CN115447735A - Offshore wind farm operation and maintenance detection system - Google Patents
Offshore wind farm operation and maintenance detection system Download PDFInfo
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- CN115447735A CN115447735A CN202110636886.9A CN202110636886A CN115447735A CN 115447735 A CN115447735 A CN 115447735A CN 202110636886 A CN202110636886 A CN 202110636886A CN 115447735 A CN115447735 A CN 115447735A
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- 238000001514 detection method Methods 0.000 title claims abstract description 69
- 238000012423 maintenance Methods 0.000 title claims abstract description 59
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- 238000004804 winding Methods 0.000 claims abstract description 3
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- 238000003384 imaging method Methods 0.000 claims description 10
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention provides an offshore wind farm operation and maintenance detection system, which comprises a control device, an underwater robot, a winding and unwinding device and detection equipment, wherein the control device is connected with the underwater robot; the underwater robot is used for launching the underwater robot below the water surface or withdrawing the underwater robot from the water surface to the working ship when the underwater operation and maintenance of the offshore wind farm is detected; the working ship is positioned on the water surface; the control device is integrated on the work ship and connected with the underwater robot; the detection equipment is carried on the underwater robot; the underwater robot comprises an electronic cabin; the detection equipment is connected with the electronic cabin; the operation and maintenance detection system for the offshore wind farm provided by the invention avoids the risk of underwater manual operation, and adopts the underwater robot to replace a frogman to carry out operation and maintenance, so that the safety accidents of wind farm operators can be effectively reduced.
Description
Technical Field
The invention belongs to the technical field of underwater robots, relates to an underwater robot integrated system, and particularly relates to an operation and maintenance detection system for an offshore wind farm.
Background
The operation and maintenance of the offshore wind farm is an important work for ensuring the safe and stable operation of the offshore wind farm, but also is a comprehensive project which relates to wide range, strong specialization, large capital investment, high technical level and complex operation process, the maintenance of the underwater structure and equipment of the offshore wind farm is an important component of the operation and maintenance of the wind farm, and the damage to submarine cables, foundations and anti-scour protection equipment facilities is large due to the severe marine environment (such as high-pressure environment, corrosive environment, erosion environment and the like of the seabed), complex submarine topography (such as a sea ditch, a submarine mountain range, a submarine hillside, bare rocks and the like), human activity influence (such as a fishing area, an anchoring area, a military area and the like) and unstable seabed (such as a seabed scour area and a moving sand wave area).
For better monitoring the operation and route change conditions of a submarine cable, the corrosion conditions of a fan foundation and a foundation of a marine booster station and the protection and coverage conditions of a foundation anti-scouring layer, a long-acting and regular detection and maintenance scheme needs to be established, potential problems are discovered as soon as possible, and the safe operation of a marine wind power plant is ensured.
However, in the face of a complex and variable marine operation environment, a short operation window period is provided, and the safety of operators, the operation and maintenance efficiency and the operation and maintenance cost in the marine operation and maintenance process directly influence the overall operation performance of the wind farm.
The existing offshore wind farm underwater inspection operation is usually completed by manual operation, the underwater environment is severe, part of sea water in the sea area is polluted, the visibility is low, and the risk of manual operation and the probability of safety accidents of wind farm operators are high.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide an operation and maintenance detection system for an offshore wind farm, which is used to solve the problem that the underwater inspection operation of the existing offshore wind farm is completed manually, resulting in high risk.
To achieve the above and other related objects, the present invention provides an operation and maintenance detecting system for an offshore wind farm, comprising: the underwater robot comprises a control device, an underwater robot, a winding and unwinding device and detection equipment; the underwater robot is used for launching the underwater robot below the water surface or withdrawing the underwater robot from the water surface to the working ship when the underwater operation and maintenance of the offshore wind farm is detected; the working ship is positioned on the water surface; the control device is integrated on the work ship and connected with the underwater robot; the detection equipment is mounted on the underwater robot; the underwater robot comprises an electronic cabin; the detection device is connected with the electronic cabin.
In an embodiment of the present invention, the control device includes: the device comprises a power supply module, an interface module and an operation control module; the power supply module is respectively connected with the interface module, the operation control module and the underwater robot; the interface module is respectively connected with the underwater robot and the operation control module; the interface module is also connected with a ground station control module; the ground station control module is arranged on the ground.
In an embodiment of the present invention, the system for detecting operation and maintenance of an offshore wind farm further includes: an ultra-short baseline positioning module and a GPS module; the ultra-short baseline positioning module and the GPS module are both connected with the control device; the GPS module is arranged on the work ship and used for positioning the position information of the work ship; the ultra-short baseline positioning module comprises: a transmitting transducer and a transponder; the transmitting transducer is mounted on the work vessel; the transponder is mounted on the underwater robot; the transmitting transducer is communicated with the transponder through sound waves to calculate the position of the underwater robot relative to the working ship, and then the coordinate position of the underwater robot is obtained by fusing the position information.
In an embodiment of the present invention, the detecting device at least includes any one or a combination of the following: the system comprises a digital cathode potential measuring probe, an acoustic-magnetic measuring device and a pipeline detector; the digital cathode potential measuring probe, the acoustic-magnetic measuring device and the pipeline detector are all connected with the electronic cabin.
In an embodiment of the present invention, the system for detecting operation and maintenance of an offshore wind farm further includes: a signal generator; the signal generator is integrated on the work ship and used for being connected to the end part of the cable to be detected when the current of the cable to be detected does not reach a preset measurement index or the cable to be detected transmits direct current so as to generate a required standard sine alternating current signal and input the standard sine alternating current signal to the cable to be detected, so that the cable to be detected can be detected by the pipeline detector.
In an embodiment of the present invention, the operation and maintenance detection system of the offshore wind farm further includes any one or a combination of the following: a surge generator, a high-voltage bridge and a pulse reflection measuring instrument; the surge generator, the high-voltage bridge and the pulse reflection measuring instrument are integrated on the work ship and are connected with the end part of the cable to be measured during work.
In an embodiment of the present invention, the system for detecting operation and maintenance of an offshore wind farm further includes: a display module; the display module is arranged on the work ship and connected with the control device.
In an embodiment of the present invention, the system for detecting operation and maintenance of an offshore wind farm further includes: a cleaning device; the cleaning device is mounted on the underwater robot.
In an embodiment of the present invention, the underwater robot further includes at least one or a combination of the following components: two-dimensional navigation sonar, three-dimensional imaging sonar, a mechanical arm, an illuminating lamp and a camera.
In an embodiment of the present invention, the retractable device is an a-frame structure.
As described above, the offshore wind farm operation and maintenance detection system provided by the invention has the following beneficial effects:
(1) Compared with the prior art, the offshore wind farm operation and maintenance detection system provided by the invention avoids the risk of underwater manual operation, and adopts an underwater robot to replace a frogman to carry out operation and maintenance, so that the safety accidents of wind farm operators can be effectively reduced.
(2) The invention improves the efficiency of underwater operation, and can complete various professional operations such as real-time video transmission, sonar image drawing, heavy object grabbing and the like by equipping the underwater robot with a sonar system, a camera, a lighting lamp, a mechanical arm and the like, so that the operation and maintenance detection system can stably and reliably operate underwater for a long time, and further complete the detection task safely and efficiently.
(3) The invention fills the gap that the inspection operation of the offshore wind power plant lacks of unified standard, makes the underwater inspection work flow, standardization and digitization, and can realize repeated popularization.
(4) The underwater robot makes up the defect that equipment carried by a working ship detects underwater targets, and realizes high-definition recognition of underwater foundation damage and corrosion by carrying underwater equipment including optical imaging and three-dimensional imaging sonar on the underwater robot.
(5) By means of the underwater robot, the invention can realize quick and accurate positioning after the submarine cable breaks down, is convenient for subsequent quick fault treatment, recovers electric power production, reduces power generation loss and finishes the operation which cannot be finished manually.
Drawings
Fig. 1 is a schematic structural diagram of an offshore wind farm operation and maintenance detection system according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an underwater robot according to an embodiment of the present invention.
Fig. 3 is a schematic diagram illustrating a fault of a fixed-point submarine cable according to an embodiment of the present invention.
Fig. 4 is a schematic diagram illustrating the underwater robot of the present invention detecting the buried position of the submarine cable according to an embodiment of the present invention.
Description of the reference symbols
1. Control device
101. Power supply module
102. Interface module
103. Operation control module
2. Underwater robot
201. Electronic cabin
202. Two-dimensional navigation sonar
203. Three-dimensional imaging sonar
204. Mechanical arm
205. Lighting lamp
206. Video camera
3. Retraction device
4. Detection device
401. Digital cathode potential measuring probe
402. Acoustic-magnetic measuring device
4021. Cover body
4022. Acoustic magnetic measuring probe
4023. Connecting rod
4024. Cable with a flexible connection
403. Pipeline detector
4031. Coil
4032. Coil
4033. Height gauge
5. Ground station control module
6 GPS module
7. Display module
8. Surge generator
9. High-voltage bridge
10. Pulse reflection measuring instrument
11. Ultra-short baseline positioning module
111. Transmitting transducer
112. Transponder
12. Signal generator
13. Cleaning device
Detailed Description
The following embodiments of the present invention are provided as examples, and other advantages and effects of the present invention will be apparent to those skilled in the art from the disclosure of the present invention.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions of the present invention, so that the present invention has no technical significance. Meanwhile, in the description of the present invention, the terms "first", "second", "third", "fourth", "fifth", "sixth", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example" or "some examples," or the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention, and exemplary representations of the terms above do not necessarily refer to the same embodiment or example; furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The offshore wind farm operation and maintenance detection system is used for solving the problem that the existing offshore wind farm underwater inspection operation is finished manually, so that the risk is high. The principle and the implementation of the offshore wind farm operation and maintenance detection system of the present invention will be described in detail below, so that those skilled in the art can understand the offshore wind farm operation and maintenance detection system of the present invention without creative work.
As shown in fig. 1, in an embodiment, the operation and maintenance detection system of the offshore wind farm is an integrated system based on a cabled underwater robot platform, and includes a water surface part and an underwater part, wherein the devices of the water surface part are used as the supports of the underwater devices and are connected through the cabled underwater robot platform to jointly complete the underwater inspection task of the offshore wind farm.
The water surface part is used for providing a human-computer interface, tracking and positioning and posture information of the operation and maintenance detection system, controlling the motion of the underwater robot 2, providing power supply and related detection signals of the underwater robot 2, and displaying and processing data returned by detection of the detection equipment 4 on the underwater robot 2; the underwater part comprises an underwater robot 2 and detection equipment 4 carried on the underwater robot and is used for completing the task of detecting the running conditions of equipment such as a submarine cable, a fan foundation, a booster station foundation and the like under water.
The underwater robot 2 is deployed or retracted by a deploying and retracting device 3 mounted on a work boat (not shown in the drawings); in particular, the vessel is located on the water surface; when the underwater operation and maintenance detection of the offshore wind farm is needed, the underwater robot 2 is released to the position below the water surface by the releasing and releasing device 3, and after the detection is completed, the underwater robot 2 is retracted to the working ship from the position below the water surface by the releasing and releasing device.
In one embodiment, the retraction device 3 is an a-frame structure.
It should be noted that, because the operation and maintenance detection system needs to operate on the sea, the working ship has a large swing amplitude and a small displacement, the retraction device 3 with an a-shaped frame and a wave swing compensation function is adopted, and the connection strength between the retraction device 3 and the working ship deck is increased, so that the stability of the underwater robot 2 when being retracted can be improved while the reasonable cost performance is maintained.
In one embodiment, as shown in fig. 1, a control device 1 is integrated on the work vessel; in particular, the control device 1 is connected to the underwater robot 2.
As shown in fig. 1, in an embodiment, the control device 1 includes a power supply module 101, an interface module 102, and an operation control module 103.
Specifically, the power supply module 101 is respectively connected to the interface module 102, the operation control module 103 and the underwater robot 2; the interface module 102 is connected to the underwater robot 2 and the operation control module 103, respectively.
As shown in fig. 1, in one embodiment, the interface module 102 is further connected to a ground station control module 5.
It should be noted that the ground station control module 5 is arranged on the ground and used for realizing task control of the underwater robot 2 and real-time collection, monitoring and fusion management of data such as geographic information, sonar, a video camera, an environmental sensor, attitude and position information of the underwater robot.
It should be noted that the power supply module 101 supplies power to the interface module 102, the operation control module 103, and the underwater robot 2; wherein, the underwater robot 2 is powered by the power supply module 101 through a self-contained umbilical cable; the underwater robot 2 is connected to the interface module 102 through the optical fiber in the umbilical cable, so as to access the ground station control module 5; the operation control module 103 is connected to the operation and maintenance detection system through the interface module 102, so that an operator can send out corresponding instructions through an operating rod and an operating switch.
Preferably, the power supply module 101 comprises a generator and a conversion unit, the generator is used for supplying power to the underwater robot 2; one end of the conversion unit is connected to the generator, and the other end of the conversion unit is connected to the interface module 102 and the operation control module 103 respectively, and is used for converting power supplied by the generator to supply power to the interface module 102 and the operation control module 103.
As shown in fig. 1 and 2, in one embodiment, the underwater robot 2 includes an electronic cabin 201; the detection device 4 is connected to the electronic compartment 201.
Specifically, a communication interface is provided on the electronic cabin 201, the detection device 4 is connected to the communication interface, and the electronic cabin 201 converts input and output data of the detection device 4, so as to implement data communication between the detection device 4 and the underwater robot 2.
Further, the detection device 4 is powered by the underwater robot 2. In an embodiment, the water surface portion further includes, but is not limited to, any one or a combination of the following: the system comprises a ground station control module 5, a GPS module 6, a display module 7, a surge generator 8, a high-voltage bridge 9 and a pulse reflection measuring instrument 10.
Specifically, the GPS module is disposed on the work ship, connected to the interface module 102 of the control device 1, and configured to locate position information of the work ship; the display module 7 is arranged on the work ship, and the display module 7 is connected with the interface module 102 of the control device 1 and is used for displaying position coordinates, real-time images and other information of the underwater robot 2; the surge generator 8, the high-voltage bridge 9 and the pulse reflection measuring instrument 10 are integrated on the work ship and are connected with the end part of the cable to be measured during work.
Preferably, the display module 7 comprises a cooperative monitor.
It should be noted that the surge generator 8, the high-voltage bridge 9 and the pulse reflection measuring instrument 10 are all used for realizing cable fault pre-positioning; usually, according to the preliminarily judged cable fault property, when the pre-positioning is needed for the 'outer sheath fault' and the 'open circuit fault', the high-voltage bridge 9 is used; when the line insulation low resistance fault needs to be prepositioned and the ground insulation low resistance fault needs to be prepositioned, the pulse reflection measuring instrument 10 is used; when the line-to-line insulation high-resistance fault needs to be pre-positioned and the ground insulation high-resistance fault needs to be pre-positioned, the surge generator 8 is combined with the pulse reflection measuring instrument 10.
Further, the surge generator 8, the high-voltage bridge 9 and the pulse reflection measuring instrument 10 all need to be connected to a certain end of the cable to be measured, but specifically connected to which end of the cable to be measured, which end is determined according to specific situations, may be one end of an offshore booster station or one end of a land centralized control station, and how to connect specifically belongs to the high-voltage electrician operation category, which is performed according to the national standard, and details are not described herein.
As shown in fig. 1, in an embodiment, the operation and maintenance detection system of the offshore wind farm further includes an ultra-short baseline positioning module 11.
Specifically, the ultra-short baseline positioning module 11 is connected to an interface module 102 of the control apparatus 1; the ultra-short baseline positioning module comprises a transmitting transducer 111 and a transponder 112; wherein the transmitting transducer 111 is mounted on the work vessel; the transponder 112 is mounted on the underwater robot 2.
It should be noted that the transmitting transducer 111 directly communicates with the transponder 112 through sound waves to calculate the position of the underwater robot 2 relative to the work ship, and then the ground station control module 5 fuses the position information of the work ship located by the GPS module 6, so as to obtain the coordinate position of the underwater robot 2.
As shown in fig. 1, in an embodiment, the detecting device 4 at least includes, but is not limited to, any one or a combination of the following: a digital cathode potential measuring probe 401, an acousto-magnetic measuring device 402 and a pipeline detector 403.
Specifically, the digital cathode potential measuring probe 401, the acousto-magnetic measuring device 402 and the pipeline detector 403 are all connected to the electronic cabin 201.
It should be noted that the digital cathode potential measurement probe 401 is used to measure an effective protection potential value of a sacrificial anode anticorrosion protection measure taken on an undersea infrastructure, and determine whether an anode protection material needs to be replaced according to the potential value; the acousto-magnetic measurement device 402 is used for providing a scheme for accurately positioning a seabed fault point by the underwater robot 2; the pipeline detector 403 is used for providing a scheme for detecting the route and the burial depth of the submarine cable by the underwater robot 2, and is used for accurately detecting the data such as the burial depth, the exposure, the position and the like of the submarine cable; the digital cathode potential measuring probe 401 adopts conventional technical means in the field, and the specific structural composition and connection relationship thereof are not used as conditions for limiting the present invention, and therefore, detailed descriptions thereof are omitted.
It should be noted that, the surge generator 8, the high-voltage bridge 9 and the pulse reflectometer 10 are all used for realizing cable fault pre-positioning, and the acousto-magnetic measurement device 402 is used for accurately positioning a cable fault on the basis of the cable fault pre-positioning.
It should be noted that the pulse reflection measuring instrument 10 in combination with the surge generator 8 can pre-position the low-resistance cable fault, and the surge generator 8 in combination with the high-voltage bridge 9 can pre-position the high-resistance cable fault, especially the insulation protection layer fault, etc.; after pre-positioning, the acoustic-magnetic measurement device 402 carried on the underwater robot 2 can precisely position a fault point in any cable arrangement (such as curve or spiral) mode, simplify the maintenance process, and reduce the maintenance cost and time.
The operation principle of the above-mentioned acousto-magnetic measurement device 402 is further explained by the following specific embodiments.
As shown in fig. 1 and 3, in an embodiment, the acoustic magnetic measurement apparatus 402 includes a housing 4021, an acoustic magnetic measurement probe 4022, a connecting rod 4023, and a cable 4024.
Specifically, the acoustic magnetic measurement probe 4022 is arranged in a closed cover 4021, the cover 4021 is connected with the underwater robot 2 through a connecting rod 4023, one end of a cable 4024 passes through the side wall of the cover 4021 and is connected with the acoustic magnetic measurement probe 4022, and the other end of the cable 4024 is connected with the electronic cabin 201 of the underwater robot 2; the electronic cabin 201 supplies power to the acousto-magnetic measurement probe 4022 through the cable 4024, and controls the acousto-magnetic measurement probe 4022 and performs data communication with the acousto-magnetic measurement probe 4022.
It should be noted that the operation principle of the acousto-magnetic measurement device 402 is as follows:
first, for a high resistance or open circuit fault, 32kV is injected into the fault cable using a surge generator, then the underwater robot 2 navigates within a range where the prepositioning is determined, the pulse signal is detected by the acousto-magnetic measurement probe 4022, and the submarine cable fault position is determined by the strength of the received signal and the time difference between the propagation of the electromagnetic wave and the acoustic wave.
In an embodiment, the operation and maintenance detecting system of the offshore wind farm further comprises a signal generator 12.
Specifically, the signal generator 12 is integrated on the work ship, and is only used for supporting the measurement of the submarine cable buried depth route under certain conditions, and is used for being connected to the end of the cable to be measured to generate a required standard sinusoidal alternating current signal when the current of the cable to be measured does not reach a preset measurement index, or when the cable to be measured transmits direct current, and inputting the standard sinusoidal alternating current signal to the cable to be measured, so that the cable to be measured can be detected by the pipeline detector 403 through the electromagnetic principle (ampere law and faraday law).
The working principle of the above-mentioned pipeline detector 403 is further explained by the following specific embodiments.
As shown in fig. 4, in one embodiment, first, according to the definition given in maxwell's equations, the voltage output from the coil of a single component is 0 when the coil and the cable are in parallel, and the output voltage signal is maximum when the coil is vertical and intermediate when the coil and the cable are at an included angle; when two mutually perpendicular coil-x direction and z direction probes are used for simultaneously detecting the cable, the included angle between the probes and the cable can be calculated by the voltage ratio of the two directions.
When the coil 4031 and the coil 4032 are used for detection, the distance between the two groups of coils is known, the horizontal and vertical distances of the cable relative to the coils can be calculated according to the geometric relationship and the included angle calculated by the two coils, and the height (relative to the seabed) of the coils can be synchronously measured by combining the height meter 4033 of the system, so that the routing and the burial depth of the cable can be calculated.
In an embodiment, the operation and maintenance detection system of the offshore wind farm further includes a cleaning device 13; specifically, the cleaning device 11 is mounted on the underwater robot 2 and used for cleaning the attachments on the base of the offshore wind farm facility (fan, booster station).
Preferably, the cleaning device 13 comprises a high-pressure water gun.
In one embodiment, the underwater robot 2 is composed of an underwater robot main body frame, a power system, an electronic cabin 201 and other accessories.
Further, at least one or a combination of the following is provided on the underwater robot 2, but not limited to: the two-dimensional navigation sonar 202, the three-dimensional imaging sonar 203, the mechanical arm 204, the illuminating lamp 205 and the camera 206 can complete various professional operations such as sonar image drawing, real-time video transmission, heavy object grabbing and the like, stably and reliably work underwater for a long time, and complete detection tasks safely and efficiently.
Specifically, the two-dimensional navigation sonar 202 is used for providing scanning image navigation for the operation of the underwater robot 2 under the condition of unsatisfactory underwater illumination, and can also be used for searching, tracking, object detection and the like; the three-dimensional imaging sonar 203 is used for providing a scheme for detecting the underwater foundation scouring of the facility of the offshore wind farm by the underwater robot 2, and the three-dimensional imaging sonar 203 can be used for completing the high-precision and dead-angle-free detection of the scouring condition of the fixed facility foundation; the robotic arm 204 is used to perform specific tasks, such as sampling, picking, switching, etc., and other more delicate tasks, such as replacing parts, etc.; the illuminating lamp 205 is used for ensuring sufficient illumination within the view angle range of the camera 206 from front to back under water; the camera 206 is used for observing the front and back conditions of the underwater robot 2 at any time when the underwater robot 2 moves forward or backward, and the camera 206 can also optically zoom, so that observation in operation is easier, and the operator can be ensured to obtain sufficient video reference information all the time in the operation process.
It should be noted that there are many underwater structures and devices in the offshore wind farm, especially the distance between the internal submarine cable and the external submarine cable is long, the operation content is complicated, and various detection devices and long-time underwater operation need to be carried, resulting in low manual detection efficiency; in this embodiment, by providing the underwater robot 2 with a sonar system (including the two-dimensional navigation sonar 202 and the three-dimensional imaging sonar 203), the camera 206, the illuminating lamp 205, the robot arm 204, and the like, various professional operations such as sonar image drawing, real-time video transmission, and heavy object picking-up can be performed, so that the operation and maintenance detection system can stably and reliably operate underwater for a long time, and can safely and efficiently perform a corresponding detection task.
It should be noted that the existing manual underwater inspection lacks systematicness, the inspection result depends on the experience of operators to a great extent, the result of the acquired data cannot be processed in real time, and a diagnosis result is formed quickly; in the invention, the underwater patrol inspection work flow can be streamlined, standardized and digitalized by virtue of the underwater robot 2, and the repeated popularization can be realized; in addition, at present, the underwater foundation anti-scour protection condition can be detected through a ship-mounted detection device, but the appearance of the foundation cannot be observed in a close range and with high precision; according to the invention, underwater equipment including optical imaging, three-dimensional imaging sonar and the like is carried by the underwater robot 2, so that high-definition recognition of underwater foundation damage and corrosion can be realized; finally, the positioning and detecting work of the defect fault point of the submarine cable cannot be finished by manpower and ships carrying equipment at present, and the submarine cable fault locating device can realize quick and accurate positioning after the submarine cable has a fault by means of the underwater robot 2, is convenient for subsequent quick fault treatment, restores power production and reduces power generation loss.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that the operation and maintenance detection system for the offshore wind farm is applied to the technical field of maintenance of underwater structures and facilities of the offshore wind farm, realizes safe, effective and rapid detection of facilities such as submarine cables, wind turbine foundations and booster station foundations and the operation conditions of anti-scour protection, and realizes efficient acquisition and management of operation and maintenance data of the offshore wind farm.
In conclusion, compared with the prior art, the offshore wind farm operation and maintenance detection system provided by the invention avoids the risk of underwater manual operation, and adopts an underwater robot to replace a frogman to carry out operation and maintenance, so that the safety accidents of wind farm operators can be effectively reduced; the underwater operation efficiency is improved, and the underwater robot is provided with a sonar system, a camera, a lighting lamp, a mechanical arm and other devices, so that various professional operations such as real-time video transmission, sonar image drawing, heavy object grabbing and the like can be completed, the operation and maintenance detection system can stably and reliably operate underwater for a long time, and further, the detection task can be completed safely and efficiently; the blank that the inspection operation of the offshore wind power plant lacks a unified standard is filled, the underwater inspection work is streamlined, standardized and digitalized, and the repeated popularization can be realized; the defect that equipment carried by a working ship detects underwater targets is overcome, and high-definition recognition of underwater foundation damage and corrosion is realized by carrying underwater equipment including optical imaging and three-dimensional imaging sonar on an underwater robot; by means of the underwater robot, the device can realize quick and accurate positioning after the submarine cable breaks down, is convenient for subsequent quick fault treatment, recovers the power production, reduces the power generation loss and completes the operation which cannot be completed manually; therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative, and are not to be construed as limiting the invention, but rather as illustrating the principles and efficacy of the invention. Those skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and scope of the present invention as defined in the appended claims.
Claims (10)
1. The utility model provides an offshore wind farm operation and maintenance detecting system which characterized in that includes: the system comprises a control device, an underwater robot, a winding and unwinding device and detection equipment;
the underwater operation and maintenance detection device comprises a retractable device, an underwater robot and a control device, wherein the retractable device is carried on a working ship, is connected with the underwater robot and is used for releasing the underwater robot below the water surface or withdrawing the underwater robot to the working ship from below the water surface when the underwater operation and maintenance detection of an offshore wind farm is carried out;
the working ship is positioned on the water surface;
the control device is integrated on the work ship and is connected with the underwater robot;
the detection equipment is mounted on the underwater robot;
the underwater robot comprises an electronic cabin;
the detection device is connected with the electronic cabin.
2. The offshore wind farm operation and maintenance detection system according to claim 1, wherein the control device comprises: the device comprises a power supply module, an interface module and an operation control module;
the power supply module is respectively connected with the interface module, the operation control module and the underwater robot;
the interface module is respectively connected with the underwater robot and the operation control module;
the interface module is also connected with a ground station control module;
the ground station control module is arranged on the ground.
3. The offshore wind farm operation and maintenance detection system according to claim 1, further comprising: an ultra-short baseline positioning module and a GPS module;
the ultra-short baseline positioning module and the GPS module are both connected with the control device; wherein,
the GPS module is arranged on the work ship and used for positioning the position information of the work ship;
the ultra-short baseline positioning module comprises: a transmitting transducer and a transponder;
the transmitting transducer is arranged on the work ship;
the transponder is mounted on the underwater robot;
the transmitting transducer is communicated with the transponder through sound waves to calculate the position of the underwater robot relative to the work ship, and then the coordinate position of the underwater robot is obtained by fusing the position information.
4. The offshore wind farm operation and maintenance detection system according to claim 1, wherein the detection device comprises at least one or a combination of the following: the system comprises a digital cathode potential measuring probe, a sound magnetic measuring device and a pipeline detector;
the digital cathode potential measuring probe, the acoustic-magnetic measuring device and the pipeline detector are all connected with the electronic cabin.
5. The offshore wind farm operation and maintenance detection system according to claim 4, further comprising: a signal generator;
the signal generator is integrated on the work ship and used for being connected to the end part of the cable to be detected when the current of the cable to be detected does not reach a preset measurement index or the cable to be detected transmits direct current so as to generate a required standard sine alternating current signal and input the standard sine alternating current signal to the cable to be detected, so that the cable to be detected can be detected by the pipeline detector.
6. The offshore wind farm operation and maintenance detection system according to claim 1, further comprising any one or combination of the following: a surge generator, a high-voltage bridge and a pulse reflection measuring instrument;
the surge generator, the high-voltage bridge and the pulse reflection measuring instrument are all integrated on the work ship and are connected with the end part of the cable to be measured during work.
7. The offshore wind farm operation and maintenance detection system according to claim 1, further comprising: a display module;
the display module is arranged on the work ship and connected with the control device.
8. The offshore wind farm operation and maintenance detection system according to claim 1, further comprising: a cleaning device;
the cleaning device is mounted on the underwater robot.
9. The offshore wind farm operation and maintenance detection system according to claim 1, wherein the underwater robot further comprises at least one or a combination of the following: two-dimensional navigation sonar, three-dimensional imaging sonar, a mechanical arm, an illuminating lamp and a camera.
10. The offshore wind farm operation and maintenance detection system according to claim 1, wherein the retraction device is an a-frame structure.
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