Floating wind turbine dynamic sea cable cleaning device and method of cleaning

Abstract

The application provides a floating wind turbine dynamic submarine cable cleaning device and a cleaning method thereof. Two symmetrical semicircular sliding sleeves are connected through two side distance adjusting mechanisms. A plurality of scraper mechanism arrays are arranged in the sliding sleeves 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 sleeved in the sliding sleeve and abuts against the rectangular frame of the scraper mechanism. The other two sides of the sliding sleeve are provided with two pump jet thrusters with opposite jet directions. The two ends of the sliding sleeve are also provided with original diameter measuring devices and real-time diameter measuring devices. The application solves the problems of risks in manual cleaning of dynamic submarine cables, complicated operation of existing cleaning devices, high cost and low cleaning efficiency.

Description

Technical Field

[0001] This invention relates to the field of dynamic submarine cable cleaning technology, and in particular to a dynamic submarine cable cleaning device and cleaning method for floating wind turbines. Background Technology

[0002] In the construction of floating wind farms, submarine cables and anchor chains are key components, undertaking the important tasks of transmitting power and stabilizing the wind turbine platform. During actual operation, these structures located in seawater are susceptible to the attachment of marine organisms. The growth of marine organisms such as barnacles, shellfish, and other aquatic plants not only increases the weight of the submarine cables and anchor chains but also alters their hydrodynamic properties, thus adversely affecting their stress conditions and motion response. This impact can lead to premature aging of equipment, performance degradation, and even safety hazards. Furthermore, the proliferation of marine organisms reduces the heat dissipation efficiency of the submarine cables, increases cable resistance, and consequently leads to energy loss.

[0003] Currently, the main methods for clearing this problem include manual clearing by divers and clearing using remotely operated vehicles (ROVs), but these traditional methods have many limitations. Diver operations are limited by water depth and safety risks, while ROVs, although able to work in deeper waters, are complex to operate and costly. In addition, due to the long length of submarine cables and anchor chains, the overall clearing efficiency is low.

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

[0005] The main objective of this invention is to provide a floating wind turbine dynamic submarine cable cleaning device and its cleaning method, which solves the problems of risks associated with manual cleaning of dynamic submarine cables, and the complexity, high cost, and low efficiency of existing cleaning devices.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a floating wind turbine dynamic submarine cable cleaning device, wherein two symmetrical semi-circular sliding sleeves are connected by a two-sided adjustable distance mechanism, and multiple sets of scraper mechanism arrays are provided in the sliding sleeves along the height direction. Each scraper mechanism array is symmetrically separated on the two sliding sleeves to form a rectangular frame structure. The submarine cable is sleeved in the sliding sleeve and abuts against the rectangular frame of the scraper mechanism. Two pump-jet propellers with opposite spray directions are provided on the other two sides of the sliding sleeve. The original diameter measuring device and the real-time diameter measuring device are also provided at both ends of the sliding sleeve.

[0007] In the preferred embodiment, in the adjusting mechanism, each hydraulic rod is connected to two sliding sleeves at the same height on the same side via ear plates at both ends. The hydraulic rods and ear plates on the other side are symmetrically arranged, and the two sides form a set of adjusting mechanisms. At least two sets of adjusting mechanisms are provided along the height direction of the sliding sleeves.

[0008] In the preferred embodiment, the scraper mechanism is a planar rectangular array composed of four scraper units. Adjacent scraper units are perpendicular to each other and are separated from each other, respectively arranged inside two sliding sleeves. The connection points between the two scraper units on the same side and the sliding sleeves are the two endpoints and the midpoint of a semi-circular arc.

[0009] In a preferred embodiment, the scraper unit includes a spiral scraper, a bearing housing, a scraper motor, and a motor housing. One end of the spiral scraper is mounted on one end of the semi-circular arc of the sliding sleeve via the bearing housing, and the other end is connected to the output shaft of the scraper motor. The scraper motor is sealed at the midpoint of the semi-circular arc of the sliding sleeve via the motor housing.

[0010] In a preferred embodiment, the pump-jet propulsion device includes a propulsion housing, a drive motor, a rotating main shaft, and a propeller. The drive motor is located at the tail end of the propulsion housing, and its output shaft is connected to the rotating main shaft. The rotating main shaft passes through the tail end of the propulsion housing and extends to the front end. The propeller is sleeved on the rotating main shaft. The drive motor drives the propeller to rotate, thereby propelling the water flow inside the propulsion housing.

[0011] In the preferred embodiment, the propeller housing is a long cylindrical shape, with one end gradually decreasing in diameter along the length of the propeller housing to form a jet nozzle with a gradually decreasing diameter. The other end has a water inlet on one side, and a filter cover is provided on the end face of the water inlet. The filter cover is a porous mesh plate used to filter the incoming water flow and prevent foreign objects from being sucked in.

[0012] The propeller housing is fixed to the outside of the sliding sleeve by a fixing plate, with its water inlet end face facing the outside of the sliding sleeve and its spray nozzle facing the end of the sliding sleeve.

[0013] In a preferred embodiment, a rotating bearing, a first propeller, a first rectifier grid, a second propeller, and a second rectifier grid are sequentially arranged on the rotating main shaft along the direction from the tail of the propeller housing to the injection port. The rotating bearing is located near the shaft end at the tail of the propeller housing. The first propeller, the first rectifier grid, and the second propeller are spaced apart in the middle of the propeller housing. The second rectifier grid is located at the end of the rotating main shaft near the injection port.

[0014] In a preferred embodiment, the original diameter measuring device includes a transmitting coil and a receiving coil, which are respectively connected to both ends of the sliding sleeve via an array of elastic elements, and the coil diameter is adapted to the adjustment range of the sliding sleeve;

[0015] The original diameter measuring device is used to measure the diameter of the metal part of the submarine cable within this section.

[0016] In the preferred embodiment, the real-time diameter measuring device includes a rotating base, a connecting rod, a roller, an angle sensor, and a return component. One end of the connecting rod is rotatably connected to the roller, which rests against the surface of the submarine cable. The other end is rotatably connected to the rotating base. The rotating pin of the rotating base is connected to the input shaft of the angle sensor to detect the rotation angle of the connecting rod. The rotating pin is also equipped with a return component, one end of which is connected to the connecting rod and the other end of which is connected to one side of the rotating base to keep the connecting rod always facing the center of the sliding sleeve.

[0017] Multiple real-time diameter measuring devices are symmetrically arranged at both ends of the sliding sleeve via rotating seats, forming two arrays of real-time diameter measuring devices.

[0018] The adjusting mechanism, scraper mechanism, pump-jet propulsion device, original diameter measuring device, and real-time diameter measuring device are all electrically connected to the control center.

[0019] In a preferred embodiment, a cleaning method for a floating wind turbine dynamic submarine cable cleaning device includes:

[0020] S1. Pre-operation preparation: Check the operating performance of each component and the integrity of the signal connection. After confirming that there are no errors, start the machine and input the ratio 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 into the control center.

[0021] S2. Movement: Attach the device to 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-sided pump-jet propulsion to spray, and drive the entire device to move along the length of the submarine cable.

[0022] 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 the data to the control center for analysis.

[0023] S4. Stationary: When the control center determines that there is a covering that needs to be cleaned in this section based on the measured diameter difference, it controls the pumps on both sides to spray simultaneously, so that the device is stationary in the section of submarine cable to be cleaned.

[0024] S5. Cleaning: The control center determines the diameter to be cut based on the measured diameter difference and sends the corresponding adjustment information to the adjustment mechanism. After each scraper unit in the scraper mechanism moves to the corresponding cutting depth, the scraper motor drives the scraper unit to clean the epiphytic marine organisms.

[0025] S6. Inspection: After cleaning, the device continues to move. The original diameter measuring device at the end opposite to the direction of the device's movement measures and inspects the diameter of the cleaned submarine cable section. If it does not meet the standard, it retreats by using the reverse pump-jet propeller and repositions for cleaning.

[0026] S7. Repeat steps S2 to S6 until the submarine cable within the target length is cleared.

[0027] This invention provides a floating wind turbine dynamic submarine cable cleaning device and method. Two symmetrical semi-circular sliding sleeves serve as the base components, supporting the entire device and surrounding the submarine cable. The device slides smoothly and adapts to submarine cables of different outer diameters via adjustable spacing mechanisms on both sides. Multiple scraper arrays, each forming a rectangular frame structure, scrape the circumferential surface of the submarine cable. Their symmetrically separated structure increases the overall flexibility of the device. The device moves and parks via two pump-jet propellers with opposite spray directions on the other two sides of the sliding sleeves. The scraping depth and cleaning quality are measured using both original and real-time diameter measuring devices. The device is highly automated, with a flexible overall structure and strong adaptability to various working conditions, solving the problems of risks associated with manual cleaning of dynamic submarine cables and the complexity, high cost, and low efficiency of existing cleaning devices. Attached Figure Description

[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0029] Figure 1 This is an isometric structural diagram of the overall appearance of the present invention;

[0030] Figure 2 This is a front view structural diagram of the overall appearance of the present invention;

[0031] Figure 3 This is a side view of the overall appearance of the present invention;

[0032] Figure 4 This is a top view of the overall appearance of the invention;

[0033] Figure 5 This is an isometric structural diagram of the overall appearance of the present invention under explosion mode;

[0034] Figure 6 This is a structural diagram of the adjusting mechanism and sliding sleeve of the present invention;

[0035] Figure 7 This is a structural diagram of the original diameter measuring device and sliding sleeve of the present invention;

[0036] Figure 8 This is a partial cross-sectional view of the scraper mechanism of the present invention;

[0037] Figure 9 This is a side view of the pump-jet propulsion device of the present invention;

[0038] Figure 10 This is a cross-sectional view of the pump-jet propulsion device of the present invention;

[0039] Figure 11 This is a cross-sectional side view of the pump-jet propulsion device of the present invention;

[0040] Figure 12 This is a side view of the real-time diameter measuring device of the present invention;

[0041] Figure 13 This is a partial disassembly diagram of the real-time diameter measuring device of the present invention.

[0042] In the diagram: 1. Sliding sleeve; 101. Ear plate; 2. Adjustment mechanism; 201. Hydraulic rod; 3. Scraper mechanism; 301. Scraper unit; 3011. Spiral scraper; 3012. Bearing seat; 3013. Scraper motor; 3014. Motor seat; 4. Submarine cable; 5. Pump-jet propeller; 501. Propeller housing; 501. Injection nozzle; 5012. Filter cover; 502. Drive motor; 503. Rotating main shaft; 504. Propeller; 504. First propeller; 5041. Second propeller; 5042. Rotating bearing; 505. First rectifier grid; 506. Second rectifier 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. Returning component; 706. Elastic element array; 8. Control center; 9. Fixing plate; 10. Detailed Implementation

[0043] Example 1

[0044] like Figures 1-13 As shown, a floating wind turbine dynamic submarine cable cleaning device includes two symmetrical semi-circular sliding sleeves 1 connected by two side adjustment mechanisms 2. Multiple sets of scraper mechanisms 3 arrays are arranged along the height direction inside the sliding sleeves 1. Each scraper mechanism 3 array is symmetrically separated on the two sliding sleeves 1, forming a rectangular frame structure. The submarine cable 4 is sleeved inside the sliding sleeves 1 and abuts against the rectangular frame of the scraper mechanism 3. Two pump-jet propellers 5 with opposite spray directions are provided on the other two sides of the sliding sleeves 1. The two ends of the sliding sleeves 1 are also provided with an original diameter measuring device 6 and a real-time diameter measuring device 7.

[0045] This invention uses a sliding sleeve 1 as the basic structural component, and flexibly combines a driving device, a measuring device, and a scraping device to form an overall cleaning device. By adjusting the distance adjustment mechanism 2 on both sides, the device can adapt to submarine cables with different outer diameters. Multiple scraping mechanism 3 arrays, each forming a rectangular frame structure, scrape the surface of the submarine cable circumferentially. Their symmetrically separated structure increases the overall flexibility of the device. The device completes the movement and parking operations through two pump-jet propellers 5 with opposite spray 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 based on the measurement data.

[0046] In the preferred embodiment, in the adjusting mechanism 2, each hydraulic rod 201 is connected to two sliding sleeves 1 at the same height on the same side through ear plates 101 at both ends. The hydraulic rod 201 and ear plates 101 on the other side are symmetrically arranged, and the two sides form a set of adjusting mechanisms 2. The adjusting mechanism 2 is provided with at least two sets along the height direction of the sliding sleeves 1.

[0047] After receiving the required diameter change information from the control center 9, the hydraulic rod 201 pushes its piston rod to move, distributing the two sliding sleeves 1 to the corresponding distance.

[0048] In the preferred embodiment, the scraper mechanism 3 is a planar rectangular array composed of four scraper units 301. Adjacent scraper units 301 are perpendicular to each other and are separated from each other, respectively arranged inside the two sliding sleeves 1. The connection points between the two scraper units 301 on the same side and the sliding sleeve 1 are the two endpoints and the midpoint of a semi-circular arc.

[0049] In a preferred embodiment, the scraper unit 301 includes a spiral scraper 3011, a bearing housing 3012, a scraper motor 3013, and a motor housing 3014. One end of the spiral scraper 3011 is mounted on one end of the semi-circular arc of the sliding sleeve 1 through the bearing housing 3012, and the other end is connected to the output shaft of the scraper motor 3013. The scraper motor 3013 is sealed at the midpoint of the semi-circular arc of the sliding sleeve 1 through the motor housing 3014.

[0050] In the scraper mechanism 3, the scraper units 301 in pairs separate or close together as the mounting side sliding sleeve 1 moves. The blade of the spiral scraper 3011 is tightly pressed against the surface of the required cutting depth. The scraper motor 3013 drives the spiral scraper 3011 to rotate and scrape off the attached marine organisms.

[0051] The planar rectangular array formed by four mutually perpendicular scraper units 301 allows the scraping device to fit closely to the surface to be cut and has multiple effective cutting points. The arrangement of multiple rectangular scraper units 301 arrays along the height direction enables the cleaning device to clean a section of submarine cable 4 simultaneously when stationary, thus improving the overall cleaning efficiency of the device.

[0052] In a preferred embodiment, the pump-jet propulsion device 5 includes a propulsion housing 501, a drive motor 502, a rotating main shaft 503, and a propeller 504. The drive motor 502 is located at the tail end of the propulsion housing 501, and its output shaft is connected to the rotating main shaft 503. The rotating main shaft 503 passes through the tail end of the propulsion 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, which is used to push the water flow inside the propulsion housing 501.

[0053] The pump-jet propulsion unit 5 is a closed propulsion system that draws in water and accelerates it through an internal impeller to generate thrust. Compared to traditional propellers, the pump-jet propulsion unit 5 reduces noise, increases efficiency, and is less susceptible to damage from entanglement. Due to its closed design, the pump-jet propulsion unit 5 can provide high propulsion efficiency at high speeds. Its propeller 504 is protected within the propulsion housing 501, reducing water loss and allowing for better control of water flow, which contributes to increased thrust.

[0054] In the preferred embodiment, the propeller housing 501 is in the shape of a long cylinder, with one end gradually decreasing in size along the length of the propeller housing 501 to form a jet nozzle 5011 with a gradually decreasing diameter, and a water inlet on one side of the other end. A filter cover 5012 is provided on the end face of the water inlet. The filter cover 5012 is a porous mesh plate used to filter the incoming water flow and prevent foreign objects from being sucked in.

[0055] The propeller housing 501 is fixed to the outside of the sliding sleeve 1 by the fixing plate 10, with its water inlet end face facing the outside of the sliding sleeve 1 and the spray nozzle 5011 facing the end of the sliding sleeve 1.

[0056] By setting a gradually narrowing nozzle 5011, the hydrodynamic performance of the internal water flow is optimized, enabling the water flow entrained by the propeller 504 under the drive of the drive motor 502 to be ejected at a greater speed, thereby obtaining greater thrust.

[0057] In a preferred embodiment, a rotating main shaft 503 is provided with a rotating bearing 505, a first propeller 5041, a first rectifier 506, a second propeller 5042, and a second rectifier 507 sequentially along the direction from the tail of the thruster housing 501 to the nozzle 5011. The rotating bearing 505 is located near the tail end of the shaft of the thruster housing 501. The first propeller 5041, the first rectifier 506, and the second propeller 5042 are spaced apart in the middle of the thruster housing 501. The second rectifier 507 is located at the end of the rotating main shaft 503 near the nozzle 5011.

[0058] By setting up a rotating bearing 505 and multiple rectifier grids, rotational guidance and support are provided for the high-speed rotating main shaft 503 with a long span. The rectifier grids can also guide fluid flow, reduce turbulence, and improve propulsion efficiency.

[0059] In a 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 both ends of the sliding sleeve 1 through an elastic element array 8, and the coil diameter is adapted to the adjustment range of the sliding sleeve 1.

[0060] The original diameter measuring device 6 is used to measure the diameter of the metal part of the submarine cable 4 within this section.

[0061] The original diameter measuring device 6 measures the cable dimensions based on electromagnetic induction technology. This technology works by generating an electromotive force within the conductor when it moves in a changing magnetic field or when the magnetic field itself changes. During the detection process, a transmitting coil 601 first generates a low-frequency alternating electromagnetic field. This field penetrates the seawater and interacts with the metal portion of the cable 4. The metal conductor in the cable 4 reacts to this alternating electromagnetic field, generating eddy currents that in turn produce their own secondary magnetic fields. A receiving coil 602 detects the secondary magnetic field generated by the cable 4. By analyzing the received signal strength, phase, and other characteristics, the diameter and shape data of the cable can be deduced and transmitted to the control center 9.

[0062] When the spacing between the sliding sleeves 1 changes, the two halves of the sliding sleeves 1 are elastically connected by the elastic element array 8 to avoid loosening or deformation.

[0063] In the preferred embodiment, the real-time diameter measuring device 7 includes a rotating base 701, a connecting rod 702, a roller 703, an angle sensor 704, and a return component 706. One end of the connecting rod 702 is rotatably connected to the roller 703, which rests against the surface of the submarine cable 4, and the other end is rotatably connected to the rotating base 701. The rotating pin 705 of the rotating base 701 is connected to the input shaft of the angle sensor 704 to detect the rotation angle of the connecting rod 702. The rotating pin 705 is also provided with a return component 706, one end of which is connected to the connecting rod 702, and the other end is connected to one side of the rotating base 701 to keep the connecting rod 702 always facing the center of the sliding sleeve 1.

[0064] Multiple real-time diameter measuring devices 7 are symmetrically arranged at both ends of the sliding sleeve 1 via rotating base 701, forming two arrays of real-time diameter measuring devices 7.

[0065] The adjusting mechanism 2, scraper mechanism 3, pump-jet propulsion device 5, original diameter measuring device 6, and real-time diameter measuring device 7 are all electrically connected to the control center 9.

[0066] The real-time diameter measuring device 7 slides on the surface of the submarine cable 4 via roller 703. The height fluctuations on the surface of the submarine cable 4 are 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 height fluctuation information and sent to the control center 9.

[0067] Example 2

[0068] Further explanation in conjunction with Example 1, such as Figures 1-13 The structure shown illustrates a cleaning method for a floating wind turbine dynamic submarine cable cleaning device, the method comprising:

[0069] S1. Pre-operation preparation: Check the operating performance of each component and the integrity of the signal connection. After confirming that there are no errors, start the machine and input the ratio coefficient between the maximum outer diameter of the submarine cable 4 and the original diameter measuring device 6 for the measurable metal part diameter into the control center 9.

[0070] S2, Movement: Attach the device to the submarine cable 4, adjust the distance adjustment mechanism 2 so that the rectangular frame of the scraper mechanism 3 is larger than the diameter of the submarine cable 4, control the single-sided pump-jet propeller 5 to spray, and drive the entire device to move along the length of the submarine cable 4.

[0071] 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 the data to the control center 9 for analysis.

[0072] S4, Standby: When the control center 9 determines that there is a covering that needs to be cleaned in this section based on the measured diameter difference, it controls the pumps and propellers 5 on both sides to spray at the same time, so that the device standsby on the section of submarine cable 4 to be cleaned.

[0073] S5. Cleaning: The control center 9 determines the diameter to be cut based on the measured diameter difference and sends the corresponding adjustment information to the adjustment mechanism 2, so that each scraper unit 301 in the scraper mechanism 3 moves to the corresponding cutting depth. Then, the scraper motor 3013 drives the scraper unit 301 to clean the epiphytic marine organisms.

[0074] S6. Inspection: After cleaning, the device continues to move. The original diameter measuring device 6 at the end opposite to the direction of the device's movement measures and inspects the diameter of the 4 sections of the cleaned submarine cable. If the diameter does not meet the standard, the device will retreat by using the reverse pump-jet propeller 5 to reposition and clean again.

[0075] S7. Repeat steps S2 to S6 until the submarine cable 4 within the target length is cleared.

[0076] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A floating wind turbine dynamic submarine cable cleaning device, characterized in that: Two symmetrical semi-circular sliding sleeves (1) are connected by two side adjustment mechanisms (2). Multiple sets of scraper mechanisms (3) arrays are provided in the sliding sleeve (1) along the height direction. Each scraper mechanism (3) array is symmetrically separated on the two sliding sleeves (1) to form a rectangular frame structure. The 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 jetting directions are provided on the other two sides of the sliding sleeve (1). The original diameter measuring device (6) and the real-time diameter measuring device (7) are also provided at both ends of the sliding sleeve (1). The scraper mechanism (3) is a planar rectangular array composed of four scraper units (301). Adjacent scraper units (301) are perpendicular to each other and separated from each other, respectively set inside the 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 endpoints and the midpoint of a semicircular arc. The scraper unit (301) includes a spiral scraper (3011), a bearing housing (3012), a scraper motor (3013), and a motor housing (3014). One end of the spiral scraper (3011) is set at one end of the semi-circular arc of the sliding sleeve (1) through the bearing housing (3012), and the other end is connected to the output shaft of the scraper motor (3013). The scraper motor (3013) is sealed at the midpoint of the semi-circular arc of the sliding sleeve (1) through the motor housing (3014). The pump-jet propulsion unit (5) includes a propulsion housing (501), a drive motor (502), a rotating main shaft (503), and a propeller (504). The drive motor (502) is located at the tail end of the propulsion housing (501), and its output shaft is connected to the rotating main shaft (503). The rotating main shaft (503) passes through the tail end of the propulsion 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, which is used to push the water flow inside the propulsion housing (501).

2. The floating wind turbine dynamic submarine cable cleaning device according to claim 1, characterized in that: In the adjusting mechanism (2), each hydraulic rod (201) is connected to the two sliding sleeves (1) at the same height on the same side through the ear plate (101) at both ends. The hydraulic rod (201) and ear plate (101) on the other side are symmetrically arranged, and the two sides form a set of adjusting mechanisms (2). The adjusting mechanism (2) is provided with at least two sets along the height direction of the sliding sleeve (1).

3. The floating wind turbine dynamic submarine cable cleaning device according to claim 1, characterized in that: The propeller housing (501) is long cylindrical, with one end gradually decreasing in size along the length of the propeller housing (501) to form a jet nozzle (5011) with a gradually decreasing diameter. The other end has 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 used to filter the incoming water flow and prevent foreign objects from being sucked in. The propeller housing (501) is fixed to the outside of the sliding sleeve (1) by a fixing plate (10), with its water inlet end face facing the outside of the sliding sleeve (1) and the spray nozzle (5011) facing the end of the sliding sleeve (1).

4. The floating wind turbine dynamic submarine cable cleaning device according to claim 1, characterized in that: The rotating main shaft (503) is provided with a rotating bearing (505), a first propeller (5041), a first rectifier (506), a second propeller (5042) and a second rectifier (507) in sequence along the direction from the tail of the propeller housing (501) to the nozzle (5011). The rotating bearing (505) is located near the tail of the propeller housing (501). The first propeller (5041), the first rectifier (506) and the second propeller (5042) are spaced apart in the middle of the propeller housing (501). The second rectifier (507) is located at the end of the rotating main shaft (503) near the nozzle (5011).

5. The floating wind turbine dynamic submarine cable cleaning device according to claim 1, characterized in that: 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 element array (8). The coil diameter is adapted to the 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 this section.

6. The floating wind turbine dynamic submarine cable cleaning device according to claim 1, characterized in that: 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 return component (706). One end of the connecting rod (702) is rotatably connected to the roller (703), and the roller (703) rests against the surface of the submarine cable (4). 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 rotating pin (705) is also provided with a return component (706). One end of the return component (706) is connected to the connecting rod (702), and the other end is connected to one side of the rotating seat (701) to keep the connecting rod (702) always facing the center of the sliding sleeve (1). Multiple real-time diameter measuring devices (7) are symmetrically arranged at both ends of the sliding sleeve (1) via rotating seats (701) to form two arrays of real-time diameter measuring devices (7); The adjusting mechanism (2), scraper mechanism (3), pump-jet propulsion device (5), original diameter measuring device (6), and real-time diameter measuring device (7) are all electrically connected to the control center (9).

7. The cleaning method of the floating wind turbine dynamic submarine cable cleaning device according to any one of claims 1 to 6, characterized in that: The method includes: S1. Pre-operation preparation: Check the operating performance of each component and the integrity of the signal connection. After confirming that there are no errors, start the machine and input the ratio coefficient between the maximum outer diameter of the submarine cable (4) and the original diameter measuring device (6) and the diameter of the measurable metal part to the control center (9). S2, Movement: Attach the device to the submarine cable (4), adjust the distance adjustment mechanism (2) so that the rectangular frame of the scraper mechanism (3) is larger than the diameter of the submarine cable (4), control the single-sided pump-jet propulsion device (5) to spray, and drive the whole device to move along the length 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 the data to the control center (9) for analysis. S4, Standby: When the control center (9) determines that there is a covering that needs to be cleaned based on the measured diameter difference, it controls the pumps on both sides (5) to spray simultaneously, so that the device standsby on the section of the submarine cable (4) to be cleaned. S5. Cleaning: The control center (9) determines the diameter to be cut based on the measured diameter difference and sends the corresponding adjustment information to the adjustment mechanism (2) so that each scraper unit (301) in the scraper mechanism (3) moves to the corresponding cutting depth. Then, the scraper motor (3013) drives the scraper unit (301) to clean the epiphytic marine organisms. S6. Inspection: After cleaning, the device continues to move. The original diameter measuring device (6) at the end opposite to the direction of the device's movement measures and inspects the diameter of the cleaned submarine cable (4) section. If it does not meet the standard, it retreats by using the reverse pump-jet propeller (5) and is repositioned for cleaning. S7. Repeat steps S2 to S6 until the submarine cable (4) within the target length is cleared.

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