Offshore wind power pile foundation submarine cable burying method, underwater operation and maintenance robot and medium

Abstract

The present application relates to offshore wind power operation and maintenance technical field, disclose a kind of offshore wind power pile foundation submarine cable burying method, underwater operating robot and medium, method is applied to underwater operating robot, underwater operating robot carries high-pressure water gun and manipulator, burying method includes the following steps: obtaining the first position of exposed submarine cable;Control underwater operating robot moves to first position;High-pressure water gun flushes out submarine cable groove to second position;Manipulator is buried to the exposed submarine cable that slides into submarine cable groove.The present application utilizes high-pressure water gun to wash the seabed mud suspension near the exposed submarine cable, under the action of water flow, the bottom of the exposed submarine cable is separated, form the groove of submarine cable, the exposed submarine cable slides into the groove under the action of its own gravity, then the seabed mud near is pushed into the groove by manipulator, complete the burying of exposed submarine cable, and further avoid irreversible failure such as fatigue damage and even insulation layer damage caused by exposed submarine cable.

Description

TECHNICAL FIELD

[0001] The present application relates to the offshore wind power operation and maintenance technical field, especially to a kind of offshore wind power pile foundation submarine cable burying method, underwater operation robot and medium. BACKGROUND

[0002] The near-shallow sea offshore wind power is usually located in the shallow sea area of about 30 meters, and the 35kV power collection submarine cable between wind turbines is buried in the seabed of 2-3 meters deep. When reaching the vicinity of the wind turbine pile foundation, it comes out of the seabed, enters the wind turbine pile foundation horn after installing the bending limiter, and is connected to the offshore wind turbine electrical link. The submarine cable is fixed by using the wind turbine foundation anchoring point, and is finally buried in the seabed to the preset depth through the buried bending limiter. With the high seawater flow rate, after the submarine cable is laid, the offshore wind farm is put into operation, and with the complex environmental influences of seabed current, tide, etc., the seabed geological conditions are unstable, and the local scouring of offshore wind power pile foundation causes the submarine cable to be exposed.

[0003] Due to the influences of seabed complex topography, current and tide, etc., with the extension of the wind turbine operation time, the bottom appears to be scoured and hollowed out, and the submarine cable near the wind turbine will be exposed due to scouring. First, when the exposed length of the submarine cable is too long, the vibration caused by scouring causes the 35kV power collection submarine cable to rub against the seabed and the wind turbine foundation, resulting in fatigue damage and even irreversible failure such as insulation layer damage. Second, when the bending limiter bolt opening of the submarine cable is widened, worn or fallen off, the bending limiter becomes a cable cutter in the air, causing the submarine cable to be worn, the outer steel wire rope to be untwisted, the submarine cable armor and steel wire layer to be damaged, the insulation layer to be damaged, and the cable core conductor to be exposed to ground discharge failure; third, the exposed power collection cable in the routing area is displaced and suspended due to seabed scouring, and the mechanical stress change of the submarine cable causes failure; fourth, the exposed power collection cable increases the probability of being damaged by passing ships' trawl and anchor. SUMMARY

[0004] The main purpose of the present application is to provide a kind of offshore wind power pile foundation submarine cable burying method, underwater operation robot and medium, to solve the technical problem of submarine cable exposure of near-shallow sea offshore wind power.

[0005] The first aspect of the present application provides a kind of offshore wind power pile foundation submarine cable burying method, applied to underwater operation robot, the underwater operation robot is equipped with high pressure water gun and manipulator, the burying method includes the following steps:

[0006] obtaining the first position of the exposed submarine cable;

[0007] controlling the underwater operation robot to move to the first position;

[0008] the high pressure water gun scours out the submarine cable groove at the second position;

[0009] The mechanical arm buries the exposed submarine cable that slides into the submarine cable groove.

[0010] Optionally, the first position of the exposed submarine cable comprises the following steps:

[0011] The inspection system acquires a sea area range where the exposed submarine cable is located.

[0012] The submarine cable acoustic image and the submarine cable optical image of the sea area range are acquired.

[0013] It is determined whether it is an exposed submarine cable through the submarine cable acoustic image and the submarine cable optical image, and if so, the first position of the exposed submarine cable is determined.

[0014] Optionally, the high-pressure water gun flushes out the submarine cable groove at the second position comprises:

[0015] The high-pressure water gun flushes out the inclined groove with a predetermined slope from the oblique downward position of the exposed submarine cable at a predetermined angle from the side edge area of the exposed submarine cable.

[0016] Optionally, the attitude balancing step comprises:

[0017] The magnitude and direction of the reaction force generated when the high-pressure water gun sprays high-pressure liquid are acquired.

[0018] The underwater maintenance robot generates a balancing force equal in magnitude and opposite in direction to the reaction force.

[0019] Optionally, the attitude balancing step comprises:

[0020] The magnitude and direction of the reaction force generated when the high-pressure water gun sprays high-pressure liquid are acquired.

[0021] The flow pressure and flow direction received by the underwater maintenance robot under the sea surface are acquired.

[0022] The direction and magnitude of the first resultant force are calculated according to the magnitude and direction of the reaction force and the flow pressure and flow direction.

[0023] The underwater maintenance robot generates a balancing force equal in magnitude and opposite in direction to the first resultant force.

[0024] Optionally, the attitude balancing step comprises:

[0025] The predetermined magnitude and direction of the reaction force generated when the high-pressure water gun sprays high-pressure liquid are calculated according to the predetermined spray angle and spray speed magnitude before the high-pressure water gun is started.

[0026] The angle and direction of the propeller carried by the underwater maintenance robot are adjusted according to the predetermined magnitude and direction of the reaction force, and the predetermined rotational speed of the propeller is calculated.

[0027] The high-pressure water gun and the propeller are simultaneously started at a predetermined jetting angle and jetting speed and at a predetermined rotating speed.

[0028] Optionally, the size of the reaction force is F=1.56d 2 ρv0 2 / 2;

[0029] Wherein, d is the nozzle outlet diameter of the high-pressure water gun, ρ is the liquid density; v0 is the jet speed of the high-pressure water gun.

[0030] Optionally, the method further comprises a cleaning step, and the cleaning step comprises:

[0031] The manipulator cleans the debris at and near the second position.

[0032] The second aspect of the present application provides an underwater operation robot for realizing the offshore wind power pile foundation submarine cable burying method, and the underwater operation robot comprises:

[0033] A shell;

[0034] A sonar arranged in the shell and used for acquiring an underwater acoustic image;

[0035] A camera arranged above the shell and used for acquiring an underwater optical image;

[0036] The sonar and the camera are used to acquire a first position of the exposed submarine cable;

[0037] A propeller comprising a horizontal propeller and a vertical propeller and arranged in the shell, and used for controlling the underwater operation robot to move to the first position;

[0038] A gyroscope used for acquiring attitude data of the underwater operation robot;

[0039] A high-pressure water gun connected to the shell through a mechanical arm and arranged on a side surface of the shell, and used for flushing a submarine cable groove at a second position;

[0040] A manipulator arranged on the same side surface of the shell as the high-pressure water gun, and used for burying the exposed submarine cable sliding into the submarine cable groove.

[0041] A controller arranged in the shell and electrically connected to an operating device on a ship body.

[0042] The third aspect of the present application provides a computer readable storage medium, and instructions are stored on the computer readable storage medium, and the instructions are executed by a processor to realize the offshore wind power pile foundation submarine cable burying method.

[0043] Compared with the prior art, the present application has the following beneficial effects:

[0044] The technical solution provided by the present application first acquires the position of the exposed submarine cable, then controls the underwater operation robot carrying the high-pressure water gun to move to the exposed position of the submarine cable, uses the high-pressure water gun to flush the seabed mud near the exposed submarine cable, and under the action of the water flow, the bottom of the exposed submarine cable is separated from the seabed, forming a groove of the submarine cable, and the exposed submarine cable slides into the groove under the action of its own gravity, and then the mechanical hand pushes the seabed mud near the groove into the groove, completing the burial of the exposed submarine cable, thereby avoiding irreversible failure such as fatigue damage and even damage of the insulation layer caused by the exposed submarine cable. BRIEF DESCRIPTION OF DRAWINGS

[0045] One or more embodiments are illustrated by way of example with reference to the accompanying drawings, which are schematic and not intended to be limiting of the embodiments, and in which like reference numerals refer to like elements in the various figures of the drawings in which: the figures are not to scale.

[0046] Figure 1 The first embodiment of the offshore wind power pile foundation submarine cable burying method of the present application is shown in the figure.

[0047] Figure 2 The second embodiment of the offshore wind power pile foundation submarine cable burying method of the present application is shown in the figure.

[0048] Figure 3 The third embodiment of the offshore wind power pile foundation submarine cable burying method of the present application is shown in the figure.

[0049] Figure 4 Another embodiment of the attitude balancing step of the present application is shown in the figure.

[0050] Figure 5 Another embodiment of the attitude balancing step of the present application is shown in the figure.

[0051] Figure 6 The fourth embodiment of the offshore wind power pile foundation submarine cable burying method of the present application is shown in the figure.

[0052] Figure 7 The structure of the underwater operation robot embodiment of the present application is shown in the figure.

[0053] Figure 8 The signal transmission of the underwater operation robot embodiment of the present application is shown in the figure.

[0054] Figure 9 The flow chart of the precise suspension control of the underwater operation robot of the present application is shown in the figure. DETAILED DESCRIPTION

[0055] The embodiment of the present application provides a submarine wind power pile foundation submarine cable burying method, an underwater operation robot and a medium, realizes positioning of the underwater exposed submarine cable, and the submarine cable groove is flushed out through a high-pressure water gun to enable the exposed submarine cable to slide in, and the exposed submarine cable is buried through a manipulator.

[0056] The terms "first", "second", "third", "fourth" and the like in the description, claims, and drawings of the present application, and those above (if any) are used to distinguish similar objects, and do not necessarily have to be described in a particular order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "comprise" or "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0057] When laying submarine cables, there are special cable laying ships. Such cable laying ships will not "follow the flow", but will be precisely positioned on the sea, advanced and corrected by using a dynamic positioning system, which can greatly improve the laying accuracy and the construction capability of the cable laying ship in complex sea conditions.

[0058] When burying submarine cables to the seabed, the submarine cable is placed in the abdomen of the burying machine, and then the burying machine is lifted into the water and placed on the seabed. Then, start the high-pressure water pump and burying depth monitoring system, and start the burying operation. The burying machine moves horizontally with the towing of the ship, and the high-pressure water flow impacts the seabed silt, and the two work together to form a preliminary section, while laying the submarine cable, and as the surrounding silt collapses, the submarine cable is buried in the seabed.

[0059] In view of the problem of exposed submarine cable, the present application provides a submarine wind power pile foundation submarine cable burying method, an underwater operation robot and a medium to solve the problem of exposed submarine cable, and the exposed submarine cable is buried again. The burying method is applied to the underwater operation robot, and the underwater operation robot is equipped with a high-pressure water gun and a manipulator.

[0060] The embodiment provided by the present application is suitable for burying the exposed 35kV power collection submarine cable. The outer diameter of the 35kV power collection submarine cable is not more than 200mm, and the size is relatively small. The burying method and the operation robot provided by the embodiment can realize the burying of the exposed submarine cable.

[0061] For the convenience of understanding, the specific process of the embodiment of the present application is described below. Please refer to Figure 1 The first embodiment of the submarine wind power pile foundation submarine cable burying method in the embodiment of the present application comprises:

[0062] S100, Obtain the first location of the exposed submarine cable.

[0063] The area where the submarine cable is exposed is initially determined by the ship inspection system. After the area is determined, the specific location of the exposed submarine cable is found in the area by an underwater maintenance robot, which is the first location of the exposed submarine cable.

[0064] S200: Control the underwater maintenance robot to move to the first position.

[0065] The underwater maintenance robot can be connected to the rigging device mounted on the ship's inspection system and controlled to move to the location of the exposed submarine cable; the underwater maintenance robot can also be controlled to move to the location of the exposed submarine cable via the thrusters mounted on the underwater maintenance robot; or the underwater maintenance robot can be controlled to move to the location of the exposed submarine cable by working in conjunction with the rigging device mounted on the ship's inspection system.

[0066] S300, the high-pressure water gun flushes the second position out of the submarine cable trough.

[0067] The high-pressure water jet cleaner employs a high-pressure water jet cleaning process, using water as the medium. Under high pressure, the jet shock wave impacts the seabed sediment at a second location, forming trenches, i.e., cable trenches. The inherent frequency of the high-pressure jet nozzle cavity amplifies the feedback pressure, increasing the resulting water pressure and thus enhancing the high-pressure water jet's scouring ability.

[0068] The high-pressure water gun is controlled by a robotic arm. The robotic arm controls the direction and angle of the high-pressure water gun to jet impact the seabed sediment exposed below the submarine cable, causing the seabed sediment to suspend. The suspended seabed sediment is then removed from the bottom of the exposed submarine cable by the water flow, thus forming a submarine cable trough.

[0069] Specifically, a high-pressure water jet sprays water from the side of the exposed submarine cable at a predetermined angle, creating a sloping channel with a predetermined gradient. This sloping channel is called the cable channel. The sloping channel has a certain width, length, and slope. When the size and slope of the sloping channel meet the conditions for the exposed submarine cable to slide in, the exposed submarine cable will slide down the slope of the sloping channel to the bottom of the sloping channel under the action of gravity.

[0070] S400, The robotic arm buries the exposed submarine cable that has slid into the cable trench.

[0071] After the cable trench is formed, the exposed cable slides into the trench under its own gravity. Then, a robotic arm pushes the seabed sediment near the trench into the trench, thus burying the exposed cable. Alternatively, with the assistance of a robotic arm, the exposed cable is pushed into the trench, and then the seabed sediment near the trench is pushed into the trench, completing the burial of the exposed cable.

[0072] Referring to Figure 2 In the second embodiment of the offshore wind power pile foundation submarine cable burying method in the embodiments of the present application, the method comprises the following steps:

[0073] S100, a first position of the exposed submarine cable is acquired.

[0074] The sea area where the exposed submarine cable is located is preliminarily determined through the ship inspection system, and after the sea area is determined, the specific position of the exposed submarine cable, i.e., the first position of the exposed submarine cable, is found in the sea area by the underwater operation robot.

[0075] Specifically, acquiring the first position of the exposed submarine cable comprises the following steps:

[0076] S101, the ship inspection system acquires the sea area range where the exposed submarine cable is located.

[0077] Since the underwater operation robot has a smaller moving speed in water than the ship inspection system, when the offshore wind power pile foundation submarine cable is inspected, the ship inspection system is first used to drive the underwater operation robot to move on the sea surface synchronously, a side-scan sonar is arranged on the ship body, and thus the wind turbine pile periphery is preliminarily inspected. When the preliminary inspection indicates that further inspection is needed, the underwater operation robot is lowered into water. That is, the range of the sea area where the exposed submarine cable is located is preliminarily determined through the inspection system.

[0078] Specifically, after the offshore wind power pile foundation installation is completed and the submarine cable is buried, the installation position of the pile foundation and the burial position of the submarine cable can be acquired according to the preset device during installation and burial, the sea surface information corresponding to the installation position and the burial position is acquired, and the water flow scouring information of the sea water on the pile foundation is acquired; and thus the moving route and the moving speed of the ship body are determined according to the above information. It should be noted that the lower the ship speed of the ship body is, the greater the shot point density is, and the higher the detection resolution is. The ship speed of the fixed installation can be relatively large, the ship speed of the towed investigation is relatively low (limited by the strength of the towed cable and the water depth), and the ship speed of the deep water towed investigation is the lowest.

[0079] Further, the sea surface information comprises the wind direction, the wind speed, the sea wave direction and the sea wave size, and the water flow scouring information comprises the sea bottom water flow direction and the water flow size.

[0080] S102, a submarine cable acoustic image and a submarine cable optical image of the sea area range are acquired.

[0081] After the ship inspection system is controlled to move to the underwater level of the underwater operation robot, the underwater operation robot is lowered into water through the cable hoisting device, and the robot is controlled to move to the sea area range after being lowered into water, so that the underwater operation robot moves to the exposed position of the submarine cable.

[0082] The front-looking sonar and the camera of the underwater maintenance robot acquire acoustic images and optical images of the submarine cable respectively. Specifically, the underwater maintenance robot is controlled to rotate by a preset angle with the position of the submarine cable in the exposed state as the center, and the underwater maintenance robot is kept hovering to obtain the acoustic images and the optical images of the submarine cable.

[0083] S103, judging whether the submarine cable is exposed or not through the submarine cable acoustic images and the submarine cable optical images, and if yes, determining the first position of the exposed submarine cable.

[0084] The underwater maintenance robot transmits the acquired acoustic images and optical images to a data processing terminal in the ship inspection system for processing to judge whether the submarine cable is exposed or not, and if yes, the first position of the exposed submarine cable can be determined, and the underwater maintenance robot is subsequently controlled to move to the first position. The first position is the position where the underwater maintenance robot stays when performing the burying operation, which can be a single position point or a position range area composed of multiple position points.

[0085] In other embodiments, the underwater maintenance robot can also transmit the acquired acoustic images and optical images to a display screen in the ship inspection system for display, and whether the submarine cable is exposed or not can be judged by manually watching the images on the display screen.

[0086] The underwater robot enters the seabed to perform accurate inspection to determine whether the preliminary inspection result of the ship is correct, thereby improving the accuracy of the inspection result.

[0087] S200, controlling the underwater maintenance robot to move to the first position.

[0088] The underwater maintenance robot can be connected by a cable hoisting device carried by the ship inspection system to control the underwater maintenance robot to move to the position of the exposed submarine cable, or the underwater maintenance robot can be controlled to move to the position of the exposed submarine cable by a propeller carried by the underwater maintenance robot, or the underwater maintenance robot can be controlled to move to the position of the exposed submarine cable by the cooperation of the cable hoisting device carried by the ship inspection system and the underwater maintenance robot.

[0089] S300, the high-pressure water gun flushes the submarine cable groove at the second position.

[0090] The high-pressure water gun specifically adopts a high-pressure water jet cleaning process. Water is used as a medium, and under high-pressure conditions, the jet impact wave is used to impact the seabed mud at the second position to form a groove, i.e., a submarine cable groove. Through the inherent frequency of the high-pressure jet nozzle cavity, the feedback pressure can be amplified, the water pressure effect is increased, and thus the flushing capacity of the jet high-pressure water gun is improved.

[0091] The high-pressure water gun is controlled to move by the manipulator, the spraying direction and the spraying angle of the high-pressure water gun are controlled by the manipulator, the jet impact is carried out on the bottom mud exposed below the submarine cable, the bottom mud of the submarine cable is suspended, the suspended bottom mud of the submarine cable is separated from the bottom of the exposed submarine cable under the action of water flow, and then the submarine cable groove is formed.

[0092] Specifically, the high-pressure water gun flushes out the inclined groove with a predetermined slope from the side edge area of the exposed submarine cable to the obliquely lower position of the exposed submarine cable at a predetermined angle. The inclined groove has a certain width, length and slope. When the size and slope of the inclined groove meet the sliding-in condition of the exposed submarine cable, the exposed submarine cable will slide into the bottom of the inclined groove under the action of gravity.

[0093] S400, the manipulator buries the exposed submarine cable sliding into the submarine cable groove.

[0094] After the submarine cable groove is formed, the exposed submarine cable slides into the submarine cable groove under the action of its own gravity, and then the submarine bottom mud near the submarine cable groove is pushed into the submarine cable groove by the manipulator to realize the burying of the exposed submarine cable. Or the exposed submarine cable is pushed into the submarine cable groove under the cooperation of the manipulator, and then the submarine bottom mud near the submarine cable groove is pushed into the submarine cable groove to complete the burying of the exposed submarine cable.

[0095] The high-pressure water gun flushes out the inclined groove with a predetermined slope from the side edge area of the exposed submarine cable to the obliquely lower position of the exposed submarine cable at a predetermined angle.

[0096] Please refer to Figure 3 , a third embodiment of a submarine wind power pile submarine cable burying method in the embodiment of the application, comprising:

[0097] S100, obtaining a first position of an exposed submarine cable.

[0098] The sea area of the exposed submarine cable is preliminarily determined through the ship inspection system, and after the sea area is determined, the specific position of the exposed submarine cable, i.e. the first position of the exposed submarine cable, is found in the sea area through the underwater operation robot.

[0099] S200, controlling the underwater operation robot to move to the first position.

[0100] The underwater operation robot can be connected through the cable lifting device carried by the ship inspection system to control the underwater operation robot to move to the position of the exposed submarine cable. The underwater operation robot can also be controlled to move to the position of the exposed submarine cable through the propeller carried by the underwater operation robot. Or the underwater operation robot is controlled to move to the position of the exposed submarine cable through the cooperation of the cable lifting device carried by the ship inspection system and the underwater operation robot.

[0101] S300, the high-pressure water gun flushes out the submarine cable groove at the second position.

[0102] The high-pressure water gun specifically adopts a high-pressure water jet cleaning process. Water is used as a medium, and under high-pressure conditions, the second position of the seabed sediment is impacted by a jet impact wave to form a trench, i.e., a cable trench. Through the inherent frequency of the high-pressure jet nozzle cavity, the feedback pressure can be amplified, and the water pressure formed is increased, thereby improving the jetting ability of the high-pressure water gun.

[0103] The high-pressure water gun is specifically controlled to move by a manipulator, the jetting direction and jetting angle of the high-pressure water gun are controlled by the manipulator, the jet impact is performed on the seabed sediment exposed below the submarine cable to make the seabed sediment suspended, and the suspended seabed sediment leaves the bottom of the exposed submarine cable under the action of the water flow, thereby forming the cable trench.

[0104] Specifically, the high-pressure water gun jets a trench with a predetermined slope from the side edge region of the exposed submarine cable to the obliquely downward position of the exposed submarine cable at a predetermined angle. The trench has a certain width, length and slope. When the size and slope of the trench meet the sliding-in condition of the exposed submarine cable, the exposed submarine cable will slide into the bottom of the trench along the slope of the trench under the action of gravity.

[0105] S400, the manipulator buries the exposed submarine cable that slides into the cable trench.

[0106] After the cable trench is formed, the exposed submarine cable slides into the cable trench under the action of its own gravity, and then the seabed sediment near the cable trench is pushed into the cable trench by the manipulator to achieve the burial of the exposed submarine cable. Alternatively, the exposed submarine cable is pushed into the cable trench under the cooperative pushing of the manipulator, and then the submarine cable sediment near the cable trench is pushed into the cable trench to complete the burial of the exposed submarine cable.

[0107] The high-pressure water gun jets a trench with a predetermined slope from the side edge region of the exposed submarine cable to the obliquely downward position of the exposed submarine cable at a predetermined angle.

[0108] S500, a posture balancing step.

[0109] The posture balancing step is used to achieve the balance of the posture of the underwater operation robot when working. Since the high-pressure water gun generates a high-pressure jet that produces a reaction force when forming the cable trench by jetting the seabed sediment, the underwater operation robot will tilt under the action of the reaction force, which will affect the jetting direction of the high-pressure water gun and further cause the deviation of the jetting point. Therefore, the posture balancing step is needed to keep the underwater operation robot balanced and stable when the high-pressure water gun is working.

[0110] In addition, a large amount of sediment will be raised when the submarine cable trench is flushed, which will make the area where the underwater operation robot is located turbid. Therefore, it is difficult to adjust the posture of the underwater operation robot according to the environment image obtained by the sonar and the camera, and the underwater operation robot needs to be self-adaptively adjusted in posture through other ways.

[0111] The judgment of the posture balance can be determined by the gyroscope carried by the underwater operation robot. The gyroscope can obtain the inclination and balance of the underwater operation robot, and the control terminal on the ship calculates the stress condition of the underwater operation robot according to the inclination and balance.

[0112] The posture balance step includes:

[0113] S501, obtain the size and direction of the reaction force generated when the high-pressure water gun sprays high-pressure liquid.

[0114] The size of the reaction force F can be calculated by the pressure P of the high-pressure water continuous jet generated by the high-pressure water gun and the nozzle outlet diameter d, and the direction of the reaction force can be calculated by the mechanical arm angle sensor of the high-pressure water gun.

[0115] Specifically, the relationship between the pressure P (MPa) of the high-pressure water continuous jet and the jet velocity v0 (m / s) is: P = p v0 2 / 2, so the size of the reaction force is: F = 1.56 d 2 p v0 2 / 2;

[0116] Wherein, d is the nozzle outlet diameter of the high-pressure water gun, p is the density of the liquid, and v0 is the jet velocity of the high-pressure water gun.

[0117] The derivation process of the above reaction force is as follows:

[0118] The relationship between the pressure P (MPa) of the continuous jet and the jet velocity v0 (m / s) is as follows:

[0119] P = p v0 2 / 2 (if the initial velocity of the water jet is 915 m / s, the required pump pressure is 410 MPa), and water can cut a 0.2 mm thin steel plate under a pressure of 200 MPa.

[0120] Water jet pressure classification:

[0121] a. Low pressure jet: working pressure less than 10 MPa;

[0122] b. High pressure jet: working pressure greater than 10 MPa and less than 100 MPa;

[0123] c. Super high pressure jet: working pressure less than 100 MPa.

[0124] Physical properties of water:

[0125] Density: 998 Kg / m3 at 20 degrees Celsius and standard atmospheric pressure 3 ;

[0126] Viscosity: Dynamic viscosity η = 1.00510 -3 N*s / m 2 .

[0127] Basic equations of fluid mechanics:

[0128] V1A1 = V2A2 (Fluid continuity equation)

[0129] P1 / ρ + α1v1 2 / 2 + gZ1 = P2 / ρ + α2v2 2 / 2 + gZ2 + gh f ,

[0130] The dimension of each term in the above equation is N*m / Kg, i.e. energy per unit mass. P / ρ represents the potential energy per unit mass; v 2 / 2 represents the kinetic energy per unit mass; gZ represents the potential energy per unit mass; gh f represents the energy lost during motion; and α represents the ratio of the actual kinetic energy of the total flow passing through a section to the kinetic energy calculated using the average velocity, which is always greater than 1 and is related to the velocity distribution of the section. The greater the velocity distribution, the greater the value, and when the velocity distribution is relatively uniform, the value is approximately equal to 1.

[0131] For a continuous jet, Bernoulli's equation can be applied at two points inside and outside the nozzle section, ignoring the potential energy between the two points, to obtain the following equation

[0132] P1 / ρ + α1v1 2 / 2 = P2 / ρ + α2v2 2 / 2 (1)

[0133] Combining the fluid continuity equation

[0134] V1A1 = V2A2 (2)

[0135] The nozzle flow passage is circular in structure, i.e. A = πd 2 / 4 (3)

[0136] Combining the above three equations, we get V = 44.7

[0137] v - jet velocity m / s;

[0138] p - jet pressure MPa;

[0139] Note: v refers to the initial velocity of the jet at the outlet section of the nozzle, and p refers to the jet pressure at the nozzle section

[0140] Knowing the jet velocity, the jet flow can be derived from q = vA, i.e. the jet flow is equal to the exit velocity multiplied by the nozzle exit area, i.e. q = 2.1d t 2 ;

[0141] q t Jet flow L / min

[0142] p Jet pressure MPa

[0143] d Nozzle exit diameter mm

[0144] When the jet flow and pressure are determined, the jet power can be derived from the following relationship: P = 16.67pq

[0145] P Jet power W

[0146] p Jet pressure MPa

[0147] d Nozzle exit diameter mm

[0148] Jet recoil force F: (derived from the conservation of momentum, i.e. FAt = mv1- mv2) F = 0.745q

[0149] F Jet recoil force N

[0150] p Jet pressure MPa

[0151] d Nozzle exit diameter mm

[0152] Since q = 2.1d 2 Substituting into the above equation gives: F = 1.56d 2 p

[0153] F Jet recoil force N

[0154] p Jet pressure MPa

[0155] d Nozzle exit diameter mm

[0156] Jet initial, basic and dissipation sections

[0157] Jet initial section: the distance between the section where the jet axis velocity starts to decay and the nozzle exit section is the initial section of the jet. Its empirical formula is: Lf = (A - BRe)d

[0158] Lf Length of jet initial section, mm

[0159] d Nozzle exit diameter, mm​

[0160] A - empirical coefficient, depends on the machining accuracy and inner surface machining quality of the nozzle;

[0161] B - empirical coefficient, mainly depends on the Reynolds number;

[0162] Re - Reynolds number of the initial section of the jet;

[0163] v - jet velocity, m / s;

[0164] - kinematic viscosity, m 2 / s; for water, 1.0*10 -6 -6 ;

[0165] A1 = 84 (poor nozzle quality), A2 = 96 (moderate nozzle quality), A3 = 84 (excellent nozzle quality), B = 68*10 -6 ;

[0166] For a higher jet pressure, when the Reynolds number Re is 0.4*10 6 , the length of the initial section of the jet directly depends on the jet formation conditions and is no longer related to the Reynolds number, at this time, L f is generally within the following range:

[0167] L f = (53-106)d

[0168] The rest of the L f / d empirical data is obtained from a table.

[0169] Basic section of the jet: the region between the breakover surface and the dissipation section, in which the axial flow velocity and dynamic pressure of the jet gradually decrease, but the jet remains intact.

[0170] Jet dissipation section: the region outside the basic section, at this time, the jet has completely mixed with the environment medium, the axial velocity and dynamic pressure of the jet are relatively low, and the jet has little entrainment capacity, which is externally manifested as atomization.

[0171] Each section of the jet has different functions in engineering applications. The initial section is used for material cutting, the basic section is used for cleaning, rust removal, finishing processing, polishing, deburring, etc., and the dissipation section is used for dust removal and other processes.

[0172] At twice the length of the initial section of the jet (100d-200d), the pressure at the center of the jet is about half of the initial pressure.

[0173] S502, the underwater operation and maintenance robot generates a balancing force equal in size and opposite in direction to the reaction force. ​

[0174] The control terminal obtains the size and direction of the reaction force, and calculates the rotation speed, steering and direction of the propeller according to the attitude data obtained by the gyroscope, so as to control the propeller to generate the balance force which offsets the reaction force, and thus the underwater operation robot can keep the attitude balance during the process of washing out the submarine cable slot.

[0175] In an embodiment, please refer to Figure 4 The attitude balance step comprises:

[0176] S501, obtaining the size and direction of the reaction force generated by the high-pressure liquid jetted by the high-pressure water gun.

[0177] The size of the reaction force F can be calculated according to the pressure P and the nozzle outlet diameter d of the high-pressure water continuous jet generated by the high-pressure water gun, and the direction of the reaction force can be calculated according to the angle sensor of the manipulator of the high-pressure water gun.

[0178] Specifically, the relationship between the pressure P (MPa) of the high-pressure water continuous jet and the jet velocity v0 (m / s) is: P = ρv0 2 / 2, so the size of the reaction force is: F = 1.56d 2 ρv0 2 / 2.

[0179] Wherein, d is the nozzle outlet diameter of the high-pressure water gun, ρ is the density of the liquid, and v0 is the jet velocity of the high-pressure water gun.

[0180] S502, obtaining the water flow pressure and the water flow direction of the underwater operation robot under the sea surface.

[0181] Since the underwater environment of the sea surface is not a static water environment, there will be water flow influence caused by sea waves, so when calculating the force of the underwater operation robot, the influence of the water flow pressure and the water flow direction also needs to be considered. The water flow pressure and the water flow direction can be obtained by the pressure sensor, or the attitude of the underwater operation robot can be obtained by the gyroscope, and the force condition can be calculated by the control terminal according to the inclination angle.

[0182] S503, calculating the direction and size of the first resultant force according to the size and direction of the reaction force and the water flow pressure and the water flow direction.

[0183] The control terminal calculates the deflection force caused by the reaction force and the water flow, and then calculates the resultant force to obtain the size and direction of the first resultant force.

[0184] S504, the underwater operation robot generates a balance force which is equal in size and opposite in direction to the first resultant force.

[0185] The control terminal calculates a second resultant force that offsets the first resultant force according to the calculated first resultant force, calculates the rotation speed, rotation direction and direction of the propeller according to the second resultant force, and sends a control signal to control the propeller to run, so as to realize the posture balance of the underwater maintenance robot.

[0186] In an embodiment, referring to Figure 5 To avoid the influence of the delay between the calculation of the propeller thrust according to the reaction force after the high-pressure water gun is sprayed and the deviation of the balance result, a posture balance step is provided, which comprises:

[0187] S501, according to the predetermined spray angle and spray speed of the high-pressure water gun before starting, the predetermined size and direction of the reaction force generated by the high-pressure water gun spraying high-pressure liquid are calculated.

[0188] After adjusting the starting position of the high-pressure water gun, the spray angle of the high-pressure water gun can be obtained, and the spray speed (jet speed) can be known according to the set value, so that the size and direction of the reaction force generated by the high-pressure water gun can be calculated in advance before the high-pressure water gun is sprayed.

[0189] S502, according to the predetermined size and direction of the reaction force, the angle and direction of the propeller carried by the underwater maintenance robot are adjusted, and the predetermined rotation speed of the propeller is calculated.

[0190] The size of the reaction force F is calculated by the pressure P and the nozzle outlet diameter d of the continuous jet of high-pressure water generated by the high-pressure water gun. The pressure P of the continuous jet of high-pressure water can be calculated according to the jet speed v0 set by the high-pressure water gun, and the direction of the reaction force can be calculated by the angle sensor of the mechanical arm controlling the high-pressure water gun.

[0191] Specifically, the relationship between the pressure P (MPa) of the continuous jet of high-pressure water and the jet speed v0 (m / s) is: P = ρv0 2 / 2, so the size of the reaction force is: F = 1.56d 2 ρv0 2 / 2;

[0192] Wherein, d is the nozzle outlet diameter of the high-pressure water gun, ρ is the liquid density; v0 is the jet speed of the high-pressure water gun.

[0193] The propeller carried by the underwater maintenance robot is adjusted in advance to run at a predetermined angle, and the rotation direction and rotation speed are set.

[0194] S503, the high-pressure water gun and the propeller are started at the same time at the predetermined spray angle, spray speed and predetermined rotation speed.

[0195] The high-pressure water gun is started at the same time with the set propeller at the adjusted jet angle and the set jet speed, keeps the posture balance of the underwater robot, and avoids the adjustment deviation caused by the delay.

[0196] Please refer to Figure 6 The fourth embodiment of the offshore wind power pile foundation submarine cable burying method in the embodiment of the application comprises:

[0197] S100, a first position of the exposed submarine cable is acquired.

[0198] The sea area where the submarine cable is exposed is preliminarily determined through the ship inspection system, and after the sea area is determined, the specific position of the exposed submarine cable, i.e., the first position of the exposed submarine cable, is found in the sea area through the underwater operation robot.

[0199] S200, the underwater operation robot is controlled to move to the first position.

[0200] The underwater operation robot can be connected through the cable lifting device carried by the ship inspection system, and the underwater operation robot can be controlled to move to the position of the exposed submarine cable; the underwater operation robot can also be controlled to move to the position of the exposed submarine cable through the propeller carried by the underwater operation robot; or the underwater operation robot can be controlled to move to the position of the exposed submarine cable through the cooperation of the cable lifting device carried by the ship inspection system and the underwater operation robot.

[0201] S300, a cleaning step.

[0202] The manipulator cleans the second position and the nearby sundries. Specifically, the sundries are clamped and transferred by the manipulator to avoid the sundries from falling into the submarine cable slot during subsequent flushing of the submarine cable slot.

[0203] S400, the high-pressure water gun flushes out the submarine cable slot at the second position.

[0204] The high-pressure water gun specifically adopts a high-pressure water jet cleaning process. Water is used as a medium, and the seabed mud at the second position is impacted by a jet impact wave under high-pressure conditions to form a groove, i.e., a submarine cable slot. Through the inherent frequency of the high-pressure jet nozzle cavity, the feedback pressure can be amplified, the water pressure effect is increased, and thus the jet high-pressure water gun flushing capacity is improved.

[0205] The high-pressure water gun is specifically controlled to move by the manipulator, the jet direction and the jet angle of the high-pressure water gun are controlled by the manipulator, the seabed mud under the exposed submarine cable is impacted by a jet, the seabed mud after being suspended leaves the bottom of the exposed submarine cable under the action of water flow, and thus the submarine cable slot is formed.

[0206] Specifically, the high-pressure water gun flushes out a trench with a predetermined slope from the side edge area of the exposed submarine cable to a position diagonally below the exposed submarine cable at a predetermined angle. The trench has a certain width, length and slope. When the size and slope of the trench meet the sliding-in condition of the exposed submarine cable, the exposed submarine cable will slide along the slope of the trench to the bottom of the trench under the action of gravity.

[0207] S500, the robot buries the exposed submarine cable that slides into the submarine cable trench.

[0208] After the submarine cable trench is formed, the exposed submarine cable slides into the submarine cable trench under the action of its own gravity, and then the robot pushes the submarine bottom mud near the submarine cable trench into the submarine cable trench to achieve the burial of the exposed submarine cable. Alternatively, the exposed submarine cable is pushed into the submarine cable trench under the cooperative pushing of the robot, and then the submarine bottom mud near the submarine cable trench is pushed into the submarine cable trench to complete the burial of the exposed submarine cable.

[0209] Please refer to Figure 7 The underwater operation robot provided by the present application is used to realize the offshore wind power pile foundation submarine cable burying method. The underwater operation robot comprises a shell 1, a sonar 2, a camera 3, a propeller 4, a high-pressure water gun 5, a robot hand 6, a controller 7 and a gyroscope (not shown).

[0210] The shell 1 is a cubic frame for mounting various parts.

[0211] The sonar 2 is arranged on the top of the upper surface of the shell 1 and is used to obtain underwater acoustic images. The sonar 2 is connected with the controller 7 and specifically adopts a two-dimensional multi-beam sonar.

[0212] The camera 3 is arranged above the shell 1 and is used to obtain underwater optical images. The camera 3 is connected with the controller 7 and specifically adopts a high-definition camera.

[0213] The first position of the exposed submarine cable is obtained by the sonar 2 and the camera 3.

[0214] The propeller 4 comprises horizontal propellers 42 and vertical propellers 41 and is arranged on the shell 1 and connected with the controller 7 to control the movement of the underwater operation robot to the first position. Specifically, the number of the vertical propellers 41 is four, which are respectively arranged at the four corners of the upper surface of the shell 1 and are used to control the vertical movement of the underwater operation robot. The number of the horizontal propellers 42 is also four, which are arranged in a quadrilateral with the shell 1 and are used to control the horizontal movement of the underwater operation robot.

[0215] The high-pressure water gun 5 is connected with the shell 1 through a mechanical arm and is arranged on the side of the shell 1 and connected with the controller 7. The high-pressure water gun 5 flushes out the submarine cable trench at the second position. The high-pressure water gun 5 specifically adopts a high-pressure water gun robot hand.

[0216] The gyroscope, located inside the housing 1, is used to acquire the attitude data of the underwater maintenance robot, providing data for determining the tilt degree of the underwater maintenance robot;

[0217] The robotic arm 6 and the high-pressure water gun 5 are located on the same side of the housing 1 and connected to the controller 7. The robotic arm 6 buries the exposed submarine cable that has slid into the cable trench. The robotic arm is specifically an operator-type robotic arm.

[0218] The controller 7 is located inside the housing 1 and is electrically connected to the operating equipment on the hull. Specifically, it is an MCU control system.

[0219] It also includes a buoyancy block 8, located on the top of the shell 1, for providing buoyancy.

[0220] Specifically, such as Figure 8 The diagram illustrates the signal transmission between various components and modules. It comprises two parts: above-water and underwater. The above-water part includes a shore-based power supply and remote control system, located on the vessel, specifically a vessel inspection system. The underwater part includes an MCU control system that communicates with the shore-based power supply and remote control system. This includes a speed control module that communicates with both the horizontal and vertical thrusters, which in turn are connected to the MCU control system. It also includes a gyroscope module, a two-dimensional multibeam sonar, a depth sensor, a high-definition camera, an operator's manipulator, and a high-pressure water gun manipulator, all connected to the MCU control system. Finally, it includes a power module connected to the underwater speed control module, operator's manipulator, and high-pressure water gun manipulator.

[0221] like Figure 9 The diagram shows the process by which an underwater maintenance robot controls the speed and direction of its thrusters and the flow rate of its high-pressure water jets based on given distance and attitude parameters, given position and yaw parameters, and given flow rate and parameters, thereby achieving precise levitation control of the underwater maintenance robot.

[0222] The present invention also provides a computer-readable storage medium, which can be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium, wherein the computer-readable storage medium stores instructions that, when the instructions are executed on a computer, cause the computer to perform the steps of the offshore wind power pile foundation submarine cable burial method.

[0223] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0224] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or the entire or part of the technical solutions that essentially contribute to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0225] The above-described embodiments are merely used to illustrate the technical solutions of the present application, rather than limit the same; even though the present application has been described in detail with reference to the foregoing embodiments, those ordinarily skilled in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some of the technical features; and these modifications or replacements do not cause the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for burying a marine wind turbine pile foundation sea cable, characterized in that, The method is applied to an underwater operation robot, the underwater operation robot is provided with a high-pressure water gun and a manipulator, and the burying method comprises the following steps. A first position of the exposed submarine cable is obtained. The underwater operation robot is controlled to move to the first position. The high-pressure water gun is used to flush out a groove with a predetermined slope at a position obliquely below the exposed submarine cable at a predetermined angle; the second position is a side area of the exposed submarine cable. The manipulator is used to bury the exposed submarine cable sliding into the submarine cable groove. A posture balancing step comprises: A predetermined size and direction of a reaction force generated by the high-pressure water gun jetting high-pressure liquid are calculated according to a predetermined jetting angle and jetting speed of the high-pressure water gun before the high-pressure water gun is started; The angle and direction of a propeller provided on the underwater operation robot are adjusted according to the predetermined size and direction of the reaction force, and a predetermined rotating speed of the propeller is calculated; The high-pressure water gun and the propeller are simultaneously started at the predetermined jetting angle, jetting speed and predetermined rotating speed. The magnitude of the reaction force is: F = 1.56d 2 pvo 2 / 2; Wherein, d is the nozzle outlet diameter of the high-pressure water gun, ρ is the liquid density; v0 is the jet speed of the high-pressure water gun.

2. The submarine cable burying method for the offshore wind power pile foundation according to claim 1, wherein The first position of the exposed submarine cable comprises the following steps: The inspection system obtains a sea area range where the exposed submarine cable is located; The submarine cable acoustic image and the submarine cable optical image of the sea area range are obtained; It is judged whether it is the exposed submarine cable through the submarine cable acoustic image and the submarine cable optical image, and if yes, the first position of the exposed submarine cable is determined.

3. The submarine cable burying method for the offshore wind power pile foundation according to claim 1, wherein The method comprises a cleaning step, and the cleaning step comprises: The manipulator cleans the second position and nearby sundries.

4. An underwater operation and maintenance robot, characterized by, The underwater operation robot for realizing the submarine cable burying method for the offshore wind power pile foundation according to any one of claims 1-3 comprises: A shell; A sonar provided on the shell and used to obtain an underwater acoustic image; A camera provided above the shell and used to obtain an underwater optical image; The first position of the exposed submarine cable is obtained through the sonar and the camera; A propeller comprising a horizontal propeller and a vertical propeller, which is provided on the shell and is used to control the underwater operation robot to move to the first position; A gyroscope used to obtain posture data of the underwater operation robot; A high-pressure water gun connected to the shell through a mechanical arm and provided on a side surface of the shell, which is used to flush out a submarine cable groove at the second position; A manipulator provided on the same side surface of the shell as the high-pressure water gun, which is used to bury the exposed submarine cable sliding into the submarine cable groove; A controller provided on the shell and electrically connected to an operating device on a ship body.

5. A computer-readable storage medium having stored thereon instructions, the computer-readable storage medium comprising: The instructions are executed by the processor to realize the submarine cable burying method for the offshore wind power pile foundation according to any one of claims 1-4.

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