the offshore wind turbine foundation structure in poor sea conditions, and solve the problems of difficult landing and high landing cost of offshore wind power operation and maintenance personnel. SUMMARY

[0005] The present application aims to overcome the shortcomings of the prior art and provide a water jet landing device and a control method thereof, which can effectively solve the problems of difficult landing and high landing cost of offshore wind power operation and maintenance personnel.

[0006] The object of the present application is achieved by the following technical solutions:

[0007] The water jet landing device comprises a manned base platform, a horizontal water pipe unit, a vertical water pipe unit, a control unit, a power driving unit, an inlet pipe, a six-degree-of-freedom measurement system and a positioning navigation system, the manned base platform is used for carrying operation and maintenance personnel, the horizontal water pipe unit is arranged on the bottom of the manned base platform in the left-right direction, has four horizontally arranged water jet outlets, the four horizontally arranged water jet outlets are divided into two groups and are arranged on the left and right sides below the manned base platform respectively, the jet directions of the four horizontally arranged water jet outlets are different from each other, the horizontal water pipe unit is in communication connection with the control unit and is used for adjusting the opening and closing combination of the four horizontally arranged water jet outlets according to the control instruction of the control unit, thereby adjusting the motion track of the whole machine, the vertical water pipe unit is arranged on the bottom of the manned base platform in the front-rear direction and is located below the horizontal water pipe unit, has two vertically downward arranged water jet outlets, the two vertically downward arranged water jet outlets are located on the front and rear sides below the manned base platform respectively, the vertical water pipe unit is in communication connection with the control unit and is used for adjusting the water jet position of the two vertically downward arranged water jet outlets according to the control instruction of the control unit, thereby generating a resisting moment opposite to the center of gravity deviation direction of the whole machine, thereby realizing the attitude stability control of the whole machine, the power driving unit is connected with the horizontal water pipe unit and the vertical water pipe unit through the inlet pipe and is in communication connection with the control unit, and is used for providing the water jet source for the horizontal water pipe unit and the vertical water pipe unit, the six-degree-of-freedom measurement system is arranged on the manned base platform and is in communication connection with the control unit, and is used for monitoring the real-time acceleration and center of gravity deviation amount of the whole machine, the positioning navigation system is arranged on the manned base platform and is in communication connection with the control unit, and is used for obtaining the real-time coordinates of the whole machine, the control unit is used for continuously adjusting the output power of the power driving unit through the proportional control algorithm according to the error value of the real-time acceleration of the whole machine and the preset target acceleration, determining the opening and closing combination of the water jet outlets of the horizontal water pipe unit according to the real-time coordinates of the whole machine, and determining the water jet position of the vertical water pipe unit according to the center of gravity deviation amount of the whole machine, and then issuing corresponding control instructions.

[0008] Furthermore, the horizontal water pipe unit includes a first integrated water supply pipe, four Class I water spray pipe assemblies, and a fixed support. The first integrated water supply pipe is located at the bottom of the manned base platform along the left-right direction and is fixedly connected to the manned base platform via the fixed support. It has a water inlet at the center of its bottom and a bifurcation at each of its left and right ends, symmetrically arranged. Each bifurcation includes two outwardly extending and symmetrically distributed water outlets, and the water inlet is connected to the water supply pipe. The four Class I water spray pipe assemblies are symmetrically distributed in pairs at the left and right ends of the first integrated water supply pipe and are respectively connected to the four water outlets of the two bifurcations. Each Class I water spray pipe assembly has a horizontally arranged water spray nozzle, and the four horizontally arranged water spray nozzles are not aligned with each other. Each Class I water spray pipe assembly includes a flange, a water spray pipe body, a water spray pipe core, a control rod, and a Class I electrical component. The water spray pipe body is connected to the outlet of the first integrated water supply pipe via a flange. The water spray core is located inside the water spray pipe body and is a sphere with a through hole. The inner diameter of the through hole is equal to the inner diameter of the outlet of the first integrated water supply pipe. A Class I motor is located at the top of the water spray pipe body and is connected to the water spray core via a control rod. The Class I motor is communicatively connected to the control unit. The Class I motor drives the control rod to rotate, thereby causing the water spray core to rotate within the water spray pipe body. By adjusting the alignment or misalignment of the through hole of the water spray core with the water spray pipe body, the horizontally set water nozzles can be opened or closed. The control unit can control any two adjacent horizontally set water nozzles to spray water, causing the manned base platform to translate in the opposite direction of the two adjacent horizontally set water nozzles. Alternatively, the control unit can control any two non-adjacent horizontally set water nozzles to spray water, causing the manned base platform to rotate in the horizontal direction.

[0009] Furthermore, the vertical water pipe unit includes a second integrated water supply pipe and a vertical water pipe assembly; the second integrated water supply pipe is disposed at the bottom of the manned base platform along the front-to-back direction and is fixedly connected to the manned base platform, with a water inlet at the center of its bottom and a water outlet at each of its front and rear ends, the water inlet being connected to the water supply pipe; there are two vertical water pipe assemblies, namely a first vertical water pipe assembly and a second vertical water pipe assembly, the first and second vertical water pipe assemblies being symmetrically disposed at the water outlets at the front and rear ends of the second integrated water supply pipe; each vertical water pipe assembly includes a telescopic... The system comprises a flexible hose, a Class II water spray pipe, a large gear, a first small gear, a second small gear, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a Class II motor, and a CNC fixture. One end of the flexible hose is connected to the outlet at the front or rear end of the second integrated water supply pipe. One end of the Class II water spray pipe is connected to the other end of the flexible hose, with the other end being a vertically downward-facing spray nozzle. The Class II motor is fixed to the bottom of the manned base platform and located above the flexible hose; this Class II motor is communicatively connected to the control unit. The large gear is driven by the Class II motor and meshes with the first small gear. The two gears are movably connected via a first link; the first pinion meshes with the second pinion and is movably connected via a second link; the second pinion does not mesh with the large gear and is movably connected via a third link; the second pinion is movably connected to the end of the Class II water spray pipe near the telescopic hose via a fourth link; the CNC fixture is positioned above the large gear and communicates with the control unit, used to clamp the axle of the large gear; when the CNC fixture clamps the axle of the large gear, the three gears form a gear set, at which point the Class II motor drives the large gear in the direction of the center of gravity shift. The rotation changes the position of the vertically downward-facing water nozzles, causing them to generate a resisting torque opposite to the direction of the machine's center of gravity shift, thus preventing the manned base platform from overturning. When the CNC fixture does not clamp the axle of the large gear, the Class II motor drives the large gear to cause relative movement between the gears, which in turn causes the vertically downward-facing water nozzles to move linearly along the axis parallel to the second integrated water pipe, thereby changing the lever arm length of the vertically downward-facing water nozzles. Through the cooperation of the CNC fixture and the Class II motor, the position of the two vertically downward-facing water nozzles can be adjusted.

[0010] Furthermore, the first and second pinions have the same radius, which is half the radius of the large gear.

[0011] Furthermore, the manned basic platform includes a main platform and a console and power supply set on the main platform, with the control unit integrated inside the console.

[0012] Furthermore, the bottom of the manned base platform is provided with a floating structure to prevent it from capsizing and sinking.

[0013] Furthermore, the power drive unit is a motorboat or jet boat, which is equipped with a main valve for controlling the start and stop of the water jet source.

[0014] Furthermore, the spray position of the vertical water pipe unit is determined based on the overall machine's center of gravity offset, as follows:

[0015] Center of the second integrated water supply pipe Let the origin be the coordinate system, and the direction along the axis of the second integrated water supply pipe be the coordinate system. The axis is defined by the left and right directions. Axis, construct a global rectangular coordinate system ;

[0016] The vertically downward-facing nozzles of the first and second vertical water pipe assemblies are designated as nozzle A and nozzle B, respectively. Nozzle A is located at... In the positive half-axis region, nozzle B is located at... The negative half-axis region;

[0017] Let the gear center of the large gear in the first vertical water pipe assembly be C, and the gear center of the large gear in the second vertical water pipe assembly be D. Wherein, gear center C is located at... In the positive half-shaft region, the gear center D is located at... In the negative half-axis region, gear center C and gear center D are in the global rectangular coordinate system. The initial coordinates in are respectively and ;

[0018] A first local polar coordinate system is established with the gear center C as the origin, and a second local polar coordinate system is established with the gear center D as the origin. The first and second local polar coordinate systems are related to the center of the second integrated water pipe. symmetry;

[0019] Obtain the entire machine in the global Cartesian coordinate system center of gravity offset As shown in the following formula:

[0020] ;

[0021] in, The center of gravity is Offset vector along the axis, The center of gravity is Offset vector along the axis;

[0022] For nozzle A:

[0023] Based on the whole machine in the global rectangular coordinate system center of gravity offset Obtain the offset of the center of gravity in the first local polar coordinate system As shown in the following formula:

[0024] ;

[0025] in, This is the offset of the center of gravity in the first local polar coordinate system; The center of mass is in the first local polar coordinate system Offset vector along the axis, ; The center of mass is in the first local polar coordinate system Offset vector along the axis, ;

[0026] Based on the offset of the center of gravity in the first local polar coordinate system Calculate the rotation amplitude of the large gear in the first vertical water pipe assembly. As shown in the following formula:

[0027] ;

[0028] in, To control the gain parameter;

[0029] According to the center of gravity in the first local polar coordinate system Offset vector in the axial direction The direction of rotation of the large gear in the first vertical water pipe assembly is determined as follows:

[0030] when When >0, rotation angle Take a positive value; when When <0, rotation angle Take negative values; when When =0, maintain the current position;

[0031] According to the rotation angle Calculate the target polar angle in the first local polar coordinate system for the connection point between the Class II spray pipe and the corresponding telescopic hose of the first vertical water pipe assembly. and target polar radius As shown in the following formula:

[0032] ;

[0033] ;

[0034] in, and The current polar angle and current polar diameter of the connection point between the Class II spray pipe and the corresponding telescopic hose of the first vertical water pipe assembly in the first local polar coordinate system are respectively the current polar angle and current polar diameter. The initial state of the current polar angle is... =0 degrees, current polar radius = , The minimum distance from the connection point of the telescopic hose of the first vertical water pipe assembly to the center C of the gear when the hose is fully retracted. is the proportionality coefficient, where , The maximum permissible rotation angle of the gear set in the first vertical water pipe assembly. The minimum permissible rotation angle of the gear set in the first vertical water pipe assembly. The maximum distance from the connection point of the telescopic hose of the first vertical water pipe assembly to the center C of the gear when the hose is fully extended to the Class II spray pipe of the first vertical water pipe assembly.

[0035] Next, the control unit controls the CNC fixture of the first vertical water pipe assembly to clamp the axle of the large gear of the first vertical water pipe assembly, and controls the large gear to rotate to the target polar angle according to its rotation direction. This changes the position of nozzle A.

[0036] Finally, the control unit controls the CNC clamp of the first vertical water pipe assembly to release the axle of the large gear of the first vertical water pipe assembly, and controls the large gear to rotate to the target extreme diameter according to its rotation direction. This changes the lever arm length of nozzle A;

[0037] For nozzle B:

[0038] Based on the whole machine in the global rectangular coordinate system center of gravity offset Obtain the offset of the center of gravity in the second local polar coordinate system As shown in the following formula:

[0039] ;

[0040] in, This is the offset of the center of gravity in the second local polar coordinate system; The center of mass is in the second local polar coordinate system Offset vector along the axis, ; The center of mass is in the second local polar coordinate system Offset vector along the axis, ;

[0041] Based on the offset of the center of gravity in the second local polar coordinate system Calculate the rotation amplitude of the large gear in the second vertical water pipe assembly. As shown in the following formula:

[0042] ;

[0043] in, To control the gain parameter;

[0044] According to the center of gravity in the second local polar coordinate system Offset vector in the axial direction The direction of rotation of the large gear in the second vertical water pipe assembly is determined as follows:

[0045] when When >0, rotation angle Take a positive value; when When <0, rotation angle Take negative values; when When =0, maintain the current position;

[0046] According to the rotation angle Calculate the target polar angle in the second local polar coordinate system for the connection point between the Class II spray pipe and the corresponding telescopic hose of the second vertical water pipe assembly. and target polar radius As shown in the following formula:

[0047] ;

[0048] ;

[0049] in, and These represent the current polar angle and current polar diameter of the connection point between the Class II spray pipe and the corresponding telescopic hose of the second vertical water pipe assembly in the second local polar coordinate system. The initial polar angle is... =0 degrees, current polar radius = , The minimum distance from the connection point of the telescopic hose of the second vertical water pipe assembly to the center D of the gear when the hose is fully retracted. is the proportionality coefficient, where , This refers to the maximum permissible rotation angle of the gear set in the second vertical water pipe assembly. The minimum permissible rotation angle of the gear set for the second vertical water pipe assembly. The maximum distance from the connection point of the telescopic hose of the second vertical water pipe assembly to the center D of the gear when the hose is fully extended.

[0050] Next, the control unit controls the CNC fixture of the second vertical water pipe assembly to clamp the axle of the large gear of the second vertical water pipe assembly, and controls the large gear to rotate to the target polar angle according to its rotation direction. This changes the position of nozzle B;

[0051] Finally, the control unit controls the CNC clamp of the second vertical water pipe assembly to release the axle of the large gear of the second vertical water pipe assembly, and controls the large gear to rotate to the target extreme diameter according to its rotation direction. This changes the lever arm length of nozzle B.

[0052] Furthermore, based on the error between the real-time acceleration of the entire machine and the preset target acceleration, the output power of the power drive unit is continuously adjusted through a proportional control algorithm, as shown in the following formula:

[0053] ;

[0054] in, This refers to the output power of the power drive unit; This is the base power value of the power drive unit, set according to the operating stage. It is the minimum power during the initialization stage and the preset power value that allows the whole machine to hover in the air when the whole machine is hovering. This is the proportional gain coefficient, which is a constant greater than zero; The preset target acceleration is dynamically set by the control unit based on the task objectives of the current stage; For real-time acceleration.

[0055] A control method for the aforementioned water-spraying landing device is as follows:

[0056] Initialization phase:

[0057] Place the landing device on the water surface and put the main valve of the power drive unit in the initial closed state;

[0058] Start the power drive unit and open the main valve of the power drive unit to make the power drive unit operate in minimum power mode;

[0059] Ascent Phase:

[0060] Maintenance personnel boarded the manned platform and, at the moment of login, caused the entire machine to experience a downward real-time acceleration.

[0061] The control unit continuously adjusts the output power of the power drive unit through a proportional control algorithm based on the error value between the real-time acceleration of the whole machine and the preset target acceleration. At this time, the power drive unit gradually increases its output power, thereby adjusting its water supply flow rate. The water supply generates a reaction force through the jet, which pushes the whole machine to obtain upward acceleration, causing it to enter the upward motion stage.

[0062] When the ascent speed reaches the preset value, the control unit controls the power drive unit to gradually reduce its output power until the whole machine reaches the preset height threshold, thereby maintaining the output power of the power drive unit at the preset power value that allows the whole machine to hover in the air.

[0063] Horizontal movement phase:

[0064] The control unit determines the opening and closing combination of the four horizontally set water nozzles of the horizontal water pipe unit based on the real-time coordinates of the whole machine, thereby controlling the movement trajectory. During the movement, the positioning and navigation system feeds back the position information to the control unit at preset intervals. The control unit adjusts the path planning based on the real-time position information and changes the opening and closing combination of the four horizontally set water nozzles, and feeds back to the horizontal water pipe unit to achieve real-time movement trajectory control.

[0065] Login and integration phase:

[0066] When the entire unit arrives at the target location and is on the same elevation plane, the offset of the center of gravity of the entire unit is obtained in real time. The spray position of the vertical water pipe unit is determined based on the offset of the center of gravity, and then the corresponding control command is sent to the vertical water pipe unit. At the same time, the power drive unit is controlled to gradually reduce its output power. The horizontal water pipe unit and the vertical water pipe unit are continuously adjusted until the entire unit is connected to the wind turbine foundation. The maintenance personnel then log on to the wind turbine foundation.

[0067] Return and reset phase:

[0068] The control unit controls the power drive unit to gradually reduce its output power and triggers a preset automatic return program. The landing device then autonomously returns to its initial anchoring position along a preset path using the positioning and navigation system.

[0069] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0070] 1. In terms of anti-overturning design, this invention adjusts the position of the spray nozzle of the vertical water pipe unit through a Class II motor and gear set structure, thereby changing the point of action of its water spray thrust on the platform. This allows the water spray reaction force to counteract the yaw / pitch torque generated by the device in real time, ensuring that the device maintains torque balance during movement and effectively avoiding the risk of overturning.

[0071] 2. In terms of motion control, this invention uses multiple Class I motors to independently adjust the opening and closing combination of the four spray nozzles of the horizontal water pipe unit, thereby controlling the horizontal movement direction of the device in real time and realizing horizontal translation and rotational motion. This allows maintenance personnel to precisely control the horizontal movement direction of the device.

[0072] 3. This invention has the advantages of simple overall structure, convenient operation, high anti-sway performance and low maintenance cost. It can help maintenance personnel safely and efficiently land on the offshore wind turbine foundation structure in harsh sea conditions. It is highly practical and suitable for promotion. Attached Figure Description

[0073] Figure 1 This is one of the overall structural schematic diagrams of the landing device of the present invention.

[0074] Figure 2 This is the second schematic diagram of the overall structure of the landing device of the present invention.

[0075] Figure 3 This is the third schematic diagram of the overall structure of the landing device of the present invention.

[0076] Figure 4 This is a schematic diagram of the installation of the horizontal water pipe unit and the vertical water pipe unit of the present invention.

[0077] Figure 5 This is a schematic diagram of the horizontal water pipe unit of the present invention.

[0078] Figure 6 This is a schematic diagram of the structure when the through hole of the water spray pipe core is aligned with the water spray pipe body of the present invention.

[0079] Figure 7 This is a schematic diagram of the structure when the through hole of the water spray pipe core is misaligned with the water spray pipe body of the present invention.

[0080] Figure 8 This is one of the schematic diagrams illustrating the working principle of the vertical water pipe unit of the present invention.

[0081] Figure 9 This is the second schematic diagram illustrating the working principle of the vertical water pipe unit of the present invention.

[0082] Figure 10 This is a schematic diagram of the vertical water pipe unit of the present invention in its initial state.

[0083] Figure 11 This is a schematic diagram of the vertical water pipe unit of the present invention when the center of gravity is on the left.

[0084] Figure 12 This is a schematic diagram of the vertical water pipe unit of the present invention when the center of gravity is on the right.

[0085] Figure 13 This is a schematic diagram of the gear assembly of the vertical water pipe unit of the present invention.

[0086] The attached diagram lists the components represented by each number as follows:

[0087] 1-Manned base platform, 2-Horizontal water pipe unit, 3-Vertical water pipe unit, 4-Inlet pipe, 5-Power drive unit, 101-Main platform, 102-Control console, 201-First integrated water supply pipe, 202-Class I water spray pipe assembly, 2021-Flange, 2022-Water spray pipe body, 2023-Water spray pipe core, 2024-Class I motor, 2025-Control rod, 203-Fixed bracket, 301-Second integrated... Water supply pipe, 302-A-First vertical water pipe assembly, 302-B-Second vertical water pipe assembly, 3021-Telescopic flexible hose, 3022-Class II spray pipe, 3023-Large gear, 3024-First pinion, 3025-Second pinion, 3026-First connecting rod, 3027-Second connecting rod, 3028-Third connecting rod, 3029-Fourth connecting rod, 30210-Class II motor and 30211-CNC fixture. Detailed Implementation

[0088] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0089] like Figures 1 to 13As shown, this embodiment provides a water-spraying landing device, including a manned base platform 1, a horizontal water pipe unit 2, a vertical water pipe unit 3, a control unit, a water inlet pipe 4, a power drive unit 5, a six-degree-of-freedom measurement system, and a positioning and navigation system. The manned base platform 1 is used to carry maintenance personnel. The horizontal water pipe unit 2 is located at the bottom of the manned base platform 1 along the left-right direction and has four horizontally arranged water nozzles. The four horizontally arranged water nozzles are divided into two groups and are respectively located on the left and right sides below the manned base platform 1. The spray directions of the four horizontally arranged water nozzles are different from each other. The horizontal water pipe unit 2 is communicatively connected to the control unit and is used to adjust the opening and closing combination of its four horizontally arranged water nozzles according to the control command of the control unit, thereby adjusting the movement trajectory of the entire device. The vertical water pipe unit 3 is located at the bottom of the manned base platform 1 along the front-back direction and is located below the horizontal water pipe unit 2. It has two vertically downward arranged water nozzles, which are respectively located on the front and rear sides below the manned base platform 1. The vertical water pipe unit 3 is communicatively connected to the control unit. The communication connection is used to adjust the spray positions of the two vertically downward-facing spray nozzles according to the control command of the control unit, thereby generating a resistance torque opposite to the direction of the overall machine's center of gravity shift, and thus achieving attitude stability control of the entire machine. The power drive unit 5 is connected to the horizontal water pipe unit 2 and the vertical water pipe unit 3 respectively through the water inlet pipe 4, and it is also connected to the control unit to provide water source for the horizontal water pipe unit 2 and the vertical water pipe unit 3. The six-degree-of-freedom measurement system is set on the manned base platform 1 and is connected to the control unit to monitor the real-time acceleration and center of gravity shift of the entire machine. The positioning and navigation system is set on the manned base platform 1 and is connected to the control unit to obtain the real-time coordinates of the entire machine. The control unit is used to continuously adjust the output power of the power drive unit 5 according to the error value between the real-time acceleration of the entire machine and the preset target acceleration through a proportional control algorithm, determine the opening and closing combination of the spray nozzles of the horizontal water pipe unit 2 according to the real-time coordinates of the entire machine, and determine the spray position of the vertical water pipe unit 3 according to the center of gravity shift of the entire machine, and then issue corresponding control commands.

[0090] like Figures 5 to 7As shown, the horizontal water pipe unit 2 includes a first integrated water supply pipe 201, four Class I water spray pipe assemblies 202, and a fixed bracket 203. The first integrated water supply pipe 201 is arranged along the left-right direction at the bottom of the manned base platform 1 and is fixedly connected to the manned base platform 1 through the fixed bracket 203. A water inlet is provided at the center of its bottom, and a branch is provided at each of its left and right ends. The two branch ends are symmetrically arranged with each other. Each branch end includes two outwardly extending and symmetrically distributed water outlets. The water inlet is connected to the water inlet pipe 4. Next, four Class I water spray pipe assemblies 202 are symmetrically distributed in pairs at the left and right ends of the first integrated water pipe 201, and are respectively connected to the four water outlets of the two bifurcations. Each Class I water spray pipe assembly 202 has a horizontally arranged water nozzle, and the four horizontally arranged water nozzles are not arranged in a straight line. Each Class I water spray pipe assembly 202 includes a flange 2021, a water spray pipe body 2022, a water spray pipe core 2023, a Class I motor 2024, and a control rod 2025. 2022 is connected to the outlet of the first integrated water supply pipe 201 via flange 2021. The spray pipe core 2023 is located inside the spray pipe body 2022; it is a sphere with a through hole, and the inner diameter of the through hole is equal to the inner diameter of the outlet of the first integrated water supply pipe 201. A Class I motor 2024 is located at the top of the spray pipe body 2022 and is connected to the spray pipe core 2023 via control rod 2025. This Class I motor 2024 communicates with the control unit, driving the control rod 2025 to rotate. The rotation causes the water spray core 2023 to rotate within the water spray pipe body 2022. By adjusting the alignment or misalignment of the through hole of the water spray core 2023 with the water spray pipe body 2022, the horizontally set water spray nozzles can be opened or closed. The control unit can control any two adjacent horizontally set water spray nozzles to spray water, so that the manned base platform 1 can move in the opposite direction of the two adjacent water spray nozzles. Alternatively, the control unit can control any two non-adjacent horizontally set water spray nozzles to spray water, so that the manned base platform 1 can rotate in the horizontal direction.

[0091] like Figures 8 to 13As shown, the vertical water pipe unit 3 includes a second integrated water supply pipe 301 and a vertical water pipe assembly. The second integrated water supply pipe 301 is arranged along the front-to-back direction at the bottom of the manned base platform 1 and is fixedly connected to the manned base platform 1. It has a water inlet at the center of its bottom and a water outlet at each of its front and rear ends. The water inlet is connected to the water inlet pipe 4. There are two vertical water pipe assemblies: a first vertical water pipe assembly 302-A and a second vertical water pipe assembly 302-B. The first vertical water pipe assembly 302-A and the second vertical water pipe assembly 302-B are symmetrically arranged at the water outlets at the front and rear ends of the second integrated water supply pipe 301. Each vertical water pipe assembly includes a telescopic hose 3021, a Class II spray pipe 3022, a large gear 3023, and a first small gear. The system includes a wheel 3024, a second pinion 3025, a first connecting rod 3026, a second connecting rod 3027, a third connecting rod 3028, a fourth connecting rod 3029, a Class II motor 30210, and a CNC fixture 30211. A flexible hose 3021 is a bendable and extendable soft water pipe, one end of which is connected to the outlet at the front or rear end of the second integrated water pipe 301. One end of a Class II spray pipe 3022 is connected to the other end of the flexible hose 3021, and the other end is a vertically downward-facing spray nozzle. The Class II motor 30210 is fixed to the bottom of the manned base platform 1 and located above the flexible hose 3021. This Class II motor 30210 is communicatively connected to the control unit. A large gear 3023 is driven by the Class II motor 30210 and is connected to... The first pinion 3024 meshes with the second pinion 3025, which is movably connected via the first connecting rod 3026. The first pinion 3024 meshes with the second pinion 3025, which is movably connected via the second connecting rod 3027. The second pinion 3025 does not mesh with the large gear 3023, but is movably connected via the third connecting rod 3028. The second pinion 3025 is movably connected via the fourth connecting rod 3029 to one end of the Class II water spray pipe 3022 near the telescopic hose 3021. The CNC fixture 30211 is positioned above the large gear 3023 and is communicatively connected to the control unit. It is used to clamp the axle of the large gear 3023. The radii of the first pinion 3024 and the second pinion 3025 are equal, and their radius is equal to that of the large gear 3023. Half; When the CNC fixture 30211 clamps the axle of the large gear 3023, the three gears become a gear set as a whole. At this time, the Class II motor 30210 drives the large gear 3023 to rotate in the direction of the center of gravity shift, so as to change the position of the vertically downward water nozzle, thereby generating a resistance torque in the opposite direction of the center of gravity shift of the whole machine, thus preventing the manned base platform 1 from overturning; when the CNC fixture 30211 does not clamp the axle of the large gear 3023, the Class II motor 30210 drives the large gear 3023 to drive the relative movement between the gears, thereby driving the vertically downward water nozzle to move linearly along the axis parallel to the second integrated water pipe 301, so as to change the lever arm length of the water nozzle and generate a resistance torque more effectively;The position of two vertically downward-facing water nozzles is adjusted by the combined action of CNC fixture 30211 and Class II motor 30210.

[0092] The manned basic platform 1 includes a main platform 101, a control console 102 and a power supply mounted on the main platform 101. A floating structure is installed at the bottom to prevent it from tipping over and sinking. The control unit is integrated inside the control console 102. The control console 102 can wirelessly control the power drive unit 5, Class I motor 2024, and Class II motor 30210 that provide water for the spray system. The power supply provides power to the control console 102 and each motor. The control unit can be intelligently controlled by the system or by maintenance personnel who can output motion commands through the control console 102. When maintenance personnel are controlling the system, the intelligent system control plays an auxiliary role. The control console 102 has an emergency stop safety device and a distress call device to ensure the safety of maintenance personnel.

[0093] In actual use, considering the center of gravity distribution, that is, maintenance personnel are often on the left side, while there may be temporary passengers or safety protection devices on the right side, the horizontal water pipe unit 2 and the vertical water pipe unit 3 are arranged relatively to the left of the center of the manned base platform 1 to reduce costs and increase efficiency.

[0094] The power drive unit 5 is a motorboat or jet boat, which is equipped with a main valve for controlling the start and stop of the water jet source; the water inlet pipe 4 is a medium and high pressure water hose.

[0095] In this embodiment, the control unit determines the spray position of the vertical water pipe unit 3 based on the overall center of gravity offset of the machine, as follows:

[0096] S1.1, with the center of the second integrated water supply pipe 301 With the origin as the coordinate system and the direction along the axis of the second integrated water supply pipe 301 as the coordinate system... The axis is defined by the left and right directions. Axis, construct a global rectangular coordinate system ;

[0097] The vertically downward-facing spray nozzles of the first vertical water pipe assembly 302-A and the second vertical water pipe assembly 302-B are designated as spray nozzle A and spray nozzle B, respectively. Spray nozzle A is located at... In the positive half-axis region, nozzle B is located at... In the negative half-axis region, the connection point between the Class II spray pipe and the corresponding telescopic hose of the first vertical water pipe assembly 302-A in the global rectangular coordinate system... The initial coordinates in are The connection point between the Class II spray pipe and the corresponding telescopic hose of the second vertical water pipe assembly 302-B is in the global rectangular coordinate system. The initial coordinates in are ;

[0098] Let the gear center of the large gear in the first vertical water pipe assembly 302-A be designated as gear center C, and the gear center of the large gear in the second vertical water pipe assembly 302-B be designated as gear center D. Gear center C is located at... In the positive half-shaft region, the gear center D is located at... In the negative half-axis region, gear center C and gear center D are in the global rectangular coordinate system. The initial coordinates in are respectively and ;

[0099] S1.2. Establish a first local polar coordinate system with the gear center C as the origin, and establish a second local polar coordinate system with the gear center D as the origin. The first and second local polar coordinate systems are related to the center of the second integrated water pipe 301. Symmetry; the initial coordinates of the connection point between the Class II spray pipe and the corresponding telescopic hose of the first vertical water pipe assembly 302-A in the first local polar coordinate system are ( The initial coordinates of the connection point between the Class II spray pipe and the corresponding telescopic hose of the second vertical water pipe assembly 302-B in the second local polar coordinate system are (0°). , 0°);

[0100] S1.3 Obtain the entire machine in the global Cartesian coordinate system center of gravity offset As shown in the following formula:

[0101] ;

[0102] in, The center of gravity is Offset vector along the axis, The center of gravity is Offset vector along the axis;

[0103] S1.4, For nozzle A:

[0104] Based on the whole machine in the global rectangular coordinate system center of gravity offset Obtain the offset of the center of gravity in the first local polar coordinate system As shown in the following formula:

[0105] ;

[0106] in, This is the offset of the center of gravity in the first local polar coordinate system; The center of mass is in the first local polar coordinate system Offset vector along the axis, ; The center of mass is in the first local polar coordinate system Offset vector along the axis, ;

[0107] Based on the offset of the center of gravity in the first local polar coordinate system Calculate the rotation amplitude of the large gear in the first vertical water pipe assembly 302-A. As shown in the following formula:

[0108] ;

[0109] in, To control the gain parameter;

[0110] According to the center of gravity in the first local polar coordinate system Offset vector in the axial direction The rotation direction of the large gear in the first vertical water pipe assembly 302-A is determined as follows:

[0111] when When >0, rotation angle Take a positive value; when When <0, rotation angle Take negative values; when When =0, maintain the current position;

[0112] According to the rotation angle Calculate the target polar angle in the first local polar coordinate system for the connection point between the Class II spray pipe and the corresponding telescopic hose of the first vertical water pipe assembly 302-A. and target polar radius As shown in the following formula:

[0113] ;

[0114] ;

[0115] in, and The current polar angle and current polar diameter of the connection point between the Class II spray pipe and the corresponding telescopic hose of the first vertical water pipe assembly 302-A in the first local polar coordinate system are respectively the current polar angle and current polar diameter. The initial state of the current polar angle is... =0 degrees, current polar radius = , When the telescopic hose of the first vertical water pipe assembly 302-A is fully retracted, the minimum distance from the connection point of the hose to the Class II spray pipe of the first vertical water pipe assembly 302-A to the gear center C is given by the control unit. The control unit has a non-volatile memory that can reliably save position data after each action and can read this data as a new "current polar angle and current polar diameter". is the proportionality coefficient, where , The maximum permissible rotation angle of the gear set in the first vertical water pipe assembly 302-A. The minimum permissible rotation angle of the gear set in the first vertical water pipe assembly 302-A. The maximum distance from the connection point of the telescopic hose of the first vertical water pipe assembly 302-A to the center C of the gear when the hose is fully extended.

[0116] Next, the control unit controls the CNC fixture of the first vertical water pipe assembly 302-A to clamp the axle of the large gear of the first vertical water pipe assembly 302-A, and controls the large gear to rotate to the target polar angle according to its rotation direction. This changes the position of nozzle A.

[0117] Finally, the control unit controls the CNC fixture of the first vertical water pipe assembly 302-A to release the axle of the large gear of the first vertical water pipe assembly 302-A, and controls the large gear to rotate to the target extreme diameter according to its rotation direction. This changes the lever arm length of nozzle A;

[0118] S1.5, For nozzle B:

[0119] Based on the whole machine in the global rectangular coordinate system center of gravity offset Obtain the offset of the center of gravity in the second local polar coordinate system As shown in the following formula:

[0120] ;

[0121] in, This is the offset of the center of gravity in the second local polar coordinate system; The center of mass is in the second local polar coordinate system Offset vector along the axis, ; The center of mass is in the second local polar coordinate system Offset vector along the axis, ;

[0122] Based on the offset of the center of gravity in the second local polar coordinate system Calculate the rotation amplitude of the large gear in the second vertical water pipe assembly 302-B. As shown in the following formula:

[0123] ;

[0124] in, To control the gain parameter;

[0125] According to the center of gravity in the second local polar coordinate system Offset vector in the axial direction The rotation direction of the large gear in the second vertical water pipe assembly 302-B is determined as follows:

[0126] when When >0, rotation angle Take a positive value; when When <0, rotation angle Take negative values; when When =0, maintain the current position;

[0127] According to the rotation angle Calculate the target polar angle in the second local polar coordinate system for the connection point between the Class II spray pipe and the corresponding telescopic hose of the second vertical water pipe assembly 302-B. and target polar radius As shown in the following formula:

[0128] ;

[0129] ;

[0130] in, and The current polar angle and current polar diameter of the connection point between the Class II spray pipe and the corresponding telescopic hose of the second vertical water pipe assembly 302-B in the second local polar coordinate system are respectively the current polar angle and current polar diameter in the second local polar coordinate system. The current polar angle in the initial state is... =0 degrees, current polar radius = , The minimum distance from the connection point of the telescopic hose of the second vertical water pipe assembly 302-B to the center D of the gear when the hose is fully retracted. is the proportionality coefficient, where , The maximum permissible rotation angle of the gear set in the second vertical water pipe assembly 302-B is [missing information]. The minimum permissible rotation angle of the gear set in the second vertical water pipe assembly 302-B. When the telescopic hose of the second vertical water pipe assembly 302-B is fully extended, the maximum distance from its connection point with the Class II spray pipe of the second vertical water pipe assembly 302-B to the gear center D is given by the fact that the structural dimensions of the first vertical water pipe assembly 302-A and the second vertical water pipe assembly 302-B are exactly the same. = ;

[0131] Next, the control unit controls the CNC fixture of the second vertical water pipe assembly 302-B to clamp the axle of the large gear of the second vertical water pipe assembly 302-B, and controls the large gear to rotate to the target polar angle according to its rotation direction. This changes the position of nozzle B;

[0132] Finally, the control unit controls the CNC fixture of the second vertical water pipe assembly 302-B to release the axle of the large gear of the second vertical water pipe assembly 302-B, and controls the large gear to rotate to the target extreme diameter according to its rotation direction. This changes the lever arm length of nozzle B.

[0133] In this embodiment, the control unit continuously adjusts the output power of the power drive unit according to the error value between the real-time acceleration of the whole machine and the preset target acceleration through a proportional control algorithm, as shown in the following formula:

[0134] ;

[0135] in, This is the output power of the power drive unit; This is the base power value of the power drive unit, set according to the operating stage. It is the minimum power during the initialization stage and the preset power value that allows the whole machine to hover in the air when the whole machine is hovering. This is the proportional gain coefficient, which is a constant greater than zero; The preset target acceleration is dynamically set by the control unit based on the task objectives of the current stage; For real-time acceleration; the specific steps are as follows:

[0136] S2.1 Setting a Target: The control unit sets a specific preset target acceleration based on the current task phase (such as the "ascent phase" or "landing and docking phase"). ;

[0137] S2.2 Measurement Feedback: The six-degree-of-freedom measurement system monitors the real-time acceleration of the entire machine at high frequency. ;

[0138] S2.3 Calculation Error: Calculation error value of acceleration ;

[0139] S2.4, Proportional Adjustment: Adjusting the error value Multiply by the proportional gain factor Obtain the power adjustment amount ;

[0140] 2.5 Output Command: Add the base power value to the adjustment amount to obtain the final output power command. And send it to the power drive unit;

[0141] S2.6 Continuous monitoring: After the power drive unit executes the command, the motion state of the whole machine changes. The six-degree-of-freedom measurement system measures the real-time acceleration again. The control unit enters the next control cycle and repeats steps S2.3 to S2.6 until the error value approaches zero.

[0142] This embodiment also provides a control method for the above-described water-spraying landing device, as follows:

[0143] Initialization phase:

[0144] Place the landing device on the water surface and put the main valve of the power drive unit in the initial closed state;

[0145] Start the power drive unit and open the main valve of the power drive unit to make the power drive unit operate in the minimum power mode. By sensing the three-dimensional balance state of gravity-buoyancy-thrust in real time, the whole machine maintains a static attitude on the water surface.

[0146] Ascent Phase:

[0147] Maintenance personnel boarded the manned platform and, at the moment of login, caused the entire machine to experience a downward real-time acceleration.

[0148] The control unit continuously adjusts the output power of the power drive unit through a proportional control algorithm based on the error value between the real-time acceleration of the whole machine and the preset target acceleration. At this time, the power drive unit gradually increases its output power, thereby adjusting its water supply flow rate. The water supply generates a reaction force through the jet, which pushes the whole machine to obtain upward acceleration, causing it to enter the upward motion stage.

[0149] When the ascent speed reaches the preset value, the control unit controls the power drive unit to gradually reduce its output power until the whole machine reaches the preset height threshold, thereby maintaining the output power of the power drive unit at the preset power value that allows the whole machine to hover in the air.

[0150] Horizontal movement phase:

[0151] Once the entire machine rises to the preset height threshold, the control unit switches to horizontal movement mode;

[0152] At this point, the control unit determines the opening and closing combination of the four horizontally positioned spray nozzles of the horizontal water pipe unit based on the real-time coordinates of the entire machine, thereby controlling the movement trajectory, as follows:

[0153] The four water nozzles are sequentially coded as n1, n2, n3, and n4, from front to back and from left to right. Initially, all four nozzles are closed. When nozzles n2 and n4 are opened, the machine moves forward; when nozzles n1 and n3 are opened, the machine moves backward; when nozzles n3 and n4 are opened, the machine moves to the left; when nozzles n1 and n2 are opened, the machine moves to the right; when nozzles n1 and n4 are opened, the machine rotates counterclockwise in the horizontal direction; when nozzles n2 and n3 are opened, the machine rotates clockwise in the horizontal direction. During the movement, the positioning and navigation system feeds back the position information to the control unit every preset interval (0.1s in this embodiment). The control unit adjusts the path planning based on the real-time position information and changes the opening and closing combination of the four horizontally set water nozzles, and feeds back to the horizontal water pipe unit to achieve real-time movement trajectory control.

[0154] Login and integration phase:

[0155] When the entire unit arrives at the target location and is on the same elevation plane, the offset of the center of gravity of the entire unit is obtained in real time. The spray position of the vertical water pipe unit is determined based on the offset of the center of gravity, and then the corresponding control command is sent to the vertical water pipe unit. At the same time, the power drive unit is controlled to gradually reduce its output power. The horizontal water pipe unit and the vertical water pipe unit are continuously adjusted until the entire unit is connected to the wind turbine foundation. The maintenance personnel then log on to the wind turbine foundation.

[0156] Return and reset phase:

[0157] The control unit controls the power drive unit to gradually reduce its output power and triggers a preset automatic return program. The landing device then autonomously returns to its initial anchoring position along a preset path using the positioning and navigation system.

[0158] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope disclosed in the present invention, based on the technical solution and inventive concept of the present invention, shall fall within the scope of protection of the present invention.

Claims

1. A water-spraying landing device, characterized in that: The system includes a manned base platform, a horizontal water pipe unit, a vertical water pipe unit, a control unit, a power drive unit, a water inlet pipe, a six-degree-of-freedom measurement system, and a positioning and navigation system. The manned base platform carries maintenance personnel. The horizontal water pipe unit is located at the bottom of the manned base platform along the left-right direction and has four horizontally arranged water nozzles. These four nozzles are divided into two groups, located on the left and right sides below the manned base platform, respectively. The spray directions of the four horizontal nozzles are different. The horizontal water pipe unit is communicatively connected to the control unit and is used to adjust the opening and closing combinations of its four horizontal nozzles according to the control commands of the control unit, thereby adjusting the overall movement trajectory. The vertical water pipe unit is located at the bottom of the manned base platform along the front-back direction, below the horizontal water pipe unit. It has two vertically downward-arc nozzles, located on the front and rear sides below the manned base platform, respectively. This vertical water pipe unit is also communicatively connected to the control unit and is used to adjust the opening and closing combinations of its four horizontal nozzles according to the control commands of the control unit. The control commands of the unit adjust the spray positions of its two vertically downward-facing nozzles, thereby generating a resistance torque opposite to the direction of the machine's center of gravity shift, thus achieving stable attitude control of the entire machine. The power drive unit is connected to the horizontal water pipe unit and the vertical water pipe unit respectively through the water inlet pipe, and it is also connected to the control unit to provide water sources for the horizontal and vertical water pipe units. The six-degree-of-freedom measurement system is set on the manned base platform and is connected to the control unit to monitor the real-time acceleration and center of gravity shift of the entire machine. The positioning and navigation system is set on the manned base platform and is connected to the control unit to obtain the real-time coordinates of the entire machine. The control unit is used to continuously adjust the output power of the power drive unit according to the error value between the real-time acceleration of the entire machine and the preset target acceleration through a proportional control algorithm, determine the opening and closing combination of the nozzles of the horizontal water pipe unit according to the real-time coordinates of the entire machine, and determine the spray position of the vertical water pipe unit according to the center of gravity shift of the entire machine, and then issue corresponding control commands.

2. The water-spraying landing device according to claim 1, characterized in that: The horizontal water pipe unit includes a first integrated water inlet pipe, four Class I water spray pipe assemblies, and a fixed support. The first integrated water inlet pipe is located at the bottom of the manned base platform along the left-right direction and is fixedly connected to the manned base platform via the fixed support. It has a water inlet at the center of its bottom and a bifurcation at each of its left and right ends, symmetrically arranged. Each bifurcation includes two outwardly extending and symmetrically distributed water outlets. The water inlet is connected to the water inlet pipe. The four Class I water spray pipe assemblies are symmetrically distributed in pairs at the left and right ends of the first integrated water inlet pipe and are connected to the four water outlets of the two bifurcations respectively. Each Class I water spray pipe assembly has a horizontally arranged water spray nozzle, and the four horizontally arranged water spray nozzles are not aligned with each other. Each Class I water spray pipe assembly includes a flange, a water spray pipe body, a water spray pipe core, a control rod, and a Class I motor. The water spray pipe body is connected to the outlet of the first integrated water supply pipe via a flange. The water spray pipe core is located inside the water spray pipe body and is a sphere with a through hole. The inner diameter of the through hole is equal to the inner diameter of the outlet of the first integrated water supply pipe. The Type I motor is located at the top of the water spray pipe body and is connected to the water spray pipe core via a control rod. The Type I motor is communicatively connected to the control unit. The Type I motor drives the control rod to rotate, thereby causing the water spray pipe core to rotate within the water spray pipe body. By adjusting the alignment or misalignment of the through hole of the water spray pipe core with the water spray pipe body, the horizontally set water nozzles can be opened or closed. The control unit can control any two adjacent horizontally set water nozzles to spray water, causing the manned base platform to translate in the opposite direction of the two adjacent horizontally set water nozzles. Alternatively, the control unit can control any two non-adjacent horizontally set water nozzles to spray water, causing the manned base platform to rotate in the horizontal direction.

3. The water-spraying landing device according to claim 1, characterized in that: The vertical water pipe unit includes a second integrated water supply pipe and a vertical water pipe assembly. The second integrated water supply pipe is located at the bottom of the manned base platform along the front-to-back direction and is fixedly connected to the manned base platform. It has an inlet at the center of its bottom and an outlet at each of its front and rear ends, with the inlet connected to the inlet pipe. There are two vertical water pipe assemblies: a first vertical water pipe assembly and a second vertical water pipe assembly, symmetrically arranged at the outlets at the front and rear ends of the second integrated water supply pipe. Each vertical water pipe assembly includes a telescopic hose, a Class II spray pipe, a large gear, a first small gear, a second small gear, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a Class II motor, and a CNC fixture. One end of the telescopic hose is connected to the outlet at the front or rear end of the second integrated water supply pipe. One end of the Class II spray pipe is connected to the other end of the telescopic hose, with the other end being a vertically downward-facing spray nozzle. The Class II motor is fixed... At the bottom of the manned base platform and above the telescopic hose, the Type II motor is communicatively connected to the control unit; the large gear is driven by the Type II motor and meshes with the first small gear, which is movably connected to the large gear via a first connecting rod; the first small gear meshes with the second small gear, which is movably connected to the large gear via a second connecting rod; the second small gear does not mesh with the large gear, which is movably connected to the large gear via a third connecting rod; the second small gear is movably connected to the end of the Type II water spray pipe near the telescopic hose via a fourth connecting rod; the CNC clamp is located above the large gear and is communicatively connected to the control unit, used to clamp the axle of the large gear; when the CNC clamp clamps the axle of the large gear, the three gears form a gear set as a whole, at which time the Type II motor drives the large gear to rotate in the direction of the center of gravity shift, so as to change the position of the vertically downward water spray nozzle, thereby generating a resisting torque opposite to the direction of the overall center of gravity shift of the machine, thus preventing the manned base platform from overturning; When the CNC fixture does not clamp the axle of the large gear, the Class II motor drives the large gear to drive the relative movement between the gears, which in turn drives the vertically downward water nozzle to move linearly along the axis parallel to the second integrated water pipe, thereby changing the lever arm length of the vertically downward water nozzle; through the cooperation of the CNC fixture and the Class II motor, the position adjustment of the two vertically downward water nozzles is realized.

4. A water-spraying landing device according to claim 3, characterized in that: The first and second pinions have the same radius, which is half the radius of the large gear.

5. A water-spraying landing device according to claim 1, characterized in that: The manned basic platform includes a main platform, a console and a power supply set on the main platform, and the control unit is integrated inside the console.

6. A water-spraying landing device according to claim 1, characterized in that: The bottom of the manned basic platform is equipped with a floating structure to prevent it from capsizing and sinking.

7. A water-spraying landing device according to claim 1, characterized in that: The power drive unit is a motorboat or jet boat, which is equipped with a main valve for controlling the start and stop of the water jet source.

8. A water-spraying landing device according to claim 3, characterized in that: The spray position of the vertical water pipe unit is determined based on the overall center of gravity offset of the machine, as follows: Center of the second integrated water supply pipe Let the origin be the coordinate system, and the direction along the axis of the second integrated water supply pipe be the coordinate system. The axis is defined by the left and right directions. Axis, construct a global rectangular coordinate system ; The vertically downward-facing nozzles of the first and second vertical water pipe assemblies are designated as nozzle A and nozzle B, respectively. Nozzle A is located at... In the positive half-axis region, nozzle B is located at... The negative half-axis region; Let the gear center of the large gear in the first vertical water pipe assembly be C, and the gear center of the large gear in the second vertical water pipe assembly be D. Wherein, gear center C is located at... In the positive half-shaft region, the gear center D is located at... In the negative half-axis region, gear center C and gear center D are in the global rectangular coordinate system. The initial coordinates in are respectively and ; A first local polar coordinate system is established with the gear center C as the origin, and a second local polar coordinate system is established with the gear center D as the origin. The first and second local polar coordinate systems are related to the center of the second integrated water pipe. symmetry; Obtain the entire machine in the global Cartesian coordinate system center of gravity offset As shown in the following formula: ； in, The center of gravity is Offset vector along the axis, The center of gravity is Offset vector along the axis; For nozzle A: Based on the whole machine in the global rectangular coordinate system center of gravity offset Obtain the offset of the center of gravity in the first local polar coordinate system As shown in the following formula: ； in, This is the offset of the center of gravity in the first local polar coordinate system; The center of mass is in the first local polar coordinate system Offset vector along the axis, ; The center of mass is in the first local polar coordinate system Offset vector along the axis, ; Based on the offset of the center of gravity in the first local polar coordinate system Calculate the rotation amplitude of the large gear in the first vertical water pipe assembly. As shown in the following formula: ； in, To control the gain parameter; According to the center of gravity in the first local polar coordinate system Offset vector in the axial direction The direction of rotation of the large gear in the first vertical water pipe assembly is determined as follows: when When >0, rotation angle Take a positive value; when When <0, rotation angle Take negative values; when When =0, maintain the current position; According to the rotation angle Calculate the target polar angle in the first local polar coordinate system for the connection point between the Class II spray pipe and the corresponding telescopic hose of the first vertical water pipe assembly. and target polar radius As shown in the following formula: ； ； in, and The current polar angle and current polar diameter of the connection point between the Class II spray pipe and the corresponding telescopic hose of the first vertical water pipe assembly in the first local polar coordinate system are respectively the current polar angle and current polar diameter. The initial state of the current polar angle is... =0 degrees, current polar radius = , The minimum distance from the connection point of the telescopic hose of the first vertical water pipe assembly to the center C of the gear when the hose is fully retracted. is the proportionality coefficient, where , The maximum permissible rotation angle of the gear set in the first vertical water pipe assembly. The minimum permissible rotation angle of the gear set in the first vertical water pipe assembly. The maximum distance from the connection point of the telescopic hose of the first vertical water pipe assembly to the center C of the gear when the hose is fully extended to the Class II spray pipe of the first vertical water pipe assembly. Next, the control unit controls the CNC fixture of the first vertical water pipe assembly to clamp the axle of the large gear of the first vertical water pipe assembly, and controls the large gear to rotate to the target polar angle according to its rotation direction. This changes the position of nozzle A. Finally, the control unit controls the CNC clamp of the first vertical water pipe assembly to release the axle of the large gear of the first vertical water pipe assembly, and controls the large gear to rotate to the target extreme diameter according to its rotation direction. This changes the lever arm length of nozzle A; For nozzle B: Based on the whole machine in the global rectangular coordinate system center of gravity offset Obtain the offset of the center of gravity in the second local polar coordinate system As shown in the following formula: ； in, This is the offset of the center of gravity in the second local polar coordinate system; The center of mass is in the second local polar coordinate system Offset vector along the axis, ; The center of mass is in the second local polar coordinate system Offset vector along the axis, ; Based on the offset of the center of gravity in the second local polar coordinate system Calculate the rotation amplitude of the large gear in the second vertical water pipe assembly. As shown in the following formula: ； in, To control the gain parameter; According to the center of gravity in the second local polar coordinate system Offset vector in the axial direction The direction of rotation of the large gear in the second vertical water pipe assembly is determined as follows: when When >0, rotation angle Take a positive value; when When <0, rotation angle Take negative values; when When =0, maintain the current position; According to the rotation angle Calculate the target polar angle in the second local polar coordinate system for the connection point between the Class II spray pipe and the corresponding telescopic hose of the second vertical water pipe assembly. and target polar radius As shown in the following formula: ； ； in, and These represent the current polar angle and current polar diameter of the connection point between the Class II spray pipe and the corresponding telescopic hose of the second vertical water pipe assembly in the second local polar coordinate system. The initial polar angle is... =0 degrees, current polar radius = , The minimum distance from the connection point of the telescopic hose of the second vertical water pipe assembly to the center D of the gear when the hose is fully retracted. is the proportionality coefficient, where , This refers to the maximum permissible rotation angle of the gear set in the second vertical water pipe assembly. The minimum permissible rotation angle of the gear set for the second vertical water pipe assembly. The maximum distance from the connection point of the telescopic hose of the second vertical water pipe assembly to the center D of the gear when the hose is fully extended. Next, the control unit controls the CNC fixture of the second vertical water pipe assembly to clamp the axle of the large gear of the second vertical water pipe assembly, and controls the large gear to rotate to the target polar angle according to its rotation direction. This changes the position of nozzle B; Finally, the control unit controls the CNC clamp of the second vertical water pipe assembly to release the axle of the large gear of the second vertical water pipe assembly, and controls the large gear to rotate to the target extreme diameter according to its rotation direction. This changes the lever arm length of nozzle B.

9. A water-spraying landing device according to claim 1, characterized in that: Based on the error between the real-time acceleration of the entire machine and the preset target acceleration, the output power of the power drive unit is continuously adjusted through a proportional control algorithm, as shown in the following formula: ； in, This refers to the output power of the power drive unit; This is the base power value of the power drive unit, set according to the operating stage. It is the minimum power during the initialization stage and the preset power value that allows the whole machine to hover in the air when the whole machine is hovering. This is the proportional gain coefficient, which is a constant greater than zero; The preset target acceleration is dynamically set by the control unit based on the task objectives of the current stage; For real-time acceleration.

10. A control method for a water-spraying landing device according to any one of claims 1 to 9, characterized in that, Specifically as follows: Initialization phase: Place the landing device on the water surface and put the main valve of the power drive unit in the initial closed state; Start the power drive unit and open the main valve of the power drive unit to make the power drive unit operate in minimum power mode; Ascent Phase: Maintenance personnel boarded the manned platform and, at the moment of login, caused the entire machine to experience a downward real-time acceleration. The control unit continuously adjusts the output power of the power drive unit through a proportional control algorithm based on the error value between the real-time acceleration of the whole machine and the preset target acceleration. At this time, the power drive unit gradually increases its output power, thereby adjusting its water supply flow rate. The water supply flows through the jet, generating a reaction force that propels the entire machine upward, causing it to enter the upward motion phase. When the ascent speed reaches the preset value, the control unit controls the power drive unit to gradually reduce its output power until the whole machine reaches the preset height threshold, thereby maintaining the output power of the power drive unit at the preset power value that allows the whole machine to hover in the air. Horizontal movement phase: The control unit determines the opening and closing combination of the four horizontally set water nozzles of the horizontal water pipe unit based on the real-time coordinates of the whole machine, thereby controlling the movement trajectory. During the movement, the positioning and navigation system feeds back the position information to the control unit at preset intervals. The control unit adjusts the path planning based on the real-time position information and changes the opening and closing combination of the four horizontally set water nozzles, and feeds back to the horizontal water pipe unit to achieve real-time movement trajectory control. Login and integration phase: When the entire unit arrives at the target location and is on the same elevation plane, the offset of the center of gravity of the entire unit is obtained in real time. The spray position of the vertical water pipe unit is determined based on the offset of the center of gravity, and then the corresponding control command is sent to the vertical water pipe unit. At the same time, the power drive unit is controlled to gradually reduce its output power. The horizontal water pipe unit and the vertical water pipe unit are continuously adjusted until the entire unit is connected to the wind turbine foundation. The maintenance personnel then log on to the wind turbine foundation. Return and reset phase: The control unit controls the power drive unit to gradually reduce its output power and triggers a preset automatic return program. The landing device then autonomously returns to its initial anchoring position along a preset path using the positioning and navigation system.

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