A monitoring system and method for scour and corrosion of offshore wind turbine pile foundation

Abstract

The present invention relates to a monitoring system and method for scour and corrosion of pile foundations of offshore wind turbine generator sets. The system comprises a data analysis platform and a laser radar arranged on the offshore wind turbine generator set. The laser radar is located above the seawater surface where the offshore wind turbine generator set is located, and the data analysis platform is arranged on the coast. The laser radar is used to detect the elevation difference between the seabed and the pile foundation surface around the pile foundation of the offshore wind turbine generator set at different times, and obtain seabed point cloud data and pile foundation point cloud data at different times. The data analysis platform uses the seabed point cloud data at different times to analyze the undulating shape of the seabed, and analyzes the dynamic evolution of the seabed by comparing the differences in the seabed point cloud data at different times. The data analysis platform also analyzes the corrosion of the pile foundation surface by comparing the differences in the pile foundation point cloud data at different times. The present invention collects point data by using the laser radar, and the laser radar will not be corroded by seawater, thereby improving the service life of the system.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine generator set detection, and in particular to a monitoring system and method for scour and corrosion of pile foundations of offshore wind turbine generator sets. Background Art

[0002] The pile foundation of the wind turbine installed on the sea surface is usually inserted into the seabed. However, the pile foundation will change the local hydrodynamic conditions. The combined action of water flow and waves will cause the soil around the pile to be lost and form a scour pit, which will reduce the bearing capacity of the foundation, affect the dynamic characteristics of the tower structure and the stability of the offshore wind turbine, and even cause instability and collapse, which will bring safety hazards to the operation of the wind turbine. Therefore, in the prior art, the monitoring of the pile foundation of the offshore wind turbine is usually carried out by point monitoring, that is, based on the buoyancy movement type, pressure water depth type, conductivity type, sonar monitoring and optical fiber sensor technology to monitor the depth of the pile foundation exposed to the seabed to detect the safety of the pile foundation; the commonly used line or surface monitoring technology is to use ultrasonic sounding technology to detect the depth of the seabed at the pile foundation. However, the use of sonar, that is, ultrasonic waves, requires the sonar to be immersed underwater. However, the underwater monitoring system will be affected by seawater corrosion and microbial attachment, resulting in a large deviation in the detection results. At the same time, the use of sonar technology to detect the seabed where the pile foundation of the wind turbine is located is also greatly affected by environmental noise. Summary of the invention

[0003] In order to solve the technical problems in the prior art that the underwater monitoring system for monitoring the pile foundation of offshore wind turbines is greatly affected by the environment, resulting in inaccurate detection results, the present invention provides a monitoring system and method for scour and corrosion of pile foundations of offshore wind turbines.

[0004] The technical solution of the present invention to solve the above technical problems is as follows:

[0005] A monitoring system for pile foundation scour and corrosion of an offshore wind turbine generator set, comprising a data analysis platform and a laser radar arranged on the offshore wind turbine generator set, the laser radar being located above the sea surface where the offshore wind turbine generator set is located, and the data analysis platform being arranged on the coast;

[0006] The laser radar is used to detect the elevation difference of the seabed around the pile foundation of the offshore wind turbine generator set at different times to obtain the seabed point cloud data at different times; and is used to detect the elevation difference of the pile foundation surface of the offshore wind turbine generator set at different times to obtain the pile foundation point cloud data at different times;

[0007] The data analysis platform is used to analyze the undulating shape of the seabed using the seabed point cloud data at different times; it is also used to analyze the dynamic evolution of the seabed by comparing the differences in the seabed point cloud data at different times; and it is used to analyze the corrosion of the pile foundation surface by comparing the differences in the pile foundation point cloud data at different times.

[0008] The beneficial effects of the present invention are as follows: by arranging a laser radar on an offshore wind turbine generator set, and the laser radar is located above sea level, the laser radar will not be corroded by seawater, thereby increasing the life of the system; at the same time, the laser radar can simultaneously collect the elevation of the seabed and the elevation difference of the pile foundation, and can simultaneously monitor the evolution of the seabed and the corrosion of the pile foundation in real time.

[0009] Based on the above technical solution, the present invention can also be improved as follows.

[0010] Furthermore, the laser radar is used to perform a first detection of the seabed in a predetermined area to obtain the elevation difference of the seabed in the predetermined area and obtain reference seabed point cloud data;

[0011] The laser radar is also used to perform real-time detection of the seabed in the predetermined area to obtain the elevation difference of the seabed in the predetermined area and obtain real-time seabed point cloud data; wherein the seabed point cloud data includes the reference seabed point cloud data and the real-time seabed point cloud data.

[0012] Furthermore, the data analysis platform is specifically used to construct a world coordinate system;

[0013] The data analysis platform is also specifically used to construct a real-time three-dimensional point cloud map of the seabed by registering the real-time seabed point cloud data to the world coordinate system;

[0014] The data analysis platform is also specifically used to analyze the undulating shape of the seabed using the three-dimensional point cloud image of the seabed.

[0015] Furthermore, the data analysis platform is also used to generate an analysis report based on the dynamic evolution of the seabed and the corrosion condition of the pile foundation surface, and to display and output the analysis report and the three-dimensional point cloud map of the seabed.

[0016] Furthermore, the data analysis platform is specifically used to analyze the dynamic evolution of the seabed by comparing the real-time seabed point cloud data with the reference seabed point cloud data.

[0017] Furthermore, the laser radar is also used to perform a first detection on the pile foundation surface of the offshore wind turbine generator set to obtain the elevation difference of the pile foundation surface of the offshore wind turbine generator set and obtain reference pile foundation point cloud data;

[0018] The laser radar is also used to perform real-time detection on the pile foundation surface of the offshore wind turbine generator set to obtain the elevation difference of the pile foundation surface of the offshore wind turbine generator set and obtain real-time pile foundation point cloud data; wherein the pile foundation point cloud data includes the reference pile foundation point cloud data and the real-time pile foundation point cloud data.

[0019] Furthermore, the data analysis platform is also specifically used to analyze the corrosion condition of the pile foundation surface by comparing the real-time pile foundation point cloud data with the reference pile foundation point cloud data.

[0020] Furthermore, the detection system also includes a data sending device arranged on the offshore wind turbine generator set and a data receiving device arranged on the data analysis platform;

[0021] The data sending device is used to send the seabed point cloud data and the pile foundation point cloud data to the data receiving device through a wireless communication method;

[0022] The data receiving device is used to transmit the received seabed point cloud data and the pile foundation point cloud data to the data analysis platform.

[0023] Furthermore, there are multiple laser radars on the offshore wind turbine generator set, one or more of which are used to detect the elevation difference of the pile foundation surface of the offshore wind turbine generator set at different times, and obtain the pile foundation point cloud data at different times; the remaining laser radars are used to detect the elevation difference of the seabed around the pile foundation of the offshore wind turbine generator set at different times, and obtain the seabed point cloud data at different times; wherein the number of the remaining laser radars is not less than two, and the remaining laser radars are evenly distributed around the center line of the pile foundation of the offshore wind turbine generator set.

[0024] In order to solve the above technical problems, the present invention also provides a method for monitoring scour and corrosion of pile foundations of offshore wind turbine generator sets, and its specific technical scheme is as follows:

[0025] A method for monitoring scour and corrosion of pile foundations of offshore wind turbine generator sets comprises the following steps:

[0026] Use LiDAR to detect the elevation difference of the seabed around the pile foundation of the offshore wind turbine at different times, and obtain the seabed point cloud data at different times;

[0027] Using the laser radar to detect the elevation difference of the pile foundation surface of the offshore wind turbine generator set at different times, and obtaining the pile foundation point cloud data at different times;

[0028] The data analysis platform uses the seabed point cloud data at different times to analyze the undulating shape of the seabed;

[0029] The data analysis platform also analyzes the dynamic evolution of the seabed by comparing the differences in the seabed point cloud data at different times;

[0030] The data analysis platform also analyzes the corrosion condition of the pile foundation surface by comparing the differences in the pile foundation point cloud data at different times;

[0031] Wherein, the laser radar is arranged on the offshore wind turbine generator set, the laser radar is located above the sea surface where the offshore wind turbine generator set is located, and the data analysis platform is arranged on the coast. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural block diagram of a monitoring system for pile foundation scour and corrosion of an offshore wind turbine generator set in an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the installation structure of the laser radar and the wind turbine pile foundation in an embodiment of the present invention;

[0034] Figure 3 The present invention is a flowchart of a method for monitoring scour and corrosion of pile foundations of offshore wind turbines in an embodiment of the present invention.

[0035] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0036] 1-hub, 2-tower, 3-pile foundation, 4-reference plane, 5-sea level, 6-seabed. DETAILED DESCRIPTION

[0037] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0038] like Figure 1 As shown, this embodiment provides a monitoring system for pile foundation scour and corrosion of an offshore wind turbine generator set, including a data analysis platform and a laser radar arranged on the offshore wind turbine generator set, the laser radar is located above the sea surface where the offshore wind turbine generator set is located, and the data analysis platform is arranged on the coast;

[0039] The laser radar is used to detect the elevation difference of the seabed around the pile foundation of the offshore wind turbine generator set at different times to obtain seabed point cloud data at different times;

[0040] The laser radar is also used to detect the elevation difference of the pile foundation surface of the offshore wind turbine generator set at different times to obtain the pile foundation point cloud data at different times;

[0041] The data analysis platform is used to analyze the undulating shape of the seabed using the seabed point cloud data at different times;

[0042] The data analysis platform is also used to analyze the dynamic evolution of the seabed by comparing the differences of the seabed point cloud data at different times;

[0043] The data analysis platform is also used to analyze the corrosion condition of the pile foundation surface by comparing the differences in the pile foundation point cloud data at different times.

[0044] LiDAR uses a laser beam transmitter to emit laser pulses. When the laser beam hits the surface of the seabed soil, it will be reflected. The reflected light is received by the receiver, and the time from emission to reception is calculated to calculate the distance to the soil surface. Through the scanning and measurement of LiDAR, the elevation and shape of the seabed can be obtained; based on the elevation difference, the undulating shape of the seabed soil can be analyzed. The elevation difference can be used to establish Figure 2 The reference plane 4 shown is mainly set at the laser radar and is perpendicular to the entire pile foundation. The distance of each point on the seabed measured by the laser radar is converted into an elevation difference based on the reference plane 4.

[0045] Specifically, the laser radar is used to perform an initial detection of the seabed in a predetermined area to obtain the elevation difference of the seabed in the predetermined area and obtain benchmark seabed point cloud data; the laser radar is also used to perform real-time detection of the seabed in the predetermined area to obtain the elevation difference of the seabed in the predetermined area and obtain real-time seabed point cloud data; wherein the seabed point cloud data includes the benchmark seabed point cloud data and the real-time seabed point cloud data.

[0046] The data analysis platform is specifically used to construct a world coordinate system;

[0047] The data analysis platform is also specifically used to construct a real-time three-dimensional point cloud map of the seabed by registering the real-time seabed point cloud data to the world coordinate system;

[0048] The data analysis platform is also specifically used to analyze the undulating shape of the seabed using the three-dimensional point cloud image of the seabed.

[0049] The data analysis platform is also used to generate an analysis report based on the dynamic evolution of the seabed and the corrosion condition of the pile foundation surface, and to display and output the analysis report and the three-dimensional point cloud map of the seabed.

[0050] The data analysis platform is specifically used to analyze the dynamic evolution of the seabed by comparing the real-time seabed point cloud data with the reference seabed point cloud data. The dynamic evolution of the soil around the pile involves soil loss and soil backfilling. Specifically, the undulating shape of the seabed soil around the single pile obtained in the early stage can be used as the reference data, which can be the data of the first detection after the installation is completed or the detection data at a specified time. Further regular regional scanning of the soil around the pile is performed to obtain its elevation data. By comparing with the reference data, the changes in the elevation of the soil surface are analyzed, and then the changes in the scouring thickness of the soil layer are obtained to analyze the dynamic evolution of the seabed. The calculated elevation difference point cloud is aligned to the world coordinate system using a drawing algorithm to form a three-dimensional point cloud map, that is, a three-dimensional point cloud map of the soil scouring depth. The three-dimensional point cloud map can intuitively describe the depth and range of the scouring pit at the same time.

[0051] The laser radar is also used to perform an initial detection on the surface of the pile foundation of the offshore wind turbine generator set to obtain the elevation difference of the surface of the pile foundation of the offshore wind turbine generator set and obtain reference pile foundation point cloud data;

[0052] The laser radar is also used to perform real-time detection on the pile foundation surface of the offshore wind turbine generator set to obtain the elevation difference of the pile foundation surface of the offshore wind turbine generator set and obtain real-time pile foundation point cloud data; wherein the pile foundation point cloud data includes the reference pile foundation point cloud data and the real-time pile foundation point cloud data.

[0053] Furthermore, the data analysis platform is also specifically used to analyze the corrosion of the pile foundation surface by comparing the real-time pile foundation point cloud data with the reference pile foundation point cloud data. Corrosion around the pile body can cause changes in the external morphology of the pile body, such as marine biological attachment, material loss, etc. The specific analysis process includes: using laser radar to perform regional scanning on the surface of the pile body of the pile foundation, and the initial pile foundation point cloud data can be obtained, and the initial pile foundation point cloud data is used as a reference; after corrosion occurs, that is, after the initial pile foundation point cloud data is obtained, the point cloud data of the pile body surface of the pile foundation is collected in real time to obtain real-time point cloud data, and the obtained real-time point cloud data is compared with the reference point cloud data to obtain point cloud data at different positions, and the point cloud with coordinate information is aligned to the world coordinate system to obtain a three-dimensional point cloud map, and the thickness change of the corresponding position of the pile body can be known. The corroded pile body can be processed and maintained in a targeted manner according to the thickness change.

[0054] like Figure 2As shown, the offshore wind turbine generator set includes a hub 1, a tower 2 and a pile foundation 3 in sequence, wherein the hub 1 is fixedly arranged at the upper end of the tower 2, the upper end of the pile foundation 3 is fixed to the lower end of the tower 2, a maintenance platform is arranged on the pile foundation 3, and a laser radar is fixedly arranged on the maintenance platform. The lower end of the pile foundation 3 is inserted into the seabed 6 of the ocean after penetrating into the ocean, ensuring that the laser radar is located above the sea level 5, and the laser emitting end of the laser radar faces downward, ensuring that the laser scanning can cover the preset distance range area around the pile foundation 3, and can also scan all the outer surfaces of the pile foundation 3, that is, the data of the surfaces of the pile foundation 3 in different directions.

[0055] There are multiple laser radars on the offshore wind turbine generator set, one or more of which are used to detect the elevation difference of the pile foundation surface of the offshore wind turbine generator set at different times, and obtain the pile foundation point cloud data at different times; the remaining laser radars are used to detect the elevation difference of the seabed around the pile foundation of the offshore wind turbine generator set at different times, and obtain the seabed point cloud data at different times; wherein, the number of the remaining laser radars is not less than two, and the remaining laser radars are evenly distributed around the center line of the pile foundation of the offshore wind turbine generator set. When the number of the remaining laser radars is two, when the remaining laser radars are specifically the first laser radar and the second laser radar, the first laser radar and the second laser radar are respectively located on both sides of the pile foundation 3.

[0056] Its detection system also includes a data sending device arranged on the offshore wind turbine generator set and a data receiving device arranged on the data analysis platform; the data sending device is used to send the seabed point cloud data and the pile foundation point cloud data to the data receiving device through a wireless communication method; the data receiving device is used to transmit the received seabed point cloud data and the pile foundation point cloud data to the data analysis platform.

[0057] The embodiment of the present invention sets a laser radar on the offshore wind turbine generator set, and the laser radar is located above the sea level. The laser radar will not be corroded by seawater, thereby improving the life of the system. At the same time, the laser radar can simultaneously collect the elevation of the seabed and the elevation difference of the pile foundation, and can simultaneously monitor the evolution of the seabed and the corrosion of the pile foundation in real time.

[0058] like Figure 3 As shown, in some embodiments, a method for monitoring scour and corrosion of pile foundation of an offshore wind turbine generator set is also provided, comprising the following steps:

[0059] S1. Using laser radar to detect the elevation difference of the seabed around the pile foundation of the offshore wind turbine generator set at different times, and obtain the seabed point cloud data at different times;

[0060] S2, using the laser radar to detect the elevation difference of the pile foundation surface of the offshore wind turbine generator set at different times, and obtaining pile foundation point cloud data at different times;

[0061] S3. The data analysis platform uses the seabed point cloud data at different times to analyze the undulating shape of the seabed;

[0062] S4. The data analysis platform also analyzes the dynamic evolution of the seabed by comparing the differences in the seabed point cloud data at different times;

[0063] S5. The data analysis platform also analyzes the corrosion condition of the pile foundation surface by comparing the difference of the pile foundation point cloud data at different times;

[0064] Wherein, the laser radar is arranged on the offshore wind turbine generator set, the laser radar is located above the sea surface where the offshore wind turbine generator set is located, and the data analysis platform is arranged on the coast.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the concept and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A monitoring system for pile foundation scour and corrosion of offshore wind turbine generator sets, characterized in that: It comprises a data analysis platform and a laser radar arranged on an offshore wind turbine generator set, wherein the laser radar is located above the sea surface where the offshore wind turbine generator set is located, and the data analysis platform is arranged on the coast; The laser radar is used to detect the elevation difference of the seabed around the pile foundation of the offshore wind turbine generator set at different times to obtain the seabed point cloud data at different times; and is used to detect the elevation difference of the pile foundation surface of the offshore wind turbine generator set at different times to obtain the pile foundation point cloud data at different times; The data analysis platform is used to analyze the undulating shape of the seabed using the seabed point cloud data at different times; and is also used to analyze the dynamic evolution of the seabed by comparing the differences of the seabed point cloud data at different times; and is used to analyze the corrosion of the pile foundation surface by comparing the differences of the pile foundation point cloud data at different times; The laser radar is specifically used to perform an initial detection of the seabed in the predetermined area to obtain the elevation difference of the seabed in the predetermined area and obtain reference seabed point cloud data; perform real-time detection of the seabed in the predetermined area to obtain the elevation difference of the seabed in the predetermined area and obtain real-time seabed point cloud data; wherein the seabed point cloud data includes the reference seabed point cloud data and the real-time seabed point cloud data; The laser radar is specifically used to perform an initial detection on the pile foundation surface of the offshore wind turbine generator set to obtain the elevation difference of the pile foundation surface of the offshore wind turbine generator set and obtain reference pile foundation point cloud data; perform real-time detection on the pile foundation surface of the offshore wind turbine generator set to obtain the elevation difference of the pile foundation surface of the offshore wind turbine generator set and obtain real-time pile foundation point cloud data; wherein the pile foundation point cloud data includes the reference pile foundation point cloud data and the real-time pile foundation point cloud data.

2. The monitoring system for pile foundation scour and corrosion of offshore wind turbine generator set according to claim 1, characterized in that: The data analysis platform is specifically used to construct a world coordinate system, and to construct a real-time three-dimensional point cloud map of the seabed by aligning the real-time seabed point cloud data to the world coordinate system, and to analyze the undulating shape of the seabed using the three-dimensional point cloud map of the seabed.

3. The monitoring system for pile foundation scour and corrosion of offshore wind turbine generator set according to claim 2 is characterized in that: The data analysis platform is also used to generate an analysis report based on the dynamic evolution of the seabed and the corrosion condition of the pile foundation surface, and to display and output the analysis report and the three-dimensional point cloud map of the seabed.

4. The monitoring system for pile foundation scour and corrosion of offshore wind turbine generator set according to claim 1, characterized in that: The data analysis platform is specifically used to analyze the dynamic evolution of the seabed by comparing the real-time seabed point cloud data with the reference seabed point cloud data.

5. The monitoring system for pile foundation scour and corrosion of offshore wind turbine generator set according to claim 1, characterized in that: The data analysis platform is specifically used to analyze the corrosion condition of the pile foundation surface by comparing the real-time pile foundation point cloud data with the reference pile foundation point cloud data.

6. The monitoring system for pile foundation scour and corrosion of offshore wind turbine generator sets according to any one of claims 1 to 5, characterized in that: It also includes a data sending device arranged on the offshore wind turbine generator set and a data receiving device arranged on the data analysis platform; The data sending device is used to send the seabed point cloud data and the pile foundation point cloud data to the data receiving device through a wireless communication method; The data receiving device is used to transmit the received seabed point cloud data and the pile foundation point cloud data to the data analysis platform.

7. The monitoring system for pile foundation scour and corrosion of offshore wind turbine generator set according to claim 6, characterized in that: There are multiple laser radars on the offshore wind turbine generator set, one or more of which are used to detect the elevation difference of the pile foundation surface of the offshore wind turbine generator set at different times, and obtain the pile foundation point cloud data at different times; the remaining laser radars are used to detect the elevation difference of the seabed around the pile foundation of the offshore wind turbine generator set at different times, and obtain the seabed point cloud data at different times; wherein the number of the remaining laser radars is not less than two, and the remaining laser radars are evenly distributed around the center line of the pile foundation of the offshore wind turbine generator set.

8. A method for monitoring scour and corrosion of pile foundations of offshore wind turbine generator sets, characterized in that: The monitoring system for pile foundation scour and corrosion of an offshore wind turbine generator set as claimed in any one of claims 1 to 7 comprises the following steps: Use LiDAR to detect the elevation difference of the seabed around the pile foundation of the offshore wind turbine at different times, and obtain the seabed point cloud data at different times; Using the laser radar to detect the elevation difference of the pile foundation surface of the offshore wind turbine generator set at different times, and obtaining pile foundation point cloud data at different times; The data analysis platform uses the seabed point cloud data at different times to analyze the undulating shape of the seabed; The data analysis platform also analyzes the dynamic evolution of the seabed by comparing the differences in the seabed point cloud data at different times; The data analysis platform also analyzes the corrosion condition of the pile foundation surface by comparing the differences in the pile foundation point cloud data at different times; Wherein, the laser radar is arranged on the offshore wind turbine generator set, the laser radar is located above the sea surface where the offshore wind turbine generator set is located, and the data analysis platform is arranged on the coast.

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