CN108087204B

CN108087204B - Hoisting alignment system and method for wind generating set

Info

Publication number: CN108087204B
Application number: CN201711297201.2A
Authority: CN
Inventors: 李立山; 乔光谱; 冯涛
Original assignee: Beijing Goldwind Science and Creation Windpower Equipment Co Ltd
Current assignee: Beijing Goldwind Science and Creation Windpower Equipment Co Ltd
Priority date: 2017-12-08
Filing date: 2017-12-08
Publication date: 2020-05-12
Anticipated expiration: 2037-12-08
Also published as: CN108087204A

Abstract

The embodiment of the invention discloses a hoisting alignment system and method for a wind generating set. Wherein, this system includes: the signal generator is arranged on a first connecting part of a first hoisting structure of the wind generating set and used for transmitting a wireless signal; the signal receivers are arranged on a second connecting part of a second hoisting structure of the wind generating set at intervals and used for respectively receiving wireless signals; and the data processor calculates current spatial position information of the signal generator based on the position information of the signal generator, the position information of each signal receiver and the wireless signals received by each signal receiver, and generates a signal for lifting and aligning the first connecting part and the second connecting part according to the first initial position information of the first connecting part, the second initial position information of the second connecting part and the current spatial position information. The embodiment of the invention can reduce the difficulty of hoisting alignment and improve the efficiency of hoisting alignment.

Description

Hoisting alignment system and method for wind generating set

Technical Field

The invention relates to the technical field of wind power generation, in particular to a hoisting alignment system and method of a wind generating set.

Background

With the continuous development of wind power generation technology, higher and higher towers, heavier and heavier engine rooms, generators and impellers are accompanied, which undoubtedly brings great difficulty to the hoisting work. In addition, the hoisting operation of the existing wind generating set has relatively severe requirements on the environment. For example, in heavy fog, strong wind and at night, the hoisting operation cannot be performed. The hoisting difficulty is increased by the factors, the hoisting operation efficiency is reduced, and the hoisting cost is correspondingly improved for enterprises.

The whole process of the existing hoisting can be regarded as an infinite approaching process, and the lifting hook moves up and down along with the rising and falling of the suspension arm of the crane. In addition, the crane can also rotate. With the continuous approach of the impeller and the generator or the generator and the engine room, the two flanges are completely overlapped finally, and then the work of penetrating bolts, washers and nuts and applying torque is carried out. This process is a relatively complicated process.

Fig. 1 is a schematic diagram of a movement route of a hoisting alignment of a wind generating set according to an existing embodiment. As shown in fig. 1, when the field operation of hoisting the generator to align the nacelle is performed, workers need to be arranged in at least three directions to complete the position alignment process of the generator and the nacelle: arranging a worker at the lifted engine room, and checking the angle and position deviation of the crane for lifting the generator; arranging a hoisting command staff on the ground to command the crane; a crane operator is arranged in the crane and is responsible for operating the crane. In the operation process, the angle and the position information that generator department personnel passed through the intercom transmission generator give ground hoist and mount commander, and ground hoist and mount commander judges according to the information of receiving, and the rethread gesture transmits command signal for crane operating personnel, so cooperate the completion generator hoist and mount the hoist and mount of adjusting the cabin well the process well jointly through the staff that three position was arranged.

The applicant has found through research that the actual travelling line appears obviously as a saw-tooth shape due to the influence of environment and misoperation on positive operation by the hoisting in fig. 1, and the actual travelling line does not completely fit the simulation line. The existing hoisting alignment mode does not advance according to the optimal simulation route, and the error is large. In addition, the staff arranged in the three directions communicate through the interphone or the mobile phone to finish the alignment process of the impeller, so that the communication efficiency is low, information transmission errors are easy to occur in the communication process, the impeller alignment difficulty is increased, the consumed time is long, and the hoisting efficiency of the wind generating set is reduced.

Disclosure of Invention

The embodiment of the invention provides a hoisting and aligning system and method of a wind generating set, which can reduce the difficulty of hoisting and aligning the wind generating set and improve the efficiency of hoisting and aligning.

In a first aspect, the embodiment of the invention provides a hoisting and aligning system of a wind generating set. The system comprises:

the signal generator is arranged on a first connecting part of a first hoisting structure of the wind generating set and used for transmitting a wireless signal;

the signal receivers are arranged on a second connecting part of a second hoisting structure of the wind generating set at intervals and used for respectively receiving wireless signals;

and the data processor is used for acquiring the wireless signals received by the signal receivers, calculating current spatial position information of the signal generator based on the position information of the signal generator, the position information of the signal receivers and the wireless signals received by the signal receivers, and generating signals for hoisting and aligning the first connecting part and the second connecting part according to the first initial position information of the first connecting part, the second initial position information of the second connecting part and the current spatial position information.

In a second aspect, the embodiment of the invention provides a hoisting and aligning method for a wind generating set. The method comprises the following steps: the signal generator is arranged on a first connecting component of a first hoisting structure of the wind generating set and used for transmitting a wireless signal;

the signal receivers are arranged on a second connecting part of a second hoisting structure of the wind generating set at intervals and respectively receive wireless signals;

the data processor acquires the wireless signals received by the signal receivers, calculates current spatial position information of the signal generator based on the position information of the signal generator, the position information of the signal receivers and the wireless signals received by the signal receivers, and generates signals for lifting and aligning the first connecting part and the second connecting part according to the first initial position information of the first connecting part, the second initial position information of the second connecting part and the current spatial position information.

Therefore, in the above embodiment of the invention, the signal generator disposed on the first connecting component transmits the wireless signal, the signal receivers disposed at different positions on the second connecting component respectively receive the wireless signal, the data processor calculates the current spatial position information of the signal generator based on the position information of the signal generator, the position information of each signal receiver and the wireless signal transmitted by each signal receiver, and generates the signal for lifting and aligning the first connecting component and the second connecting component according to the initial position information and the current spatial position information of the first connecting component and the second connecting component to be assembled. Therefore, the embodiment of the invention can realize the conversion of the operation of the wind driven generator hoisting alignment from manual operation to fully automatic and intelligent operation through a wireless signal transmission technology and a data analysis processing technology, not only can reduce the difficulty of the wind driven generator hoisting alignment, but also can improve the efficiency of the hoisting alignment.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic diagram of a movement path of a hoisting alignment of a wind generating set according to an embodiment of the prior art;

FIG. 2 is a schematic view of a hoisting alignment scenario of a wind generating set according to an embodiment of the invention;

FIG. 3 is a schematic structural diagram of a hoisting alignment system of a wind generating set according to an embodiment of the invention;

FIG. 4 is a schematic diagram of the placement of a signal generator according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a location of a signal receiver according to an embodiment of the present invention;

FIG. 6 is a schematic three-dimensional position diagram of an embodiment of the present invention;

FIG. 7 is a schematic spatial position diagram of a signal receiver and a signal generator according to an embodiment of the invention;

FIG. 8 is a schematic flow chart of a hoisting alignment method of a wind generating set according to an embodiment of the invention;

FIG. 9 is a diagram illustrating adjusting current relative position information to zero according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of adjusting current relative position information to zero according to another embodiment of the present invention;

fig. 11 is a schematic diagram of adjusting current relative position information to zero according to another embodiment of the present invention.

Wherein:

100-a first hoisting structure; 110-a first connecting component;

200-a second hoisting structure; 210-a second connecting member; 300-a crane;

1-a signal generator;

2-a signal receiver; 21-a signal receiver; 22-a signal receiver; 23-a signal receiver;

3-a signal transmitter;

4-a data processor; 41-a data processor; 42-a data processor;

5-a display;

6-a controller.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

The hoisting alignment system of the wind generating set in the embodiment of the invention is suitable for a scene of aligning the hoisting structure in the wind generating set when the wind generating set is hoisted.

Fig. 2 is a schematic view of a hoisting alignment scene of a wind generating set according to an embodiment of the present invention.

As shown in fig. 2, the scenario may include: a wind generating set (no reference number marked in the figure), a hoisting alignment system of the wind generating set (no reference number marked in the figure) and a crane 300.

Wherein, wind generating set can include: the first hoisting structure 100 and the second hoisting structure 200 aligned to be hoisted. The first hoisting structure 100 has a first connecting member 110. The second hoisting structure 200 has a second connecting member 210. The first hoisting structure 100 and the second hoisting structure 200 may be any group of structures that need to be hoisted and butted in the wind turbine generator set. In some embodiments, when the impeller is in hoisting butt joint with the generator, the first hoisting structure 100 may be the impeller and the second hoisting structure 200 may be the generator. The first connection member 110 may be a flange of the impeller and the second connection member 210 may be a flange of the generator.

In some embodiments, when the generator is docked with the nacelle hoist, the first hoist structure 100 may be the generator and the second hoist structure 200 may be the nacelle. The first connection member 110 may be a flange of the generator and the second connection member 210 may be a flange of the nacelle.

In some embodiments, the wind turbine generator set lifting alignment system may include: a signal generator 1, a plurality of signal receivers 2 (e.g., signal receiver 21, signal receiver 22, signal receiver 23), a signal transmitter 3, a plurality of data processors 4 (e.g., data processor 41 and data processor 42), a display 5, and a controller 6.

In some embodiments, the signal generator 1 may comprise one or more of the following generators: a sound wave signal generator, an infrared signal generator, a Wireless Fidelity (Wi-Fi) signal generator and the like. The corresponding signal receiver comprises one or more of the following generators: a sound wave signal receiver, an infrared signal receiver and a Wi-Fi signal receiver. Preferably, the models and parameters of the plurality of signal receivers may be the same.

In some embodiments, the signal transmitter 3 may be used to transmit the wireless signals received by the respective signal receivers to the data processor.

In some embodiments, the display 5 may be an electronic liquid crystal screen or other device that can display an image frame. The display 5 may be used to display a simulated motion trajectory derived from the first initial position information of the first coupling part 110 and the second initial position information of the second coupling part 210. The first initial position information, that is, the initial spatial position information of the signal generator 1, may be expressed by latitude and longitude, may be expressed by three-dimensional coordinates, or the like. The second initial position information may be initial spatial position information of a certain signal receiver. In addition, the display 5 can also display the current spatial position information of the signal generator 1 and the spatial position information corresponding to a plurality of time points before the current spatial position information, and the actual motion track of the signal generator in the hoisting alignment process is formed, so that the hoisting alignment process is visualized. For example, in the hoisting alignment process, the motion trajectory may be composed of spatial position information at several time points.

In some embodiments, the data processor 41 and the data processor 42 may be servers, operator stations, workstations, single-chip computers, or the like having data processing capabilities. When the data operation capability is sufficient, the data processor 41 and the data processor 42 may be replaced with one data processor.

In some embodiments, the controller 6 may be used to send control signals to the crane 300 performing the hoist alignment. The controller 6 may be configured to compare the actual motion trajectory with the simulated motion trajectory, and send a signal indicating that the crane is moving according to the simulated motion trajectory to the crane performing the hoisting alignment when the actual motion trajectory is inconsistent with the simulated motion trajectory.

It should be understood that the number of devices in fig. 2 is merely illustrative. The number of each device can be flexibly adjusted according to the implementation requirement. For example, the data processor 41 and the data processor 42 are combined into 1 data processor. As another example, the number of signal receivers is increased, and so on.

The following embodiments can apply the scenario of the embodiment to hoist and align the wind turbine generator set. For simplicity of description, the various embodiments may be referred to or cited with respect to each other.

Fig. 3 is a schematic structural diagram of a hoisting alignment system of a wind generating set in an embodiment of the invention.

In this embodiment, the wind turbine may include: the hoisting structure comprises a first hoisting structure with a first connecting part and a second hoisting structure with a second connecting part, wherein the first hoisting structure and the second hoisting structure are aligned to be hoisted.

As shown in fig. 3, the hoisting alignment system of the wind turbine generator set may include: a signal generator 1, a signal receiver 2 and a data processor 4.

In this embodiment, the signal generator 1 may be used to transmit wireless signals.

In this embodiment, there may be 3 signal receivers 2, which may be: signal receiver 21, signal receiver 22 and signal receiver 23. The signal receiver 21, the signal receiver 22 and the signal receiver 23 are used for respectively receiving the wireless signals transmitted by the signal generator 1.

In this embodiment, the data processor 4 may be configured to obtain the wireless signals received by the respective signal receivers, and calculate current spatial position information of the signal generator based on the position information of the signal generator, the position information of the respective signal receivers, and the wireless signals of the respective signal receivers. The data processor 4 may generate a signal for lifting the aligned first and second connection parts based on the first initial position information of the first connection part, the second initial position information of the second connection part, and the current spatial position information. The data processor 4 may include a plurality of data processors such as a data processor 41 and a data processor 42.

It should be noted that the implementation manner of the data processor 4 or the controller 6 shown in the above embodiments may be hardware, software or their combination. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, Erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.

In some embodiments, the implementation of calculating the current spatial location information of the signal generator may be:

and S11, the signal receiver 21, the signal receiver 22 and the signal receiver 23 which are arranged on the second connecting part of the second hoisting structure of the wind generating set at intervals receive the wireless signals transmitted by the signal generator 1 respectively.

In the present embodiment, since the signal receiver 21, the signal receiver 22, and the signal receiver 23 are arranged at intervals, and therefore their positions are different, the reception time difference occurs when the 3 signal receivers receive the wireless signal. The reception time difference is particularly significant when the signal generator 1 is an ultrasonic signal generator.

S12, the data processor 4 calculates the current spatial position information of the signal generator 1 based on the reception time difference.

In some embodiments, the implementation of calculating the current spatial position information of the signal generator may also be:

s21, when the signal generator 1 is an infrared signal receiver, the signal receiver 21, the signal receiver 22 and the signal receiver 23 respectively receive the infrared signals. The infrared signals differ in intensity.

S22, the data processor 4 calculates the current spatial position information of the signal generator 1 based on the signal strength difference.

In addition, according to different signal generators, a specific calculation mode can be adopted, and the current spatial position information of each signal generator can be calculated.

In some embodiments, the ceiling alignment system may further include a display. The display may be configured to display a simulated motion trajectory derived from first initial position information of the first coupling member and second initial position information of the second coupling member. And displaying the position information of the signal generator corresponding to the current spatial position information and a plurality of time points before the current spatial position information, and forming an actual motion track of the signal generator in the hoisting alignment process. The design can make the hoisting alignment process visual.

In addition, the hoist alignment system may further include a controller. The controller can be used for comparing the actual motion track with the simulated motion track, and when the actual motion track is inconsistent with the simulated motion track, a signal for indicating the motion according to the simulated motion track is sent to the crane which is aligned with the hoisting.

Therefore, the embodiment of the invention can effectively judge and guide alignment through visual comparison processing, not only can obviously improve the assembly efficiency, but also can adapt to various hoisting environments, such as night, foggy day and the like.

In some embodiments, the implementation of the hoist alignment may be as follows:

s311, when the 3 signal receivers receive the wireless signals (pulse signals) transmitted from the 1 signal generator (e.g. the ultrasonic transmitter disposed at the center of the flange of the generator), the wireless signals are transmitted to the data processor 4 through the wireless transmission system (e.g. the signal transmitter 3). The data processor 4 may be located locally, such as in the crane 300, or may be located remotely in the cloud, which is not limited in this respect.

S312, the data processor 4 may calculate the receiving time difference by comparing the time of receiving the signal by the three receiving signal receivers. Then, the specific position of the ultrasonic generator can be inverted by the reception time difference. I.e. the position of the centre point of the flange face of the generator flange.

And S314, when the crane is manually operated to move the generator, the actual three-dimensional motion track of the generator is drawn on the display through uninterrupted measurement.

S315, comparing the drawn actual three-dimensional motion track of the generator with a three-dimensional simulation track (such as an initial linear track of the generator and the engine room), and judging whether the actual motion track is identical with the simulation motion track. And then, sending an operation instruction to the worker according to the comparison result so as to guide the worker to operate the next action of the crane. This step may also perform automatic control. In manual operation, the actual motion track of the generator on the display can be referred to, and the actual motion track is matched with the simulated motion track planned in advance as soon as possible.

Fig. 4 is a schematic diagram of the position of the signal generator according to an embodiment of the invention.

In this embodiment, the first hoisting structure may be a generator. The first connecting component may be a flange of the generator. The flange of the generator comprises a first flange face 111 for the docking operation.

As shown in fig. 4, the signal generator 1 may be disposed at a center position of the first flange surface 111 of the flange plate of the generator. If necessary, a rack on which the signal generator 1 can be placed may be temporarily built at the center of the first flange face 111. It is understood that the center position here may be the very center (center of circle) in an absolute sense. In actual operation, some errors can be allowed, and particularly, the hoisting alignment precision can be flexibly adjusted.

Fig. 5 is a schematic position diagram of a signal receiver according to an embodiment of the invention.

As shown in fig. 5, the second hoisting structure may be a nacelle. The second connecting part may be a flange of the nacelle. The flange of the nacelle comprises a second flange face 211 for the docking operation. The number of the signal receivers is 3, the signal receiver 21 may be disposed at a central position of the second flange face 211, and the

signal receivers

22 and 23 may be disposed at edge positions of the second flange face 211, respectively, such that the 3 signal receivers constitute a right angle. In addition, the plane formed by the three receivers coincides with the second flange surface 211.

In this embodiment, when the signal generator is an ultrasonic signal generator, each signal receiver may be an ultrasonic signal receiver. The signal receiver 21, the signal receiver 22 and the signal receiver 23 can be arranged to receive the pulse signal from the ultrasonic signal generator.

In some embodiments, signal receiver 21, signal receiver 22, and signal receiver 23 may each be mounted at three fixed locations about the flange of the nacelle. The positions of the three receivers can be flexibly set as long as it is ensured that the pulse signal can be received. However, if the positions of the three receivers are arbitrarily set, the difficulty of calculating the position of the signal generator later may be increased.

In some embodiments, the plurality of signal receivers are evenly distributed at edge locations of the second flange face 211. Such as by placing the signal receivers at spaced angular positions of 120 degrees about the perimeter of the second flange surface 211. By the design, the difficulty of calculating the position of the signal generator in the later period can be reduced by utilizing an equal division formula and the like.

The different positions of the signal receivers lead to different difficulties in subsequently calculating the current spatial position information. Preferably, a right angle arrangement and an even spacing arrangement may be employed. By the design, the difficulty of calculating the position of the signal generator in the later period can be reduced by skillfully applying a triangular formula and the like.

FIG. 6 is a schematic three-dimensional position diagram of an embodiment of the present invention.

As shown in fig. 6, the signal receiver 21 may be disposed at a central position of the second flange face 211. In the three-dimensional space, when the second flange surface 211 of the flange plate of the nacelle is perpendicular to the ground, the direction perpendicular to the second flange surface 211 is set to the X-axis direction, and the outward direction (the direction away from the second flange surface 211) is defined as the positive direction. The direction perpendicular to the horizontal plane is set to be the Y-axis direction, and the upward direction is the positive direction. The Z-axis direction is a direction which is horizontal to the horizontal plane and vertical to the plane formed by the X and the Y, and the right direction is a positive direction. In the present embodiment, the distance in the X-axis direction is set to L, the distance in the Y-axis direction is set to H, and the distance in the Z-axis direction is set to B.

Fig. 7 is a schematic spatial position diagram of a signal receiver and a signal generator according to an embodiment of the invention.

As shown in fig. 7, the data processor may set the position of the signal receiver 21 on the origin of the spatial coordinate system, i.e. with the signal receiver 21 located at the center of the flange face of the flange of the nacelle as the origin of the three-dimensional spatial coordinate system. The origin coordinate value may be (0, 0, 0). It will be appreciated that the placement of the signal receiver 21 on the origin of spatial coordinates is only one form. In some embodiments, the signal receiver 21 may be disposed on other coordinate systems or other spatial location points, and the specific calculation manner may be modified adaptively.

The data processor acquires the current relative position information of the signal generator 1 with respect to the origin of the spatial coordinates, i.e., the coordinate values of the signal generator 1 located at the center of the flange face in the three-dimensional spatial coordinate system may be (L, H, B). Where L may be a first vector value in the X-axis direction, H may be a second vector value in the Y-axis direction, and B may be a third vector value in the Z-axis direction.

The data processor may generate a signal for moving the first connection part by lifting to adjust the current relative position information to 0 based on the current relative position information. When the current relative position information is adjusted to 0, the signal generator 1 and the signal receiver 21 are overlapped, and at this time, the hoisting alignment is completed. The hoisting alignment implementation mode can be as follows:

s1, based on the position (L, H, B) of the generator (signal generator 1) relative to the signal receiver 21 on the nacelle read by the data processor 41.

And S2, the data processor 42 runs a corresponding program to convert the simple position signal into an electric signal for the next action executed by the crane, and the hoisting alignment system of the wind generating set executes a corresponding action according to the electric signal, so that the generator can be accurately hoisted to a corresponding position. The control may be specifically based on programs and logic. The implementation of the programs and logic will be described in detail below.

It is understood that the above 2 steps of S1 and S2 can be flexibly combined or separately processed according to the operation capability and the number of data processors. And S3, when the wind generating set is hoisted and aligned to the system to work, the actual motion line of the generator can be observed through the display. If the actual movement route is different from the planned route in advance, the approach trend is not existed at the same time. The automatic control system can be switched off and operated manually.

Fig. 8 is a schematic flow chart of a hoisting alignment method of a wind generating set according to an embodiment of the present invention.

As shown in fig. 8, the method for hoisting and aligning a wind turbine generator system may include the following steps:

and S810, the signal generator is arranged on the first connecting component of the first hoisting structure of the wind generating set and transmits a wireless signal.

And S820, a plurality of signal receivers are arranged on the second connecting part of the second hoisting structure of the wind generating set at intervals and respectively receive wireless signals.

And S830, the data processor acquires the wireless signals received by the signal receivers, calculates current spatial position information of the signal generator based on the position information of the signal generator, the position information of the signal receivers and the wireless signals of the signal receivers, and generates signals for hoisting the first connecting part and the second connecting part according to the first initial position information of the first connecting part, the second initial position information of the second connecting part and the current spatial position information.

In some embodiments, the method may further comprise the steps of: the display displays the simulated motion track obtained according to the first initial position information and the second initial position information, and displays the position information of the signal generator corresponding to a plurality of time points before the current space position information and the current space position information, and the actual motion track of the signal generator in the hoisting alignment process is formed, so that the hoisting alignment process is visualized.

In some embodiments, the method may further comprise the steps of: and the controller compares the actual motion track with the simulated motion track, and sends a signal for indicating the motion according to the simulated motion track to the crane which is performing hoisting alignment when the actual motion track is inconsistent with the simulated motion track.

In some embodiments, the method may further comprise the steps of: setting a position of a designated one of the plurality of signal receivers on a spatial coordinate origin; acquiring current relative position information of the signal generator relative to a space coordinate origin; based on the current relative position information, a signal for moving the first connecting member by lifting to adjust the current relative position information to zero is generated. For example, based on the first, second, and third vector values, signals for adjusting all of the first, second, and third vector values to 0 are generated and sent to a crane for performing hoist alignment. In some embodiments, the current relative position information comprises a three-dimensional spatial position vector value comprising: a first vector value in the X-axis direction, a second vector value in the Y-axis direction, and a third vector value in the Z-axis direction.

Fig. 9 is a schematic diagram of adjusting the current relative position information to zero according to an embodiment of the invention.

The implementation mode can comprise the following steps: the magnitude of the first vector is compared to 0. When the first vector is smaller than 0, judging the range of the second vector value; when the second vector value is smaller than or equal to the positive threshold value and larger than or equal to the negative threshold value, judging the range of the third vector value; determining whether there is interference between the first hoisting structure and the second hoisting structure based on the ranges of the first vector value, the second vector value and the third vector value; when the first hoisting structure and the second hoisting structure interfere with each other, a stop instruction is sent to the crane; and when the first hoisting structure and the second hoisting structure are not interfered, sending an instruction for adjusting the third vector to be 0 to the crane.

As shown in fig. 9, specifically, the implementation manner of the present embodiment may include the following steps:

s910, the first vector value L is compared with 0.

S920, when the first vector value L is smaller than 0(L is smaller than 0), the first vector value L and the second vector value L collide with each other or are about to be mounted, and the range of the second vector value H needs to be judged.

S930, when the second vector value H is smaller than a negative threshold value (such as H < -1.5D), the generator flange plate is arranged below and behind the engine room flange plate, the generator flange plate and the engine room flange plate do not collide with each other at the position, and the range of the third vector value B is continuously judged.

In this embodiment, D is the diameter of the flange, and the threshold value for H may range from [ D, 1.5D ]. It is sufficient for the theoretical threshold to be D (diameter), but for safety reasons, the value of the H threshold is 1.5D. When B is less than 0, the generator flange plate is arranged below and behind the cabin flange plate, and the generator flange plate and the cabin flange plate do not collide with each other or have a collision tendency, and the crane can be controlled to lift up a pole, hook up and turn left.

When B is 0, the generator flange plate is right below and behind the cabin flange plate, and the generator flange plate and the cabin flange plate do not have the tendency of collision or collision, at the moment, the crane can be controlled to lift up, hook up and not rotate.

When B is larger than 0, the generator flange plate is arranged at the lower left rear part of the cabin flange plate and the generator flange plate and the cabin flange plate do not have collision or collision tendency, and the crane can be controlled to lift up a rod, hook up and turn right at the moment.

When the second vector value H is larger than or equal to the negative threshold value and smaller than 0(-1.5D is less than or equal to H and less than 0), the two values at the position are collided or have a collision trend, so that the next operation needs to be carried out according to the numerical value of B. And S940, when the second vector value H is larger than a positive threshold value (H is larger than 1.5D), the generator flange is arranged on the upper rear side of the engine room flange, the generator flange and the engine room flange do not collide with each other, and the range of the third vector value B is continuously judged.

When B is less than 0, the generator flange plate is arranged above and behind the cabin flange plate, the generator flange plate and the cabin flange plate do not collide with each other or have a collision tendency, and the crane can be controlled to lift up a rod, hook down and turn left.

When B is 0, the generator flange is arranged right above and behind the cabin flange and has no collision or collision tendency, and the generator flange is arranged right below and behind the cabin flange, so that the crane can be controlled to lift up a rod, hook down and not rotate.

When B is larger than 0, the generator flange plate is arranged right above and behind the cabin flange plate at the left and has no collision or collision tendency, and the generator flange plate is arranged below and behind the cabin flange plate at the left and right, so that the crane can be controlled to lift up a rod, hook down and turn right.

S950, when the second vector value H is greater than or equal to zero and less than or equal to a positive threshold value (H is greater than or equal to 0 and less than 1.5D), the two values at the position collide with each other or have a collision trend, so that the next operation needs to be carried out according to the value of B.

When B is smaller than a negative threshold value (B < -D), the generator flange is arranged below and behind the engine room flange, and the generator flange and the engine room flange do not collide with each other or have a collision tendency, and at the moment, the crane can be controlled to lift up, lower the hook and turn left.

When the threshold value that B is more than or equal to the negative threshold value is less than or equal to the positive threshold value (-D is less than or equal to B and less than or equal to D), the generator flange is arranged below and behind the engine room flange, and the two parts have the tendency of colliding or colliding, and the crane can be controlled to STOP (STOP).

When the value is larger than the positive threshold value (B > D), the generator flange is arranged at the lower left rear part of the engine room flange, and the generator flange and the engine room flange have collision or a collision trend, and at the moment, the crane can be controlled to lift up a pole, hook down and rotate right.

Fig. 10 is a schematic diagram of adjusting the current relative position information to zero according to another embodiment of the present invention.

As shown in fig. 10, an implementation of the present embodiment may include the following steps:

s101, comparing the first vector value L with 0.

S102, when the first vector value is 0(L ═ 0), determines the range of the second vector value H.

And S103, when the second vector value is smaller than 0(H is less than 0), the generator flange plate is parallel to the engine room flange plate, and a signal for adjusting the second vector value H to be 0 is sent below the generator flange plate.

When B is less than 0, the generator flange is parallel to the engine room flange and is positioned at the lower right, and the crane can be controlled to lift a pole, hook up and turn left.

When B is 0, the generator flange is parallel to the engine room flange and is right below the engine room flange, and the crane can be controlled to lift a rod and hook up without rotating.

When B is more than 0, the generator flange is parallel to the engine room flange and is positioned at the left lower part, and the crane can be controlled to lift a pole, hook up and rotate to the right.

And S104, when the second vector value is larger than 0(H is larger than 0), the generator flange plate is parallel to the cabin flange plate and is above the cabin flange plate, and a signal for adjusting the second vector value H to be 0 is sent at the moment.

When B is less than 0, the generator flange is parallel to the engine room flange and is arranged at the upper right, and the crane can be controlled to lift a rod, hook down and turn left.

When B is 0, the generator flange is parallel to the engine room flange and is right above the engine room flange, and the crane can be controlled to lift up a rod and hook down without rotating.

When B is more than 0, the generator flange is parallel to the engine room flange and is positioned at the upper left, and the crane can be controlled to lift a pole, hook down and turn right at the moment.

S105, when the second vector value is 0(H ═ 0), a signal for adjusting the third vector value H to 0 is transmitted.

When B is less than 0, the generator flange is parallel to the engine room flange and on the right side, and the crane can be controlled to lift a rod, hook down and turn left.

When B is 0, the crane can be controlled to be Stationary (STOP).

When B is more than 0, the generator flange is parallel to the engine room flange and on the left, the crane can be controlled to lift a rod, hook down and turn right.

As shown in fig. 11, an implementation of this embodiment may include the following steps:

s111, comparing the first vector value with 0.

And S112, when the first vector value L is larger than 0(L is larger than 0), judging the range of the second vector value H by the generator flange plate in front of the cabin flange plate.

And S113, when the second vector value is smaller than 0(H is less than 0), the generator flange is arranged in front of and below the cabin flange, and a signal for adjusting the second vector value H to be 0 is sent.

When B is less than 0, the generator flange is arranged at the front, lower and right sides of the engine room flange, and the crane can be controlled to drop a pole, hook up and turn left.

When B is 0, the generator flange is just in front of and below the cabin flange, and at the moment, the crane can be controlled to fall off the rod, hook up and do not rotate.

When B is larger than 0, the generator flange plate is arranged at the front lower left side of the cabin flange plate, and the crane can be controlled to drop a pole, hook up and turn right at the moment.

And S114, when the second vector value is larger than 0(H is larger than 0), the generator flange plate is arranged in front of and above the cabin flange plate, and a signal for adjusting the second vector value to be 0 is sent.

When B is less than 0, the generator flange plate is arranged on the front upper right side of the cabin flange plate, and the crane can be controlled to drop a pole, hook down and turn left.

When B is 0, the generator flange is arranged right in front of and above the cabin flange, and the crane can be controlled to drop the rod, hook down and not rotate.

When B is larger than 0, the generator flange plate is arranged at the front upper left side of the cabin flange plate, and the crane can be controlled to drop a pole, hook down and turn right at the moment.

And S115, when the second vector value is 0(H is 0), the generator flange plate is arranged in front of and above the cabin flange plate, and a signal for adjusting the third vector value B to be 0 is sent.

When B is less than 0, the generator flange is arranged at the front right side of the cabin flange, and the crane can be controlled to drop, hook and turn left.

When B is 0, the generator flange is arranged right in front of and above the cabin flange, and at the moment, the crane can be controlled to drop off the rod and hook up without rotating.

When B is larger than 0, the generator flange is arranged at the front left side of the cabin flange, and the crane can be controlled to drop, hook and turn right.

It should be noted that the operation contents described in the foregoing embodiments may be combined and applied to different degrees, and for simplicity, implementation manners of various combinations are not described again, and a person skilled in the art may flexibly adjust the sequence of the operation steps described above according to actual needs, or flexibly combine the steps described above, and the like.

During the hoisting alignment process of the wind generating set, the relationship between the operation crane action and the position of the generator relative to the engine room can be shown in the following table (1):

watch (1)

Wherein, D: flange diameter, L: distance in the X-axis direction, H: distance on Y-axis, B: distance on the Z-axis.

Thus, the above-described embodiment of the invention can realize:

a) the problem of wind turbine generator system adjust the inefficiency of in-process well is solved.

b) The automation and the intellectualization of the hoisting of the wind turbine generator are realized.

c) The full-time hoisting of the fan is realized, and the hoisting cost is reduced due to bad weather or at night.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The utility model provides a system is adjusted well in hoist and mount of wind generating set which characterized in that includes:

the signal receivers are arranged on a second connecting part of a second hoisting structure of the wind generating set at intervals and used for respectively receiving the wireless signals;

the data processor is used for acquiring wireless signals received by the signal receivers, calculating current spatial position information of the signal generator based on the position information of the signal generator, the position information of the signal receivers and the wireless signals received by the signal receivers, and generating signals for hoisting and aligning the first connecting component and the second connecting component according to the first initial position information of the first connecting component, the second initial position information of the second connecting component and the current spatial position information;

the data processor is further configured to:

setting a position of a designated one of the plurality of signal receivers on a spatial coordinate origin;

acquiring current relative position information of the signal generator relative to the space coordinate origin;

generating a signal for moving the first connection part by lifting to adjust the current relative position information to 0 based on the current relative position information;

wherein:

the current relative position information comprises a three-dimensional spatial position vector value;

the three-dimensional spatial position vector values comprise: a first vector value in the X-axis direction, a second vector value in the Y-axis direction, and a third vector value in the Z-axis direction;

the data processor is further configured to:

generating a signal for gradually adjusting all of the first vector value, the second vector value and the third vector value to 0 based on the first vector value, the second vector value and the third vector value, and transmitting the signal to a crane for performing hoisting alignment;

wherein: the data processor is further configured to:

when the first vector value is smaller than 0, judging the range of the second vector value;

when the second vector value is smaller than or equal to a positive threshold value and larger than or equal to a negative threshold value, judging the range of the third vector value;

determining whether there is interference with the first and second lifting structures based on a range of the first, second, and third vector values;

when the first hoisting structure and the second hoisting structure are interfered, a stop instruction is sent to the crane;

when the first hoisting structure and the second hoisting structure are not interfered, sending an instruction for adjusting the third vector to be 0 to the crane;

wherein the threshold is equal to or less than 1.5 times the diameter of the second connecting member and equal to or greater than the diameter of the second connecting member.

2. The system of claim 1, further comprising:

and the display is used for displaying the simulated motion track obtained according to the first initial position information and the second initial position information, and displaying the position information of the signal generator corresponding to a plurality of time points before the current spatial position information and the current spatial position information, so as to form the actual motion track of the signal generator in the hoisting alignment process.

3. The system of claim 2, further comprising:

and the controller is used for comparing the actual motion track with the simulated motion track, and sending a signal for indicating the motion according to the simulated motion track to the crane which is subjected to hoisting alignment when the actual motion track is inconsistent with the simulated motion track.

4. The system according to any one of claims 1-3, wherein the data processor is further configured to:

acquiring a receiving time difference or a signal intensity difference of a wireless signal of each signal receiver;

and calculating the current spatial position information of each signal generator based on the receiving time difference or the signal strength difference.

5. The system of any one of claims 1-3, wherein:

the signal generator is arranged in the center of the connecting surface of the first connecting component;

the signal receivers are uniformly distributed at the edge position of the connecting surface of the second connecting part, wherein,

the number of the signal receivers is 3, the first signal receiver is arranged at the central position of the connecting surface of the second connecting part, and the second signal receiver and the third signal receiver are respectively arranged at the edge position of the connecting surface of the second connecting part, so that the 3 signal receivers form a right angle.

6. A system according to any of claims 1-3, wherein the signal generator comprises one or more of the following generators: the device comprises a sound wave signal generator, an infrared signal generator and a Wi-Fi signal generator;

the signal receiver comprises one or more of the following generators: a sound wave signal receiver, an infrared signal receiver and a Wi-Fi signal receiver.

7. The system of any one of claims 1-3, wherein:

the first hoisting structure is an impeller, the second hoisting structure is a generator, the first connecting part is a flange of the impeller, and the second connecting part is a flange of the generator;

or,

the second hoisting structure is a cabin, the first hoisting structure is a generator, the second connecting part is a flange of the cabin, and the first connecting part is a flange of the generator.

8. A hoisting alignment method of a wind generating set is characterized by comprising the following steps:

the signal generator is arranged on a first connecting component of a first hoisting structure of the wind generating set and used for transmitting a wireless signal;

the signal receivers are arranged on a second connecting part of a second hoisting structure of the wind generating set at intervals and respectively receive the wireless signals;

the data processor acquires wireless signals received by the signal receivers, calculates current spatial position information of the signal generator based on the position information of the signal generator, the position information of the signal receivers and the wireless signals received by the signal receivers, and generates signals for hoisting and aligning the first connecting component and the second connecting component according to the first initial position information of the first connecting component, the second initial position information of the second connecting component and the current spatial position information;

further comprising:

wherein:

further comprising:

wherein:

the generating, based on the first, second, and third vector values, signals for stepwise adjusting all of the first, second, and third vector values to 0, comprising:

comparing the first vector value to a magnitude of 0;

9. The method of claim 8, further comprising:

and the display displays a simulated motion track obtained according to the first initial position information and the second initial position information, and displays the position information of the signal generator corresponding to a plurality of time points before the current spatial position information and the current spatial position information, so as to form an actual motion track of the signal generator in the hoisting alignment process.

10. The method of claim 9, further comprising:

and the controller compares the actual motion track with the simulated motion track, and when the actual motion track is inconsistent with the simulated motion track, a signal for indicating the motion according to the simulated motion track is sent to the crane which is subjected to hoisting alignment.

11. The method according to any one of claims 8-10, further comprising:

12. The method according to any one of claims 8-10, wherein:

13. The method according to any one of claims 8-10, wherein the signal generator comprises one or more of the following generators: the device comprises a sound wave signal generator, an infrared signal generator and a Wi-Fi signal generator;

14. The method according to any one of claims 8-10, wherein:

or,