Offshore wind power foundation personnel remote hoisting control method and system

Abstract

The application relates to the technical field of offshore wind power foundation safety, and provides a remote hoisting control method and system for offshore wind power foundation personnel, which splits personnel transfer operations into a standardized control process of task establishment, remote authorization, state acquisition, operation window determination, low-speed trial hoisting, lifting and transfer, platform landing, personnel cage leaving confirmation and abnormality disposal, so that the personnel transfer of offshore wind power foundation is changed from traditional manual experience judgment into a safety control process based on multi-source state data. Through comprehensive judgment of safety conditions such as wind speed and ship relative motion, each type of action such as lifting and lowering is converted into a corresponding condition judgment step and then executed, so that misoperation or unauthorized operation caused by direct driving of the crane by the remote instruction is avoided, and the safety confirmation capability and decision accuracy before personnel transfer are improved.

Description

Technical Field

[0001] This application relates to the field of offshore wind power foundation safety technology, specifically to a remote hoisting control method and system for offshore wind power foundation personnel. Background Technology

[0002] Offshore wind turbine foundation external platforms are typically equipped with electric cranes for hoisting tools, spare parts, consumables, and small equipment. Existing cranes mostly operate locally on the platform. When hoisting personnel, operators must first reach the platform via ladders, boarding devices, or other means, then approach the crane to issue lifting, lowering, and slewing commands through on-site button boxes, control handles, or local control boxes. In offshore wind power operation and maintenance scenarios, personnel often face challenges such as wind, waves, slippery surfaces, salt spray, confined spaces, and relative movement between the vessel and the foundation platform before climbing onto the external platform. The traditional method, requiring personnel to climb onto the platform before operating the crane, is not only time-consuming and physically demanding, but also carries higher risks associated with climbing, transferring, and close-range operation.

[0003] To improve operation and maintenance efficiency, a platform crane in conjunction with a dedicated personnel hoist cage is considered to transfer maintenance personnel from the ship's deck or low-level area to the offshore wind turbine foundation's external platform. This solution can reduce the initial climbing process for personnel, shorten preparation time for platform access, and reduce workload. However, personnel transfer differs from ordinary material handling. During the hoisting process, it is necessary to monitor not only the crane's load, limit switches, frequency converter, brakes, and power supply status, but also to confirm the real-time connection and locking status of the personnel hoist cage, the personnel's status within the cage, the platform's landing point, wind speed, the relative motion of the ship, and the remote communication status. Existing technologies do not employ dedicated personnel hoist cages for hoisting, primarily because there is no remote hoisting control method for this type of equipment to ensure the safety and compliance of personnel hoisting operations. Summary of the Invention

[0004] This application aims to solve the problem that personnel cannot be remotely and safely hoisted from offshore wind power foundations in the prior art, and provides a method and system for remote hoisting control of personnel from offshore wind power foundations.

[0005] To solve the above problems, this application is implemented as follows:

[0006] Firstly, this application provides a method for remote hoisting and control of personnel for offshore wind power foundations, the method comprising: S1. Obtain the target platform number, dedicated manned cage number, number of people to be lifted, and placement location for remote hoisting of offshore wind power foundation personnel, and perform equipment number verification and identity verification. Generate a personnel transfer task after verification. According to the personnel transfer task, match the corresponding external platform crane and dedicated manned cage, and read the equipment status of the external platform crane and the dedicated manned cage. When the equipment status does not have a maintenance status, fault status, locked status, or occupied status, generate a task number. S2. Obtain the permission information, terminal number, and communication heartbeat of the remote operation terminal, and obtain the mode status, local takeover switch status, maintenance switch status, and local emergency stop status of the local HMI; when the permission information is valid, the communication heartbeat is valid, the local takeover switch is inactive, the maintenance switch is inactive, the local emergency stop status is inactive, and the local HMI is not in control mode, bind the remote operation terminal corresponding to the task number and the terminal number as a unique control source, and generate a remote manned hoisting permit; S3. Based on the remote manned hoisting permit, acquire the load value, lifting limit status, slewing limit status, hook height value, wind speed value, platform attitude data, ship relative motion data, dedicated manned hoisting cage connection status, dedicated manned hoisting cage locking status, personnel in cage confirmation signal, frequency converter status, brake status, and power supply status of the acquired signals, and perform missing identification and threshold identification on the acquired signals to generate a pre-hoisting status dataset; S4. Based on the wind speed value, the ship's relative motion data, the load value, the connection status of the dedicated personnel hoist cage, the locking status of the dedicated personnel hoist cage, the personnel in the cage confirmation signal, the lifting limit status, the slewing limit status, the brake status, the frequency converter status, and the communication heartbeat in the pre-lifting status dataset, compare each with a preset threshold. When the wind speed value does not exceed the wind speed threshold, the ship's relative motion data is within the allowable range, the load value is within the allowable range, the dedicated personnel hoist cage connection status is valid, the dedicated personnel hoist cage is locked, the personnel in the cage confirmation signal is valid, the lifting limit status is not exceeded, the slewing limit status is not exceeded, the brake status feedback is normal, the frequency converter status is fault-free, and the communication heartbeat is valid, generate a test lifting permission result. S5. Based on the permitted trial lifting results and the lifting request issued by the remote operation terminal, output a low-speed lifting direction and a first speed to the frequency converter drive unit, and output a brake release command to the brake control unit to control the dedicated personnel cage to lift the first stroke at the first speed, and continuously acquire the change in load value, wire rope tension value, connection status of the dedicated personnel cage, brake status, and attitude data of the dedicated personnel cage; when the change in load value is within a stable range, the connection status of the dedicated personnel cage remains effective, the brake status is released in place, and the attitude data of the dedicated personnel cage does not exceed the swing threshold, generate a formal lifting permit; S6. Based on the formal lifting permit and the continuous lifting command issued by the remote operation terminal, output the manned lifting direction and the second speed to the frequency conversion drive unit. The second speed is less than the smaller value between the first speed and the preset speed limit, and the acceleration is limited according to the preset acceleration curve. Continuously acquire the load value, the wind speed value, the ship's relative motion data, the hook height value, and the communication heartbeat. When the hook height value reaches the warning height corresponding to the lifting limit, reduce the second speed. When the wind speed value reaches the wind speed warning threshold or the ship's relative motion data reaches the motion warning threshold, revoke the operation permit and generate a speed limit state. S7. Based on the slewing request and current slewing angle value sent by the remote operation terminal, and combined with the load value, wind speed value, and relative motion data of the hull, determine whether the current slewing angle value is within the allowable slewing range; when the current slewing angle value is within the allowable slewing range and the wind speed value does not exceed the slewing wind speed threshold, output the slewing direction and third speed to the frequency conversion drive unit, the third speed being less than the preset slewing speed limit; during the slewing process, prohibit the lifting direction and the slewing direction from running at speeds greater than the composite action speed threshold simultaneously, and continuously acquire the current slewing angle value and platform landing point confirmation signal; when the current slewing angle value reaches the target landing angle, generate a state close to the platform landing area; S8. Based on the status of the approach platform landing area and the descent request issued by the remote operation terminal, acquire the platform landing point confirmation signal, the attitude data of the dedicated manned cage, and the hook height value; when the platform landing point confirmation signal is valid, the attitude data of the dedicated manned cage does not exceed the landing attitude threshold, and the hook height value is within the landing height range, output the descent direction and a fourth speed to the frequency converter drive unit, wherein the fourth speed is less than a preset descent speed limit; continuously acquire the hook height value during the descent process, and when the hook height value reaches the target landing height, cancel the descent direction and output a brake closing command to generate a landing completion status; S9. Based on the completed lowering status, obtain the personnel leaving the cage confirmation signal and the load value; when the personnel leaving the cage confirmation signal is valid and the load value falls back to the empty basket load threshold range, generate a hook-retraction permission status; based on the hook-retraction request issued by the remote operation terminal and the hook-retraction permission status, output the hook-retraction direction and fifth speed to the frequency conversion drive unit, drive the special personnel cage back to the initial position, and generate a task completion status.

[0007] In one embodiment, S3 further includes: When there are unconfirmed items in the pre-lifting status dataset, a review prompt is generated; When there are items exceeding the limits in the pre-lifting status dataset, a prohibition on trial lifting signal is generated.

[0008] In one embodiment, the system further includes real-time acquisition of emergency stop signals, the communication heartbeat, control source conflict signals, wind speed values, hull relative motion data, dedicated manned cage attitude data, load values, inverter fault signals, brake abnormality signals, power supply abnormality signals, and safety circuit disconnection signals, and performs the following operations: When the communication heartbeat is lost for more than a preset time, the control source conflict signal is valid, or the wind speed value reaches the first protection threshold, the remote operation permission is revoked, and the current state is maintained or a low-speed descent command is output according to the current hook height value and the current slewing angle value. When the load value exceeds the overload threshold, the special manned hoist cage is disconnected, the special manned hoist cage is unlocked, or the personnel in the cage confirmation signal is invalid, the transfer operation is prohibited, and a return to the lifting position command or a hold command is output according to the current stage. When the emergency stop signal is valid, the lifting limit status is out of bounds, the slewing limit status is out of bounds, the frequency converter fault signal is valid, the brake abnormality signal is valid, the power supply abnormality signal is valid, or the safety circuit disconnection signal is valid, the independent safety circuit directly cuts off the safety torque shutdown terminal of the frequency converter drive unit and the brake release circuit of the brake control unit, so that the external platform crane enters a safe stop state.

[0009] In one embodiment, after the independent safety circuit directly cuts off the safety torque shutdown terminal of the variable frequency drive unit and the brake release circuit of the brake control unit, the task number is locked, and the remote operation terminal is prohibited from re-initiating the personnel transfer task until the emergency stop signal returns to the inactive state, the variable frequency drive fault signal is eliminated, the brake abnormal signal is eliminated, and the safety circuit disconnection signal returns to the effective state. After the remote operation terminal re-executes S1 to S2 to obtain the remote personnel hoisting permission, the lock is released.

[0010] In one embodiment, when the wind speed value reaches a second protection threshold, which is greater than the first protection threshold, the following retraction strategy is executed based on the current hook height value: When the hook height is greater than the platform height, the descent direction and the fourth speed are output to the frequency converter drive unit to control the special manned cage to descend to the platform placement area; when the hook height is less than or equal to the platform height, the descent direction and the sixth speed are output to the frequency converter drive unit to control the special manned cage to descend to the lifting position.

[0011] In one embodiment, before outputting the descent direction, the method further includes determining whether the angle deviation between the current rotation angle value and the target landing angle is less than a preset angle deviation threshold; when the angle deviation is greater than or equal to the preset angle deviation threshold, the output of the descent direction is prohibited, and an angle adjustment prompt is generated.

[0012] In one embodiment, after obtaining the personnel leaving the cage confirmation signal, the method further includes obtaining the cage locking status; when the personnel leaving the cage confirmation signal is valid and the cage is in the unlocked state, a hook-retraction permission state is generated; when the personnel leaving the cage confirmation signal is valid and the cage is in the locked state, a personnel lingering prompt is generated, and the output of the hook-retraction direction is prohibited.

[0013] Secondly, this application provides a remote hoisting control system for offshore wind power foundation personnel, including: The remote operation terminal is used to obtain the target platform number, the special manned cage number, the number of people to be lifted, and the placement location for the remote hoisting of offshore wind power foundation personnel. A communication gateway, connected to the remote operation terminal, is used to verify the equipment number and identity of the personnel transfer task, and to forward the instructions after the verification is passed. A special manned cage is used to carry people. It is equipped with a lifting point connection detection device, a locking detection device, a person in the cage detection device, and a posture detection device. The sensing and detection module includes a load sensor, a lifting limit switch, a slewing limit switch, a hook height detector, a wind speed detector, a platform attitude detector, and a hull relative motion detector. The variable frequency drive unit connects the hoisting motor and the slewing motor of the external platform crane, and is used to receive speed and direction commands and drive the hoisting motor and the slewing motor to run; The brake control unit is connected to the lifting brake and slewing brake of the external platform crane and is used to receive brake release commands and brake closing commands. A safety PLC is connected to the communication gateway, each detection device of the dedicated manned hoist cage, the sensor detection module, the frequency converter drive unit, and the brake control unit, respectively, and is used to execute the method of any one of claims 1 to 7; An independent safety circuit connects the safety PLC, the safety torque shut-off terminal of the variable frequency drive unit, and the brake release circuit of the brake control unit. It is used to directly disconnect the safety torque shut-off terminal of the variable frequency drive unit and the brake release circuit of the brake control unit when an emergency stop signal, limit overrun signal, serious fault signal, or safety output feedback abnormal signal is received.

[0014] In one embodiment, the independent safety circuit includes a safety input terminal and a safety output terminal of a safety relay or a safety PLC. The emergency stop signal, the lifting limit status, the slewing limit status, the maintenance door switch status, the inverter fault signal, the brake abnormality signal, and the power abnormality signal are connected to the safety input terminal in a dual-channel wiring manner. The safety output terminal is connected to the safety torque shutdown terminal of the inverter drive unit and the brake release contactor coil of the brake control unit. The general I / O module of the safety PLC reads the status of the safety input terminal for alarm and display purposes, and the general I / O module of the safety PLC does not participate in the on / off control of the safety output terminal.

[0015] In one embodiment, the personnel detection device on the dedicated personnel cage is a weighing sensor. The load value output by the weighing sensor is used to determine whether there are personnel in the cage and the number of personnel. The safety PLC generates a personnel in cage confirmation signal or a personnel out cage confirmation signal based on the comparison result between the load value output by the weighing sensor and the empty basket load threshold and the full load threshold.

[0016] Thirdly, this application provides a terminal device including a processor and a memory, wherein the memory stores a program or instructions executable on the processor, and the program or instructions, when executed by the processor, implement the steps of the method described in the first aspect.

[0017] Fourthly, this application provides 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.

[0018] Fifthly, this application provides a 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 steps of the method described in the first aspect.

[0019] In a sixth aspect, this application provides a computer program product stored in a storage medium, the program product being executed by at least one processor to implement the steps of the method described in the first aspect.

[0020] Compared with the prior art, this application has the following beneficial effects: (1) The present application discloses a remote hoisting control method for offshore wind power foundation personnel. By transforming personnel transfer operations into a standardized control method, the transfer of offshore wind power foundation personnel is transformed from traditional manual experience-based judgment to a safety control process based on multi-source status data. By comprehensively judging safety conditions such as wind speed and relative motion of the ship, each type of action, such as lifting and lowering, is converted into corresponding condition judgment steps before execution. This avoids malfunctions or unauthorized operations caused by remote commands directly driving the crane, and improves the safety confirmation capability and decision-making accuracy before personnel transfer.

[0021] (2) The low-speed restricted operation strategy limits speed, acceleration, continuous operation time and compound motion in the manned state, which reduces the risk of cage swing, impact and personnel discomfort, and improves the comfort and safety of manned hoisting.

[0022] (3) Through an independent safety circuit, hardware-level direct disconnection is achieved in case of emergency stop, limit position, serious fault or failure to meet safety conditions. It operates independently of the ordinary control program, avoiding the crane from continuing to perform dangerous actions due to program judgment failure, and further improving the safety of personnel transfer in offshore wind power foundations.

[0023] (4) Abnormal classification and safe withdrawal strategy: When communication is interrupted, wind speed exceeds the limit, relative motion exceeds the limit, cage attitude is abnormal, load is abnormal or power supply is abnormal, the system can select different response measures such as safe maintenance, low speed descent, return to the ship end, return to the platform landing point or hard cut-off according to the current operation stage, so as to maximize the safety of personnel and equipment. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a flowchart illustrating the remote hoisting control method for offshore wind power foundation personnel disclosed in a preferred embodiment of this application. Figure 2 This is a schematic diagram of the connection relationship of the remote hoisting control system for offshore wind power foundation personnel disclosed in a preferred embodiment of this application; Figure 3 This is a schematic diagram of the structure of the terminal device disclosed in a preferred embodiment of this application. Detailed Implementation

[0026] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] The terms "first," "second," etc., used in this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or apparatuses. Additionally, the use of "and / or" in this application indicates at least one of the connected objects, such as A and / or B and / or C, representing seven possibilities: including A alone, B alone, C alone, and the presence of both A and B, both B and C, both A and C, and the presence of A, B, and C.

[0028] In this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0029] The following describes the remote hoisting control method for offshore wind power foundation personnel provided in this application.

[0030] See Figure 1 , Figure 1 This is a flowchart illustrating a method for remote hoisting and control of offshore wind power foundations provided in an embodiment of this application. Figure 1 The remote hoisting control method for offshore wind power foundations shown can be executed by terminal devices such as computers.

[0031] like Figure 1 As shown, the remote hoisting control method for offshore wind power foundation personnel provided in this application may include the following steps: S1. Obtain the target platform number, dedicated manned hoist number, number of people to be hoisted, and placement location for remote hoisting of offshore wind power foundation personnel, and perform equipment number verification and identity verification. Generate a personnel transfer task after verification. According to the personnel transfer task, match the corresponding external platform crane and dedicated manned hoist, and read the equipment status of the external platform crane and the dedicated manned hoist. When the equipment status does not have a maintenance status, fault status, locked status, or occupied status, generate a task number.

[0032] By establishing personnel transfer tasks remotely and using a dedicated manned hoist cage, maintenance personnel can complete hoisting preparations without first climbing the external platform, shortening the preparation time for climbing and reducing physical exertion and safety risks during the climbing process.

[0033] S2. Obtain the permission information, terminal number, and communication heartbeat of the remote operation terminal, and obtain the mode status, local takeover switch status, maintenance switch status, and local emergency stop status of the local HMI; when the permission information is valid, the communication heartbeat is valid, the local takeover switch is inactive, the maintenance switch is inactive, the local emergency stop status is inactive, and the local HMI is not in control mode, bind the remote operation terminal corresponding to the task number and the terminal number as a unique control source, and generate a remote manned hoisting permit.

[0034] S3. Based on the remote manned hoisting permit, acquire the load value, lifting limit status, slewing limit status, hook height value, wind speed value, platform attitude data, ship relative motion data, dedicated manned hoisting cage connection status, dedicated manned hoisting cage locking status, personnel in cage confirmation signal, frequency converter status, brake status, and power supply status of the acquired signals, and perform missing identification and over-threshold identification on the acquired signals to generate a pre-hoisting status dataset.

[0035] In one embodiment, S3 further includes: When there are unconfirmed items in the pre-lifting status dataset, a review prompt is generated; When there are items exceeding the limits in the pre-lifting status dataset, a prohibition on trial lifting signal is generated.

[0036] This step generates a review prompt when there are unconfirmed items in the pre-lifting status data set, and generates a prohibition signal for trial lifting when there are over-limit items. This allows operators to promptly identify missing or over-limit status information before trial lifting, avoiding starting trial lifting under incomplete or unsafe conditions, and improving the safety and controllability of the operation preparation stage.

[0037] S4. Based on the wind speed value, the ship's relative motion data, the load value, the connection status of the dedicated personnel hoist cage, the locking status of the dedicated personnel hoist cage, the personnel in the cage confirmation signal, the lifting limit status, the slewing limit status, the brake status, the frequency converter status, and the communication heartbeat in the pre-lifting status dataset, compare each with a preset threshold. When the wind speed value does not exceed the wind speed threshold, the ship's relative motion data is within the allowable range, the load value is within the allowable range, the dedicated personnel hoist cage connection status is valid, the dedicated personnel hoist cage is locked, the personnel in the cage confirmation signal is valid, the lifting limit status is within the limit, the slewing limit status is within the limit, the brake status feedback is normal, the frequency converter status is fault-free, and the communication heartbeat is valid, generate a test lifting permission result.

[0038] The determination of the work window is a crucial aspect that distinguishes this invention from ordinary remote control. The work window refers to the set of safe conditions at a given moment where environmental conditions, crane status, personnel cage status, personnel status, landing point status, and communication status all meet the requirements for personnel transfer, allowing the system to proceed to the next action step.

[0039] The safety PLC should determine the work window based on at least the following conditions: (1) Environmental conditions: The wind speed does not exceed the allowable threshold for personnel transfer, and the platform attitude, optional wave or ship relative motion state are within the allowable range.

[0040] (2) Crane conditions: The upper and lower lifting limits, slewing limit, hook height, slewing angle, inverter status, brake status and power supply status are all normal.

[0041] (3) Conditions for manned cages: The manned cage number matches the task, the manned cage connection status is valid, it is in a locked state, the personnel in the cage are confirmed to be in the cage, and the cage attitude or swing status does not exceed the threshold.

[0042] (4) Personnel and landing conditions: The number of people being hoisted does not exceed the task setting and the allowable range of the hoisting cage, the platform landing area is available, and the necessary video confirmation, on-site confirmation or platform side confirmation is valid.

[0043] (5) Control and communication conditions: The remote control source is unique, the communication heartbeat is valid, the command verification is passed, the local takeover is not effective, the maintenance mode is not enabled, and the emergency stop is not activated.

[0044] When all the above conditions are met, the system outputs a phased permission such as allowing trial lifting, lifting, or lowering; when some conditions are close to the threshold but have not reached the protection threshold, the system outputs restricted operation or speed-limited operation; when any critical condition is not met, the system outputs prohibition of action and displays the reason for prohibition.

[0045] S5. Based on the permitted trial lifting results and the lifting request issued by the remote operation terminal, output a low-speed lifting direction and a first speed to the frequency converter drive unit, and output a brake release command to the brake control unit to control the dedicated personnel cage to lift the first stroke at the first speed, and continuously acquire the change in load value, wire rope tension value, connection status of the dedicated personnel cage, brake status, and attitude data of the dedicated personnel cage; when the change in load value is within a stable range, the connection status of the dedicated personnel cage remains effective, the brake status is released in place, and the attitude data of the dedicated personnel cage does not exceed the swing threshold, generate a formal lifting permit.

[0046] By implementing the above steps for sequential interlocking control of the frequency converter and the brake, the timing logic of first establishing torque and then releasing the brake, and first decelerating and then closing the brake is realized. This avoids direct brake release and hook slippage or emergency brake impact at high speed, thereby improving the smoothness of the crane's operation and the lifespan of the equipment.

[0047] S6. Based on the formal lifting permit and the continuous lifting command issued by the remote operation terminal, output the manned lifting direction and the second speed to the variable frequency drive unit. The second speed is less than the smaller value between the first speed and the preset speed limit, and the acceleration is limited according to the preset acceleration curve. Continuously acquire the load value, the wind speed value, the ship's relative motion data, the hook height value, and the communication heartbeat. When the hook height value reaches the warning height corresponding to the lifting limit, reduce the second speed. When the wind speed value reaches the wind speed warning threshold or the ship's relative motion data reaches the motion warning threshold, revoke the operation permit and generate a speed limit state.

[0048] S7. Based on the slewing request and current slewing angle value sent by the remote operation terminal, and in conjunction with the load value, wind speed value, and relative motion data of the hull, determine whether the current slewing angle value is within the allowable slewing range; when the current slewing angle value is within the allowable slewing range and the wind speed value does not exceed the slewing wind speed threshold, output the slewing direction and third speed to the frequency conversion drive unit, the third speed being less than a preset slewing speed limit; during the slewing process, prohibit the lifting direction and the slewing direction from running at speeds greater than the composite action speed threshold simultaneously, and continuously acquire the current slewing angle value and platform landing point confirmation signal; when the current slewing angle value reaches the target landing angle, generate a state approaching the platform landing area.

[0049] S8. Based on the approach platform landing area status and the descent request issued by the remote operation terminal, acquire the platform landing point confirmation signal, the attitude data of the dedicated manned cage, and the hook height value; when the platform landing point confirmation signal is valid, the attitude data of the dedicated manned cage does not exceed the landing attitude threshold, and the hook height value is within the landing height range, output the descent direction and a fourth speed to the frequency converter drive unit, the fourth speed being less than a preset descent speed limit; continuously acquire the hook height value during the descent process, and when the hook height value reaches the target landing height, cancel the descent direction and output a brake closing command to generate a landing completion status.

[0050] S9. Based on the completed lowering status, obtain the personnel leaving the cage confirmation signal and the load value; when the personnel leaving the cage confirmation signal is valid and the load value falls back to the empty basket load threshold range, generate a hook-retraction permission status; based on the hook-retraction request issued by the remote operation terminal and the hook-retraction permission status, output the hook-retraction direction and fifth speed to the frequency conversion drive unit, drive the special personnel cage back to the initial position, and generate a task completion status.

[0051] In one embodiment, after obtaining the personnel leaving the cage confirmation signal, the method further includes obtaining the cage locking status; when the personnel leaving the cage confirmation signal is valid and the cage is in the unlocked state, a hook-retraction permission state is generated; when the personnel leaving the cage confirmation signal is valid and the cage is in the locked state, a personnel lingering prompt is generated, and the output of the hook-retraction direction is prohibited.

[0052] After obtaining the personnel leaving the cage confirmation signal, the cage locking status is further obtained. The hook can only be retracted when the personnel leaving the cage confirmation is valid and the cage is in the unlocked state. When the cage is locked, a personnel lingering prompt is generated and the hook retraction is prohibited, which effectively prevents personnel from accidentally performing the hook retraction action before actually leaving the cage, thus preventing fall injuries.

[0053] In one embodiment, S10 is also included: The system acquires emergency stop signals, communication heartbeats, control source conflict signals, wind speed values, ship relative motion data, dedicated manned hoist attitude data, load values, inverter fault signals, brake anomaly signals, power supply anomaly signals, and safety circuit disconnection signals in real time, and performs the following operations: When the communication heartbeat is lost for more than a preset time, the control source conflict signal is valid, or the wind speed value reaches the first protection threshold, the remote operation permission is revoked, and the current state is maintained or a low-speed descent command is output according to the current hook height value and the current slewing angle value. When the load value exceeds the overload threshold, the special manned hoist cage is disconnected, the special manned hoist cage is unlocked, or the personnel in the cage confirmation signal is invalid, the transfer operation is prohibited, and a return to the lifting position command or a hold command is output according to the current stage. When the emergency stop signal is valid, the lifting limit status is out of bounds, the slewing limit status is out of bounds, the frequency converter fault signal is valid, the brake abnormality signal is valid, the power supply abnormality signal is valid, or the safety circuit disconnection signal is valid, the independent safety circuit directly cuts off the safety torque shutdown terminal of the frequency converter drive unit and the brake release circuit of the brake control unit, so that the external platform crane enters a safe stop state.

[0054] By monitoring emergency stop signals, communication heartbeats, control source conflicts, wind speed, relative hull motion, cage attitude, load, inverter failure, brake malfunction, power supply malfunction, and safety circuit disconnection signals in real time and performing graded handling according to the level of abnormality, differentiated safety response strategies can be adopted for different risk types, avoiding unnecessary large-scale shutdowns while ensuring safety.

[0055] In one embodiment, in S10, after the independent safety circuit directly cuts off the safety torque shutdown terminal of the variable frequency drive unit and the brake release circuit of the brake control unit, the task number is locked, and the remote operation terminal is prohibited from restarting the personnel transfer task until the emergency stop signal returns to the inactive state, the variable frequency drive fault signal is eliminated, the brake abnormal signal is eliminated, and the safety circuit disconnection signal returns to the effective state. After the remote operation terminal re-executes S1 to S2 to obtain the remote personnel hoisting permission, the lock is released.

[0056] After the independent safety circuit is disconnected, the task number is locked and the task is prohibited from being restarted until the fault is eliminated and reauthorization is completed. This prevents the work from being resumed erroneously before the fault is eliminated, and ensures the integrity of the hard disconnection action and the traceability of fault handling.

[0057] In one embodiment, in S10, when the wind speed value reaches a second protection threshold, which is greater than the first protection threshold, the following retraction strategy is executed based on the current hook height value: When the hook height is greater than the platform height, the descent direction and the fourth speed are output to the frequency converter drive unit to control the special manned cage to descend to the platform placement area; when the hook height is less than or equal to the platform height, the descent direction and the sixth speed are output to the frequency converter drive unit to control the special manned cage to descend to the lifting position.

[0058] When the wind speed reaches a higher second protection threshold, the cage is lowered to the platform placement area or lifting position according to the relative relationship between the current hook height and the platform height. This achieves autonomous and safe retraction under severe wind speed exceeding conditions, avoiding the cage from hovering for a long time in harsh environmental conditions.

[0059] In one embodiment, before outputting the descent direction in step S10, it further includes determining whether the angle deviation between the current rotation angle value and the target landing angle is less than a preset angle deviation threshold; when the angle deviation is greater than or equal to the preset angle deviation threshold, the descent direction is prohibited from being output, and an angle adjustment prompt is generated.

[0060] Before outputting the descent direction, the deviation between the current rotation angle and the target placement angle is judged. Descent is only allowed when the deviation is less than a preset threshold, which prevents the cage from blindly descending when it is not aligned with the placement area, thus avoiding the risk of collision or deviation and improving the accuracy and safety of placement positioning.

[0061] This application transforms the personnel transfer operation from traditional manual experience-based judgment to a safety control process based on multi-source status data by breaking it down into a standardized control process: task establishment, remote authorization, status acquisition, operation window determination, low-speed trial lifting, hoisting and transfer, platform lowering, personnel removal confirmation, and anomaly handling. Through operation window determination, wind speed, relative motion of the vessel, crane status, cage status, personnel status, landing point status, and communication status are incorporated into a unified set of safety conditions for comprehensive judgment, improving the safety confirmation capability and decision-making accuracy before personnel transfer. The low-speed restricted operation strategy limits speed, acceleration, continuous operating time, and complex actions in manned operation, reducing the risks of cage swaying, impact, and personnel discomfort, and improving the comfort and safety of manned hoisting. By requiring each type of action—lifting, lowering, slewing, lowering, and hook retraction—to undergo corresponding condition judgments before execution, it avoids malfunctions or unauthorized operations caused by remote commands directly driving the crane. Through an independent safety loop, hardware-level direct disconnection is achieved in case of emergency stop, extreme position, serious fault, or failure to meet safety conditions. Operating independently of the ordinary control program, this avoids the crane continuing to perform dangerous actions due to program failures. The anomaly classification and safety retreat strategy allows the system to select differentiated response measures based on the current operational stage in case of communication interruption, excessive wind speed, excessive relative motion, abnormal cage attitude, abnormal load, or power failure. These measures include safety maintenance, low-speed descent, return to the ship's end, return to the platform landing point, or hard disconnection, maximizing the safety of personnel and equipment.

[0062] like Figure 2 As shown, one embodiment of this application also provides a remote hoisting control system for offshore wind power foundation personnel, including: The remote operation terminal is used to obtain the target platform number, the special manned cage number, the number of people to be lifted, and the placement location for the remote hoisting of offshore wind power foundation personnel. A communication gateway, connected to the remote operation terminal, is used to verify the equipment number and identity of the personnel transfer task, and to forward the instructions after the verification is passed. A special manned cage is used to carry people. It is equipped with a lifting point connection detection device, a locking detection device, a person in the cage detection device, and a posture detection device. The sensing and detection module includes a load sensor, a lifting limit switch, a slewing limit switch, a hook height detector, a wind speed detector, a platform attitude detector, and a hull relative motion detector. The variable frequency drive unit connects the hoisting motor and the slewing motor of the external platform crane, and is used to receive speed and direction commands and drive the hoisting motor and the slewing motor to run; The brake control unit is connected to the lifting brake and slewing brake of the external platform crane and is used to receive brake release commands and brake closing commands. A safety PLC is connected to the communication gateway, each detection device of the dedicated manned hoist cage, the sensor detection module, the frequency converter drive unit, and the brake control unit, respectively, and is used to execute the method of any one of claims 1 to 7; An independent safety circuit connects the safety PLC, the safety torque shut-off terminal of the variable frequency drive unit, and the brake release circuit of the brake control unit. It is used to directly disconnect the safety torque shut-off terminal of the variable frequency drive unit and the brake release circuit of the brake control unit when an emergency stop signal, limit overrun signal, serious fault signal, or safety output feedback abnormal signal is received.

[0063] In one embodiment, the independent safety circuit includes a safety input terminal and a safety output terminal of a safety relay or a safety PLC. The emergency stop signal, the lifting limit status, the slewing limit status, the maintenance door switch status, the inverter fault signal, the brake abnormality signal, and the power abnormality signal are connected to the safety input terminal in a dual-channel wiring manner. The safety output terminal is connected to the safety torque shutdown terminal of the inverter drive unit and the brake release contactor coil of the brake control unit. The general I / O module of the safety PLC reads the status of the safety input terminal for alarm and display purposes, and the general I / O module of the safety PLC does not participate in the on / off control of the safety output terminal.

[0064] The independent safety circuit uses safety relays or safety PLCs for safety input and output terminals. Emergency stop signals, limit status, maintenance door switches, inverter faults, brake malfunctions, and power supply malfunctions are connected to the safety input terminal via dual-channel wiring. The safety output terminal is connected to the inverter's safety torque shutdown terminal and the brake release contactor coil. Ordinary I / O modules only read the status for alarm display and do not participate in the on / off control of the safety output terminal. This achieves the separation of monitoring and execution functions, avoids the impact of ordinary program failures on the safety circuit, and significantly improves the reliability of safety disconnection.

[0065] In one embodiment, the personnel detection device on the dedicated personnel cage is a weighing sensor. The load value output by the weighing sensor is used to determine whether there are personnel in the cage and the number of personnel. The safety PLC generates a personnel in cage confirmation signal or a personnel out cage confirmation signal based on the comparison result between the load value output by the weighing sensor and the empty basket load threshold and the full load threshold.

[0066] The personnel presence detection device on the dedicated personnel cage uses a weighing sensor. The safety PLC generates a personnel presence confirmation signal or a personnel departure confirmation signal based on the comparison between the load value output by the weighing sensor and the empty basket load threshold and the full load threshold. This enables quantitative detection of the presence status and number of personnel in the cage, providing a reliable basis for determining the work window and action level permission.

[0067] The system is capable of achieving the functions described in this application. Figure 1 The various processes in the method embodiments, and the ways to achieve the same beneficial effects, will not be repeated here to avoid repetition.

[0068] like Figure 3 As shown, this application also provides a terminal device, including a processor 301 and a memory 302. The memory 302 stores a program or instructions that can run on the processor 301. When the program or instructions are executed by the processor 301, they implement the various steps of the remote hoisting control method for offshore wind power foundation personnel as described above, and can achieve the same technical effect. To avoid repetition, they will not be described again here.

[0069] It should be noted that the terminal device in this application can be a terminal or other devices besides a terminal. For example, the terminal device can be a mobile phone, tablet computer, laptop computer, etc., and this application does not make any specific limitation.

[0070] This application also provides a readable storage medium storing a program or instructions that, when executed by a processor, implement the various processes of the above-described embodiment of the remote hoisting control method for offshore wind power foundation personnel, and achieve the same technical effect. To avoid repetition, these will not be described again here.

[0071] The processor is the processor in the terminal device described in the above embodiments. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (Read-Only Memory). Only memory (ROM), random access memory (RAM), magnetic disks or optical disks, etc.

[0072] This application also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the above-described embodiments of the remote hoisting control method for offshore wind power foundation personnel, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0073] It should be understood that the chip mentioned in this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0074] This application provides a computer program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the above-described embodiment of the remote hoisting control method for offshore wind power foundation personnel, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0075] It should be noted that, in this document, 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 one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0076] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as a read-only memory). The device includes a number of instructions in a ROM (random access memory), RAM (magnetic disk), or optical disk to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0077] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A method for remote hoisting and control of personnel for offshore wind power foundations, characterized in that, The method includes: S1. Obtain the target platform number, dedicated manned cage number, number of people to be lifted, and placement location for remote hoisting of offshore wind power foundation personnel, and perform equipment number verification and identity verification. Generate a personnel transfer task after verification. According to the personnel transfer task, match the corresponding external platform crane and dedicated manned cage, and read the equipment status of the external platform crane and the dedicated manned cage. When the equipment status does not have a maintenance status, fault status, locked status, or occupied status, generate a task number. S2. Obtain the permission information, terminal number, and communication heartbeat of the remote operation terminal, and obtain the mode status, local takeover switch status, maintenance switch status, and local emergency stop status of the local HMI; when the permission information is valid, the communication heartbeat is valid, the local takeover switch is inactive, the maintenance switch is inactive, the local emergency stop status is inactive, and the local HMI is not in control mode, bind the remote operation terminal corresponding to the task number and the terminal number as a unique control source, and generate a remote manned hoisting permit; S3. Based on the remote manned hoisting permit, acquire the load value, lifting limit status, slewing limit status, hook height value, wind speed value, platform attitude data, ship relative motion data, dedicated manned hoisting cage connection status, dedicated manned hoisting cage locking status, personnel in cage confirmation signal, frequency converter status, brake status, and power supply status of the acquired signals, and perform missing identification and threshold identification on the acquired signals to generate a pre-hoisting status dataset; S4. Based on the wind speed value, the ship's relative motion data, the load value, the connection status of the dedicated personnel hoist cage, the locking status of the dedicated personnel hoist cage, the personnel in the cage confirmation signal, the lifting limit status, the slewing limit status, the brake status, the frequency converter status, and the communication heartbeat in the pre-lifting status dataset, compare each with a preset threshold. When the wind speed value does not exceed the wind speed threshold, the ship's relative motion data is within the allowable range, the load value is within the allowable range, the dedicated personnel hoist cage connection status is valid, the dedicated personnel hoist cage is locked, the personnel in the cage confirmation signal is valid, the lifting limit status is not exceeded, the slewing limit status is not exceeded, the brake status feedback is normal, the frequency converter status is fault-free, and the communication heartbeat is valid, generate a test lifting permission result. S5. Based on the permitted trial lifting results and the lifting request issued by the remote operation terminal, output a low-speed lifting direction and a first speed to the frequency converter drive unit, and output a brake release command to the brake control unit to control the dedicated personnel cage to lift the first stroke at the first speed, and continuously acquire the change in load value, wire rope tension value, connection status of the dedicated personnel cage, brake status, and attitude data of the dedicated personnel cage; when the change in load value is within a stable range, the connection status of the dedicated personnel cage remains effective, the brake status is released in place, and the attitude data of the dedicated personnel cage does not exceed the swing threshold, generate a formal lifting permit; S6. Based on the formal lifting permit and the continuous lifting command issued by the remote operation terminal, output the manned lifting direction and the second speed to the frequency conversion drive unit. The second speed is less than the smaller value between the first speed and the preset speed limit, and the acceleration is limited according to the preset acceleration curve. Continuously acquire the load value, the wind speed value, the ship's relative motion data, the hook height value, and the communication heartbeat. When the hook height value reaches the warning height corresponding to the lifting limit, reduce the second speed. When the wind speed value reaches the wind speed warning threshold or the ship's relative motion data reaches the motion warning threshold, revoke the operation permit and generate a speed limit state. S7. Based on the slewing request and current slewing angle value sent by the remote operation terminal, and combined with the load value, wind speed value, and relative motion data of the hull, determine whether the current slewing angle value is within the allowable slewing range; when the current slewing angle value is within the allowable slewing range and the wind speed value does not exceed the slewing wind speed threshold, output the slewing direction and third speed to the frequency conversion drive unit, the third speed being less than the preset slewing speed limit; during the slewing process, prohibit the lifting direction and the slewing direction from running at speeds greater than the composite action speed threshold simultaneously, and continuously acquire the current slewing angle value and platform landing point confirmation signal; when the current slewing angle value reaches the target landing angle, generate a state close to the platform landing area; S8. Based on the status of the approach platform landing area and the descent request issued by the remote operation terminal, acquire the platform landing point confirmation signal, the attitude data of the dedicated manned cage, and the hook height value; when the platform landing point confirmation signal is valid, the attitude data of the dedicated manned cage does not exceed the landing attitude threshold, and the hook height value is within the landing height range, output the descent direction and a fourth speed to the frequency converter drive unit, wherein the fourth speed is less than a preset descent speed limit; continuously acquire the hook height value during the descent process, and when the hook height value reaches the target landing height, cancel the descent direction and output a brake closing command to generate a landing completion status; S9. Based on the completed lowering status, obtain the personnel leaving the cage confirmation signal and the load value; when the personnel leaving the cage confirmation signal is valid and the load value falls back to the empty basket load threshold range, generate a hook-retraction permission status; based on the hook-retraction request issued by the remote operation terminal and the hook-retraction permission status, output the hook-retraction direction and fifth speed to the frequency conversion drive unit, drive the special personnel cage back to the initial position, and generate a task completion status.

2. The method according to claim 1, characterized in that, S3 further includes: When there are unconfirmed items in the pre-lifting status dataset, a review prompt is generated; When there are items exceeding the limits in the pre-lifting status dataset, a prohibition on trial lifting signal is generated.

3. The method according to claim 1, characterized in that, It also includes real-time acquisition of emergency stop signals, communication heartbeats, control source conflict signals, wind speed values, ship relative motion data, dedicated manned cage attitude data, load values, inverter fault signals, brake abnormality signals, power supply abnormality signals, and safety circuit disconnection signals, and performs the following operations: When the communication heartbeat is lost for more than a preset time, the control source conflict signal is valid, or the wind speed value reaches the first protection threshold, the remote operation permission is revoked, and the current state is maintained or a low-speed descent command is output according to the current hook height value and the current slewing angle value. When the load value exceeds the overload threshold, the special manned hoist cage is disconnected, the special manned hoist cage is unlocked, or the personnel in the cage confirmation signal is invalid, the transfer operation is prohibited, and a return to the lifting position command or a hold command is output according to the current stage. When the emergency stop signal is valid, the lifting limit status is out of bounds, the slewing limit status is out of bounds, the frequency converter fault signal is valid, the brake abnormality signal is valid, the power supply abnormality signal is valid, or the safety circuit disconnection signal is valid, the independent safety circuit directly cuts off the safety torque shutdown terminal of the frequency converter drive unit and the brake release circuit of the brake control unit, so that the external platform crane enters a safe stop state.

4. The method according to claim 3, characterized in that, After the independent safety circuit directly cuts off the safety torque shutdown terminal of the variable frequency drive unit and the brake release circuit of the brake control unit, the task number is locked, and the remote operation terminal is prohibited from restarting the personnel transfer task until the emergency stop signal returns to the inactive state, the variable frequency drive fault signal is eliminated, the brake abnormal signal is eliminated, and the safety circuit disconnection signal returns to the effective state. After the remote operation terminal re-executes S1 to S2 to obtain the remote personnel hoisting permission, the lock is released.

5. The method according to claim 4, characterized in that, When the wind speed value reaches the second protection threshold, which is greater than the first protection threshold, the following withdrawal strategy is executed based on the current hook height value: When the hook height is greater than the platform height, the descent direction and the fourth speed are output to the frequency conversion drive unit to control the special manned cage to descend to the platform placement area. When the hook height is less than or equal to the platform height, the descent direction and sixth speed are output to the frequency converter drive unit to control the special manned cage to descend to the lifting position.

6. The method according to claim 5, characterized in that, Before outputting the descent direction, the method further includes determining whether the angle deviation between the current rotation angle value and the target landing angle is less than a preset angle deviation threshold; when the angle deviation is greater than or equal to the preset angle deviation threshold, the descent direction is prohibited from being output, and an angle adjustment prompt is generated.

7. The method according to claim 1, characterized in that, After obtaining the personnel leaving the cage confirmation signal, the method further includes obtaining the cage locking status; when the personnel leaving the cage confirmation signal is valid and the cage is in the unlocked state, a hook-retraction permission state is generated; when the personnel leaving the cage confirmation signal is valid and the cage is in the locked state, a personnel lingering prompt is generated, and the output of the hook-retraction direction is prohibited.

8. A remote hoisting control system for offshore wind power foundation personnel, characterized in that, include: The remote operation terminal is used to obtain the target platform number, the special manned cage number, the number of people to be lifted, and the placement location for the remote hoisting of offshore wind power foundation personnel. A communication gateway, connected to the remote operation terminal, is used to verify the equipment number and identity of the personnel transfer task, and to forward the instructions after the verification is passed. A special manned cage is used to carry people. It is equipped with a lifting point connection detection device, a locking detection device, a person in the cage detection device, and a posture detection device. The sensing and detection module includes a load sensor, a lifting limit switch, a slewing limit switch, a hook height detector, a wind speed detector, a platform attitude detector, and a hull relative motion detector. The variable frequency drive unit connects the hoisting motor and the slewing motor of the external platform crane, and is used to receive speed and direction commands and drive the hoisting motor and the slewing motor to run; The brake control unit is connected to the lifting brake and slewing brake of the external platform crane and is used to receive brake release commands and brake closing commands. A safety PLC is connected to the communication gateway, each detection device of the dedicated manned hoist cage, the sensor detection module, the frequency converter drive unit, and the brake control unit, respectively, and is used to execute the method of any one of claims 1 to 7; An independent safety circuit connects the safety PLC, the safety torque shut-off terminal of the variable frequency drive unit, and the brake release circuit of the brake control unit. It is used to directly disconnect the safety torque shut-off terminal of the variable frequency drive unit and the brake release circuit of the brake control unit when an emergency stop signal, limit overrun signal, serious fault signal, or safety output feedback abnormal signal is received.

9. The system according to claim 8, characterized in that, The independent safety circuit includes a safety input terminal and a safety output terminal of a safety relay or safety PLC. The emergency stop signal, the lifting limit status, the slewing limit status, the maintenance door opening / closing status, the inverter fault signal, the brake abnormality signal, and the power abnormality signal are connected to the safety input terminal in a dual-channel wiring manner. The safety output terminal is connected to the safety torque shut-off terminal of the inverter drive unit and the brake release contactor coil of the brake control unit. The ordinary I / O module of the safety PLC reads the status of the safety input terminal for alarm and display purposes. The ordinary I / O module of the safety PLC does not participate in the on / off control of the safety output terminal.

10. The system according to claim 8, characterized in that, The personnel presence detection device on the dedicated personnel cage is a weighing sensor. The load value output by the weighing sensor is used to determine whether there are personnel in the cage and the number of personnel. The safety PLC generates a personnel presence confirmation signal or a personnel departure confirmation signal based on the comparison result between the load value output by the weighing sensor and the empty basket load threshold and the full load threshold.

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