Ocean platform siltation detection system and detection method

Abstract

The invention provides an ocean platform siltation detection system and method. The ocean platform siltation detection system comprises a track and a siltation detector. Wherein the track is erected on the peripheral side of the ocean platform, and the siltation detector is connected with the track in a single-degree-of-freedom incomplete constraint mode and provided with a power unit. The power unit is a multidirectional thrust power unit or an adjustable unstable power unit. The siltation detector is further provided with an acoustic detection unit, a posture detection unit and a positioning unit and is integrated with a control system. The system is simple in composition and low in investment cost, realizes composite motion through combination of the track and the power unit, can perform large-range scanning on the seabed deposition layer in cooperation with the acoustic detection unit, the attitude detection unit and the positioning unit to obtain high-precision point location information, and can obtain morphology information of the deposition layer after fitting reconstruction; the whole process is high in morphology reduction degree and low in cost, the detection efficiency is guaranteed, and the method is suitable for periodic inspection.

Description

Technical Field

[0001] The invention belongs to the field of marine science and technology, and in particular relates to a marine platform siltation detection system and a detection method. Background Art

[0002] An offshore platform is a structure that provides production and living facilities for drilling, oil production, transportation, observation, navigation, construction and other activities at sea. Specifically, taking an offshore wind power generation platform as an example, an offshore wind power generation platform is a large-scale engineering structure used to support wind turbines in a marine environment to achieve wind power generation. It is usually composed of a foundation structure, a supporting structure and a wind turbine. Offshore wind power generation has many advantages such as abundant wind energy resources, high power generation efficiency and no occupation of land resources, and has developed rapidly in recent years.

[0003] With the construction and operation of offshore wind power generation platforms, the seabed environment around the platforms will change. Due to factors such as the flow of seawater, marine biological activities, and the sedimentation of suspended particles, a silt layer is easily formed at the bottom of the platform. The existence of the silt layer will have a significant impact on the stability of the platform. On the one hand, the increase in the thickness of the silt layer may cause the platform foundation to bear additional pressure, affecting the platform's bearing capacity and safety. On the other hand, the uneven distribution of silt may cause the platform to tilt, affecting the normal operation of the wind turbine. In addition, the underwater foundation of the platform will affect the underwater topography of the sea area where it is located under the combined action of tides and waves, and generate underwater landforms such as scouring grooves and erosion pits near the underwater part of the pile foundation. By monitoring the scouring of the pile foundation, we can understand the impact of the construction of the underwater foundation part of the offshore wind power platform on the underwater topography of the area, and whether the impact will cause displacement, tilting and collapse of underwater structures.

[0004] Therefore, corresponding detection means are needed to detect the topography around marine projects in real time, establish a sea area topography change database through data collection and inversion of historical data, simulate possible changes in the future, and predict the occurrence of harmful effects, the change process and results.

[0005] At present, the detection of siltation layers on offshore wind power platforms mainly adopts the following methods:

[0006] Geological drilling method: By drilling holes in the seabed to directly obtain physical properties and thickness information of the sediment layer. The advantages are accurate and reliable measurement results and detailed geological information. The disadvantages are high operating costs, long time, and detection can only be carried out in limited locations, making it difficult to achieve comprehensive coverage.

[0007] Satellite remote sensing method: Use sensors carried by satellites to observe the ocean surface and indirectly infer the situation of the seabed siltation layer by analyzing the characteristics of the ocean surface. The advantage is that it can achieve large-scale monitoring and is not directly affected by the marine environment. The disadvantage is that the resolution is low, it is difficult to accurately measure the thickness and detailed distribution of the siltation layer, and it requires high data processing and analysis technology.

[0008] Acoustic detection: Use multi-beam sonar to map the seabed topography. It can also be used to understand the topography around offshore equipment.

[0009] Compared with the first two methods, the acoustic detection method is currently more commonly used, with more balanced indicators, wide detection range and high accuracy. However, multi-beam sonar is generally used for scientific research ships to map the seabed topography. Multi-beam sonar is very expensive and requires specialized technicians to maintain. Compared with scheduled dredging, it cannot significantly reduce costs.

[0010] In summary, the existing methods for detecting siltation layers on offshore wind power platforms have their own advantages and disadvantages, and cannot fully meet the needs of actual projects. Therefore, a more efficient, accurate and economical detection method is needed to solve this problem, so as to better carry out the construction of wind farms, improve the offshore wind power generation capacity, and do a good job in evaluating the impact of offshore wind farms on the local marine environment. Summary of the invention

[0011] In view of the problems existing in the prior art, the present invention provides an offshore platform siltation detection system and detection method to solve the above problems.

[0012] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0013] In one aspect, the present invention provides an offshore platform siltation detection system, which mainly includes a track and a siltation detector;

[0014] The track is set up on the periphery of the offshore platform, and the siltation detector is connected to the track with a single degree of freedom incomplete constraint;

[0015] The siltation detector is provided with a power unit, which is a multi-directional thrust power unit or an adjustable unstable power unit; the siltation detector is also provided with an acoustic detection unit, a posture detection unit and a positioning unit, and is integrated with a control system;

[0016] The siltation detector is located below sea level.

[0017] Furthermore, the siltation detector is provided with a track slide;

[0018] One end of the track slide is slidably connected to the track, and the other end is connected to the siltation detector;

[0019] The track slide is a rigid structure or a flexible structure.

[0020] Furthermore, the track slide is a rigid structure, and at least one end is provided with a hinge structure.

[0021] Furthermore, the peripheral side surface of the track is a columnar structure;

[0022] The upper end of the track slide is a C-shaped clamp structure and is slidably matched with the track;

[0023] The lower end of the track slide is fixedly connected or detachably connected to the siltation detector.

[0024] Furthermore, the track is fixedly connected to the offshore platform via a hanger;

[0025] A guide structure is provided at the connection between the track and the hanger for guiding the C-shaped clip structure to pass through.

[0026] Further, the siltation detector is provided with an adjustable unstable power unit;

[0027] The controllable unstable power unit is a single propeller propeller.

[0028] Furthermore, the siltation detector is also provided with a control unit and an energy storage unit;

[0029] The control unit is provided with a carrier board, a processor, a data acquisition card, a driver and a storage medium, and is installed with the control system;

[0030] The energy storage unit is connected to the control unit, and the driver is connected to the power unit.

[0031] Furthermore, the siltation detector is also provided with a buoyancy adjustment device or a float.

[0032] Further, a console is included;

[0033] The control console is located on the offshore platform or vessel;

[0034] The siltation detector is connected to the console by cable or hydroacoustic communication.

[0035] On the other hand, the present invention also provides a detection method of an offshore platform siltation detection system, the main steps of which include:

[0036] First, deploy siltation detectors;

[0037] S1. Activate the siltation detector according to instructions or preset information;

[0038] S2. The siltation detector performs compound motion through the power unit under the regulation of the control system and completes at least one inspection along the track; when multiple inspections are performed, the compound motion paths are not all the same through the regulation of the control system;

[0039] The composite motion includes motion along the guide direction of the track and reciprocating swing around the axis;

[0040] The acoustic detection unit, posture detection unit and positioning unit perform real-time sampling and recording;

[0041] S3. Calculate the position information of the siltation layer based on the recorded data of S2, and obtain the morphological information of the siltation layer by surface reconstruction fitting method.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] The system of the present invention has a simple composition and low investment cost. It realizes compound motion through the combination of track and power unit. It can carry out large-scale scanning of the seabed silt layer in cooperation with the acoustic detection unit, attitude detection unit and positioning unit to obtain high-precision point information. After fitting and reconstruction, the morphology information of the silt layer can be obtained. The whole process has not only high morphology restoration degree and low cost, but also guaranteed detection efficiency, and is suitable for periodic inspections. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0045] Figure 1 A schematic diagram of the system installation position in a specific embodiment of the present invention;

[0046] Figure 2 It is a front perspective view of a siltation detector in a specific embodiment of the present invention;

[0047] Figure 3 for Figure 2 The enlarged schematic diagram at A in the middle;

[0048] Figure 4 It is a rear perspective view of a siltation detector in a specific embodiment of the present invention;

[0049] Figure 5 It is a bottom front stereoscopic view of a specific embodiment of the present invention;

[0050] Figure 6 It is a bottom rear perspective view of a specific embodiment of the present invention;

[0051] Figure 7 A flowchart of a method in a specific embodiment of the present invention;

[0052] Figure 8 It is a detection schematic diagram in a specific embodiment of the present invention;

[0053] Fig. 9 It is a schematic diagram of the composite motion path in a specific embodiment of the present invention.

[0054] In the figure: 1, offshore platform, 2, hanger, 3, track, 4, main cabin, 5, C-type clamp structure, 6, thruster motor, 7, fairing, 8, adjustable float, 9, single propeller thruster, 10, motor clamp, 11, protective cover, 12, composite motion path, 13, acoustic altimeter measurement range, 201, vertical rod, 202, guide structure. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0057] In the description of the present invention, it is necessary to understand that the relative relationships indicated by the terms "upper" and "lower" are based on the placement or design position in actual applications. They are for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position. Therefore, they cannot be understood as limitations on the present invention.

[0058] Furthermore, in the description of the present invention, “multiple times” means twice or more, unless otherwise clearly and specifically defined.

[0059] In the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0060] It should also be noted that the methods used in the present invention are all conventional methods unless otherwise specified; the raw materials and devices used are all conventional commercially available products unless otherwise specified.

[0061] The present invention Figure 1 , Figure 2 and Figure 4 As shown, a marine platform siltation detection system is provided, which mainly includes a track and a siltation detector.

[0062] The offshore platform 1 is provided with a hanger 2. In a simple example, the hanger 2 includes a horizontal bar and a vertical bar. One end of the horizontal bar is fixed to the offshore platform 1, and the other end is provided with a vertically arranged vertical bar. Figure 1 The figure is a simplified representation and does not mean that the hanger 2 has only three sets of horizontal bars and vertical bars.

[0063] refer to Figure 3 As shown, the lower end of the vertical rod 201 is fixedly connected to the track 3, and the side surface of the track 3 is a columnar structure. Specifically, the track 3 is a rigid circular tube structure, and is connected end to end to form a ring structure around the offshore platform 1, thereby covering the surrounding area of ​​the platform.

[0064] The siltation detector is connected to the track 3 with a single degree of freedom and an incomplete constraint. Specifically, the single degree of freedom is along the guiding direction of the track 3 (or understood as the tangent direction of the center line of the track), and the incomplete constraint is an incomplete circumferential restriction. Therefore, it is designed that a track slide is installed on the upper part of the siltation detector, and the track slide is slidably connected to the track 3. One way is to select a flexible track slide to form an incomplete constraint to ensure that the siltation detector can swing slightly; and in this embodiment, considering the durability of the structure, the main body of the track slide is selected as a rigid connecting rod structure, and a C-type clamp structure 5 is fixedly installed on the upper end to clamp the track 3, thereby forming a single degree of freedom and an incomplete constraint. In the axial direction, the C-type clamp structure 5 slides with the track 3, and the C-type clamp structure 5 forms a hinged structure with the track 3 in the radial direction so that it can rotate around the axis. When the track slide passes through the connection between the vertical rod 201 and the track 3, the opening of the C-type clamp structure 5 can ensure its normal passage. Furthermore, in order to ensure that the siltation detector will not be stuck at the connection between the vertical rod 201 for a long time during the swinging process, such as Figure 3 As shown, a guide structure 202 is processed at the connection position, specifically a rib structure set on both sides (along the two ends of the track direction), and the end is processed with rounded corners to guide the siltation detector through the position. In this embodiment, the lower end of the track slide is detachably connected to the siltation detector. Specifically, a semicircular clamp is welded at the lower end of the track slide, and is connected to another semicircular clamp by a folded installation bolt, which is tightened to fix the main structure of the siltation detector.

[0065] Combination Figure 5 and Figure 6As shown, the siltation detector of this embodiment includes a main cabin 4, in which an acoustic detection unit, a posture detection unit and a positioning unit are installed. Among them, the acoustic detection unit is specifically a hydroacoustic altimeter, which is used to detect the distance from the point to the sensor; the posture detection unit is specifically a gyroscope, which is used to detect the swing angle of the siltation detector; the positioning unit is a speedometer (inertial navigation) and / or a hydroacoustic positioning module, which is used to calculate the specific position of the siltation detector. Further, a control unit is installed in the main cabin 4, including a carrier board and a processor and storage medium arranged thereon, and a data acquisition card corresponding to each sensor, and a corresponding control system is integrated therein for processing signals and data, and sending corresponding instructions to each component. The control unit also includes a driver adapted to the power unit to control the operation of the power unit.

[0066] There are two options for the power unit of the siltation detector, one is a multi-directional thrust power unit, a specific example is a multi-propeller setting, keeping at least one set of propellers in a longitudinal setting to provide the siltation detector with power to move forward along the track; the other set of propellers is set horizontally, so that the siltation detector can swing back and forth around the axis according to the design. Among them, it should be noted that the rotating shaft that swings around the axis is the rotating shaft at the hinge or the equivalent rotating shaft in the flexible swing. In this embodiment, the rotating shaft is the rotating shaft of the C-type clamp structure 5 and the track 3 (the tangent of the center line of the track at the matching point). Further, in this embodiment, considering the simplified structural design, the power unit is selected as an adjustable unstable power unit, that is, the adjustable unstable power unit is a single propeller propeller 9. The single propeller design makes the counter torque generated during its operation act on the whole. Under the premise of not setting a stable component, the instability of the single propeller is used to make the siltation detector swing horizontally. Therefore, the motor of the single propeller propeller 9 is connected to the propeller motor 6 through a transmission mechanism. The propeller motor 6 is fixed to the main cabin 4 through a motor clamp 10. In this embodiment, considering the influence of the marine environment, a protective cover 11 is installed on the outside of the transmission mechanism, and a fairing 7 is installed on the outside of the single propeller propeller 9 to protect the power unit. The fairing 7 is also a combination structure of two semicircular clamps, one of which is welded and fixed to a track slide, and the other is fixedly connected to the protective cover 11, and the two semicircular ring clamps are fixedly connected by folded bolts.

[0067] Preferably, in order to avoid the influence of the cable on the posture of the siltation detector, in this embodiment, an energy storage unit, specifically a battery pack, is installed in the main cabin 4. The battery pack and the main cabin 4 and their power supply interface are detachable. When the siltation detector needs to be supplemented with electricity, the siltation detector is pulled out of the water, and the battery compartment is opened to replace the battery pack. Therefore, the problem of taking and placing the siltation detector also needs to be considered in the specific design. One simplified way is to install a float to remind the operator of the location of the siltation detector and lift it out of the water through a cable. In order to simplify the operation of personnel, a buoyancy adjustment device, that is, an adjustable float 8, is installed on the main cabin 4 in this embodiment. The buoyancy of the float is changed by inflation or exhaust. When inflation increases the buoyancy of the adjustable float 8 and the overall buoyancy of the siltation detector is greater than the gravity, the adjustable float 8 will drive the siltation detector to float. The length of the track slide is designed to ensure that the main cabin 4 is exposed to the water surface at low tide, so that the operator can easily find the siltation detector, replace the battery pack therein on the water, and read the recorded data; in daily work, the buoyancy of the adjustable float 8 is reduced by exhausting the air, so that the overall buoyancy of the siltation detector is less than the gravity, and the siltation detector is located below sea level.

[0068] In order to contact and control the siltation detector, a control console is set up on the marine platform 1 and connected to the siltation detector through hydroacoustic communication. A hydroacoustic communication device is installed in the siltation detector. This design allows the siltation detector to send an alarm message and positioning coordinates to the control console when the siltation detector accidentally falls off the track 3, and the siltation detector detects that the positioning is beyond the safe range, and the adjustable float 8 is inflated to float up and wait for salvage.

[0069] On the other hand, the present invention further provides a method for detecting an offshore platform siltation detection system based on the above embodiment, the main steps of which are as follows: Figure 7 Shown include:

[0070] First, deploy the siltation detector. The operator drops the siltation detector into the sea as required, loosens the bolts of the C-shaped clamp structure 5, fits it to the track 3, and then tightens the bolts to complete the combination of the siltation detector and the track 3.

[0071] S1. When the control console sends an inspection command, or starts the siltation detector according to the preset task information, the siltation detector is powered on for self-inspection as a whole. After the self-inspection is correct, the single propeller propeller 9 is started, and the hydroacoustic altimeter, gyroscope and positioning unit are started synchronously and start to collect data.

[0072] S2. The siltation detector performs compound motion through the power unit under the regulation of the control system. Specifically, the single propeller propeller 9 generates thrust and counter-torque, and the siltation detector generates lateral swing while moving forward. When the gyroscope detects that the lateral swing angle of the siltation detector reaches the threshold, the single propeller propeller 9 is stopped, waiting for gravity to make it swing back; when the gyroscope detects that the swing back ends (after swinging to the highest point on the opposite side), the single propeller propeller 9 is restarted, and it moves forward by inertia during this period; the maximum inclination angle of the gyroscope and the propeller working time are controlled by the PID algorithm to ensure that the maximum swing inclination angle of the siltation detector is within a stable range, which also increases the ability to resist strong currents.

[0073] This forms a composite motion, which can be decomposed into a motion along the guide direction of the track and a reciprocating oscillation around the axis.

[0074] In the above manner, the siltation detector is driven along the track to complete at least one inspection (one circle around the track 3); it is understandable that a single inspection may not be comprehensive, so two or three inspections can be performed according to the preset instructions, and the control system is used to adjust the siltation detector along the track in different inspections in the same section to produce a large difference in speed, so that the corresponding composite motion paths are not completely the same; reference Fig. 9 As shown, the cross combination of the two composite motion paths 12 (solid line and dotted line) can make the acoustic altimeter measurement range 13 form a relatively complete long strip, thereby detecting the siltation layer near the offshore platform 1 more accurately and comprehensively;

[0075] During the complex movement, the acoustic altimeter, gyroscope and positioning unit are sampled and recorded in real time; combined with Figure 8 As shown, in one sampling cycle, the positioning unit records the position of the siltation detector at this time, the gyroscope records the swing angle θ of the siltation detector, and the acoustic altimeter records the distance H from a point on the surface of the siltation layer to the sensor detection end.

[0076] S3, based on the recorded data of S2, calculate the location information of the sedimentation layer, combined with Figure 8 As shown in the figure, the hydroacoustic altimeter is based on the sonic depth sounding method. It determines the distance H of a point in the siltation layer by emitting sound waves to the seabed and measuring the time it takes for them to reflect back. The point height h of the point can be obtained according to the swing angle θ. The formula is:

[0077] h = cosθ*H;

[0078] The point height and the point positioning information are combined to form the point information, wherein the point positioning information is composed of the position information of the siltation detector during detection plus the lateral offset, and the lateral offset is sinθ*H;

[0079] The collected point information is reconstructed and fitted to obtain the morphological information of the siltation layer. The specific steps are as follows:

[0080] S31, performing a fitting;

[0081] Use polynomial function fitting and select the polynomial function based on the obtained point information and distribution;

[0082] The coefficients of the polynomial function are determined by the least square method so that the error between the fitting point and the corresponding detection point is minimized;

[0083] S32, performing a quadratic fitting;

[0084] Since the surface of the siltation layer is relatively continuous, the complex areas where the surface curvature changes beyond the threshold are selected from the results of the first fitting for secondary fitting, that is, the complex areas are spline fitted by spline function to obtain a smoother surface; specifically, the original point information in the complex area is extracted, and the complex area is fitted by cubic spline interpolation;

[0085] S33, fitting splicing;

[0086] In non-complex areas, a first-order fitted polynomial function is used as the first topographic information;

[0087] In complex areas, the smooth surface function obtained by quadratic fitting is used as the second topographic information;

[0088] At the boundary between the complex area and the non-complex area, the values ​​and first-order derivatives of the above two functions at the boundary are made continuous through interpolation or weighted averaging methods. The obtained results are combined with the first and second morphological information to form the required morphological information of the silt layer, and the three-dimensional structure of the surface of the silt layer in the detection area is constructed as the detection result.

[0089] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions of the technical solution of the present invention by ordinary technicians in this field do not deviate from the essence and scope of the technical solution of the present invention.

Claims

1. A marine platform siltation detection system, characterized in that: Includes track and siltation detectors; The track is set up on the periphery of the offshore platform, and the siltation detector is connected to the track with a single degree of freedom incomplete constraint; The siltation detector is provided with a power unit, which is a multi-directional thrust power unit or an adjustable unstable power unit; the siltation detector is also provided with an acoustic detection unit, a posture detection unit and a positioning unit, and is integrated with a control system; The siltation detector is located below sea level.

2. The offshore platform siltation detection system according to claim 1, characterized in that: The siltation detector is provided with a track slide; One end of the track slide is slidably connected to the track, and the other end is connected to the siltation detector; The track slide is a rigid structure or a flexible structure.

3. The offshore platform siltation detection system according to claim 2, characterized in that: The track slide is a rigid structure, and at least one end is provided with a hinge structure.

4. The offshore platform siltation detection system according to claim 3, characterized in that: The peripheral side surface of the track is a columnar structure; The upper end of the track slide is a C-shaped clamp structure and is slidably matched with the track; The lower end of the track slide is fixedly connected or detachably connected to the siltation detector.

5. The offshore platform siltation detection system according to claim 4, characterized in that: The track is fixedly connected to the offshore platform via a hanger; A guide structure is provided at the connection between the track and the hanger for guiding the C-shaped clip structure to pass through.

6. The offshore platform siltation detection system according to claim 1, characterized in that: The siltation detector is provided with an adjustable unstable power unit; The controllable unstable power unit is a single propeller propeller.

7. The offshore platform siltation detection system according to claim 1, characterized in that: The siltation detector is also provided with a control unit and an energy storage unit; The control unit is provided with a carrier board, a processor, a data acquisition card, a driver and a storage medium, and is installed with the control system; The energy storage unit is connected to the control unit, and the driver is connected to the power unit.

8. The offshore platform siltation detection system according to claim 1, characterized in that: The siltation detector is also provided with a buoyancy regulating device or a float.

9. The offshore platform siltation detection system according to claim 1, characterized in that: Also included is the console; The control console is located on the offshore platform or vessel; The siltation detector is connected to the console by cable or hydroacoustic communication.

10. A method for detecting siltation on an offshore platform, characterized in that the steps include: First, deploy siltation detectors; S1. Activate the siltation detector according to instructions or preset information; S2. The siltation detector performs compound motion through the power unit under the regulation of the control system and completes at least one inspection along the track; when multiple inspections are performed, the compound motion paths are not all the same through the regulation of the control system; The composite motion includes motion along the guide direction of the track and reciprocating swing around the axis; The acoustic detection unit, posture detection unit and positioning unit perform real-time sampling and recording; S3. Calculate the position information of the siltation layer based on the recorded data of S2, and obtain the morphological information of the siltation layer by surface reconstruction fitting method.

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