Method and device for removing turbulence structures on the surface of a fan blade

Abstract

This application discloses a method and apparatus for removing turbulence structures from the surface of wind turbine blades. The method includes: identifying turbulence structures on the surface of a target blade using a flight device; adjusting the relative position of a spray assembly of the flight device relative to the turbulence structure in response to the identification of the turbulence structure; and controlling the spray assembly to spray cleaning fluid onto the turbulence structure in response to the relative position meeting preset conditions, so as to dissolve the turbulence structure. According to the embodiments of this application, after the blade is hoisted, the turbulence structure on the blade can be automatically identified by the flight device, and the turbulence structure on the blade can be removed quickly, efficiently, and safely by spraying cleaning fluid onto the turbulence structure.

Description

Technical Field

[0001] This application belongs to the field of wind power generation technology, and in particular relates to a method and apparatus for removing turbulence structures on the surface of wind turbine blades. Background Technology

[0002] Wind turbines generate electricity by absorbing wind energy through their rotors to power a generator. The blades are the core working components of a wind turbine. Between blade manufacturing and grid connection, under specific combinations of wind direction and speed, vortex-induced vibrations can occur. Because vortex-induced vibrations cannot be eliminated by yaw or pitch adjustments in this scenario, they can persist for extended periods. This vibration leads to fatigue loads, causing cumulative damage to the blades and other components of the turbine, thus shortening the turbine's operational lifespan after grid connection. As wind turbines evolve towards larger rotors and longer blades, blade flexibility is continuously decreasing, increasing the probability and risk of vortex-induced vibrations.

[0003] In related technologies, in order to reduce vortex-induced vibration of blades before grid connection, a common solution is to cover the blades with temporary netting or turbulence-inducing devices. For example, CN113685311A discloses a vibration-damping and turbulence-inducing device for wind turbine blades, which involves fitting two layers of netting on the blade surface and adding turbulence-inducing strips between the netting.

[0004] While the above solutions can effectively turbulence and vibration damping, they have several shortcomings in practical application. For example, on-site installation of the mesh sleeve is inefficient, requiring it to be fitted before blade hoisting. Due to the pre-bending and chordal changes of the blades, fitting the mesh sleeve requires multiple people, and reliable fixation is necessary after fitting, resulting in a lengthy operation time. Furthermore, the varying blade structures, vortex resistance requirements, and hoisting processes among different turbine models make the mesh sleeve solution difficult to adapt to, significantly increasing management costs. If the blade mesh sleeve is fixed to the hub, pitch control cannot be performed before removing the mesh sleeve, increasing the limitations of the unit's shutdown status. Without reliable fixation, the mesh sleeve is prone to detachment. Moreover, as a flexible structure, the mesh sleeve is susceptible to interference, entanglement, or jamming with aerodynamic accessories on the blade surface during on-site removal after hoisting, leading to removal failure or increased construction difficulty. It could even cause the removed portion of the mesh sleeve to become uncontrollably drawn into the turbine's mechanism, causing overall turbine malfunction and further risks. Summary of the Invention

[0005] This application provides a method and apparatus for removing turbulence structures from the surface of wind turbine blades. After the blades are hoisted, the turbulence structures on the blades can be automatically identified by a flight device, and the turbulence structures on the blades can be removed quickly, efficiently, and safely by spraying cleaning fluid onto the turbulence structures.

[0006] In a first aspect, embodiments of this application provide a method for removing turbulence structures from the surface of wind turbine blades. The method is applied to a device for removing turbulence structures from the surface of wind turbine blades. The device includes a flying device equipped with a spray assembly, which is loaded with a cleaning fluid for removing the turbulence structures. The method includes:

[0007] The flight equipment identifies the aerodynamic structures set on the surface of the target blade;

[0008] In response to the detection of a disturbance structure, the relative position of the spray assembly with respect to the disturbance structure is adjusted;

[0009] In response to the relative position meeting the preset conditions, the spray assembly is controlled to spray cleaning fluid onto the turbulence structure to dissolve the turbulence structure.

[0010] As one possible implementation, the spoiler structure on the blade is a spiral shape that surrounds the blade along a spiral path and extends along the length of the blade.

[0011] As one possible implementation, the method further includes, before identifying the aerodynamic structures set on the surface of the target blade using flight equipment:

[0012] Send a clear confirmation request to the control terminal;

[0013] Receive the impeller status information returned by the control terminal in response to the clear confirmation request;

[0014] Based on impeller state information, the target blade is identified from the blades of the wind turbine.

[0015] As one possible implementation, the target blade is determined from the blades of the wind turbine based on the rotor state information, including:

[0016] In response to the impeller status information indicating that the impeller is in a locked state, the target blade pose information is obtained from the impeller status information;

[0017] The blades of the wind turbine that correspond to the pose information of the target blade are identified as the target blades.

[0018] As one possible implementation, the target blade is determined from the blades of the wind turbine based on the rotor state information, including:

[0019] In response to the impeller status information indicating that the impeller is in an idling state, identify blades with turbulence structures on their surfaces that need to be removed from the wind turbine blades.

[0020] Any leaf to be removed is identified as the target leaf.

[0021] As one possible implementation, before sending a clear confirmation request to the control terminal, the method also includes:

[0022] Control the flight equipment to move towards the target location;

[0023] Send a clear confirmation request to the control terminal, including:

[0024] In response to the flight equipment moving to the target location, a clearing confirmation request is sent to the control terminal.

[0025] As one possible implementation, controlling the flight equipment to move towards the target location includes:

[0026] The shutdown location is determined based on the positioning target point on the top of the wind turbine nacelle;

[0027] In response to the flight equipment landing at the parking position, the flight equipment is controlled to move towards the target position based on the relative positional relationship between the parking position and the target position.

[0028] As one possible implementation, the method further includes, before identifying the aerodynamic structures set on the surface of the target blade using flight equipment:

[0029] Control the flight equipment to move to the starting point for clearing the target blade;

[0030] The flight equipment identifies aerodynamic structures positioned on the surface of the target blade, including:

[0031] The control flight equipment moves around the target blade from the starting point of the removal process along the length of the target blade until it reaches the end point of the removal process.

[0032] The control flight equipment identifies the turbulence structures set on the surface of the target blade as it moves from the clearing start point to the clearing end point.

[0033] As one possible implementation, the method also includes:

[0034] In response to the completion of clearing the turbulence structure on the target blade, return to the step of sending a clearing confirmation request to the control terminal, until the clearing of turbulence structures on all blades connected to the impeller is completed.

[0035] As one possible implementation, the flight equipment is also equipped with a jet assembly for ejecting gas;

[0036] The method also includes:

[0037] After the spray assembly sprays cleaning fluid onto the turbulence structure, the jet assembly sprays gas onto the target blades to remove the residue left after the turbulence structure has dissolved.

[0038] Secondly, embodiments of this application provide a device for removing turbulence structures on the surface of wind turbine blades, the device comprising:

[0039] Flight equipment;

[0040] The flight equipment is equipped with a spray assembly containing a cleaning fluid for dissolving turbulent structures;

[0041] The flight equipment is configured as follows:

[0042] Identify the aerodynamic structures set on the surface of the target blade;

[0043] In response to the detection of a disturbance structure, the relative position of the spray assembly with respect to the disturbance structure is adjusted;

[0044] In response to the relative position meeting the preset conditions, the spray assembly is controlled to spray cleaning fluid onto the turbulence structure to dissolve the turbulence structure.

[0045] As one possible implementation, the flight equipment also includes:

[0046] Jet assembly, used to eject gas;

[0047] The flight equipment was also configured as follows:

[0048] After the spray assembly sprays cleaning fluid onto the turbulence structure, the jet assembly sprays gas onto the target blades to remove the residue left after the turbulence structure has dissolved.

[0049] Thirdly, embodiments of this application provide an electronic device including a processor and a memory, wherein the memory stores programs or instructions executable on the processor, and the programs or instructions, when executed by the processor, implement the steps of the method described in the first aspect.

[0050] Fourthly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0051] Fifthly, embodiments of this application provide a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the method as described in the first aspect.

[0052] In a sixth aspect, embodiments of this application provide a computer program product stored in a storage medium, which is executed by at least one processor to implement the method described in the first aspect.

[0053] The method and apparatus for removing turbulence structures from the surface of wind turbine blades according to embodiments of this application identify turbulence structures set on the surface of a target blade using a flight device; in response to the identification of the turbulence structure, the relative position of the spraying assembly of the flight device relative to the turbulence structure is adjusted; in response to the relative position meeting preset conditions, the spraying assembly is controlled to spray cleaning fluid onto the turbulence structure to dissolve it. According to embodiments of this application, after the blade is hoisted, the turbulence structure on the blade can be automatically identified by the flight device, and the turbulence structure on the blade can be removed quickly, efficiently, and safely by spraying cleaning fluid onto the turbulence structure. Attached Figure Description

[0054] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0055] Figure 1 This is a flowchart illustrating a method for removing turbulence structures on the surface of wind turbine blades according to some embodiments of this application;

[0056] Figure 2 These are schematic diagrams of the structure of a wind turbine provided in some embodiments of this application;

[0057] Figure 3 These are schematic diagrams of the blade structure provided in some embodiments of this application;

[0058] Figure 4 These are schematic diagrams of the blade structure provided in other embodiments of this application;

[0059] Figure 5 This is a schematic diagram of the structure of the wind turbine blade surface turbulence removal device provided in some embodiments of this application;

[0060] Figure 6 These are schematic diagrams of the structure of electronic devices provided in some embodiments of this application. Detailed Implementation

[0061] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0062] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0063] This application provides a technical solution for generating a turbulence structure on the surface of a wind turbine blade. The solution includes: before the blade leaves the factory, spraying a predetermined amount of an adhesive onto the blade surface along a predetermined path using an adhesive spraying process. The adhesive is a curable material, and after curing, it forms an array of turbulence structures on the blade surface, thereby disrupting the flow field around the airfoil and reducing vortex-induced vibration of the blade in the airflow field. This technical solution can play a role in turbulence and vibration suppression during blade transportation, storage, hoisting, and before the turbine is powered on after hoisting. However, since the turbulence structure needs to be removed after the wind turbine is hoisted, and the aforementioned formed turbulence structure has low density and strong adhesion, it is easy to damage the blade and leave residues during removal. Therefore, to quickly, efficiently, and safely remove the turbulence structure on the blade, this application provides a method and apparatus for removing turbulence structures formed on the blade surface by the aforementioned adhesive spraying process. The method and apparatus for removing turbulence structures on the surface of the wind turbine blade provided in this application will be described below with reference to the accompanying drawings.

[0064] The method for removing the turbulence structure on the surface of wind turbine blades provided in this application embodiment can be applied to scenarios where the turbulence structure on the blade surface is removed after the wind turbine has been installed. As can be seen from the above, the turbulence structure on the blade surface is applied to the blade surface through an adhesive coating process.

[0065] In some embodiments of this application, the adherend is a substance with properties such as rapid curing, sufficient adhesion strength, water resistance, and resistance to sunlight. For example, the materials of the adherend include, but are not limited to, foamed materials, composite materials with foamed materials as the matrix, and other soluble materials.

[0066] In some embodiments of this application, the component of the attachable material includes glass fiber. This allows a glass fiber-containing turbulence structure to be formed on the blade. Glass fiber has high strength and modulus, enabling it to effectively resist external forces such as tension and bending. When the glass fiber-added turbulence structure is subjected to external forces, the glass fiber can bear a portion of the load, thereby preventing excessive deformation of the turbulence structure.

[0067] In some embodiments of this application, the adherend is a foamed material, the components of which include isocyanate, polyol, catalyst, foaming agent, foam stabilizer, carbon black, and glass fiber. The catalyst includes, but is not limited to, SICAT-03, organotin compounds, etc.; the foaming agent can be a physical foaming agent or a chemical foaming agent. Physical foaming agents include inorganic and organic types. Inorganic physical foaming agents include, but are not limited to, air, carbon dioxide, nitrogen, water, and aliphatic hydrocarbon foaming agents. Aliphatic hydrocarbon foaming agents include, but are not limited to, butane, cyclopentane, hexane, octane, etc. Organic physical foaming agents include, but are not limited to, chlorinated hydrocarbons such as dichloroethane and chlorofluorocarbons such as Freon. Chemical foaming agents include both inorganic and organic types. Inorganic chemical foaming agents are further divided into reactive and thermally decomposable types. Reactive inorganic chemical foaming agents include, but are not limited to, sodium bicarbonate + acid, hydrogen peroxide + yeast, zinc powder + acid, etc. Thermally decomposable inorganic chemical foaming agents include, but are not limited to, bicarbonates, carbonates, hydrides, etc. Organic chemical foaming agents also include reactive and thermally decomposable types. Reactive organic chemical foaming agents include, but are not limited to, isocyanate compounds, etc. Thermally decomposable organic chemical foaming agents include, but are not limited to, azo compounds, hydrazine derivatives, urea-amino compounds, azido compounds, nitroso compounds, triazole compounds, etc. Foam stabilizers include, but are not limited to, silicone foam stabilizers, etc.

[0068] Foamed materials have the advantages of low density, light weight, and high strength. Using foamed materials as an attachment material can significantly reduce the weight of the final spoiler structure while improving its strength and stability. In addition, by adding carbon black, the spoiler structure can be distinguished from the blades, making it easier to identify when the spoiler structure is removed. Furthermore, it can prevent the spoiler structure from aging due to ultraviolet radiation during service.

[0069] In some embodiments of this application, the weight ratio of the components in the foaming material that serves as the adherend includes: 45%–52% isocyanate, 45%–41% polyol, 3%–4% blowing agent, 1%–2% foam stabilizer, 1%–2% carbon black, and 2%–4% glass fiber. The weight ratio of the catalyst can be determined according to actual conditions.

[0070] The foamed material prepared using the above formula and proportion has good stability and weather resistance after curing, and also has good mechanical strength. It can meet the needs of blade turbulence scenarios, and the process is simple, easy to implement, and low in cost.

[0071] In some embodiments of this application, the adherable material also contains pigment, wherein the color of the pigment can be set according to the actual situation, for example, the color can be a bright color that is different from the color of the leaf, such as red, purple, or blue.

[0072] Adding pigments to the substrate can distinguish the color of the turbulence structure from the color of the blade, making it easier to identify the turbulence structure on the blade.

[0073] The method for removing turbulence structures from the surface of wind turbine blades provided in this application embodiment can be executed by a device for removing turbulence structures from the surface of wind turbine blades. The device includes a flight device equipped with a spray assembly, which is loaded with a cleaning fluid for removing the turbulence structures from the blade surface. The cleaning fluid is a liquid capable of dissolving the turbulence structures or causing the interfacial adhesion between the turbulence structures and the blade surface to fail. For example, if the material forming the adherent turbulence structure is polyurethane foam, the cleaning fluid can be an organic solvent capable of dissolving polyurethane.

[0074] In some embodiments of this application, in order to reduce damage to the blades when removing the turbulence structure, the cleaning fluid is a liquid that will not damage the paint film on the blade surface.

[0075] See Figure 1 This is a flowchart illustrating a method for removing turbulence structures on the surface of a wind turbine blade, as provided in an embodiment of this application. Figure 1 As shown, the method includes the following steps S110-S130, which will be explained in detail below.

[0076] S110. Identify the turbulence structures set on the surface of the target blade using flight equipment.

[0077] In some embodiments of this application, see Figure 2 This is a schematic diagram of a wind turbine, as shown below. Figure 2 As shown, the wind turbine includes an rotor and a nacelle 220. The rotor includes a hub 211 and three blades mounted on the hub 211, namely a first blade 212, a second blade 213, and a third blade 214. Each blade may have a turbulence-causing structure on its surface. When removing the turbulence-causing structure from the surface of the wind turbine blades, the turbulence-causing structure on each blade surface is removed individually. Therefore, the target blade refers to any one of the blades connected to the rotor whose turbulence-causing structure needs to be removed.

[0078] In some embodiments of this application, in order to disrupt the aerodynamic shape of the blade, the turbulence structure does not completely cover the entire surface of the blade, but is composed of discrete solid protrusions formed on the blade surface after the adherable material solidifies. That is, the turbulence structure only covers part of the blade surface. Based on this, in order to accurately remove the turbulence structure on the blade surface and reduce the waste of cleaning fluid, when removing the turbulence structure on the target blade, the turbulence structure on the target blade surface is identified through the above-mentioned step S110 to determine the location and / or attitude of the turbulence structure to be removed on the target blade, and then the turbulence structure on the blade is removed in a targeted manner.

[0079] In some embodiments of this application, "flying equipment" refers to equipment capable of flight. Exemplarily, flying equipment includes, but is not limited to, drones. Since the blades are installed at a high altitude, manually dismantling the spoiler structure typically requires scaffolding and climbing equipment, which is difficult and carries high-altitude risks. In this embodiment, by using flying equipment to remove the spoiler structure from the surface of the installed blades, the target blade location can be quickly reached without the need for extensive scaffolding and climbing equipment as in traditional methods. This eliminates the need for personnel to climb to high places, reducing the risk of falls during high-altitude operations. Furthermore, flying equipment enables precise operation, avoiding the problem of inaccurate removal results caused by manual operation.

[0080] In some embodiments of this application, the flight equipment is equipped with an image acquisition device and an image recognition system. Based on this, in step S110 above, an image of the target blade can be acquired by the image acquisition device on the flight equipment, and the acquired image can be transmitted to the image recognition system. The image recognition algorithm in the image recognition system is used to identify the turbulence structure in the image, thereby identifying the turbulence structure on the surface of the target blade and obtaining information such as the position and / or attitude of the turbulence structure. In this way, the turbulence structure on the target blade can be accurately located.

[0081] In some embodiments of this application, when pigment is added to the attachable material used to generate the turbulence structure, the image recognition system can quickly identify the turbulence structure on the target blade based on the color of the turbulence structure.

[0082] S120. In response to the detection of a disturbance structure, adjust the relative position of the spray assembly with respect to the disturbance structure.

[0083] In some embodiments of this application, when the flight equipment identifies a turbulence structure on a target blade through an image recognition system, it generates corresponding control commands based on information such as the position and / or attitude of the turbulence structure, and adjusts the relative position of the spray assembly with respect to the turbulence structure based on the control commands, so that the spray assembly can spray cleaning fluid onto the identified turbulence structure.

[0084] In some embodiments of this application, the spray assembly includes a container, a first nozzle, and a first conduit. The container stores cleaning fluid, the first conduit delivers the cleaning fluid from the container to the first nozzle, and the first nozzle sprays the cleaning fluid outward. Based on this, the relative position of the spray assembly to the turbulence-causing structure can be adjusted by adjusting the position and / or orientation of the first nozzle.

[0085] In some embodiments of this application, the relative position and attitude of the first nozzle on the flight equipment are fixed. In this case, the control command can be a command to control the flight equipment to adjust its own position and / or attitude. By adjusting the position and / or attitude of the flight equipment, the position and / or attitude of the first nozzle can be adjusted, thereby adjusting the relative position of the spray assembly relative to the turbulence structure.

[0086] In other embodiments of this application, the relative position and / or attitude of the first nozzle on the flight equipment is adjustable, and the position and / or attitude of the first nozzle can be controlled by the flight equipment. In this case, the control command may include an instruction to control the flight equipment to adjust the position and / or attitude of the first nozzle, thereby adjusting the relative position of the spray assembly relative to the turbulence structure.

[0087] S130. In response to the relative position meeting the preset conditions, control the spray assembly to spray cleaning fluid onto the turbulence structure to dissolve the turbulence structure.

[0088] In some embodiments of this application, the preset conditions can be determined based on parameters such as the spray angle, range, flow rate, and pressure of the spray assembly. The goal is to ensure that the cleaning fluid sprayed by the spray assembly can be applied to the turbulence structure when the relative position of the spray assembly and the turbulence structure meets the preset conditions. The spray angle, range, flow rate, and pressure parameters of the spray assembly can be fixed or adjusted by the flight equipment according to actual needs; this embodiment does not impose specific limitations on these parameters.

[0089] In some embodiments of this application, the spraying assembly can be controlled by a flight device. When the flight device determines that the relative position between the spraying assembly and the turbulence structure meets preset conditions, it controls the spraying assembly to spray cleaning fluid for dissolving the turbulence structure. In this way, the cleaning fluid sprayed by the spraying assembly can be applied to the turbulence structure, thereby dissolving the turbulence structure.

[0090] This application provides a method for removing turbulence structures from the surface of wind turbine blades. The method involves using a flight-mounted device to identify turbulence structures on the surface of a target blade. In response to the identification of the turbulence structure, the relative position of the flight-mounted device's spray assembly relative to the turbulence structure is adjusted. In response to the relative position meeting preset conditions, the spray assembly is controlled to spray cleaning fluid onto the turbulence structure to dissolve it. According to this application, after the blade is installed, the flight-mounted device can automatically identify turbulence structures on the blade, and by spraying cleaning fluid onto the turbulence structure, the turbulence structures on the blade can be removed quickly, efficiently, and safely.

[0091] In some embodiments, the shape of the cross-section of the solid protrusion constituting the turbulence structure can be triangular, matrix, square, semi-circular, conical, etc., and this application does not specifically limit this.

[0092] In some embodiments, the turbulence structure on the blade is in the shape of a spiral that surrounds the blade along a spiral path and extends along the length of the blade. For example, as... Figure 3 As shown, the turbulence structure 310 on the blade 300 has a spiral shape that surrounds the blade along a spiral path and extends along the length of the blade. The spiral path is preset before the turbulence structure is applied to the blade by the coating process, and parameters such as the pitch and helix angle of the spiral path can be set according to the turbulence requirements of the blade.

[0093] In other embodiments, the spoiler structure on the blade is shaped as multiple spoiler structure blocks arranged in an array around the blade surface. For example, as... Figure 4 As shown, the turbulence structure on the blade 400 includes multiple turbulence structure blocks 410 arranged in an array on the surface of the blade 400, and the multiple turbulence structure blocks 410 together constitute the turbulence structure of the blade 400.

[0094] In some embodiments, after the blades are hoisted, the turbulence structures on the blade surface can be removed in two impeller states: impeller locked state and impeller idling state. The impeller locked state refers to the state where the impeller is fixed to prevent rotation. In the impeller locked state, the position and attitude of each blade are fixed. The impeller idling state refers to the wind turbine impeller starting to rotate under the influence of wind, but at this time the generator is not effectively connected to the impeller's power transmission system, or the generator is not generating electricity; the unit is simply the impeller rotating in the wind. In the impeller idling state, the blades are affected by wind force, and their position and / or attitude may change. To more efficiently remove the turbulence structures on the blades, in this embodiment, different strategies are used to determine the target blades in different impeller states. Therefore, before step S110 above, the flight equipment can first perform the following steps S101-S103.

[0095] S101. Send a clear confirmation request to the control terminal.

[0096] In some embodiments of this application, the control terminal refers to the control device of the flight equipment, such as a remote controller or a host computer. The flight equipment and the control terminal communicate with each other via wired or wireless means. Wireless means include, but are not limited to, WiFi, Bluetooth, Zigbee, cellular network, and radio wave connections.

[0097] In some embodiments of this application, when removing the turbulence structure on the blades, the target blade to be removed is first determined. Since the strategy for determining the target blade differs depending on the impeller state, the impeller state is determined first. In this embodiment, when the flight equipment determines that the turbulence structure needs to be removed, it sends a removal confirmation request to the control terminal to request the control terminal to inform the flight equipment of the impeller state information related to the impeller state.

[0098] S102. Receive the impeller status information returned by the control terminal in response to the clear confirmation request.

[0099] In some embodiments of this application, the control terminal is operated by a controller. After the control terminal receives a clear confirmation request sent by the flight equipment, the controller can set the impeller status information through the control terminal, and the control terminal returns the impeller status information set by the controller to the flight equipment.

[0100] S103. Based on the impeller state information, determine the target blade from the blades of the wind turbine.

[0101] In some embodiments of this application, the impeller state information includes information for indicating the impeller state. Based on this, the flight equipment can determine whether the impeller is in a locked state or an idling state, and then adopt an appropriate strategy to determine the target blade in the wind turbine based on the determined impeller state.

[0102] After the blades are installed, the impeller's state is not fixed; it may switch between a locked state and an idling state over time. In this embodiment, by sending a clearing confirmation request to the control terminal to obtain the impeller state information, the impeller state can be accurately determined, and then, based on the impeller state, the target blades that need to be cleared of the turbulence structure can be accurately identified.

[0103] In some embodiments of this application, with the impeller locked, the position and attitude of each blade in the wind turbine are fixed. At this time, a controller can specify the target blade to be removed via a control terminal. Based on this, step S103 above may include:

[0104] In response to the impeller status information indicating that the impeller is in a locked state, the target blade pose information is obtained from the impeller status information;

[0105] The blades of the wind turbine that correspond to the pose information of the target blade are identified as the target blades.

[0106] Here, the target blade pose information includes the target blade's position information and / or attitude information.

[0107] In some embodiments of this application, the position information of the target blade includes the absolute position coordinates of the target blade or the relative position coordinates of the target blade with respect to the target position, wherein the target position is a position specified according to the actual situation. For example, see Figure 2 The target location is position 230, located on the centerline X of the cabin and at a certain distance from the wheel hub 211. The distance between position 230 and wheel hub 211 can be set according to actual needs; for example, the value of this distance can be in the range of 2m-10m.

[0108] In some embodiments of this application, the attitude information of the target blade refers to the orientation state information of the target blade in space. The attitude information of the target blade mainly describes the angle and direction of the target blade relative to the wind turbine reference coordinate system. The attitude information can intuitively show the position and orientation of the target blade. For example, the attitude information of the target blade includes, but is not limited to, the pitch angle, flapping angle, and oscillation angle of the target blade.

[0109] In some embodiments of this application, when the control terminal receives a clearance confirmation request from the flight equipment, the controller can determine the current state of the impeller. If the controller determines that the impeller is currently in a locked state, the controller can select the target blade from the wind turbine blades to be cleared of the turbulence structure, and set the target blade's pose information through the control terminal. In this way, the control terminal can include the target blade's pose information in the impeller attitude information and send it synchronously to the flight equipment. Thus, when the flight equipment determines that the impeller is in a locked state based on the impeller state information, it can directly obtain the target blade's pose information from the impeller state information, and then quickly determine the target blade based on the target blade's pose information.

[0110] Through the above embodiments, the flight equipment can quickly determine the target blade to be cleared based on the target blade pose information in the impeller state information, thereby improving the clearing efficiency.

[0111] In some embodiments of this application, when the impeller is idling, the position and attitude of each blade in the wind turbine are not fixed, making it difficult for the controller to set the accurate position and attitude information of the target blade through the control terminal. In this case, the flight equipment automatically identifies the target blade to be removed. Based on this, the above step S103 may include:

[0112] In response to the impeller status information indicating that the impeller is in an idling state, identify blades with turbulence structures on their surfaces that need to be removed from the wind turbine blades.

[0113] Any leaf to be removed is identified as the target leaf.

[0114] In some embodiments of this application, when the flight equipment determines that the impeller is in an idling state based on impeller state information, it can acquire images of the blades in the wind turbine through an image recognition system. Then, it uses image recognition technology to identify whether there are turbulence structures on the blade surface, thereby identifying blades with turbulence structures on their surfaces and determining which blades need to be removed. A wind turbine has multiple blades, for example... Figure 2 As shown, there are three blades, and each blade can be equipped with a turbulence structure. Therefore, the number of blades to be removed may be multiple. When removing the turbulence structure from the blades, the turbulence structure of each blade is removed in sequence. That is, the turbulence structure on one blade is removed before the turbulence structure on another blade is removed. Therefore, after the blades to be removed are determined, the flight equipment identifies any one of the blades to be removed as the target blade.

[0115] Through the above embodiments, when the impeller is idling, the flight equipment automatically identifies the target blade, so that even when the blade is in motion, the turbulence structure on the blade can be cleared.

[0116] In some embodiments of this application, the flight device includes a positioning system. In order for the flight device to better locate and navigate during the process of clearing the turbulent structure, the flight device may perform the following steps before step S101 above:

[0117] Control the flight equipment to move to the target location.

[0118] Accordingly, in step S101 above, the flight equipment, in response to moving to the target location, sends a clearing confirmation request to the control terminal.

[0119] In some embodiments of this application, the target location is a designated location corresponding to a wind turbine, and its location information is known. For example, the target location is as follows: Figure 2Position 230 is shown. The flight equipment can move to the target position based on the target position's location information. This location information includes the target position's absolute coordinates or its relative coordinates to a specified position on the wind turbine.

[0120] Using the target location as a fixed reference point, the area where the wind turbine is located can be considered the work area for the aerial equipment when removing the turbulence structures on the wind turbine blades. The target location provides a precise coordinate reference within this work area. Just as a map has a fixed starting point, the positioning system of the aerial equipment can determine its exact position within the work area based on this target location. Since the turbulence structures on each blade are formed before the blade leaves the factory, the relative position between the turbulence structures on the blade surface and the target location can be determined based on the relative position between the blade and the target location after the blade is installed. In this way, during the removal of the turbulence structures, the aerial equipment can accurately determine the relative position between its own spray assembly and the target location through the positioning system. Furthermore, based on the relative positions of the spray assembly and the target location, and the relative positions of the turbulence structures and the target location, the aerial equipment can accurately adjust the relative positions of the spray assembly and the turbulence structures.

[0121] Through the above embodiments, controlling the flight equipment to move to the target position facilitates precise positioning and position adjustment of the flight equipment.

[0122] In some embodiments of this application, considering that the absolute coordinates of the target location are difficult to determine, the location information of the target location can be set as the relative coordinates of the target location with respect to a specified parking position on the wind turbine nacelle. Based on this, the flight equipment can move to the target location in the following manner:

[0123] The shutdown location is determined based on the positioning target point on the top of the wind turbine nacelle;

[0124] In response to the flight equipment landing at the parking position, the flight equipment is controlled to move towards the target position based on the relative positional relationship between the parking position and the target position.

[0125] Here, the positioning target on the top of the wind turbine nacelle is one or more pre-set location points, which are used to guide the flight equipment to stop accurately at the designated parking position.

[0126] In some embodiments of this application, the flight equipment can move towards the nacelle of a wind turbine based on known location information. Upon approaching the top of the nacelle, it acquires images of positioning target points on the nacelle top using an image acquisition device. These images are then transmitted to an image recognition system, which uses image recognition algorithms to analyze and extract features such as the relative position of these positioning target points with respect to the flight equipment, thereby determining the relative positional relationship between the flight equipment and these target points. Then, based on the flight equipment's position and attitude in space and its relative positional relationship with the positioning target points, the attitude and position of the flight equipment are adjusted according to preset rules, ensuring that the flight equipment accurately stops at the parking position indicated by the positioning target points.

[0127] In some embodiments of this application, aligning the flight equipment with a designated direction when parked simplifies takeoff path planning. This is because if the flight equipment always takes off from a fixed direction, the initial path after takeoff can be pre-set when planning the path for the flight equipment to move from the parking position to the target position, reducing the time spent replanning the path each time it takes off. Therefore, to ensure the flight equipment aligns with a designated direction when parked, multi-point positioning technology can be used. At least two positioning targets are set on the top of the cabin, and at least two positioning points are set on the flight equipment corresponding to each of the at least two positioning targets on the top of the cabin. When the flight equipment approaches the top of the cabin, an image recognition system can acquire images of the at least two positioning targets on the top of the cabin. The acquired target images are then analyzed to determine the relative positional relationship between each positioning point on the flight equipment and its corresponding positioning target. Based on the determined relative positional relationship, the position and / or attitude of the flight equipment are adjusted so that when the flight equipment lands on the top of the cabin, each positioning point on the flight equipment coincides with its corresponding target. Thus, the flight equipment can land at the designated parking position with the designated direction. For example, see Figure 2 The top of the cabin 220 includes three positioning target points, namely target point A, target point B and target point C. The flight equipment includes three positioning points corresponding to these three positioning target points. When the flight equipment is parked on the cabin 220, its three positioning points coincide with their respective positioning target points.

[0128] In some embodiments of this application, the turbulence-disrupting structures surround the blade and are distributed at multiple locations on the blade surface, for example, as shown in the figure. Figure 3 and Figure 4As shown. However, due to the limited spray range of the spray assembly, it cannot spray cleaning fluid onto all turbulence structures on the target blade at once. Therefore, in order to remove turbulence structures at different locations on the target blade separately, the flight equipment needs to move during the removal process, and identify and track the turbulence structures on the target blade in real time as the flight equipment moves. Therefore, to more comprehensively remove turbulence structures from the target blade surface, before step S110 above, the flight equipment can first perform the following steps:

[0129] Control the flight equipment to move to the starting point for clearing the target blade.

[0130] Accordingly, in step S110 above, the flight equipment can control itself to move around the target blade from the starting point of the removal along the length direction of the target blade until it moves to the end point of the removal of the target blade; control the flight equipment to identify the turbulence structure set on the surface of the target blade during the process of moving from the starting point of the removal to the end point of the removal.

[0131] Here, the starting point and ending point of the target blade removal are two designated locations with known position information. The flight equipment can move to the starting point and ending point based on their position information.

[0132] In some embodiments of this application, the clearing start point and clearing end point are the location points near the two endpoints of the turbulence structure on the target blade. The two endpoints of the turbulence structure refer to the location points on the target blade where the turbulence structure closest to the blade tip is located and where the turbulence structure closest to the blade root is located. The turbulence structure can be distributed across the entire blade, and if the turbulence structure is composed of discretely distributed solid protrusions on the entire surface of the blade, then the two endpoints of the turbulence structure can be the blade tip and the blade root. For cost considerations, the turbulence structure can be distributed from the blade tip to a certain location on the blade, and the turbulence structure can be composed of discretely distributed solid protrusions within this range. Then the two endpoints of the turbulence structure can be the blade tip and that specific location. For example, see... Figure 3 Points E and F are the two endpoints of the perturbation structure on the surface of blade 300. For another example, see... Figure 4Points G and H are the two endpoints of the turbulence-causing structure on blade 400. Here, to reduce the amount of adhering material while ensuring the sprayed material on the blade provides a turbulence-causing effect, the distance between this location and the blade root can be between one-third and two-thirds of the blade length. Since the turbulence-causing structure is pre-set before the blade leaves the factory, the position information of the two endpoints of the turbulence-causing structure can be determined before leaving the factory. Therefore, the position information of the cleaning start point and cleaning end point can be determined based on the position information of the two endpoints of the turbulence-causing structure and the relative positional relationship between the set cleaning start point and cleaning end point and the two endpoints of the turbulence-causing structure. In some embodiments of this application, to facilitate the spraying of cleaning fluid onto the turbulence-causing structure on the target blade, the flight equipment is at a certain distance from the target blade in the blade thickness direction. Based on this, the cleaning start point and cleaning end point can be two position points that have the same coordinates in the blade length and blade width directions as the aforementioned two endpoints, but have a certain coordinate difference in the blade thickness direction. One of these two position points is used as the cleaning start point, and the other as the cleaning end point. For example, if the point closer to the leaf root is used as the starting point for cleaning, then the point closer to the leaf tip is used as the ending point. Conversely, if the point closer to the leaf tip is used as the starting point for cleaning, then the point closer to the leaf root is used as the ending point.

[0133] In some embodiments of this application, when clearing the turbulence structure on the target blade, the flight equipment first moves to the target position, and then moves from the target position to the clearing starting point. Based on this, the flight equipment can use the target position as a reference point and move towards the clearing starting point based on the relative position between the clearing starting point and the target position. Both the target position and the clearing starting point are designated locations with known position information. Therefore, a first distance and a first direction relative to the target position can be determined in advance based on the position information of the target position and the position information of the clearing starting point. Thus, when moving towards the clearing starting point, the flight equipment can start from the target position, move a first distance in the first direction, and thus reach the clearing starting point.

[0134] In some embodiments of this application, during the process of the flight equipment moving from the clearing starting point to the clearing ending point, it can be determined whether the flight equipment has moved to the clearing ending point based on the relative positional relationship between the flight equipment and the target position, and the relative position between the clearing ending point and the target position. The clearing ending point is also a designated location point whose position information is known, so the relative position between the clearing ending point and the target position can be determined in advance based on the position information of the target position and the clearing ending point.

[0135] In some embodiments of this application, the turbulence structures can be distributed on each surface of the blade. Therefore, to more comprehensively remove the turbulence structures on the target blade, the flight equipment gradually moves around the blade towards the removal endpoint as it moves from the removal start point to the removal endpoint. This allows for the automatic identification and tracking of turbulence structures on each surface of the target blade, enabling the removal of turbulence structures on each surface.

[0136] In some embodiments of this application, since the flight equipment does not need to identify the turbulence structure on the target blade or spray cleaning fluid during its movement towards the cleaning start point, it can use a relatively fast first speed when moving from the target location to the cleaning start point. However, after reaching the cleaning start point, during its movement from the cleaning start point to the cleaning end point, the flight equipment needs to identify the turbulence structure on the target blade and spray cleaning fluid onto the identified turbulence structure based on the identification result. Therefore, in order to accurately identify the turbulence structure and to ensure that the cleaning fluid is sprayed more accurately onto the turbulence structure, the flight equipment can use a slower second speed during its movement from the cleaning start point to the cleaning end point. The speed values ​​of the first and second speeds can be set according to actual conditions; for example, the first speed can be 1 m / s-2 m / s, and the second speed can be 0.1 m / s-0.2 m / s.

[0137] In some embodiments, after the cleaning fluid dissolves the turbulence structure, some incompletely dissolved adhering substances or cleaning fluid residue may remain. These residues may affect the operation of the wind turbine and reduce power generation efficiency. Therefore, to more thoroughly remove the turbulence structure from the blades, the flight equipment can also be equipped with a jet assembly. This jet assembly is used to spray gas onto the blade surface to remove the residue from the turbulence structure. Based on this, when removing the turbulence structure from the target blade, the flight equipment can also perform the following steps:

[0138] After the spray assembly sprays cleaning fluid onto the turbulence structure, the jet assembly sprays gas onto the target blades to remove the residue left after the turbulence structure has dissolved.

[0139] In some embodiments of this application, the jet assembly includes an air compressor, a second nozzle, and a second conduit. The air compressor is used to draw in and compress outside air. The air compressor includes, but is not limited to, a reciprocating air compressor. The second conduit is used to deliver the compressed high-pressure air to the second nozzle, which is used to jet the high-pressure air outwards.

[0140] In some embodiments of this application, the second nozzle and the first nozzle of the spray assembly can be arranged sequentially along the forward direction of the flight equipment. Thus, as the flight equipment moves forward, the first and second nozzles will pass sequentially through the turbulence structure. The cleaning fluid sprayed by the first nozzle will first be applied to the turbulence structure and dissolve it. Then, the gas ejected from the second nozzle will act on the dissolved residue in the turbulence structure, thereby removing the residue from the blades and promoting the rapid evaporation of the cleaning fluid remaining on the blade surface.

[0141] Through the above embodiments, the jet assembly can remove the turbulence structure residues remaining on the blade surface and promote the rapid evaporation of the cleaning fluid remaining on the blade surface.

[0142] In some embodiments, as described above, the wind turbine includes multiple blades; therefore, the flight equipment may also perform the following steps:

[0143] In response to the completion of clearing the turbulence structure on the target blade, return to the step of sending a clearing confirmation request to the control terminal, until the clearing of turbulence structures on all blades connected to the impeller is completed.

[0144] In some embodiments of this application, after the flight equipment has cleared all the turbulence structures on the target blade, it can return to the target position and then send a clearing confirmation request to the control terminal again from the target position to determine a new target blade from the blades of the wind turbine. The turbulence structures on the new target blade are then cleared in the same way. This process is repeated until all the turbulence structures on all the blades of the wind turbine are cleared.

[0145] Through the above embodiments, the turbulence structures on all blades of the wind turbine can be removed in sequence.

[0146] In some embodiments of this application, after all the turbulent structures on the blades of the wind turbine have been removed, the controller can send a return command to the flight equipment through the control terminal to control the flight equipment to return to its home position.

[0147] This application also provides a wind turbine blade surface turbulence removal device for implementing the above-described wind turbine blade surface turbulence removal method, as described in the following embodiments.

[0148] See Figure 5 This is a schematic diagram of the wind turbine blade surface turbulence removal device provided in the embodiments of this application, as shown below. Figure 5As shown, the device 500 includes a flight device 510 and a spray assembly 520 disposed on the flight device 510. The spray assembly 520 is loaded with a cleaning fluid for dissolving turbulence structures. The flight device 510 is configured to: identify turbulence structures disposed on the surface of a target blade; adjust the relative position of the spray assembly with respect to the turbulence structure in response to the identification of the turbulence structure; and control the spray assembly to spray cleaning fluid onto the turbulence structure in response to the relative position satisfying a preset condition, so as to dissolve the turbulence structure.

[0149] In some embodiments of this application, the flight device 510 is a device with flight capabilities, such as one or more drones. The flight device 510 is not limited here.

[0150] In some embodiments of this application, the spray assembly 520 includes a container, a first nozzle, and a first conduit. The container stores cleaning fluid, the first conduit delivers the cleaning fluid from the container to the first nozzle, and the first nozzle sprays the cleaning fluid outward. The relative position and attitude of the first nozzle on the flight device 510 are fixed or adjustable, but this embodiment does not specifically limit this aspect.

[0151] In some embodiments of this application, the flight device 510 includes an image acquisition device, an image recognition system, and a positioning system. The image acquisition device is used to acquire images, and the image recognition system is used to process the images acquired by the image acquisition device based on an image recognition algorithm to identify objects in the images. The positioning system is used to provide latitude, longitude, and altitude information for any location in space to determine that location.

[0152] In some embodiments of this application, the device 500 further includes a control terminal, which is communicatively connected to the flight equipment 510. The control terminal can receive clearing confirmation requests sent by the flight equipment 510 and send the rotor status information of the wind turbine to the flight equipment 510. In addition, the control terminal can also send control commands such as return-to-home commands to the flight equipment 510.

[0153] In some embodiments of this application, the control terminal can also acquire status information of the flight equipment 510 and the spray assembly 520. The status information of the flight equipment 510 includes its operating status, such as active or dormant. It may also include the number of times the flight equipment 510 has operated, its flight path, and remaining battery power. The status information of the spray assembly 520 may include the remaining amount of cleaning fluid in the container, its consumption, and the number of times the remaining fluid has been used. The control terminal can display the acquired status information of the flight equipment 510 and the spray assembly 520 to the control personnel, enabling them to monitor and perform timely operational actions. For example, when the control personnel determine that the remaining amount of cleaning fluid in the spray assembly 520 is below a threshold, they can control the flight equipment 510 to return to base to replenish the cleaning fluid in the spray assembly 520.

[0154] In some embodiments of this application, the device 500 further includes a jet assembly disposed on the flight equipment 510, the jet assembly being used to jet gas. Based on this, the flight equipment 510 is further configured to: after controlling the spray assembly 520 to spray cleaning fluid onto the turbulence structure, control the jet assembly to jet gas onto the target blades to remove residues remaining after the turbulence structure has dissolved.

[0155] The wind turbine blade surface turbulence removal device provided in this application embodiment can realize all the processes implemented in any of the above-described wind turbine blade surface turbulence removal method embodiments. To avoid repetition, it will not be described again here.

[0156] In some embodiments of this application, the flight device may be an electronic device with flight capability. Figure 6 A schematic diagram of the hardware structure of the electronic device provided in an embodiment of this application is shown.

[0157] The electronic device may include a processor 601 and a memory 602 storing computer program instructions.

[0158] Specifically, the processor 601 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0159] Memory 602 may include mass storage for data or instructions. For example, and not limitingly, memory 602 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 602 may include removable or non-removable (or fixed) media. Where appropriate, memory 602 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 602 is non-volatile solid-state memory. Memory 602 may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory 602 includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it can perform the operations described in any of the wind turbine blade surface turbulence removal methods in the above embodiments.

[0160] The processor 601 reads and executes computer program instructions stored in the memory 602 to implement any of the wind turbine blade surface turbulence removal methods in the above embodiments.

[0161] In one example, the electronic device may also include a communication interface 603 and a bus 610. For example, Figure 6 As shown, the processor 601, memory 602, and communication interface 603 are connected through bus 610 and complete communication with each other.

[0162] The communication interface 603 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0163] Bus 610 includes hardware, software, or both, that couples components of an online data traffic metering device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 610 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0164] Furthermore, in conjunction with the wind turbine blade surface turbulence removal method in the above embodiments, this application embodiment can provide a computer storage medium for implementation. This computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the wind turbine blade surface turbulence removal methods in the above embodiments.

[0165] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0166] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0167] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0168] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0169] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A method for removing turbulence structures on the surface of wind turbine blades, characterized in that, The method is applied to a wind turbine blade surface turbulence removal device, the removal device including a flying device equipped with a spray assembly, the spray assembly being loaded with a cleaning fluid for removing the turbulence structure, and the method comprising: The flight equipment identifies the aerodynamic structures set on the surface of the target blade; In response to the detection of the turbulence structure, the relative position of the spray assembly with respect to the turbulence structure is adjusted; In response to the relative position meeting a preset condition, the spraying assembly is controlled to spray the cleaning liquid onto the turbulence structure to dissolve the turbulence structure.

2. The method according to claim 1, characterized in that, The turbulence structure on the blade is in the shape of a spiral that surrounds the blade along a spiral path and extends along the length of the blade.

3. The method according to claim 1 or 2, characterized in that, Before identifying the aerodynamic structures disposed on the surface of the target blade using the flight equipment, the method further includes: Send a clear confirmation request to the control terminal; Receive the impeller status information returned by the control terminal in response to the clear confirmation request; Based on the impeller state information, the target blade is determined from the blades of the wind turbine.

4. The method according to claim 3, characterized in that, The step of determining the target blade from the blades of the wind turbine based on the impeller state information includes: In response to the impeller state information indicating that the impeller is in a locked state, the target blade pose information is obtained from the impeller state information; The blade that corresponds to the pose information of the target blade in the wind turbine blades is identified as the target blade.

5. The method according to claim 3, characterized in that, The step of determining the target blade from the blades of the wind turbine based on the impeller state information includes: In response to the impeller status information indicating that the impeller is in an idling state, identify blades of the wind turbine with turbulence structures on their surfaces that need to be removed; Any of the aforementioned blades to be removed is identified as the target blade.

6. The method according to claim 3, characterized in that, Before sending the clear confirmation request to the control terminal, the method further includes: Control the flight equipment to move towards the target location; Sending a clear confirmation request to the control terminal includes: In response to the flight equipment moving to the target location, a clearing confirmation request is sent to the control terminal.

7. The method according to claim 6, characterized in that, Controlling the flight equipment to move to the target location includes: The shutdown position is determined based on the positioning target point on the top of the wind turbine nacelle; In response to the flight equipment landing at the parking position, the flight equipment is controlled to move towards the target position based on the relative positional relationship between the parking position and the target position.

8. The method according to claim 1 or 2, characterized in that, Before identifying the aerodynamic structures disposed on the surface of the target blade using the flight equipment, the method further includes: Control the flight equipment to move to the removal starting point of the target blade; The identification of the disturbance structure set on the surface of the target blade by the flight equipment includes: The flight equipment is controlled to move around the target blade from the starting point along the length of the target blade until it reaches the ending point of the removal process. The flight equipment is controlled to identify the turbulence structures set on the surface of the target blade as it moves from the clearing start point to the clearing end point.

9. The method according to claim 3, characterized in that, The method further includes: In response to the completion of clearing the turbulence structure on the target blade, the process returns to the step of sending a clearing confirmation request to the control terminal until the clearing of turbulence structures on all blades connected to the impeller is completed.

10. The method according to claim 1 or 2, characterized in that, The flight equipment is also equipped with a jet assembly for ejecting gas. The method further includes: After the spraying assembly sprays the cleaning fluid onto the turbulence structure, the jetting assembly sprays gas onto the target blade to remove the residue left after the turbulence structure has dissolved.

11. A device for removing turbulence structures on the surface of wind turbine blades, characterized in that, The device includes: Flight equipment; The flight equipment is equipped with a spray assembly, which is loaded with a cleaning fluid for dissolving the turbulence structure. The flight equipment is configured as follows: Identify the aerodynamic structures set on the surface of the target blade; In response to the detection of the turbulence structure, the relative position of the spray assembly with respect to the turbulence structure is adjusted; In response to the relative position meeting a preset condition, the spraying assembly is controlled to spray the cleaning liquid onto the turbulence structure to dissolve the turbulence structure.

12. The apparatus according to claim 11, characterized in that, The flight equipment is also equipped with: Jet assembly, used to eject gas; The flight equipment is also configured to: After the spraying assembly sprays the cleaning fluid onto the turbulence structure, the jetting assembly sprays gas onto the target blade to remove the residue left after the turbulence structure has dissolved.

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