An offshore wind power jacket pile automatic control system

Abstract

The application discloses an offshore wind power jacket pile inserting automatic control system which is arranged on a jacket pile driving platform, and a plurality of guide pipes are vertically arranged on the jacket pile driving platform. The offshore wind power jacket pile inserting automatic control system comprises a sensor and a guide assembly arranged on the guide pipe, and a control device connected with the sensor and the guide assembly. The guide pipe is used for inserting a steel pile. The sensor is used for monitoring the distance between the steel piles inserted into different guide pipes and / or the distance between the steel pile and other guide pipes. The guide assembly is used for controlling the perpendicularity and spacing of the steel pile. Through the arrangement of the automatic control system, the requirements of driving different diameter steel piles can be met, the purpose of multipurpose is achieved, the position and angle of the steel pile inserted into the guide pipe can be adjusted, the design requirements of the perpendicularity and spacing of the driven steel pile can be met, the automatic control requirements of the pile driving operation can be effectively improved, the labor intensity is reduced, and the efficiency and safety are improved.

Description

An automated control system for offshore wind turbine jacket pile driving Technical Field

[0001] This invention relates to the field of offshore wind power, and more specifically to an automated control system for offshore wind turbine jacket pile installation. Background Technology

[0002] In offshore wind power construction, the construction and installation of wind turbine jacket foundations is a crucial task. Due to the large size and weight of offshore wind turbine jacket foundations, their construction often requires significant manpower, resources, and time. The installation of offshore wind turbine jacket foundations primarily employs the pre-piling method. The current pre-piling method mainly consists of two main parts: steel piles and the jacket structure. The installation process involves first driving steel piles into the seabed, then lifting the wind turbine jacket foundation and inserting its pile legs into the driven piles. During offshore piling, various complex environmental factors such as wind, waves, and currents result in low efficiency and accuracy in driving steel piles into the seabed, making the entire installation process time-consuming and labor-intensive. Currently, auxiliary piling platforms are mainly used to provide precise positioning of the steel piles and assist in the lifting and insertion process. This method suffers from low accuracy and efficiency, and the safety of personnel and equipment is difficult to guarantee. Summary of the Invention

[0003] The purpose of this invention is to provide an automated control system for offshore wind turbine jacket pile driving, which solves one or more of the problems mentioned above in the prior art.

[0004] In a first aspect, the present invention proposes an automated control system for offshore wind turbine jacket pile driving. The automated control system is installed on a jacket pile driving platform, which has multiple guide pipes vertically arranged on the platform. The automated control system includes sensors and guide components mounted on the guide pipes, and control equipment connected to the sensors and guide components.

[0005] The guide tube is used to insert the steel pile and guide the direction of travel of the steel pile;

[0006] The sensor is used to monitor the distance between steel piles inserted into different guide tubes, and / or the distance between the steel pile and other guide tubes. Real-time distance monitoring enables the monitoring of the position and verticality of the steel pile, improving the accuracy of the operation process. The sensor is set in correspondence with the guide assembly.

[0007] The guide assembly is used to control the verticality and spacing of the steel piles. The guide assembly includes an insertion plate and an insertion plate control assembly. The insertion plate control assembly is hinged to the insertion plate and controls the insertion plate to pass through the guide tube and act on the steel pile. The top of the insertion plate is inclined from low to high along the direction from the steel pile to the guide tube wall. The insertion plate control assembly includes two sub-control assemblies distributed vertically. The guide assembly is designed to meet the needs of driving steel piles of different diameters, achieving a multi-purpose purpose. It satisfies the requirements of offshore construction while reducing manufacturing costs. Furthermore, the guide assembly can also adjust the position and angle of the steel piles inserted into the guide tube to meet the design requirements for verticality and spacing of the driven steel piles.

[0008] The control device is used to control the operating status of the sensor and the plug-in control assembly.

[0009] In some implementations...

[0010] The guide tube is a long, continuous sleeve structure.

[0011] The jacket pile driving platform includes a main structure, a platform set on the upper part of the main structure, a guide pipe set on the lower part of the main structure, and a suction bucket set at the bottom of the main structure. The guide pipe corresponds one-to-one with the steel pile, and the sensor is used to monitor the distance between the steel pile and other steel piles and / or guide pipes.

[0012] The control device includes a platform display mounted on the platform, which is remotely connected to sensors and plug-in control components. The control device also includes equipment that can be remotely connected to sensors and plug-in control components, thereby enabling remote automated operation, reducing the frequency of personnel going into the water, reducing labor intensity, improving efficiency and safety, and changing the working environment through technological means.

[0013] In some embodiments, the main structure includes multiple main support legs, the suction bucket is connected to the bottom of the main support legs, and the guide tube is connected to the main support legs via a connecting assembly. The connecting assembly includes two sub-connecting assemblies, which are respectively connected to the upper and lower parts of the guide tube. The guide assembly is correspondingly configured with the sub-connecting assemblies.

[0014] The sub-connecting assembly includes a connecting rod and a base. The two ends of the connecting rod are connected to the main support leg and the base, respectively. The guide tube is connected to the base. The base not only strengthens the connection between the main structure and the guide tube, but also facilitates maintenance of the guide assembly. A fence is set on the base around the guide tube and the guide assembly on the guide tube. The fence protects the guide assembly and the maintenance personnel, improving their safety.

[0015] In some embodiments, the connecting assembly includes a connecting plate and a diagonal brace, with two sub-connecting assemblies respectively disposed on the upper and lower sides of the connecting plate.

[0016] The upper and lower ends of the diagonal brace are connected to the guide tube and the main support leg, respectively. The diagonal brace is connected to the connecting plate, and a right-angled triangle is provided on each of the connecting plates on both sides of the diagonal brace. The inclined planes of the two right-angled triangles are parallel to the diagonal brace. The connecting rod is connected to the connecting plate. The connection between the main structure and the guide tube can be further enhanced by the setting of the connecting plate and the diagonal brace.

[0017] In some embodiments, the guide assembly further includes multiple mounting seats, each corresponding to an insert plate. The guide tube has multiple circumferential through holes, with a mounting seat at each through hole. Each mounting seat has an insert plate groove that communicates with the through holes to form a moving groove. The insert plate is embedded in the moving groove. The outer end of the insert plate is connected to an insert plate control assembly, and the inner end of the insert plate contacts the outer wall of the steel pile. The insert plate control assembly controls the movement of the insert plate along the moving groove. The insert plate control assembly controls the insertion depth of the insert plate to accommodate steel piles of different outer diameters and / or shapes.

[0018] In some embodiments, the mounting base includes two side plates arranged side by side and a base plate. The base plate is inserted into a through hole and its bottom surface is connected to the wall of the through hole. The bottom surfaces of the two side plates are connected to the base plate. The two side plates are symmetrically distributed about the insert plate. Each side plate has a first protrusion, a second protrusion, a third protrusion, a fourth protrusion, and a fifth protrusion on its inner side wall. The first, third, and fourth protrusions are arranged from top to bottom and are parallel to each other. The upper and lower end faces of the second protrusion are connected to the first and third protrusions, respectively. The upper and lower end faces of the fifth protrusion are connected to the fourth protrusion and the base plate, respectively. Multiple holes are provided on the side plate below the first protrusion and avoiding the second, third, fourth, and fifth protrusions. The protrusions limit the insert plate, reducing the contact area between the insert plate and the side plate, reducing sliding friction, and making it easier to control the sliding of the insert plate.

[0019] In some implementations...

[0020] A reinforcing plate is provided between the bottom surface of the base plate and the outer wall of the guide tube to enhance the connection strength between the base plate and the guide tube.

[0021] In some implementations...

[0022] The number of sensors installed on each of the guide tubes is equal to the number of sensors installed on the other guide tubes, and the sensors are located on the plane where the central axis of the guide tube corresponding to the sensor is located and the central axis of the current guide tube is located.

[0023] The sensor is a laser sensor.

[0024] In some implementations, the operation method of the automated control system for offshore wind turbine jacket pile driving includes the following steps:

[0025] S01. The first steel pile is hoisted into one of the guide pipes to begin the pile driving operation;

[0026] S02. During the piling process, sensors on other guide pipes sense the distance between themselves and the current steel pile and upload the data to the control equipment in real time.

[0027] S03. The control equipment calculates and compares the data information it receives. If the continuously acquired data information remains unchanged, the steel pile remains vertical until the pile driving operation is completed, and then proceeds to S05. Otherwise, it indicates that the steel pile has tilted and proceeds to S04.

[0028] S04. The control equipment controls the guide components to adjust the vertical state of the steel piles, and continues to execute S02 and S03.

[0029] S05. Using the steel pile that has completed the piling operation as a reference, hoist other steel piles into the corresponding guide pipes for piling operation and proceed to S06.

[0030] S06. During the pile driving process, the sensor on the guide pipe senses the distance between the current steel pile and the reference object and feeds it back to the control equipment in real time, then proceeds to S07.

[0031] S07. The control device compares the received distance with a pre-set distance threshold.

[0032] If the received distance is within the distance threshold and the continuously received distance remains constant, the guide component will not be adjusted. The steel pile will remain vertical and the distance will meet the design requirements. The steel pile will be driven according to the current state until the driving operation is completed.

[0033] If the received distance is not within the distance threshold and / or the continuously received distance changes, the control device controls the guidance component to adjust the state of the steel pile. The state of the steel pile includes one or more of the vertical state of the steel pile and the distance between the steel pile and the reference object, and then continues to execute S06.

[0034] Repeat steps S05-S07 until all steel piles requiring piling operations have been driven.

[0035] In some implementations...

[0036] Before the automated control system for offshore wind turbine jacket pile driving is put into operation, a floating crane is used to lift the jacket pile driving platform to the pile driving area. The jacket pile driving platform sinks to the seabed under its own gravity.

[0037] The process of adjusting the verticality of the steel pile by the guide component is as follows: the sub-control component on the insert plate is activated, and the two sub-control components are controlled respectively. The insert plate is pushed by the sub-control components, and the verticality of the steel pile is adjusted by the tilted top of the insert plate.

[0038] The process of adjusting the distance between the steel pile and the reference object by the guide component is as follows: start the sub-control component on the insert plate, control the two sub-control components to run synchronously, and adjust the distance between the steel pile and the reference object by pushing the insert plate to move through the sub-control component.

[0039] The automated control system for offshore wind turbine jacket pile driving described in this invention effectively improves the automation control requirements for pile driving operations and can better meet design requirements. Attached Figure Description

[0040] Figure 1 is a front view of the guide frame piling platform in some embodiments of the present invention;

[0041] Figure 2 is a schematic diagram of the mechanism at the guide tube on the guide frame piling platform in some embodiments of the present invention;

[0042] Figure 3 is a schematic diagram of the structure of the guidance component in some embodiments of the present invention;

[0043] Figure 4 is a cross-sectional structural diagram of the mounting base in some embodiments of the present invention;

[0044] Figure 5 is a layout diagram of the guide tube and sensor in some embodiments of the present invention. Detailed Implementation

[0045] Referring to Figures 1 to 5, this embodiment proposes an automated control system for offshore wind turbine jacket pile driving. The automated control system is installed on a jacket pile driving platform, which includes a main structure 1, a platform 2 located on top of the main structure 1, four guide pipes 3 vertically located at the bottom of the main structure 1, and a suction bucket 4 located at the bottom of the main structure 1. The four guide pipes 3 are respectively located at the four corners of the quadrilateral structure. The automated control system includes sensors 9 and guide components installed on the guide pipes 3, and control equipment connected to the sensors 9 and guide components.

[0046] The guide tube 3 is used to insert the steel pile 10 and guide the direction of travel of the steel pile 10. The guide tube 3 is a long sleeve structure.

[0047] Each guide tube 3 is equipped with multiple sensors 9. The sensors 9 are used to monitor the distance between the guide tube 3 where it is located and other guide tubes 3 or steel piles 10 inserted in other guide tubes 3. The sensors 9 are set up in correspondence with the guide assembly.

[0048] The guide assembly is used to control the verticality and spacing of the steel piles 10. The guide assembly includes an insertion plate 801 and an insertion plate control assembly 802. The top of the insertion plate 801 is inclined from low to high along the direction from the steel pile 10 to the wall of the guide tube 3. The insertion plate control assembly 802 includes two sub-control assemblies distributed in the vertical direction. The sub-control assemblies are hinged to the insertion plate 801. The sub-control assemblies control the insertion plate 801 to pass through the guide tube 3 and act on the steel pile 10. The sub-control assemblies can be one or more of the existing hydraulic, pneumatic and electric telescopic devices.

[0049] The control device is used to control the working status of the sensor 9 and the plug-in control component. The control device includes a platform display set on the platform 2. The platform display is remotely connected to the sensor and the plug-in control component. The control device also includes a device that can be remotely connected to the sensor and the plug-in control component, thereby realizing remote automated operation, reducing the frequency of personnel going into the water, reducing labor intensity, improving efficiency and safety, and changing the working environment through technological means.

[0050] The main structure 1 includes multiple main support legs 101. The suction bucket 4 is connected to the bottom of the main support legs 101. The guide tube 3 is connected to the main support legs 101 through a connecting assembly. The connecting assembly includes two sub-connecting assemblies, which are respectively connected to the upper and lower parts of the guide tube 3. The guide assembly corresponds to the sub-connecting assembly. Each sub-connecting assembly is equipped with a set of sensors, which includes multiple sensors 9. One set of sensors on the same guide tube 3 is used to monitor the distance between the guide tube 3 it is on and other guide tubes 3. Another set of sensors is used to monitor the distance between the steel piles 10 inserted in other guide tubes 3. The sensors 9 are set in correspondence with the guide assembly. The sensors 9 are laser sensors.

[0051] The sub-connection assembly includes a connecting rod 601 and a base 602. The two ends of the connecting rod 601 are connected to the main support leg 101 and the base 602 respectively. The guide tube 3 is connected to the base 602. A fence 603 is set on the base 602 around the guide tube 3 and the guide assembly on the guide tube 3.

[0052] The connecting assembly includes a connecting plate 501 and a diagonal brace 502. The two sub-connecting assemblies are respectively located on the upper and lower sides of the connecting plate 501. The upper and lower ends of the diagonal brace 502 are respectively connected to the guide tube 3 and the main support leg 101. The diagonal brace 502 is connected to the connecting plate 501, and a right-angled triangle is provided on the connecting plate 501 on both sides of the diagonal brace 502. The inclined planes of the two right-angled triangles are parallel to the diagonal brace 502. The connecting rod 601 is connected to the connecting plate 501.

[0053] The guide assembly also includes multiple mounting seats 7, each corresponding to an insert plate 801. Multiple circumferentially evenly arranged through holes are provided on the guide tube 3, with a mounting seat 7 located at each through hole. Each mounting seat 7 has an insert plate groove, which communicates with the through holes to form a moving groove. The insert plate 801 is embedded within the moving groove. The outer end of the insert plate 801 is connected to a sub-control assembly, and the inner end of the insert plate 801 contacts the outer wall of the steel pile 10. The sub-control assembly can control the movement of the insert plate 801 along the moving groove. The sub-control assembly controls the insertion depth of the insert plate 801 to accommodate steel piles 10 with different outer diameters and / or different shapes.

[0054] The mounting base 7 includes two side plates 702 arranged side by side and a base plate 708. The base plate 708 is inserted into a through hole and its bottom surface is connected to the wall of the through hole. The bottom surfaces of the two side plates 702 are connected to the base plate 708. The two side plates 702 are symmetrically distributed about the insert plate 801. Each side plate 702 has a first protrusion 703, a second protrusion 704, a third protrusion 705, a fourth protrusion 706, and a fifth protrusion 707 on its inner sidewall. The first protrusion 703, the third protrusion 704, the fourth protrusion 705, the fifth protrusion 706, and the fifth protrusion 707 are provided on their inner sidewalls. Strip 705 and fourth protrusion 706 are arranged from top to bottom and parallel to each other. The upper and lower end faces of second protrusion 704 are connected to first protrusion 703 and third protrusion 705 respectively. The upper and lower end faces of fifth protrusion 707 are connected to fourth protrusion 706 and bottom plate 708 respectively. Multiple holes 710 are provided on side plate 702 below first protrusion 703 and avoiding second protrusion 704, third protrusion 705, fourth protrusion 706 and fifth protrusion 707.

[0055] A reinforcing plate 709 is provided between the bottom surface of the base plate 708 and the outer side wall of the guide tube 3 to enhance the connection strength between the base plate 708 and the guide tube 3.

[0056] The aforementioned sensor 9 is generally installed on the line connecting the guide tube 3 on which the sensor 9 is installed and the guide tube 3 or the steel pile 10 monitored by the sensor 9.

[0057] Taking the guide tube and sensor arranged as shown in Figure 5 as an example, the following operations are performed:

[0058] A floating crane is used to lift the jacket foundation piling platform to the piling area. The platform then sinks to the seabed under its own weight. The piling design scheme, which includes the distance threshold between each steel pile, is pre-installed in the control equipment. The operation method of the automated control system for offshore wind power jacket foundation piling includes the following steps:

[0059] S01. The first steel pile is hoisted into the No. 1 guide pipe to begin the pile driving operation;

[0060] S02. During the piling process, the sensors on guide pipes #2, #3, and #4 sense the distance between the guide pipe and the current steel pile and upload the data to the control equipment in real time.

[0061] S03. The control equipment calculates and compares the data information it receives. If the continuously acquired data information remains unchanged, the steel pile remains vertical and maintains this state until the pile driving operation is completed, then proceeds to S05; otherwise, it indicates that the steel pile has tilted and proceeds to S04.

[0062] S04. The control equipment controls the guide components to adjust the vertical state of the steel piles, and continues to execute S02 and S03.

[0063] S05. Using the steel pile that has completed the piling operation as a reference, hoist other steel piles into the corresponding guide pipes for piling operation and proceed to S06.

[0064] S06. During the pile driving process, the sensor on the guide pipe senses the distance between the current steel pile and the reference object and feeds it back to the control equipment in real time, then proceeds to S07.

[0065] S07. The control device compares the received distance with a pre-set distance threshold.

[0066] If the received distance is within the distance threshold and the continuously received distance remains constant, the guide component will not be adjusted. The steel pile will remain vertical and the distance will meet the design requirements. The steel pile will be driven according to the current state until the driving operation is completed.

[0067] If the received distance is not within the distance threshold and / or the continuously received distance changes, the control device controls the guidance component to adjust the state of the steel pile. The state of the steel pile includes one or more of the vertical state of the steel pile and the distance between the steel pile and the reference object, and then continues to execute S06.

[0068] Repeat steps S05-S07 until all steel piles requiring piling operations have been driven.

[0069] The process of adjusting the verticality of the steel pile using the above-mentioned guide components is as follows: the upper and lower sub-control components of all guide tubes 3 are activated, the data is measured by the sensor 9 and fed back to the control device, and then the control device manipulates the insert plate control component 802 so that the two control components on the same insert plate 801 operate asynchronously and thus control the insert plate 801 to rotate, thereby achieving the purpose of adjusting the verticality of the steel pile by using the top of the inclined insert plate 801.

[0070] The process of adjusting the distance between the steel pile and the reference object by the guide assembly is as follows: the upper and lower sub-control assemblies of all guide tubes 3 are activated, the data is measured by the sensor 9 and fed back to the control equipment, and then the control equipment controls the insert plate control assembly 802 to control the two sub-control assemblies on each insert plate 801 to operate synchronously. The two sub-control assemblies on the same insert plate 801 push the insert plate 801 to move horizontally, so as to achieve the purpose of adjusting the distance between the steel pile and the reference object.

[0071] The matters not covered above can all be implemented using existing technologies, so they will not be elaborated here.

[0072] The shape of the aforementioned insert plate 801 can also be changed as needed.

[0073] The above description is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several similar modifications and improvements can be made without departing from the inventive concept of the present invention, and these should also be considered within the scope of protection of the present invention.

Claims

1. An automated control system for offshore wind turbine jacket pile driving, wherein the automated control system for offshore wind turbine jacket pile driving is installed on a jacket pile driving platform, and multiple guide pipes (3) are vertically arranged on the jacket pile driving platform, characterized in that, The system includes a sensor (9) and a guide assembly mounted on a guide tube (3), and a control device connected to the sensor (9) and the guide assembly. The guide tube (3) is used to insert steel piles (10) and guide the direction of travel of the steel piles (10). The sensor (9) is used to monitor the distance between steel piles (10) inserted into different guide tubes (3), and / or the distance between steel piles (10) and other guide tubes (3). The sensor (9) is correspondingly set with the guide assembly. The guide assembly is used to control the verticality and spacing of the steel piles (10). The component includes an insert plate (801) and an insert plate control assembly (802). The insert plate control assembly (802) is hinged to the insert plate (801). The insert plate control assembly (802) controls the insert plate (801) to pass through the guide tube (3) and act on the steel pile (10). The top of the insert plate (801) is inclined from low to high along the direction from the steel pile (10) to the wall of the guide tube (3). The insert plate control assembly (802) includes two sub-control assemblies distributed in the vertical direction. The control device is used to control the working state of the sensor (9) and the insert plate control assembly.

2. The automated control system for offshore wind turbine jacket pile driving according to claim 1, wherein, The guide tube (3) is a long sleeve structure. The guide tube pile driving platform includes a main structure (1), a platform (2) set on the upper part of the main structure (1), a guide tube (3) set on the lower part of the main structure (1), and a suction bucket (4) set on the bottom of the main structure (1). The guide tube (3) corresponds one-to-one with the steel pile (10). The sensor (9) is used to monitor the distance between the steel pile and other steel piles and / or the guide tube (3). The control device includes a platform display set on the platform. The platform display is remotely connected to the sensor (9) and the plug control assembly.

3. The automated control system for offshore wind turbine jacket pile driving according to claim 2, wherein, The main structure (1) includes multiple main support legs (101). The suction bucket (4) is connected to the bottom of the main support legs (101). The guide tube (3) is connected to the main support legs (101) through a connecting component. The connecting component includes two sub-connecting components, which are respectively connected to the upper and lower parts of the guide tube (3). The guide component is correspondingly set with the sub-connecting components. The sub-connecting component includes a connecting rod (601) and a base (602). The two ends of the connecting rod (601) are respectively connected to the main support legs (101) and the base (602). The guide tube (3) is connected to the base (602). A fence (603) is set around the guide tube (3) and the guide component on the guide tube (3) on the base (602).

4. The automated control system for offshore wind turbine jacket pile driving according to claim 3, wherein, The connecting assembly includes a connecting plate (501) and a diagonal brace (502). Two sub-connecting assemblies are respectively disposed on the upper and lower sides of the connecting plate (501). The upper and lower ends of the diagonal brace (502) are respectively connected to the guide tube (3) and the main support leg (101). The diagonal brace (502) is connected to the connecting plate (501). A right-angled triangle is provided on the connecting plate (501) on both sides of the diagonal brace (502). The inclined planes of the two right-angled triangles are parallel to the diagonal brace (502). The connecting rod (601) is connected to the connecting plate (501).

5. An automated control system for offshore wind turbine jacket pile driving according to claim 1, wherein, The guide assembly also includes multiple mounting seats (7), each corresponding to a plate (801). Multiple through holes are arranged circumferentially on the guide tube (3), and a mounting seat (7) is provided at each through hole. The mounting seat (7) is provided with a plate groove, which is connected to the through hole to form a moving groove. The plate (801) is embedded in the moving groove. The outer end of the plate (801) is connected to the plate control assembly (802), and the inner end of the plate (801) is in contact with the outer wall of the steel pile (10). The plate (801) can be controlled to move along the moving groove by the plate control assembly (802).

6. An automated control system for offshore wind turbine jacket pile driving according to claim 5, wherein, The mounting base (7) includes two side plates (702) arranged side by side and a base plate (708). The base plate (708) is inserted into a through hole and its bottom surface is connected to the hole wall. The bottom surfaces of the two side plates (702) are connected to the base plate (708). The two side plates (702) are symmetrically distributed about the insert plate (801). Each side plate (702) has a first protrusion (703), a second protrusion (704), a third protrusion (705), a fourth protrusion (706), and a fifth protrusion (707) on its inner sidewall. The first protrusion (704) is... 3) The third protrusion (705) and the fourth protrusion (706) are arranged from top to bottom and parallel to each other. The upper and lower end faces of the second protrusion (704) are connected to the first protrusion (703) and the third protrusion (705) respectively. The upper and lower end faces of the fifth protrusion (707) are connected to the fourth protrusion (706) and the bottom plate (708) respectively. Multiple holes (710) are provided on the side plate (702) below the first protrusion (703) and avoiding the second protrusion (704), the third protrusion (705), the fourth protrusion (706) and the fifth protrusion (707).

7. An automated control system for offshore wind turbine jacket pile driving according to claim 6, wherein, A reinforcing plate (709) is provided between the bottom surface of the base plate (708) and the outer wall of the guide tube (3) to enhance the connection strength between the base plate (708) and the guide tube (3).

8. The automated control system for offshore wind turbine jacket pile driving according to claim 1, wherein, The number of sensors on each guide tube (3) is equal to the number of sensors on the other guide tubes (3), and the sensors are located on the plane where the central axis of the guide tube (3) corresponding to the sensor is located and the central axis of the current guide tube is located; the sensors are laser sensors.

9. An automated control system for offshore wind turbine jacket pile driving according to any one of claims 1-8, wherein, The operation method of the automated control system for offshore wind turbine jacket pile driving includes the following steps: S01, hoist the first steel pile into one of the guide pipes (3) to start the pile driving operation; S02, during the pile driving process, the sensors on other guide pipes (3) sense the distance between the steel pile and the current steel pile and upload it to the control equipment in real time; S03, the control equipment calculates and compares the data information it receives. If the continuously acquired data information remains unchanged, the steel pile remains vertical until the pile driving operation is completed, and enters S05; otherwise, it indicates that the steel pile has tilted, and enters S04; S04, the control equipment controls the guide component to adjust the vertical state of the steel pile and continues to execute S02 and S03; S05, using the steel pile that has completed the pile driving operation as a reference, hoist other steel piles into the corresponding guide pipes (3) for pile driving operation and enter S06; S06, the pile driving process The sensor on the guide tube (3) senses the distance between the current steel pile and the reference object and feeds it back to the control device in real time, entering S07; S07, the control device compares the received distance with the pre-set distance threshold. If the received distance is within the distance threshold and the continuously received distance remains unchanged, the guide component is not adjusted, the steel pile remains vertical and the distance meets the design requirements, and the steel pile is driven according to the current state until the driving operation is completed; if the received distance is not within the distance threshold and / or the continuously received distance changes, the control device controls the guide component to adjust the state of the steel pile. The state of the steel pile includes one or more of the vertical state of the steel pile and the distance between the steel pile and the reference object, and then continues to execute S06; S05-S07 are executed in a loop until all the steel piles that need to be driven have completed the driving operation.

10. An automated control system for offshore wind turbine jacket pile driving according to claim 9, wherein, Before the operation of the automated control system for offshore wind turbine jacket pile driving, a floating crane is used to lift the jacket pile driving platform to the pile driving area. The jacket pile driving platform sinks to the seabed under its own weight. The process of the guide component adjusting the vertical state of the steel pile is as follows: the sub-control component on the insert plate (801) is activated, and two sub-control components are controlled respectively. The insert plate (801) is pushed by the sub-control component, and the verticality of the steel pile is adjusted by the tilted top of the insert plate (801). The process of the guide component adjusting the distance between the steel pile and the reference object is as follows: the sub-control component on the insert plate (801) is activated, and two sub-control components are controlled to run synchronously. The insert plate (801) is pushed by the sub-control component to move horizontally, and the distance between the steel pile and the reference object is adjusted.

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