A control device and control method for sinking posture of a marine wind power cylinder type foundation

Abstract

The application discloses a marine wind power cylinder type foundation sinking posture control device, which comprises a construction ship, sinking equipment and underwater monitoring equipment, the construction ship is mainly equipped with a first control center and a first communication module, the underwater monitoring equipment is equipped with a second control center, a second communication module, a positioning module, a visual module and a motion module, the sinking equipment is mainly equipped with a third control center and a third communication module, and the first communication module, the second communication module and the third communication module can mutually transmit information. The application realizes the cylinder type foundation sinking posture control based on the control device, realizes the cylinder type foundation sinking posture control through the cooperation between the underwater monitoring equipment and the modules of the construction ship and the sinking equipment, guarantees the accurate installation of the cylinder type foundation and ensures the stability of the cylinder type foundation.

Description

Technical Field

[0001] This invention belongs to the field of offshore wind power foundation technology, specifically relating to an offshore wind turbine cylindrical foundation sinking attitude control device and control method. Background Technology

[0002] Offshore wind turbine cylindrical foundations rely on the pressure difference between the inside and outside of the cylinder to press the cylinder into and fix it to the seabed, providing reliable foundation support for offshore wind turbines. Offshore wind turbines are tall structures, and to ensure the stability of the turbines, the inclination angle of the offshore wind turbine foundation cannot exceed 0.25°.

[0003] The attitude during foundation installation directly affects the stability of the foundation. If the cylindrical foundation is tilted after installation, it will cause the overall center of gravity of the turbine to shift, affecting the safety of the structure. To ensure the long-term safe operation of offshore wind turbines, the attitude of the foundation must be controlled during installation to ensure that the tilt of the foundation is within the range specified in the standards.

[0004] Therefore, this invention provides a method for controlling the sinking attitude of a cylindrical foundation for offshore wind power, in order to control the attitude of the cylindrical foundation during the sinking process and ensure the accurate installation of the foundation. Summary of the Invention

[0005] The purpose of this invention is to provide a sinking attitude control device for offshore wind turbine cylindrical foundations, so as to solve the technical problem that cylindrical foundations are prone to tilting during sinking in the prior art. To achieve the above objective, the specific technical solution of this invention is as follows:

[0006] A sinking attitude control device for offshore wind turbine cylindrical foundations, the device comprising:

[0007] A construction vessel, the construction vessel being equipped with a first control center and a first communication module;

[0008] An underwater monitoring device consisting of multiple cylindrical bases joined together to form a ring structure is provided. The underwater monitoring device is equipped with a second control center, a second communication module, a positioning module, a vision module, and a motion module.

[0009] A penetrating tunnel device, wherein the penetrating tunnel device is equipped with a third control center and a third communication module;

[0010] The first communication module, the second communication module, and the third communication module transmit information to each other, and the first control center controls the operation of the second control center and the third control center.

[0011] Furthermore, there are three underwater monitoring devices, which are distributed around the cylindrical foundation at 120° intervals.

[0012] Furthermore, the underwater monitoring equipment includes an arc-shaped mounting frame, a control box in the middle of the arc-shaped mounting frame, and a second control center inside the control box; motion modules are installed on the arc-shaped mounting frames on both sides of the control box; the control box is also equipped with a second communication module, a positioning module, and a vision module; the vision module transmits the captured images of the sinking process of the cylindrical foundation to the construction vessel and the sinking equipment through the second communication module.

[0013] Furthermore, the communication module and the positioning module are integrated into one unit, including signal positioning transmitters positioned on both sides of the control box in a parallel arc-shaped mounting bracket direction.

[0014] Furthermore, the vision module includes a camera mounted on the side of the control box near the cylindrical foundation and lighting equipment around the camera. The camera transmits the images of the cylindrical foundation sinking process to the construction vessel and sinking equipment via a signal positioning transmitter.

[0015] Furthermore, the motion module includes multiple propellers mounted on an arc-shaped mounting bracket.

[0016] Furthermore, two propellers are installed on the arc-shaped mounting brackets on both sides of the control box. The two propellers on the same side are arranged perpendicular to each other, with one propeller running longitudinally through the arc-shaped mounting bracket and the other running laterally through the arc-shaped mounting bracket, so as to enable the monitoring module to adjust its own attitude in different directions.

[0017] Furthermore, the upper part of the end faces at both ends of the arc-shaped mounting bracket is provided with grooves or protrusions that engage with the grooves.

[0018] Another objective of this invention is to provide a method for controlling the sinking attitude of offshore wind turbine cylindrical foundations, in order to solve the technical problem that cylindrical foundations are prone to tilting during sinking in the prior art. To achieve the above objective, the specific technical solution of this invention is as follows:

[0019] A method for controlling the sinking attitude of a cylindrical foundation for offshore wind turbines, the specific operation process of which includes:

[0020] S1. The underwater monitoring equipment is launched into the water and proceeds to the installation area based on the positioning module and motion module;

[0021] S2. The cylindrical foundation is launched into the water, and the foundation is positioned using underwater monitoring equipment;

[0022] S3. The cylindrical foundation relies on its own weight to settle. Monitor the settlement of the cylindrical foundation and make adjustments accordingly.

[0023] S4. Start sinking. During sinking, the attitude of the cylindrical foundation is monitored by underwater monitoring equipment and transmitted to the sinking equipment. The sinking equipment adjusts the attitude of the cylindrical foundation according to the information obtained.

[0024] S5. Once the sinking is complete, the underwater monitoring equipment detaches and returns to the construction vessel to proceed to the next location for sinking monitoring or recovery.

[0025] Furthermore, vertical and depth markers are set on the cylindrical base, and the underwater monitoring equipment processes and calculates based on the acquired images of the vertical and depth markers on the cylindrical base.

[0026] Compared with the prior art, the present invention has the following advantages:

[0027] (1) The cooperation between the underwater monitoring equipment, construction vessel and sinking equipment of the present invention realizes the control of the sinking attitude of the cylindrical foundation, ensures the accurate installation of the cylindrical foundation and ensures the stability of the cylindrical foundation.

[0028] (2) The underwater monitoring equipment can travel and install itself via a motion model, which improves the efficiency of construction;

[0029] (3) The underwater monitoring equipment is equipped with a camera that can transmit signals to the construction vessel, making the installation of the cylindrical foundation visible and allowing the personnel on the construction vessel to better understand the installation situation. Attached Figure Description

[0030] Figure 1 This is a block diagram of the control device of the present invention;

[0031] Figure 2 This is one of the structural schematic diagrams of the underwater monitoring equipment of the present invention;

[0032] Figure 3 This is the second structural schematic diagram of the underwater monitoring equipment of the present invention;

[0033] Figure 4 This is the third structural schematic diagram of the underwater monitoring equipment of the present invention;

[0034] Figure 5 This is a flowchart illustrating the operation of the control method of the present invention.

[0035] Figure 6 This is a side view of the cylindrical base of the present invention;

[0036] Figure 7 This is a schematic diagram illustrating how the underwater monitoring equipment of the present invention obtains and calculates the tilt angle of the cylindrical foundation.

[0037] Figure 8 This is a schematic diagram showing the tilt angle γ of the marked image on the cylindrical base obtained by the underwater monitoring equipment of the present invention;

[0038] Figure 9 This is a schematic diagram illustrating the use of the underwater monitoring equipment and cylindrical foundation of the present invention.

[0039] In the diagram: 1-arc mounting bracket, 2-control box, 3-propeller, 4-signal positioning transmitter, 5-camera, 6-lighting equipment, 7-groove, 8-protrusion, 9-lifting lug, 10-first monitoring module, 20-second monitoring module, 30-third monitoring module. Implementation

[0040] The following description, in conjunction with the accompanying drawings, further illustrates the sinking attitude control device and method for offshore wind turbine cylindrical foundations according to the present invention.

[0041] like Figure 1 As shown, a sinking attitude control device for offshore wind turbine cylindrical foundations includes a construction vessel, sinking equipment, and underwater monitoring equipment. The construction vessel is mainly equipped with a first control center and a first communication module. The underwater monitoring equipment is equipped with a second control center, a second communication module, a positioning module, a vision module, and a motion module. The sinking equipment is mainly equipped with a third control center and a third communication module. The first communication module, the second communication module, and the third communication module can transmit information to each other.

[0042] Specifically, the sinking device refers to a suction device that can be detachably installed on a cylindrical foundation. Because synchronous sinking is required, a third control center is needed to control the sinking (extraction) speed. The third communication module is used to receive signals from underwater monitoring equipment. The underwater monitoring equipment monitors the tilt direction of the cylindrical foundation in real time, and the third control center provides adjustments to the sinking speed to achieve stable installation of the entire foundation. The sinking principle is that the cylindrical foundation is placed on the seabed and initially sinks under its own weight. Then, the sinking device needs to extract the water from the cylindrical foundation to create negative pressure inside, thereby causing the cylindrical foundation to sink.

[0043] like Figure 2-3 As shown, multiple underwater monitoring devices can cooperate structurally to surround the cylindrical foundation, achieving comprehensive monitoring of the entire perimeter. The underwater monitoring equipment includes an arc-shaped mounting frame 1, the inner diameter of which must be larger than the outer diameter of the cylindrical foundation. A control box 2 is located in the center of the arc-shaped mounting frame 1, housing a second control center. Motion modules are mounted on the arc-shaped mounting frames 1 on both sides of the control box 2, each including multiple propellers 3 mounted on the arc-shaped mounting frames 1. The control box 2 also includes a positioning module and a vision module. The positioning module includes signal positioning transmitters 4 positioned parallel to the arc-shaped mounting frames 1 on both sides of the control box 2. The vision module includes a camera 5 positioned on the inner side of the control box 2 near the cylindrical foundation, and lighting equipment 6 surrounding the camera 5. The camera transmits the images of the cylindrical foundation's sinking process to the construction vessel and other cooperating equipment via the signal positioning transmitters 4.

[0044] In this embodiment, two propellers 3 for controlling the lifting, rotating, and other actions of the control device are installed on each of the arc-shaped mounting brackets 1 on both sides of the control box 2. The two propellers 3 on the same side are arranged perpendicularly to each other, one longitudinally penetrating the arc-shaped mounting bracket 1 and the other laterally penetrating the arc-shaped mounting bracket 1, so as to realize the self-adjustment of the monitoring module in different directions. The upper part of the end face of both ends of the arc-shaped mounting bracket 1 is provided with grooves 7 or protrusions 8 that engage with the grooves 7, so as to realize the quick and precise engagement and splicing between multiple arc-shaped mounting brackets 1 and the monitoring module. In order to facilitate the deployment and retrieval of the monitoring equipment, multiple lifting lugs 9 are also provided on the monitoring module. In this embodiment, three lifting lugs 9 are included, which are respectively set on the control box 2 and the arc-shaped mounting brackets 1 on both sides of the control box.

[0045] It is understandable that when the two propellers 3 that run horizontally through the arc-shaped mounting frame 1 rotate clockwise or counterclockwise simultaneously, they generate thrust in the same direction, allowing the monitoring module to move forward or backward. If one rotates clockwise and the other counterclockwise, the device can rotate to adjust the direction of movement, thereby achieving attitude control of the monitoring module on the horizontal plane. When the two propellers 3 that run vertically through the arc-shaped mounting frame 1 rotate clockwise or counterclockwise simultaneously, they generate thrust in the same direction, allowing the monitoring module to rise or fall. If one rotates clockwise and the other counterclockwise, the monitoring module can rotate to adjust the left and right balance, thereby achieving attitude control of the monitoring module on the vertical plane.

[0046] like Figure 4As shown, taking three underwater monitoring devices as an example, including a first underwater monitoring device 10, a second underwater monitoring device 20, and a third underwater monitoring device 30, the three underwater monitoring devices are distributed around a cylindrical base at 120° intervals, that is, the arc of the arc mounting frame 1 is 120°. In order to enable the self-installation and removal of the monitoring devices by means of the propeller 3, both ends of the arc mounting frame 1 of the first monitoring module 10 are provided with grooves 7; both ends of the arc mounting frame 1 of the third monitoring module 30 are provided with protrusions 8; the end of the arc mounting frame 1 of the second monitoring module 20 that engages with the first monitoring module is provided with a protrusion 8, and the side that engages with the third monitoring module is provided with a groove 7. During installation, the first monitoring module 10 is first installed underwater; then the second monitoring module 20 is installed underwater, with the protrusion 8 end of the second monitoring module 20 engaging with the first monitoring module 10; finally, the third mounting module 30 is installed underwater, with both ends engaging with the first monitoring module 10 and the second monitoring module 20 respectively. Disassembly is performed in reverse order, using the propeller 3 for vertical navigation to remove the monitoring device. Of course, other numbers of underwater monitoring devices can be selected. If four underwater monitoring devices are used, they are arranged at 90° intervals around the cylindrical base, with the arc of the arc-shaped mounting bracket 1 also at 90°. The four monitoring modules include a first monitoring module 10 with grooves 7 at both ends, a third monitoring module 30 with protrusions 8 at both ends, and two second monitoring modules 20 with grooves 7 at one end and protrusions 8 at the other. During installation, the first monitoring module 10 is first submerged and installed, followed by the two second modules 20, and finally the third monitoring module 30. Disassembly is performed in reverse order, using the propeller 3 for vertical navigation to remove the monitoring device.

[0047] like Figure 5 As shown, the specific operation procedure of the offshore wind turbine cylindrical foundation sinking attitude control method includes:

[0048] Step 1: Deploy the underwater monitoring equipment and navigate to the installation area using the positioning and propulsion systems. The motion module of the underwater monitoring equipment enables movement and rotation, allowing for autonomous attitude adjustment. The onboard positioning module uses ultra-short baseline positioning to locate the equipment in conjunction with the construction vessel. A vision module acquires underwater images of the foundation. A second communication module communicates with the construction vessel, transmitting the current location and receiving instructions. Based on the settings of the construction vessel's primary control center, the equipment proceeds to the seabed surrounding the installation area of ​​the cylindrical foundation. Since multiple underwater monitoring devices are installed on a single cylindrical foundation, after the first device is installed, subsequent devices can communicate and locate each other as they approach the installation area, ensuring precise installation. The multiple devices can also coordinate to surround the cylindrical foundation, providing comprehensive monitoring.

[0049] Step Two: Launching the cylindrical foundation and locating it using underwater monitoring equipment. After the underwater monitoring equipment is installed on the seabed, the cylindrical foundation is hoisted. In the early stages of hoisting, the underwater monitoring equipment's camera acquires underwater information via a second communication module, and the construction vessel crew performs the necessary hoisting operations. Once the cylindrical foundation has reached the installation area, the underwater monitoring equipment's vision module acquires an image of the foundation, and the second control center uses a binocular ranging algorithm to measure distance and further locate the foundation.

[0050] Step 3: The cylindrical foundation settles under its own weight. The settlement of the cylindrical foundation is monitored and adjustments are made. If the underwater monitoring equipment detects tilting of the entire cylindrical foundation, this is relayed to the construction vessel. Adjustments can be made by slowing down the settling speed or by activating some of the sinking devices on the cylindrical foundation near the end of the settling phase. Specifically, after the cylindrical foundation is hoisted to the designated area, it begins to settle. During this stage, the underwater monitoring equipment's vision module, second control center, and second communication module, as well as the construction vessel's first communication module and first control center, are primarily operational. The second communication module mainly handles information transmission between underwater monitoring devices and between the underwater monitoring equipment and the construction vessel; the vision module acquires images of the cylindrical foundation. For example... Figure 6 As shown, the cylindrical foundation is painted with bright-colored markings before construction, featuring vertical and depth markings. The second control center processes and calculates the painted images of these bright-colored markings on the cylindrical foundation obtained from the vision module. The calculation method is as follows:

[0051] like Figure 7-9As shown, the cylindrical foundation is tilted, and the degree of tilt is defined by angles θ and φ. θ refers to the direction of the tilt of the cylindrical foundation, and φ is the angle of tilt in that direction. Each underwater monitoring device can calculate the tilt angle γ of the bright-colored marker in the image acquired by the underwater monitoring device through image processing (i.e., γ is the tilt angle of the bright-colored marker mapped onto the camera as observed by the camera). The angles observed by the first, second, and third underwater monitoring devices are γ1, γ2, and γ3, respectively. Taking the first and second underwater monitoring devices as examples:

[0052]

[0053]

[0054]

[0055] The mapping between γ, θ, and φ is obtained based on the calculation formula. Three underwater monitoring devices can be grouped in pairs to acquire three sets of data, which are then averaged for more accurate tilt information. The tilt angle of the cylindrical foundation is obtained based on the measured angle γ on-site. The bright-colored markers on the surface of the cylindrical foundation provide location information suitable for image processing. The second control center of the underwater monitoring equipment can obtain the depth information of the cylindrical foundation based on the preset camera height information and image processing. The depth and tilt angle data are then sent to the construction vessel, which adjusts the cylindrical foundation using a crane according to the degree of tilt.

[0056] Step Four: Commence Sinking. During sinking, the attitude of the cylindrical foundation is monitored and adjusted using underwater monitoring equipment. After the cylindrical foundation has settled under its own weight, the sinking equipment is activated to begin negative pressure sinking. This stage primarily involves the operation of the underwater monitoring equipment's vision module, the second control center, the second communication module, and the sinking equipment's third communication module and third control center. The second and third communication modules mainly transmit information between the underwater monitoring devices, between the underwater monitoring devices and the sinking equipment, and between the sinking equipment itself. The depth and tilt information acquired by the underwater monitoring devices are transmitted to the sinking equipment. The sinking equipment processes this information at the third control center, coordinating with other sinking equipment to regulate the sinking speed and maintain the attitude of the cylindrical foundation during sinking.

[0057] Step 5: After sinking is completed, the monitoring equipment detaches and returns to the construction vessel to proceed to the next sinking position for monitoring. That is, after sinking is complete, the underwater monitoring equipment receives instructions from the construction vessel, separates, and proceeds to the next foundation installation location or returns to the construction vessel for retrieval, depending on the needs.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A sinking attitude control device for offshore wind turbine cylindrical foundations, characterized in that, The device includes A construction vessel, the construction vessel being equipped with a first control center and a first communication module; An underwater monitoring device consisting of multiple cylindrical bases joined together to form a ring structure is provided. The underwater monitoring device is equipped with a second control center, a second communication module, a positioning module, a vision module, and a motion module. A penetrating tunnel device, wherein the penetrating tunnel device is equipped with a third control center and a third communication module; The first communication module, the second communication module, and the third communication module transmit information to each other, and the first control center controls the operation of the second control center and the third control center. The underwater monitoring equipment consists of three devices, which are distributed around the cylindrical foundation at 120° intervals. The underwater monitoring equipment includes an arc-shaped mounting frame (1), a control box (2) is set in the middle of the arc-shaped mounting frame (1), and a second control center is set inside the control box (2). Motion modules are set on the arc-shaped mounting frames (1) on both sides of the control box (2). A second communication module, a positioning module, and a vision module are also set on the control box (2). The vision module transmits the images of the sinking process of the cylindrical foundation to the construction vessel and sinking equipment through the second communication module.

2. The offshore wind turbine cylindrical foundation sinking attitude control device according to claim 1, characterized in that, The communication module and the positioning module are integrated into one unit, including a signal positioning transmitter (4) with a parallel arc-shaped mounting bracket (1) positioned on both sides of the control box (2).

3. The offshore wind turbine cylindrical foundation sinking attitude control device according to claim 1, characterized in that, The vision module includes a camera (5) installed on the side of the control box (2) near the cylindrical foundation and lighting equipment (6) installed around the camera (5). The camera (5) transmits the captured images of the sinking process of the cylindrical foundation to the construction vessel and sinking equipment through a signal positioning transmitter (4).

4. The offshore wind turbine cylindrical foundation sinking attitude control device according to claim 1, characterized in that, The motion module includes multiple propellers (3) mounted on an arc-shaped mounting frame (1).

5. The offshore wind turbine cylindrical foundation sinking attitude control device according to claim 4, characterized in that, Two propellers (3) are installed on the arc-shaped mounting brackets (1) on both sides of the control box (2). The two propellers (3) on the same side are perpendicular to each other. One propeller runs through the arc-shaped mounting bracket (1) longitudinally, and the other runs through the arc-shaped mounting bracket (1) laterally, so as to realize the self-adjustment of the monitoring module in different directions.

6. The offshore wind turbine cylindrical foundation sinking attitude control device according to claim 1, characterized in that, The upper part of the end face of both ends of the arc-shaped mounting bracket (1) is provided with grooves (7) or protrusions (8) that engage with the grooves (7).

7. A method for controlling the sinking attitude of an offshore wind turbine cylindrical foundation, implemented based on the sinking attitude control device for an offshore wind turbine cylindrical foundation as described in claim 1, characterized in that... The specific operation process of the method includes: S1. The underwater monitoring equipment is launched into the water and proceeds to the installation area based on the positioning module and motion module; S2. The cylindrical foundation is launched into the water, and the foundation is positioned using underwater monitoring equipment; S3. The cylindrical foundation relies on its own weight to settle. Monitor the settlement of the cylindrical foundation and make adjustments accordingly. S4. Start sinking. During sinking, the attitude of the cylindrical foundation is monitored by underwater monitoring equipment and transmitted to the sinking equipment. The sinking equipment adjusts the attitude of the cylindrical foundation according to the information obtained. S5. Once the sinking is complete, the underwater monitoring equipment detaches and returns to the construction vessel to proceed to the next location for sinking monitoring or recovery.

8. The method for controlling the sinking attitude of a cylindrical foundation for offshore wind turbines according to claim 7, characterized in that, Vertical and depth markers are set on the cylindrical base. The underwater monitoring equipment processes and calculates based on the images of the vertical and depth markers on the cylindrical base.

Images