Dynamic submarine cable shape reconstruction method, system, equipment and medium for floating wind turbine

Abstract

The present invention is mainly used in the field of measurement and model simulation technology. The present invention discloses a method, system, device and medium for reconstructing the shape of a dynamic submarine cable of a floating wind turbine, the method comprising: obtaining the actual curvature of each detection point, wherein each detection point is a position point where a sensor is set on a target dynamic submarine cable; generating multiple unit nodes, and determining the rotation angle value of the unit node according to the actual curvature; generating a reconstruction curve based on the rotation angle values ​​of the multiple unit nodes; using the reconstruction curve as the beam axis of the dynamic submarine cable, generating a two-dimensional dynamic submarine cable model to restore the shape of the target dynamic submarine cable. The present application can reconstruct the shape of a dynamic submarine cable to restore the shape of the dynamic submarine cable.

Description

Technical Field

[0001] The present invention relates to the technical field of measurement and model simulation, and in particular to a method, system, electronic equipment and storage medium for dynamic submarine cable shape reconstruction of a floating wind turbine. Background Art

[0002] At present, China has become the world's largest country in terms of installed capacity of offshore wind turbines. The development of offshore wind power in deep sea is an inevitable trend, and floating wind turbines will also become the mainstream model in the future. Offshore wind turbines need to transmit electricity through submarine cables, and floating wind turbines must use dynamic submarine cables. Floating wind turbines will move horizontally and vertically under the influence of wind, ocean currents, etc., which will cause the submarine cable to undergo a large movement deformation. This deformation has a great impact on the normal operation of the submarine cable. However, for flexible structures such as dynamic submarine cables, traditional deformation sensing technologies based on lasers, radars, and visual images cannot be applied. Therefore, there is no solution in the existing technical field to comprehensively monitor the deformation of dynamic submarine cables of floating wind turbines. Summary of the invention

[0003] The present invention provides a method, system, device and medium for reconstructing the shape of a dynamic submarine cable of a floating wind turbine, which can reconstruct the shape of the dynamic submarine cable to restore the shape of the dynamic submarine cable.

[0004] In a first aspect, the present invention provides a method for dynamically reconfiguring the shape of a submarine cable of a floating wind turbine, the method comprising:

[0005] Obtaining the actual curvature of each detection point, wherein each detection point is a position point where a sensor is set on the target dynamic submarine cable;

[0006] Generate a plurality of unit nodes, and determine the rotation angle values ​​of the unit nodes according to the actual curvature;

[0007] Generate a reconstruction curve based on the rotation angle values ​​of the plurality of unit nodes;

[0008] The reconstructed curve is used as the beam axis of the dynamic submarine cable to generate a two-dimensional dynamic submarine cable model to restore the shape of the target dynamic submarine cable.

[0009] Optionally, the obtaining of the actual curvature of each detection point, wherein each detection point is a position point where a sensor is set on the target dynamic submarine cable, includes:

[0010] Acquiring a strain value collected by the sensor at the detection point, wherein the sensor is a strain sensor;

[0011] Based on a preset conversion relationship between the strain value and the actual curvature value, an actual curvature corresponding to the strain value is determined.

[0012] Optionally, a plurality of the detection points are provided on the target dynamic submarine cable, each of the detection points is provided with a first strain sensor and a second strain sensor, the first strain sensor is located on an outer wall on one side of the dynamic submarine cable, and the second strain sensor is located on an outer wall on the other side of the dynamic submarine cable;

[0013] The determining the actual curvature corresponding to the strain value based on the preset conversion relationship between the strain value and the actual curvature value includes:

[0014] The actual curvature value is determined according to a preset functional relationship between the strain value collected by the first strain sensor, the strain value collected by the second strain sensor, and the distance value between the first strain sensor and the second strain sensor.

[0015] Optionally, generating a plurality of unit nodes and determining the rotation angle values ​​of the unit nodes according to the actual curvature includes:

[0016] Generate a preset unit, wherein the unit node is located in the preset unit, and each of the preset units includes at least one detection point;

[0017] Constructing a least square error functional formula of the preset unit;

[0018] Taking a minimum value of the least squares error functional formula to obtain a mapping relationship between the coordinate value, the actual curvature and the rotation angle value in the unit;

[0019] Based on the coordinate value of the detection point in the preset unit, the actual curvature, and the mapping relationship between the coordinate value, the actual curvature and the angle value in the unit, the angle value of the unit node of the preset unit is determined.

[0020] Optionally, the least squares error functional function is a least squares error functional function between a theoretical curvature and an actual curvature;

[0021] The least square error functional formula of the preset unit is constructed, including:

[0022] Based on the preset B-spline basis function, a functional relationship between the theoretical curvature and the theoretical rotation angle is constructed;

[0023] Based on the actual curvature and the functional relationship between the theoretical curvature and the theoretical rotation angle, a least square error functional formula between the theoretical curvature and the actual curvature is constructed.

[0024] Optionally, generating a reconstruction curve based on the rotation angle values ​​of the plurality of unit nodes comprises:

[0025] Generate a plurality of micro-element arc segments, wherein each micro-element arc segment is a line segment in the reconstructed curve;

[0026] Based on a preset basis function relationship between the rotation angle value of the unit node and the rotation angle value of the position point on the reconstructed curve, the rotation angle value of the position point on the reconstructed curve is determined and used as the rotation angle value of the micro-element arc segment;

[0027] Based on the rotation angle value of the micro-element arc segment, the endpoint coordinate value of the micro-element arc segment is determined, and according to the geometric relationship between the endpoint coordinate values ​​of each micro-element arc segment, the reconstructed curve is generated.

[0028] Optionally, the determining the endpoint coordinate values ​​of the micro-element arc segment based on the rotation angle value of the micro-element arc segment, and generating the reconstructed curve according to the geometric relationship between the endpoint coordinate values ​​of each micro-element arc segment, includes:

[0029] Acquire a preset coordinate value and a preset angle of a preset starting point, wherein the preset starting point is a starting point of the reconstructed curve;

[0030] Using the preset coordinate value as the coordinate value of the first endpoint of the current micro-element arc segment, and using the preset angle as the vector angle of the first endpoint of the current micro-element arc segment;

[0031] Determine the coordinate value and vector angle of the second endpoint of the current micro-element arc segment based on a preset geometric relationship among the coordinate value, the vector angle and the rotation angle value;

[0032] Using the coordinate value of the second endpoint as the coordinate value of the first endpoint of the current micro-element arc segment, and using the vector angle of the second endpoint as the vector angle of the first endpoint of the current micro-element arc segment;

[0033] Execute the step of determining the coordinate value and vector angle of the second endpoint of the current micro-element arc segment based on the preset geometric relationship between the coordinate value, vector angle and rotation angle value, until the coordinate value and vector angle of the end point of the reconstructed curve are determined to obtain the reconstructed curve.

[0034] In a second aspect, the present invention provides a dynamic submarine cable shape reconstruction system for a floating wind turbine, comprising a plurality of sensors and a central processor, each of the sensors being electrically connected to the central processor;

[0035] The sensor is used to collect data at the detection point;

[0036] The central processing unit comprises:

[0037] An acquisition module, used for acquiring the actual curvature of each of the detection points, wherein each of the detection points is a position point where the sensor is set on the target dynamic submarine cable;

[0038] A generating module, used for generating a plurality of unit nodes, and determining the rotation angle values ​​of the unit nodes according to the actual curvature;

[0039] A calculation module, used for generating a reconstruction curve based on the rotation angle values ​​of the plurality of unit nodes;

[0040] The reconstruction module is used to use the reconstruction curve as the beam axis of the dynamic submarine cable to generate a two-dimensional dynamic submarine cable model to restore the shape of the target dynamic submarine cable.

[0041] In a third aspect, the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements any of the methods described above when executing the computer program.

[0042] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method as described in any one of the above items is implemented.

[0043] The present invention has at least the following beneficial effects: the technical solution of the present application collects actual data on the target dynamic submarine cable through sensors, and on the basis of the actual data, by converting the actual data into angle values ​​that are convenient for digital processing, and using simulation technology, a reconstructed curve and a two-dimensional simulated dynamic submarine cable are generated, thereby restoring the shape of the target dynamic submarine cable. It can be seen that the two-dimensional simulated dynamic submarine cable generated based on the actual data has a high degree of restoration and can present the shape changes and displacements of the target dynamic submarine cable to the greatest extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0045] Figure 1 A flowchart of the steps of a method for reconfiguring the shape of a dynamic submarine cable of a floating wind turbine;

[0046] Figure 2 yes Figure 1 The step flow chart of step S100 in FIG.

[0047] Figure 3 yes Figure 1 The step flow chart of step S200 in FIG.

[0048] Figure 4 is a schematic diagram of a p-order B-spline curve in an embodiment;

[0049] Figure 5 yes Figure 1The step flow chart of step S300 in FIG.

[0050] Figure 6 yes Figure 6 The step flow chart of step S330 in FIG.

[0051] Figure 7 is a curve schematic diagram of a microelement arc segment in an embodiment;

[0052] Figure 8 It is a structural schematic diagram of a dynamic submarine cable shape reconstruction system for a floating wind turbine;

[0053] Fig. 9 It is a schematic diagram of the hardware structure of an electronic device. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0055] Please refer to Figure 1 , Figure 1 The invention is a flowchart of steps of a method for reconfiguring the shape of a dynamic submarine cable of a floating wind turbine.

[0056] In a first aspect, an embodiment of the present application provides a method for dynamically reconfiguring the shape of a submarine cable of a floating wind turbine, the method comprising the following steps:

[0057] S100, obtaining an actual curvature of each detection point, wherein each detection point is a position point where a sensor is set on a target dynamic submarine cable.

[0058] S200, generating a plurality of unit nodes, and determining the rotation angle values ​​of the unit nodes according to the actual curvature.

[0059] S300 , generating a reconstruction curve based on the rotation angle values ​​of multiple unit nodes.

[0060] S400: Using the reconstructed curve as the beam axis of the dynamic submarine cable, generating a two-dimensional dynamic submarine cable model to restore the shape of the target dynamic submarine cable.

[0061] In step S100 of some embodiments, the actual curvature of each detection point may be directly acquired by a sensor, or may be acquired by converting a signal acquired by the sensor into the actual curvature.

[0062] In step S200 of some embodiments, the circumference of the target dynamic submarine cable can be divided into multiple unit nodes in proportion according to the actual size parameters, such as length, width, height, and circumference; or an equal number of unit nodes can be generated according to the number of detection points, and the distance between the unit nodes can be set automatically.

[0063] It can be understood that the curvature of a curve is the rotation rate of the tangent direction angle to the arc length at a point on the curve, indicating the degree to which the curve deviates from a straight line. When determining the rotation angle value of a unit node, if the curvature of multiple discrete points on the curve is known, the curvature is integrated, and the rotation angle of each point can be obtained, and then the curve can be restored.

[0064] In step S300 of some embodiments, the unit node is used as a position point on the reconstructed curve, and the rotation angle value of the unit node is used as the rotation angle value of the position point on the reconstructed curve. The rotation angle value of each position of the reconstructed curve can be obtained by using the B-spline basis function, and then the reconstructed curve can be obtained by using the mathematical differential geometric relationship. Alternatively, after determining the rotation angle value of each unit node, the shape function can be used to divide any number of micro-element arc segments, and then these micro-element arc segments are connected to obtain the reconstructed curve. The shape function is shown in the following formula:

[0065] (1);

[0066] In step S400 of some embodiments, it can be understood that because the beam cross section of the dynamic submarine cable is perpendicular to the beam axis of the dynamic submarine cable, the beam structure of the dynamic submarine cable can be restored to generate a two-dimensional dynamic submarine cable model.

[0067] The technical solution of the present application collects actual data on the target dynamic submarine cable through sensors, and on the basis of the actual data, converts the actual data into angle values ​​that are easy to digitally process, and uses simulation technology to generate a reconstructed curve and a two-dimensional simulated dynamic submarine cable, thereby restoring the shape of the target dynamic submarine cable. It can be seen that the two-dimensional simulated dynamic submarine cable generated based on the actual data has a high degree of restoration and can present the shape changes and displacements of the target dynamic submarine cable to the greatest extent.

[0068] See also Figure 2 In some embodiments, step S100 may include but is not limited to the following steps:

[0069] S110, obtaining a strain value collected by a sensor at a detection point, wherein the sensor is a strain sensor.

[0070] S120 . Determine the actual curvature corresponding to the strain value based on a preset conversion relationship between the strain value and the actual curvature value.

[0071] Optionally, in some embodiments, in a preset strain value and actual curvature value conversion table, each strain value has a fixed corresponding relationship with the actual curvature value. As long as a certain strain value is collected, the actual curvature corresponding to the strain value can be obtained by querying the preset strain value and actual curvature value conversion table, thereby speeding up the calculation of the actual curvature.

[0072] Optionally, in some embodiments, a plurality of detection points are provided on the target dynamic submarine cable, each detection point is provided with a first strain sensor and a second strain sensor, the first strain sensor is located on an outer wall of one side of the dynamic submarine cable, and the second strain sensor is located on an outer wall of the other side of the dynamic submarine cable. Step S120 includes:

[0073] The actual curvature value is determined according to a preset functional relationship between the strain value collected by the first strain sensor, the strain value collected by the second strain sensor, and the distance value between the first strain sensor and the second strain sensor.

[0074] In this embodiment, it is assumed that the strain value collected by the first strain sensor at its detection point is The strain value collected by the second strain sensor at its detection point is , i represents the serial number of the strain sensor, for example, the i-th strain sensor, i (i=1,…,n), 2h is the distance between the first sensor and the second sensor, that is, the thickness of the structure. The preset functional relationship between the strain value collected by the first strain sensor, the strain value collected by the second strain sensor, and the distance value between the first strain sensor and the second strain sensor is expressed by the following formula:

[0075] (2);

[0076] It can be understood that this embodiment is conducive to improving the ability to collect actual data on the dynamic submarine cable and improving the accuracy of the collected data.

[0077] See also Figure 3 In some embodiments, step S200 may include but is not limited to the following steps:

[0078] S210, generating a preset unit, wherein the unit node is located in the preset unit, and each preset unit includes at least one detection point.

[0079] S220, constructing a least square error functional formula of a preset unit.

[0080] S230, taking the minimum value of the least squares error functional formula to obtain the mapping relationship between the coordinate value in the unit, the actual curvature and the angle value.

[0081] S240, determining the rotation angle value of the unit node of the preset unit based on the coordinate value of the detection point in the preset unit, the actual curvature, and the mapping relationship between the coordinate value, the actual curvature and the rotation angle value in the unit.

[0082] In this embodiment, the rotation angle is first defined using the NURBS basis function, and then the relationship between the rotation angle and the theoretical curvature is obtained through differential geometry. The theoretical curvature and actual curvature of the structure are then used to construct a least squares error functional, and an equation is constructed by taking the minimum value of the functional to obtain the axis rotation angle.

[0083] The least squares error functional formula of the preset unit is as follows:

[0084] (3);

[0085] (4);

[0086] (5);

[0087] Let the function Φ e For θ e Taking the minimum value can obtain the mapping relationship between the coordinate value in the unit, the actual curvature and the angle value, which is in the following equation form:

[0088] (6);

[0089] Among them, K e is the local stiffness matrix, which is the coordinate value x of the detection point i The function, f e is the local load vector, given by the actual curvature k i Determined, c e is a constant. Considering the displacement boundary conditions and merging the local matrix and vector in equation (6) into the overall matrix and vector, the overall rotation angle equation can be obtained as follows:

[0090] (7);

[0091] Where K is the local stiffness matrix, f is the local load vector, is the rotation angle value. The rotation angle value of each unit node can be obtained by the above formula.

[0092] Optionally, in some embodiments, the least squares error functional function is a least squares error functional function between a theoretical curvature and an actual curvature. Step S220 includes:

[0093] Based on the preset B-spline basis function, the functional relationship between the theoretical curvature and the theoretical rotation angle is constructed; based on the actual curvature and the functional relationship between the theoretical curvature and the theoretical rotation angle, the least squares error functional formula between the theoretical curvature and the actual curvature is constructed.

[0094] In this embodiment, the least squares error functional formula is as follows:

[0095] (8);

[0096] Among them, k(θ) is the theoretical curvature and ki is the actual curvature. When the error functional takes a minimum value, the theoretical curvature is closest to the true curvature, and the calculated rotation angle of the point can be considered as the true rotation angle.

[0097] In the definition of differential geometry, the theoretical curvature of a curve is the rotation rate of the tangent direction angle to the arc length at a point on the curve, indicating the degree to which the curve deviates from a straight line, as shown in the following formula:

[0098] (9);

[0099] Where k is the theoretical curvature, is the turning angle, and s is the curve length.

[0100] See also Figure 4 ,like Figure 4 The figure shows a p-order B-spline curve and its control variables, which can be expressed by the following formula:

[0101] (10);

[0102] Among them, ξ(-1≤ξ≤1) is the coordinate in the parameter space, N i,p is the p-order B-spline basis function, P i is the control variable.

[0103] As the order of the spline curve increases, the curve becomes smoother. Therefore, in order to make the spline curve better describe the change of the beam curve shape, avoid the occurrence of the "shear self-locking" phenomenon and consider the complexity of high-order calculations, the third-order B-spline basis function is used to define the rotation angle θ as follows:

[0104] (11);

[0105] Among them, the basic information of the angular displacement field includes: kinematic variable θ, node vector [0,0,0,0,1,1,1,1], basis function order 3, and number of control variables 4.

[0106] Substituting equation (11) into equation (9), we can get the theoretical curvature:

[0107] (12);

[0108] Finally, the least squares error functional is transformed into:

[0109] (13);

[0110] Among them, L e is the unit length, n is the number of detection points in the unit, x i is the coordinate value of the detection point.

[0111] It can be understood that, compared with the traditional curve fitting method, this embodiment eliminates the error accumulated by directly integrating points into lines in the traditional curve fitting method by introducing the least squares error functional.

[0112] See also Figure 5 In some embodiments, step S300 may include but is not limited to the following steps:

[0113] S310, generating a plurality of micro-element arc segments, wherein each micro-element arc segment is a line segment in the reconstructed curve.

[0114] S320, based on a preset basis function relationship between the rotation value of the unit node and the rotation value of the position point on the reconstructed curve, determine the rotation value of the position point on the reconstructed curve and use it as the rotation value of the micro-element arc segment.

[0115] S330, based on the rotation angle value of the micro-element arc segment, determine the endpoint coordinate values ​​of the micro-element arc segment, and generate a reconstructed curve according to the geometric relationship between the endpoint coordinate values ​​of each micro-element arc segment.

[0116] In step S320 of some embodiments, the above-mentioned p-order B-spline basis function can be used to construct a preset basis function relationship between the rotation angle value of the unit node and the rotation angle value of the position point on the reconstructed curve. According to the p-order B-spline basis function, the rotation angle value of each position point on the reconstructed curve can be obtained according to the rotation angle value of the unit node.

[0117] In step S330 of some embodiments, when the preset coordinate value of one of the endpoints of the micro-element arc segment is known, the coordinate value of the other endpoint of the micro-element arc segment can be determined by the rotation angle value of the micro-element arc segment. When the coordinate value of the endpoint of each micro-element arc segment is known, each micro-element arc segment can be connected in a preset order to obtain a reconstructed curve.

[0118] See also Figure 6 In some embodiments, step S330 may include but is not limited to the following steps:

[0119] S331. Obtain a preset coordinate value and a preset angle of a preset starting point, wherein the preset starting point is a starting point of a reconstructed curve.

[0120] S332: Use the preset coordinate value as the coordinate value of the first endpoint of the current micro-element arc segment, and use the preset angle as the vector angle of the first endpoint of the current micro-element arc segment.

[0121] S333. Based on the preset geometric relationship between the coordinate value, the vector angle and the rotation angle value, determine the coordinate value and the vector angle of the second endpoint of the current micro-element arc segment.

[0122] S334. Use the coordinate value of the second endpoint as the coordinate value of the first endpoint of the current micro-element arc segment, and use the vector angle of the second endpoint as the vector angle of the first endpoint of the current micro-element arc segment.

[0123] S335, executing the step of determining the coordinate value and vector angle of the second endpoint of the current micro-element arc segment based on the preset geometric relationship between the coordinate value, vector angle and rotation angle value, until the coordinate value and vector angle of the end point of the reconstructed curve are determined to obtain the reconstructed curve.

[0124] See also Figure 7 , Figure 7 It is a schematic diagram of the curve of a certain micro-arc segment.

[0125] In this micro-arc segment, O n and O n+1 are the two endpoints of the microelement arc segment, whose coordinates are (x n ,y n ) and (x n+1 ,y n+1 ).θ n and θ n+1 are the angles between the two tangent vectors and the x-axis, θ n and θ n+1 The size of k can be obtained by the rotation angle value of the above unit node and the B-spline function. n and k n+1 Corresponding to O n and O n+1 The curvature at α n and α n+1 Respectively represent O n and O n+1 The tangent vector at . n is the infinitesimal arc segment ΔS n The corresponding chord length. Δθ n is the infinitesimal arc segment ΔS n The corresponding turning angle. Since the micro-arc segment is short enough, it can be considered that O n The radius of curvature and O n+1 The radius of curvature at the points is approximately equal, so O n The curvature k at n Replace the curvature of this infinitesimal arc segment. As shown in the following formulas:

[0126] (14);

[0127] (15);

[0128] (16);

[0129] (17);

[0130] (18);

[0131] (19);

[0132] Δx n and Δy n Indicates O n Dot and O n+1 The difference in coordinates of the points, O n+1 The coordinates of O n The coordinates at the preset starting point are recursively obtained, and the curve shape of the entire reconstructed curve can be restored using the preset coordinate value and the preset angle of the preset starting point.

[0133] It can be understood that this embodiment can improve the accuracy of the reconstructed curve by dividing any number of micro-element arc segments and generating a reconstructed curve based on multiple micro-element arc segments, and can also restore the beam line of the dynamic submarine cable when the number of strain sensors is small and the strain data collected is small.

[0134] Second, reference Figure 8 This embodiment provides a dynamic submarine cable shape reconstruction system for a floating wind turbine, including: a plurality of sensors and a central processor, each sensor is electrically connected to the central processor.

[0135] The CPU includes:

[0136] The acquisition module 401 is used to acquire the actual curvature of each detection point, wherein each detection point is a position point where a sensor is set on the target dynamic submarine cable.

[0137] The generating module 402 is used to generate a plurality of unit nodes and determine the rotation angle values ​​of the unit nodes according to the actual curvature.

[0138] The operation module 403 is used to generate a reconstructed curve based on the rotation angle values ​​of multiple unit nodes.

[0139] The reconstruction module 404 is used to use the reconstruction curve as the beam axis of the dynamic submarine cable to generate a two-dimensional dynamic submarine cable model to restore the shape of the target dynamic submarine cable.

[0140] Sensor 405 is used to collect data at the detection point.

[0141] It will be appreciated by those skilled in the art that all or some of the steps and systems in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or transient medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. It is well known to those skilled in the art that communication media generally contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and may include any information delivery media.

[0142] It can be understood that the contents of the above method embodiments are all applicable to the present system embodiments, the functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0143] In a third aspect, an embodiment of the present application provides an electronic device, the electronic device comprising a memory and a processor, the memory storing a computer program, and the processor implementing any of the above methods for dynamic submarine cable shape reconstruction of a floating wind turbine when executing the computer program.

[0144] refer to Fig. 9 , Fig. 9 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0145] The processor 501 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0146] The memory 502 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 502 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 502, and the processor 501 calls and executes the dynamic submarine cable shape reconstruction method of the floating wind turbine in the embodiment of the present application;

[0147] Input / output interface 503, used to implement information input and output;

[0148] Communication interface 504, used to realize communication interaction between the device and other devices, which can be realized through wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WIFI, Bluetooth, etc.);

[0149] A bus 505 that transmits information between various components of the device (e.g., the processor 501, the memory 502, the input / output interface 503, and the communication interface 504);

[0150] The processor 501 , the memory 502 , the input / output interface 503 and the communication interface 504 are connected to each other in communication within the device via the bus 505 .

[0151] It can be understood that the contents of the above method embodiments are all applicable to the electronic device embodiment, the functions specifically implemented by the electronic device embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0152] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a program executable by a processor, and the program executable by the processor is used to implement the dynamic submarine cable shape reconstruction method of a floating wind turbine as described in any one of the above specific embodiments when executed by the processor.

[0153] An embodiment of the present application also discloses a computer program product, including a computer program or computer instructions, wherein the computer program or computer instructions are stored in a computer-readable storage medium, a processor of a computer device reads the computer program or computer instructions from the computer-readable storage medium, and the processor executes the computer program or computer instructions, so that the computer device executes the method for dynamic submarine cable shape reconstruction of a floating wind turbine as described in any of the previous embodiments.

[0154] It can be understood that the contents of the above method embodiments are all applicable to the present storage medium embodiments, the functions specifically implemented by the present storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0155] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. It should be understood that in the present application, "at least one (item)" refers to one or more, and "a plurality" refers to two or more.

[0156] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0157] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0158] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0159] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store program codes.

[0160] Although the description of the present application has been quite detailed and specifically describes several described embodiments, it is not intended to be limited to any of these details or embodiments or any particular embodiment, but should be regarded as providing a broad possible interpretation of these claims by reference to the attached claims, taking into account the prior art, so as to effectively cover the intended scope of the present application. In addition, the above description of the present application is based on the embodiments foreseeable by the inventor, and its purpose is to provide a useful description, and those non-substantial changes to the present application that have not yet been foreseen may still represent equivalent changes to the present application.

Claims

1. A method for reconfiguring the shape of a dynamic submarine cable of a floating wind turbine, characterized in that: The method comprises: Obtaining the actual curvature of each detection point, wherein each detection point is a position point where a sensor is set on the target dynamic submarine cable; Generate a plurality of unit nodes according to the actual size parameter of the target dynamic submarine cable or the number of the detection points, and integrate the actual curvature detected at each of the unit nodes to obtain the rotation angle value of each of the unit nodes; Based on the rotation angle value of each unit node, a plurality of micro-element arc segments are generated by using a preset shape function, and the plurality of micro-element arc segments are connected into a reconstructed curve according to the connection order of each micro-element arc segment, wherein the unit node is used as a position point on the reconstructed curve, and the rotation angle value of the unit node is used as the rotation angle value of the position point on the reconstructed curve; The reconstructed curve is used as the beam axis of the dynamic submarine cable to generate a two-dimensional dynamic submarine cable model to restore the shape of the target dynamic submarine cable.

2. A method for dynamic submarine cable shape reconstruction of a floating wind turbine according to claim 1, characterized in that: The step of obtaining the actual curvature of each detection point, wherein each detection point is a position point where a sensor is set on the target dynamic submarine cable, comprises: Acquiring a strain value collected by the sensor at the detection point, wherein the sensor is a strain sensor; Based on a preset conversion relationship between the strain value and the actual curvature value, an actual curvature corresponding to the strain value is determined.

3. A method for dynamic submarine cable shape reconstruction of a floating wind turbine according to claim 2, characterized in that: The target dynamic submarine cable is provided with a plurality of detection points, each of which is provided with a first strain sensor and a second strain sensor, the first strain sensor is located on an outer wall on one side of the dynamic submarine cable, and the second strain sensor is located on an outer wall on the other side of the dynamic submarine cable; The determining the actual curvature corresponding to the strain value based on the preset conversion relationship between the strain value and the actual curvature value includes: The actual curvature value is determined according to a preset functional relationship between the strain value collected by the first strain sensor, the strain value collected by the second strain sensor, and the distance value between the first strain sensor and the second strain sensor.

4. A method for dynamic submarine cable shape reconstruction of a floating wind turbine according to claim 1, characterized in that: The step of determining the rotation angle value of the unit node comprises: Generate a preset unit, wherein the unit node is located in the preset unit, and each of the preset units includes at least one detection point; Constructing a least square error functional formula of the preset unit; Taking the minimum value of the least squares error functional formula to obtain a mapping relationship between the coordinate value in the unit, the actual curvature and the angle value; Based on the coordinate value of the detection point in the preset unit, the actual curvature, and the mapping relationship between the coordinate value, the actual curvature and the angle value in the unit, the angle value of the unit node of the preset unit is determined.

5. A method for dynamic submarine cable shape reconstruction of a floating wind turbine according to claim 4, characterized in that: The least squares error functional function is the least squares error functional function between the theoretical curvature and the actual curvature; The least square error functional formula of the preset unit is constructed, including: Based on the preset B-spline basis function, a functional relationship between the theoretical curvature and the theoretical rotation angle is constructed; Based on the actual curvature and the functional relationship between the theoretical curvature and the theoretical rotation angle, a least square error functional formula between the theoretical curvature and the actual curvature is constructed.

6. A method for dynamic submarine cable shape reconstruction of a floating wind turbine according to claim 1, characterized in that: The method of generating a plurality of micro-element arc segments based on the rotation angle value of each unit node by using a preset shape function and connecting the plurality of micro-element arc segments into a reconstructed curve according to the connection order of each micro-element arc segment comprises: Generate a plurality of micro-element arc segments, wherein each micro-element arc segment is a line segment in the reconstructed curve; Based on a preset basis function relationship between the rotation angle value of the unit node and the rotation angle value of the position point on the reconstructed curve, the rotation angle value of the position point on the reconstructed curve is determined and used as the rotation angle value of the micro-element arc segment; Based on the rotation angle value of the micro-element arc segment, the endpoint coordinate value of the micro-element arc segment is determined, and according to the geometric relationship between the endpoint coordinate values ​​of each micro-element arc segment, the reconstructed curve is generated.

7. A method for dynamic submarine cable shape reconstruction of a floating wind turbine according to claim 6, characterized in that: The step of determining the endpoint coordinate values ​​of the micro-element arc segment based on the rotation angle value of the micro-element arc segment, and generating the reconstructed curve according to the geometric relationship between the endpoint coordinate values ​​of each micro-element arc segment, comprises: Acquire a preset coordinate value and a preset angle of a preset starting point, wherein the preset starting point is a starting point of the reconstructed curve; Using the preset coordinate value as the coordinate value of the first endpoint of the current micro-element arc segment, and using the preset angle as the vector angle of the first endpoint of the current micro-element arc segment; Determine the coordinate value and vector angle of the second endpoint of the current micro-element arc segment based on a preset geometric relationship among the coordinate value, the vector angle and the rotation angle value; Using the coordinate value of the second endpoint as the coordinate value of the first endpoint of the current micro-element arc segment, and using the vector angle of the second endpoint as the vector angle of the first endpoint of the current micro-element arc segment; Execute the step of determining the coordinate value and vector angle of the second endpoint of the current micro-element arc segment based on the preset geometric relationship between the coordinate value, vector angle and rotation angle value, until the coordinate value and vector angle of the end point of the reconstructed curve are determined to obtain the reconstructed curve.

8. A dynamic submarine cable shape reconstruction system for a floating wind turbine, characterized in that: It includes a plurality of sensors and a central processor, each of the sensors is electrically connected to the central processor; The sensor is used to collect data at the detection point; The central processing unit comprises: An acquisition module, used for acquiring the actual curvature of each of the detection points, wherein each of the detection points is a position point where the sensor is set on the target dynamic submarine cable; A generating module, used for generating a plurality of unit nodes according to the actual size parameter of the target dynamic submarine cable or the number of the detection points, and integrating the actual curvature detected at each unit node to obtain the rotation angle value of each unit node; A calculation module, for generating a plurality of micro-element arc segments based on the rotation angle value of each unit node by using a preset shape function, and connecting the plurality of micro-element arc segments into a reconstructed curve according to the connection order of each micro-element arc segment, wherein the unit node is used as a position point on the reconstructed curve, and the rotation angle value of the unit node is used as the rotation angle value of the position point on the reconstructed curve; The reconstruction module is used to use the reconstruction curve as the beam axis of the dynamic submarine cable to generate a two-dimensional dynamic submarine cable model to restore the shape of the target dynamic submarine cable.

9. An electronic device, characterized in that: The electronic device comprises a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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