Floating fan dynamic submarine cable cleaning device and cleaning method thereof

Abstract

The invention provides a floating fan dynamic submarine cable cleaning device and a cleaning method thereof.Two symmetrical semicircular arc-shaped sliding sleeves are connected through distance adjusting mechanisms on the two sides, a plurality of scraper mechanism arrays are arranged in the sliding sleeves in the height direction, and the scraper mechanism arrays are symmetrically arranged on the two sliding sleeves in a separated mode to form a rectangular frame structure; the submarine cable is sleeved with the sliding sleeve and abuts against the interior of the rectangular frame of the scraper mechanism, the other two sides of the sliding sleeve are provided with two pump spraying propellers opposite in spraying direction, and the two ends of the sliding sleeve are further provided with an original diameter measuring device and a real-time diameter measuring device. The problems that risks exist in dynamic submarine cable manual cleaning, and an existing cleaning device is complex in operation, high in cost and low in cleaning efficiency are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of dynamic submarine cable cleaning, and in particular to a floating wind turbine dynamic submarine cable cleaning device and a cleaning method thereof. Background Art

[0002] In the construction of floating wind farms, submarine cables and anchor chains are key components that undertake the important tasks of transmitting electricity and stabilizing wind turbine platforms. In actual operation, these structures located in seawater are prone to the problem of marine organism attachment. The growth of marine organisms such as barnacles, shellfish and other aquatic plants not only increases the weight of submarine cables and anchor chains, but also changes their fluid mechanics properties, which has an adverse effect on the stress condition and motion response. This effect may cause premature aging of equipment, performance degradation, and even cause safety hazards. In addition, the large-scale reproduction of marine organisms will reduce the heat dissipation efficiency of submarine cables, increase the resistance of cables, and thus lead to energy loss.

[0003] Currently, the cleaning methods for this problem mainly include manual cleaning by divers and cleaning using remote-controlled submersibles, but these traditional methods have many limitations. Divers are limited by water depth and safety risks, and although remote-controlled submersibles can work in deeper waters, their operation is complex and costly. At the same time, due to the long length of submarine cables and anchor chains, the overall cleaning efficiency is low.

[0004] Therefore, developing an automated device that can efficiently and safely remove marine organisms is crucial to ensuring the normal operation of floating wind turbines. Summary of the invention

[0005] The main purpose of the present invention is to provide a floating wind turbine dynamic submarine cable cleaning device and a cleaning method thereof, so as to solve the problems that manual cleaning of dynamic submarine cables has risks, and the existing cleaning devices are complex to operate, have high costs, and have low cleaning efficiency.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a floating wind turbine dynamic submarine cable cleaning device, two symmetrical semicircular arc sliding sleeves are connected by distance adjustment mechanisms on both sides, and multiple groups of scraper mechanism arrays are arranged in the sliding sleeve along the height direction. Each scraper mechanism array is symmetrically arranged on the two sliding sleeves to form a rectangular frame structure. The submarine cable is arranged in the sliding sleeve and abuts against the rectangular frame of the scraper mechanism. Two pump-jet propellers with opposite spraying directions are arranged on the other two sides of the sliding sleeve, and original diameter measuring devices and real-time diameter measuring devices are also provided at both ends of the sliding sleeve.

[0007] In the preferred embodiment, in the distance adjusting mechanism, both ends of each hydraulic rod are connected to the same height of the two sliding sleeves on the same side through ear plates, and the hydraulic rod and ear plates on the other side are symmetrically arranged, and the two sides constitute a set of distance adjusting mechanisms, and at least two groups of distance adjusting mechanisms are provided along the height direction of the sliding sleeve.

[0008] In the preferred embodiment, the scraper mechanism is a planar rectangular array composed of four groups of scraper units, adjacent scraper units are perpendicular to each other, separated from each other and arranged on the inner sides of two sliding sleeves respectively, and the connection points between the two scraper units on the same side and the sliding sleeves are the two end points and the midpoint of the semicircular arc.

[0009] In the preferred embodiment, the scraper unit includes a spiral scraper, a bearing seat, a scraper motor and a motor seat. One end of the spiral scraper is arranged at the end point on one side of the semicircular arc of the sliding sleeve through the bearing seat, and the other end is connected to the output shaft of the scraper motor. The scraper motor is sealed and arranged at the midpoint of the semicircular arc of the sliding sleeve through the motor seat.

[0010] In the preferred embodiment, the pump-jet propeller includes a propeller housing, a drive motor, a rotating main shaft and a propeller. The drive motor is arranged at the rear end of the propeller housing, and its output shaft is connected to the rotating main shaft. The rotating main shaft penetrates from the rear end of the propeller housing and extends to the front end. The propeller is sleeved on the rotating main shaft. The drive motor drives the propeller to rotate, so as to promote the water flow inside the propeller housing.

[0011] In the preferred embodiment, the propeller housing is in the shape of an elongated cylinder, one end of which gradually decreases along the length direction of the propeller housing to form a jet port with a gradually decreasing diameter, and one side of the other end is provided with a water inlet, and the end face of the water inlet is provided with a filter cover, which is a porous mesh plate for filtering the incoming water flow and preventing foreign matter from being sucked in; The thruster housing is fixed to the outside of the sliding sleeve through a fixing plate, with its water inlet end surface facing the outside of the sliding sleeve and the jet port facing the end direction of the sliding sleeve.

[0012] In a preferred embodiment, a rotating bearing, a first propeller, a first rectifying grid, a second propeller and a second rectifying grid are sequentially provided on the rotating main shaft along the direction from the tail of the propeller housing to the injection port. The rotating bearing is arranged near the shaft end of the tail of the propeller housing, the first propeller, the first rectifying grid and the second propeller are arranged at intervals in the middle of the propeller housing, and the second rectifying grid is arranged at the end of the rotating main shaft near the injection port.

[0013] In a preferred embodiment, the original diameter measuring device comprises a transmitting coil and a receiving coil, the transmitting coil and the receiving coil are respectively connected to two ends of the sliding sleeve through an elastic member array, and the coil diameter is adapted to the distance adjustment range of the sliding sleeve; The original diameter measuring device is used to measure the diameter of the metal part of the submarine cable in the section.

[0014] In the preferred embodiment, the real-time diameter measuring device includes a rotating seat, a connecting rod, a roller, an angle sensor and a homing component. One end of the connecting rod is rotatably connected to the roller, the roller rests on the surface of the submarine cable, and the other end is rotatably connected to the rotating seat. The rotating pin of the rotating seat is connected to the input shaft of the angle sensor for detecting the rotation angle of the connecting rod. A homing component is also provided on the rotating pin. One end of the homing component is connected to the connecting rod, and the other end is connected to one side of the rotating seat, so that the connecting rod is always oriented toward the center of the sliding sleeve. A plurality of real-time diameter measuring devices are symmetrically arranged at both ends of the sliding sleeve through a rotating seat, forming two sets of real-time diameter measuring device arrays; The distance adjustment mechanism, the scraper mechanism, the pump-jet propeller, the original diameter measuring device and the real-time diameter measuring device are all electrically connected to the control center.

[0015] In a preferred embodiment, a cleaning method for a floating wind turbine dynamic submarine cable cleaning device comprises: S1. Pre-preparation: Check the operating performance of each component and the integrity of the signal connection. After confirming that everything is correct, start the machine and input the proportional coefficient between the maximum outer diameter of the submarine cable and the diameter of the metal part that can be measured by the original diameter measuring device to the control center; S2. Movement: Sleeve the device onto the submarine cable, adjust the distance adjustment mechanism so that the rectangular frame of the scraper mechanism is larger than the diameter of the submarine cable, control the single-side pump-jet propeller to spray, and drive the entire device to move along the length direction of the submarine cable; S3. Measurement: During the movement, the original diameter measuring device and the real-time diameter measuring device at the front end of the forward direction measure the original diameter and the covered diameter of the submarine cable in real time, and transmit them to the control center for analysis; S4, stationary: When the control center determines that there is a covering in the section that needs to be cleaned based on the measured diameter difference, the pump-jet propellers on both sides are controlled to spray at the same time, so that the device is stationed in the submarine cable section to be cleaned; S5, cleaning: the control center obtains the diameter to be cut according to the measured diameter difference, and sends corresponding distance adjustment information to the distance adjustment mechanism, so that each scraper unit in the scraper mechanism moves to the corresponding cutting depth, and the scraper motor drives the scraper unit to clean the attached marine organisms; S6, inspection: After cleaning, the device continues to move, and the original diameter measuring device at the opposite end of the device's forward direction measures and inspects the diameter of the cleaned submarine cable section. If it does not meet the standard, the reverse pump-jet propeller is used to retreat and position and clean again; S7. Repeat steps S2 to S6 until the submarine cable within the target length is cleaned.

[0016] The present invention provides a floating wind turbine dynamic submarine cable cleaning device and a cleaning method thereof. Two symmetrical semicircular arc-shaped sliding sleeves are used as basic parts. The whole device is carried and surrounded on the outside of the submarine cable. The device can adapt to submarine cables with different outer diameters through the distance adjustment mechanisms on both sides. Multiple scraper mechanism arrays, each scraper mechanism array constitutes a rectangular frame structure, and the circumferential surface of the submarine cable is scraped. The two-by-two symmetrical separation structure increases the overall flexibility of the device. The device completes the movement and parking operation through two pump-jet propellers with opposite spraying directions on the other two sides of the sliding sleeve. The scraping depth and cleaning quality are measured by the original diameter measuring device and the real-time diameter measuring device. The device is highly automated as a whole, the overall structure is flexible, and the adaptability to multiple working conditions is strong. It solves the risks of manual cleaning of dynamic submarine cables, and the problems of complex operation, high cost, and low cleaning efficiency of existing cleaning devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 This is an axonometric structural diagram of the overall appearance of the present invention; Figure 2 This is a main structural diagram of the overall appearance of the present invention; Figure 3 It is a side view of the overall appearance of the present invention; Figure 4 It is a top view of the overall appearance of the present invention; Figure 5 This is an axonometric structural diagram of the overall appearance in the explosion mode of the present invention; Figure 6 This is a diagram of the installation structure of the distance adjustment mechanism and the sliding sleeve of the present invention; Figure 7 This is a structural diagram of the original diameter measuring device and the sliding sleeve installation of the present invention; Figure 8 It is a partial cross-sectional structural diagram of the scraper mechanism of the present invention; Fig. 9 It is a side structural diagram of the pump-jet propeller of the present invention; Fig.10 is a cross-sectional structural diagram of the pump-jet propulsor of the present invention; Fig.11 is a cross-sectional side view of the pump-jet propulsor of the present invention; Fig.12 It is a side view structural diagram of the real-time diameter measuring device of the present invention; Fig.13 It is a partially disassembled structural diagram of the real-time diameter measuring device of the present invention.

[0018] In the figure: sliding sleeve 1; ear plate 101; pitch adjustment mechanism 2; hydraulic rod 201; scraper mechanism 3; scraper unit 301; spiral scraper 3011; bearing seat 3012; scraper motor 3013; motor seat 3014; submarine cable 4; pump-jet propeller 5; propeller housing 501; injection port 5011; filter cover 5012; drive motor 502; rotating main shaft 503; propeller 504; first propeller 5041; second propeller 5042; rotating bearing 505; first rectifying grid 506; second rectifying grid 507; original diameter measuring device 6; transmitting coil 601; receiving coil 602; real-time diameter measuring device 7; rotating seat 701; connecting rod 702; roller 703; angle sensor 704; rotating pin 705; homing component 706; elastic member array 8; control center 9; fixing plate 10. DETAILED DESCRIPTION

[0019] Example 1 like Figures 1 to 13 As shown, a floating wind turbine dynamic submarine cable cleaning device, two symmetrical semicircular arc-shaped sliding sleeves 1 are connected by distance adjustment mechanisms 2 on both sides, a plurality of scraper mechanism 3 arrays are arranged in the sliding sleeve 1 along the height direction, each scraper mechanism 3 array is symmetrically and separately arranged on the two sliding sleeves 1 to form a rectangular frame structure, a submarine cable 4 is sleeved in the sliding sleeve 1 and abuts against the rectangular frame of the scraper mechanism 3, two other two sides of the sliding sleeve 1 are provided with two pump-jet propellers 5 with opposite spraying directions, and both ends of the sliding sleeve 1 are also provided with an original diameter measuring device 6 and a real-time diameter measuring device 7.

[0020] The present invention uses a sliding sleeve 1 as a basic structural component, and flexibly combines a driving device, a measuring device, and a scraping device to form an overall cleaning device. The device can adapt to submarine cables with different outer diameters by adjusting the distance adjustment mechanisms 2 on both sides. Multiple groups of scraper mechanisms 3 are arrayed, and each scraper mechanism 3 array forms a rectangular frame structure, which scrapes the circumferential surface of the submarine cable. The symmetrical separation structure of the two increases the overall flexibility of the device. The device completes the movement and parking operations through two pump-jet propellers 5 with opposite spraying directions on the other two sides of the sliding sleeve 1. The scraping depth and cleaning quality are measured by the original diameter measuring device 6 and the real-time diameter measuring device 7. The device automatically completes the cleaning process according to the measurement data.

[0021] In the preferred embodiment, in the distance adjusting mechanism 2, both ends of each hydraulic rod 201 are connected to the same side of the two sliding sleeves 1 at the same height through ear plates 101, and the hydraulic rod 201 and the ear plates 101 on the other side are symmetrically arranged, and the two sides constitute a group of distance adjusting mechanisms 2, and at least two groups of distance adjusting mechanisms 2 are arranged along the height direction of the sliding sleeve 1.

[0022] After receiving the required diameter change information from the control center 9, the hydraulic rod 201 pushes its piston rod to move and separates the sliding sleeves 1 on both sides to the corresponding distance.

[0023] In the preferred embodiment, the scraper mechanism 3 is a planar rectangular array composed of four groups of scraper units 301, and adjacent scraper units 301 are perpendicular to each other and separated from each other and are respectively arranged on the inner sides of two sliding sleeves 1. The connection points between the two scraper units 301 on the same side and the sliding sleeves 1 are the two end points and the midpoint of the semicircular arc.

[0024] In the preferred embodiment, the scraper unit 301 includes a spiral scraper 3011, a bearing seat 3012, a scraper motor 3013 and a motor seat 3014. One end of the spiral scraper 3011 is arranged at the end point on one side of the semicircular arc of the sliding sleeve 1 through the bearing seat 3012, and the other end is connected to the output shaft of the scraper motor 3013. The scraper motor 3013 is sealed and arranged at the midpoint of the semicircular arc of the sliding sleeve 1 through the motor seat 3014.

[0025] The scraper units 301 in the scraper mechanism 3 are separated or closed in pairs as the sliding sleeve 1 on the mounting side moves, the blade of the spiral scraper 3011 is tightly pressed against the surface of the desired cutting depth, and the scraper motor 3013 drives the spiral scraper 3011 to rotate to scrape the attached marine organisms.

[0026] The planar rectangular array formed by four scraper units 301 that are perpendicular to each other enables the scraping device to fit tightly against the surface to be cut and has multiple effective cutting points. Multiple rectangular scraper unit 301 arrays are arranged along the height direction, so that the cleaning device can simultaneously clean a length of submarine cable 4 when stationary, thereby improving the overall cleaning efficiency of the device.

[0027] In the preferred embodiment, the pump-jet propeller 5 includes a propeller housing 501, a drive motor 502, a rotating main shaft 503 and a propeller 504. The drive motor 502 is arranged at the rear end of the propeller housing 501, and its output shaft is connected to the rotating main shaft 503. The rotating main shaft 503 penetrates from the rear end of the propeller housing 501 and extends to the front end. The propeller 504 is sleeved on the rotating main shaft 503. The drive motor 502 drives the propeller 504 to rotate, so as to promote the water flow inside the propeller housing 501.

[0028] The pump-jet propeller 5 is a closed propulsion system that draws in water flow and accelerates it out through the internal impeller to generate thrust. Compared with traditional propellers, the pump-jet propeller 5 can reduce noise, improve efficiency, and is less likely to be damaged by entanglements. Due to its closed design, the pump-jet propeller 5 can provide higher propulsion efficiency at high speeds. Its propeller 504 is protected in the propeller housing 501, reducing water flow losses and enabling better control of water flow, which helps to increase thrust.

[0029] In the preferred embodiment, the thruster housing 501 is in the shape of an elongated cylinder, one end of which gradually decreases along the length direction of the thruster housing 501 to form a jet port 5011 with a gradually decreasing diameter, and the other end is provided with a water inlet on one side, and a filter cover 5012 is provided on the end face of the water inlet. The filter cover 5012 is a porous mesh plate for filtering the incoming water flow and preventing foreign matter from being sucked in; The thruster housing 501 is fixed to the outside of the sliding sleeve 1 through a fixing plate 10 , with its water inlet end surface facing the outside of the sliding sleeve 1 , and the injection port 5011 facing the end direction of the sliding sleeve 1 .

[0030] By providing a gradually shrinking jet port 5011, the fluid mechanics performance of the internal water flow is optimized, so that the water flow drawn in by the propeller 504 driven by the drive motor 502 can be ejected at a greater speed, thereby obtaining a greater propulsion force.

[0031] In the preferred embodiment, a rotating bearing 505, a first propeller 5041, a first rectifying grid 506, a second propeller 5042 and a second rectifying grid 507 are sequentially provided on the rotating main shaft 503 along the direction from the tail of the propeller housing 501 to the injection port 5011. The rotating bearing 505 is arranged at the shaft end near the tail of the propeller housing 501, the first propeller 5041, the first rectifying grid 506 and the second propeller 5042 are arranged at intervals in the middle of the propeller housing 501, and the second rectifying grid 507 is arranged at the end of the rotating main shaft 503 near the injection port 5011.

[0032] By providing a rotating bearing 505 and a plurality of rectifying grids, a rotating guide and support are provided for the high-speed rotating main shaft 503 with a long length span. The rectifying grid can also guide the fluid flow, reduce turbulence, and improve propulsion efficiency.

[0033] In the preferred embodiment, the original diameter measuring device 6 includes a transmitting coil 601 and a receiving coil 602, the transmitting coil 601 and the receiving coil 602 are respectively connected to the two ends of the sliding sleeve 1 through an elastic member array 8, and the coil diameter is adapted to the distance adjustment range of the sliding sleeve 1; The original diameter measuring device 6 is used to measure the diameter of the metal part of the submarine cable 4 in the section.

[0034] The original diameter measuring device 6 measures the size of the submarine cable based on electromagnetic induction technology, that is, when the conductor moves in a changing magnetic field or the magnetic field itself changes, an electromotive force will be generated in the conductor. During the detection process, the transmitting coil 601 is first used to generate a low-frequency alternating electromagnetic field, which penetrates the seawater and interacts with the metal parts in the submarine cable 4. The metal conductor in the submarine cable 4 will respond to this alternating electromagnetic field, produce eddy current effects, and generate currents inside the conductors, which in turn generate their own secondary magnetic fields. The receiving coil 602 is used to detect the secondary magnetic field generated by the submarine cable 4. By analyzing the received signal strength, phase and other characteristics, the diameter and shape data of the submarine cable can be inferred and transmitted to the control center 9.

[0035] When the distance between the sliding sleeves 1 changes, the two halves of the sliding sleeves 1 are elastically connected via the elastic member array 8 to avoid loosening or deformation.

[0036] In the preferred embodiment, the real-time diameter measuring device 7 includes a rotating seat 701, a connecting rod 702, a roller 703, an angle sensor 704 and a homing component 706. One end of the connecting rod 702 is rotatably connected to the roller 703, the roller 703 abuts on the surface of the submarine cable 4, and the other end is rotatably connected to the rotating seat 701. The rotating pin 705 of the rotating seat 701 is connected to the input shaft of the angle sensor 704 to detect the rotation angle of the connecting rod 702. The homing component 706 is also provided on the rotating pin 705. One end of the homing component 706 is connected to the connecting rod 702, and the other end is connected to one side of the rotating seat 701 to make the connecting rod 702 always face the center of the sliding sleeve 1. A plurality of real-time diameter measuring devices 7 are symmetrically arranged at both ends of the sliding sleeve 1 through a rotating seat 701, forming two arrays of real-time diameter measuring devices 7; The distance adjustment mechanism 2 , the scraper mechanism 3 , the pump-jet propeller 5 , the original diameter measuring device 6 , and the real-time diameter measuring device 7 are all electrically connected to the control center 9 .

[0037] The real-time diameter measuring device 7 slides along the surface of the cable 4 via the roller 703. The height fluctuation of the surface of the cable 4 is transmitted to the angle sensor 704 through the corresponding lifting and lowering of the connecting rod 702. The rotation angle information is analyzed to obtain the fluctuation height information and send it to the control center 9.

[0038] Example 2 Further illustrate with reference to Example 1, Figures 1 to 13 The structure shown is a cleaning method for a floating wind turbine dynamic submarine cable cleaning device, the method comprising: S1. Preliminary preparation: Check the operating performance of each component and the integrity of the signal connection. After confirming that everything is correct, start the machine and input the proportionality coefficient between the maximum outer diameter of the submarine cable 4 and the diameter of the metal part measurable by the original diameter measuring device 6 to the control center 9; S2, moving: the device is sleeved on the submarine cable 4, the distance adjustment mechanism 2 is adjusted so that the rectangular frame of the scraper mechanism 3 is larger than the diameter of the submarine cable 4, and the single-sided pump-jet propeller 5 is controlled to spray, driving the entire device to move along the length direction of the submarine cable 4; S3, measurement: during the movement, the original diameter measuring device 6 and the real-time diameter measuring device 7 at the front end of the forward direction measure the original diameter and the covered diameter of the submarine cable 4 in real time, and transmit them to the control center 9 for analysis; S4, parking: when the control center 9 determines that there is a covering in the section that needs to be cleaned according to the measured diameter difference, the pump-jet propellers 5 on both sides are controlled to spray at the same time, so that the device is parked at the section of the submarine cable 4 to be cleaned; S5, cleaning: the control center 9 obtains the diameter to be cut according to the measured diameter difference, and sends the corresponding distance adjustment information to the distance adjustment mechanism 2, so that each scraper unit 301 in the scraper mechanism 3 moves to the corresponding cutting depth, and the scraper motor 3013 drives the scraper unit 301 to clean the attached marine organisms; S6, inspection: After cleaning, the device continues to move, and the original diameter measuring device 6 at the opposite end of the device's forward direction measures and inspects the diameter of the cleaned submarine cable 4 sections. If it does not meet the standard, the reverse pump-jet propeller 5 retreats and positions and cleans again; S7. Repeat steps S2 to S6 until the submarine cable 4 within the target length is cleaned.

[0039] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A floating wind turbine dynamic submarine cable cleaning device, characterized by: Two symmetrical semicircular arc-shaped sliding sleeves (1) are connected via distance adjustment mechanisms (2) on both sides. A plurality of scraper mechanism (3) arrays are arranged in the sliding sleeve (1) along the height direction. Each scraper mechanism (3) array is symmetrically arranged on the two sliding sleeves (1) to form a rectangular frame structure. A submarine cable (4) is sleeved in the sliding sleeve (1) and abuts against the rectangular frame of the scraper mechanism (3). Two pump-jet propellers (5) with opposite spraying directions are arranged on the other two sides of the sliding sleeve (1). An original diameter measuring device (6) and a real-time diameter measuring device (7) are also arranged at both ends of the sliding sleeve (1).

2. According to claim 1, a floating wind turbine dynamic submarine cable cleaning device is characterized by: In the distance adjustment mechanism (2), both ends of each hydraulic rod (201) are connected to the same side of the two sliding sleeves (1) at the same height via ear plates (101), and the hydraulic rod (201) and the ear plates (101) on the other side are symmetrically arranged, and the two sides form a set of distance adjustment mechanisms (2), and at least two sets of distance adjustment mechanisms (2) are arranged along the height direction of the sliding sleeves (1).

3. According to claim 1, a floating wind turbine dynamic submarine cable cleaning device is characterized by: The scraper mechanism (3) is a planar rectangular array composed of four groups of scraper units (301), wherein adjacent scraper units (301) are perpendicular to each other and are separated from each other and are respectively arranged on the inner sides of two sliding sleeves (1), and the connection points between the two scraper units (301) on the same side and the sliding sleeves (1) are the two end points and the midpoint of a semicircular arc.

4. According to claim 3, a floating wind turbine dynamic submarine cable cleaning device is characterized by: The scraper unit (301) comprises a spiral scraper (3011), a bearing seat (3012), a scraper motor (3013) and a motor seat (3014); one end of the spiral scraper (3011) is arranged at an end point on one side of a semicircular arc of a sliding sleeve (1) via the bearing seat (3012); the other end is connected to an output shaft of the scraper motor (3013); and the scraper motor (3013) is sealingly arranged at the midpoint of the semicircular arc of the sliding sleeve (1) via the motor seat (3014).

5. According to claim 1, a floating wind turbine dynamic submarine cable cleaning device is characterized by: The pump-jet propeller (5) comprises a propeller housing (501), a drive motor (502), a rotating main shaft (503) and a propeller (504). The drive motor (502) is arranged at the rear end of the propeller housing (501), and its output shaft is connected to the rotating main shaft (503). The rotating main shaft (503) penetrates from the rear end of the propeller housing (501) and extends to the front end. The propeller (504) is sleeved on the rotating main shaft (503). The drive motor (502) drives the propeller (504) to rotate, so as to promote the water flow inside the propeller housing (501).

6. A floating wind turbine dynamic submarine cable cleaning device according to claim 5, characterized in that: The thruster housing (501) is in the shape of an elongated cylinder, one end of which gradually decreases along the length direction of the thruster housing (501) to form a jet port (5011) with a gradually decreasing diameter, and one side of the other end is provided with a water inlet, and the end surface of the water inlet is provided with a filter cover (5012), the filter cover (5012) being a porous mesh plate for filtering incoming water flow and preventing foreign matter from being sucked in; The thruster housing (501) is fixed to the outside of the sliding sleeve (1) via a fixing plate (10), with its water inlet end surface facing the outside of the sliding sleeve (1), and the injection port (5011) facing the end direction of the sliding sleeve (1).

7. The floating wind turbine dynamic submarine cable cleaning device according to claim 5 is characterized by: A rotating bearing (505), a first propeller (5041), a first rectifying grid (506), a second propeller (5042) and a second rectifying grid (507) are sequentially arranged on the rotating main shaft (503) along the direction from the tail of the propeller housing (501) to the injection port (5011); the rotating bearing (505) is arranged at the shaft end close to the tail of the propeller housing (501); the first propeller (5041), the first rectifying grid (506) and the second propeller (5042) are arranged at intervals in the middle of the propeller housing (501); and the second rectifying grid (507) is arranged at the end of the rotating main shaft (503) close to the injection port (5011).

8. The floating wind turbine dynamic submarine cable cleaning device according to claim 1 is characterized by: The original diameter measuring device (6) comprises a transmitting coil (601) and a receiving coil (602), the transmitting coil (601) and the receiving coil (602) being respectively connected to two ends of the sliding sleeve (1) via an elastic member array (8), and the coil diameter is adapted to the distance adjustment range of the sliding sleeve (1); The original diameter measuring device (6) is used to measure the diameter of the metal part of the submarine cable (4) in the section.

9. The floating wind turbine dynamic submarine cable cleaning device according to claim 1, characterized in that: The real-time diameter measuring device (7) comprises a rotating seat (701), a connecting rod (702), a roller (703), an angle sensor (704) and a homing component (706); one end of the connecting rod (702) is rotatably connected to the roller (703), the roller (703) abuts against the surface of the submarine cable (4), and the other end is rotatably connected to the rotating seat (701); a rotating pin (705) of the rotating seat (701) is connected to an input shaft of the angle sensor (704) and is used to detect the rotation angle of the connecting rod (702); a homing component (706) is also provided on the rotating pin (705); one end of the homing component (706) is connected to the connecting rod (702), and the other end is connected to one side of the rotating seat (701) and is used to make the connecting rod (702) always face the center of the sliding sleeve (1); A plurality of real-time diameter measuring devices (7) are symmetrically arranged at two ends of the sliding sleeve (1) via a rotating seat (701), forming two groups of real-time diameter measuring device (7) arrays; The distance adjustment mechanism (2), the scraper mechanism (3), the pump-jet propeller (5), the original diameter measuring device (6), and the real-time diameter measuring device (7) are all electrically connected to the control center (9).

10. A cleaning method for a floating wind turbine dynamic submarine cable cleaning device according to any one of claims 1 to 9, characterized in that: The method includes: S1. Preliminary preparation: Check the operating performance of each component and the integrity of the signal connection. After confirming that everything is correct, start the machine and input the proportionality coefficient between the maximum outer diameter of the submarine cable (4) and the diameter of the metal part measurable by the original diameter measuring device (6) to the control center (9); S2, movement: the device is sleeved onto the submarine cable (4), the distance adjustment mechanism (2) is adjusted so that the rectangular frame of the scraper mechanism (3) is larger than the diameter of the submarine cable (4), and the single-sided pump-jet propeller (5) is controlled to spray, so as to drive the entire device to move along the length direction of the submarine cable (4); S3, measurement: during the movement, the original diameter measuring device (6) and the real-time diameter measuring device (7) at the front end in the forward direction measure the original diameter and the covered diameter of the submarine cable (4) in real time, and transmit the measurements to the control center (9) for analysis; S4, stationary: when the control center (9) determines that there is a covering in the section that needs to be cleaned based on the measured diameter difference, the pump-jet propellers (5) on both sides are controlled to spray at the same time, so that the device is stationed at the section of the submarine cable (4) to be cleaned; S5, cleaning: the control center (9) obtains the diameter to be cut according to the measured diameter difference, and sends corresponding distance adjustment information to the distance adjustment mechanism (2), so that each scraper unit (301) in the scraper mechanism (3) moves to a corresponding cutting depth, and then the scraper motor (3013) drives the scraper unit (301) to clean the attached marine organisms; S6, inspection: After cleaning, the device continues to move, and the original diameter measuring device (6) at the opposite end of the device's forward direction measures and inspects the diameter of the cleaned submarine cable (4). If it does not meet the standard, the reverse pump-jet propeller (5) moves backward and repositions the cable for cleaning; S7, repeat steps S2 to S6 until the submarine cable (4) within the target length is cleaned.

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