Scour status detection method and drone for offshore wind power foundation

Abstract

The present application provides a method and drone for detecting the scour state of an offshore wind power foundation, wherein the method comprises: controlling the drone to fly to the target sea area based on the location information of the target sea area; scanning the target sea area based on the drone to obtain the seabed topography scanning information of the target sea area, wherein the scanning information is obtained by calculating and processing the depth data of a multi-beam echo sounder and the sound velocity calibration data of a sound velocity profiler; determining the scour state of the wind power foundation in the target sea area based on the depth data of the multi-beam echo sounder and the sound velocity calibration data of the sound velocity profiler. The present application can realize the scour state detection of the foundation of the offshore wind power equipment in the target sea area. At the same time, the present application has the advantages of lower cost, convenient carrying, easy assembly, fast operation, suitable for regular measurement, and small measurement error.

Description

Technical Field

[0001] The present application relates to the field of offshore equipment detection, and more specifically, to a method and drone for detecting the scour status of an offshore wind power foundation. Background Art

[0002] The types of offshore wind power platform foundations include single pile foundation, jacket foundation, multi-pile foundation, gravity foundation, suction bucket foundation and floating foundation. Currently, the most widely used are single pile foundation and jacket foundation. After the piles of these foundations are fixed on the seabed, they will inevitably interfere with the local seawater flow rate. Under the action of waves and tides, eddies will form near the piles of these foundations to continuously scour the piles, causing the loss of mud and soil near the foundation and forming scour pits. After part of the soil around the foundation is hollowed out, the restraining effect of the soil on the foundation is weakened, resulting in a significant reduction in the bearing capacity of the foundation and the stiffness of the structure. The natural frequency of the structure will also change, which will directly affect the seismic resistance and safety stability of the foundation structure. In severe cases, it may even cause the collapse of the entire unit.

[0003] Since scouring occurs underwater, it is generally difficult to detect in time. If foundation scouring cannot be detected and controlled in time, it will directly threaten the structural safety and normal operation of offshore wind turbines. Therefore, foundation scouring is a problem that has attracted much attention in the field of offshore wind power. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a method and a drone for detecting the scour status of an offshore wind power foundation, so as to realize the scour status detection of the wind power foundation in the target sea area.

[0005] In a first aspect, the present invention provides a method for detecting a scouring state of an offshore wind power foundation, the method further comprising:

[0006] Control the UAV to fly to the target sea area based on the location information of the target sea area;

[0007] Based on the UAV scanning the target sea area, the scanning information of the target sea area is obtained, wherein the scanning information includes the bathymetric data of the multi-beam echo sounder and the sound velocity calibration data of the sound velocity profiler;

[0008] Based on the bathymetric data of the multi-beam echo sounder and the sound velocity calibration data of the sound velocity profiler, the scouring state of the wind power foundation in the target sea area is determined.

[0009] The method of the first aspect of the present application can control the drone to fly to the target sea area based on the location information of the target sea area, and then can scan the target sea area based on the drone to obtain the scanning information of the target sea area, wherein the scanning information includes the depth data of the multi-beam echo sounder and the sound velocity calibration data of the sound velocity profiler, so that the scouring state of the wind power foundation in the target sea area can be determined based on the depth data of the multi-beam echo sounder and the sound velocity calibration data of the sound velocity profiler, and finally the scouring state detection of the wind power foundation in the target sea area is realized. At the same time, compared with the scouring state detection method of the wind power foundation adopted in the prior art, the present application has lower cost, is convenient to carry, easy to assemble, can be quickly operated, and is suitable for regular measurement. On the other hand, the multi-beam echo sounder and sound velocity profiler of the present application will be briefly immersed in seawater during the measurement process, and can be recovered and cleaned and maintained in time after the measurement task is completed, so there is no need to consider the problems of seawater corrosion and marine organism attachment, the reliability is higher, the maintenance is convenient, and the multi-beam echo sounder beam is fan-shaped and the coverage is wider. On the other hand, the detection method of the present application will not affect the normal operation of the offshore wind turbine.

[0010] In an optional embodiment, the scanning method of the target sea area scanned by the unmanned aerial vehicle includes a single-point detection method and a continuous scanning method.

[0011] This optional implementation may scan the target sea area based on one or a combination of a single-point detection method and a continuous scanning method.

[0012] In an optional embodiment, the method further comprises:

[0013] When the scanning mode of the UAV scanning the target sea area is the continuous scanning mode, the cruising path of the UAV is determined based on the beam opening angle range of the multi-beam echo sounder and the average water depth of the target sea area.

[0014] This optional implementation can accurately determine the cruising path of the UAV based on the beam opening angle range of the multi-beam echo sounder and the average water depth of the target sea area.

[0015] In an optional embodiment, the method further comprises:

[0016] Obtaining the real-time wind speed of the target sea area;

[0017] It is determined whether the real-time wind speed of the target sea area is greater than the safe flight wind speed of the UAV. If the real-time wind speed of the target sea area is greater than the safe flight wind speed of the UAV, the UAV is controlled to return.

[0018] This optional implementation manner obtains the real-time wind speed of the target sea area, and then can determine whether the real-time wind speed of the target sea area is greater than the safe flight wind speed of the UAV, so that when the real-time wind speed of the target sea area is greater than the safe flight wind speed of the UAV, the UAV is controlled to return, so as to improve the flight safety of the UAV.

[0019] In an optional embodiment, the method comprises:

[0020] Control multiple UAVs to collaboratively scan the target sea area.

[0021] This optional implementation manner can control multiple drones to collaboratively scan the target sea area, and then perform joint measurement based on multiple drones, thereby shortening the measurement time and improving the measurement efficiency.

[0022] In an optional implementation, the scouring state of the wind power foundation in the target sea area is determined based on the bathymetric data of the multi-beam echo sounder and the sound velocity calibration data of the sound velocity profiler:

[0023] Determining an initial wind power foundation scour state based on the sounding data of the multi-beam echo sounder;

[0024] The scour state of the wind power foundation is corrected based on the sound velocity calibration data of the sound velocity profiler.

[0025] This optional implementation can determine the initial scour state of the wind power foundation based on the sound sounding data of the multi-beam echo sounder, and then can correct the scour state of the wind power foundation based on the sound velocity calibration data of the sound velocity profiler, thereby correcting the multi-beam echo sounder data and improving the measurement accuracy.

[0026] In a second aspect, the present invention provides an unmanned aerial vehicle (UAV), which is applied to the method for detecting the scour status of an offshore wind power foundation as described in any one of the aforementioned embodiments, wherein the UAV includes a multi-beam depth sounder and the sound velocity profiler.

[0027] In an optional embodiment, the UAV further includes a main body, an extension frame and a connecting rod frame, wherein the extension frame is connected to the main body, the upper end of the connecting rod frame is connected to the extension frame, and the lower end of the connecting rod frame is connected to the multi-beam depth sounder and the sound velocity profiler.

[0028] This optional implementation can connect the multi-beam echo sounder and the sound velocity profiler through an expansion frame and a connecting rod frame.

[0029] In an optional embodiment, the UAV further includes an anti-sinking plate, which is connected to the expansion frame to generate buoyancy.

[0030] This optional implementation manner can provide sufficient buoyancy for the drone through the anti-sinking plate when the drone accidentally falls, thereby reducing the possibility of the drone falling into the water.

[0031] In an optional embodiment, the interior of the connecting rod frame is a hollow structure, and the power line of the multi-beam echo sounder, the signal line of the multi-beam echo sounder, the power line of the sound velocity profiler, and the signal line of the sound velocity profiler pass through the interior of the connecting rod frame, and the power line of the multi-beam echo sounder, the signal line of the multi-beam echo sounder, the power line of the sound velocity profiler, and the signal line of the sound velocity profiler are all watertight cables.

[0032] This optional implementation method can improve the sealing of power lines and signal lines by connecting the hollow structure of the pole frame and the watertight cable, reduce the probability of the power lines and signal lines being corroded by moisture, and thus improve the stability and reliability of power supply and signal transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 It is a flow chart of a method for detecting the scour state of an offshore wind power foundation disclosed in an embodiment of the present application;

[0035] Figure 2 It is a schematic diagram of a UAV scour detection solution disclosed in an embodiment of the present application;

[0036] Figure 3 is a schematic diagram of a drone disclosed in an embodiment of the present application;

[0037] Figure 4 It is a composition diagram of a watertight compartment of a drone disclosed in an embodiment of the present application;

[0038] Figure 5 This is a workflow diagram of a drone scour monitoring disclosed in an embodiment of the present application;

[0039] Figure 6 This is a schematic diagram of a UAV grid method measurement path planning disclosed in an embodiment of the present application;

[0040] Wherein, the accompanying drawings are marked as follows:

[0041] 10 is the operation and maintenance ship; 20 is the monopile foundation of the offshore wind turbine; 30 is the drone; 31 is the watertight compartment; 32 is the expansion rack; 33 is the anti-sinking plate; 34 is the connecting rod rack; 40 is the sound velocity profiler; 50 is the multi-beam echo sounder. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0043] See also Figure 1 , Figure 1 1 is a flow chart of a method for detecting the scouring state of an offshore wind power foundation disclosed in an embodiment of the present application. Figure 1 As shown, the method of the embodiment of the present application includes the following steps:

[0044] 101. Control the drone to fly to the target sea area based on the location information of the target sea area;

[0045] 102. Scanning the target sea area based on the UAV to obtain scanning information of the target sea area, wherein the scanning information includes the bathymetric data of the multi-beam echo sounder and the sound velocity calibration data of the sound velocity profiler;

[0046] 103. Based on the bathymetric data of the multi-beam echo sounder and the sound velocity calibration data of the sound velocity profiler, the scouring status of the wind power foundation in the target sea area is determined.

[0047] The method of the embodiment of the present application can control the drone to fly to the target sea area based on the location information of the target sea area, and then can scan the target sea area based on the drone to obtain the scanning information of the target sea area, wherein the scanning information includes the depth data of the multi-beam echo sounder and the sound velocity calibration data of the sound velocity profiler, so that the scouring state of the wind power foundation in the target sea area can be determined based on the depth data of the multi-beam echo sounder and the sound velocity calibration data of the sound velocity profiler, and finally the scouring state detection of the wind power foundation in the target sea area is realized. At the same time, compared with the scouring state detection method of the wind power foundation adopted in the prior art, the present application has lower cost, is convenient to carry, easy to assemble, can be quickly operated, and is suitable for regular measurement. On the other hand, the multi-beam echo sounder and the sound velocity profiler of the embodiment of the present application will be briefly immersed in seawater during the measurement process, and can be recovered and cleaned and maintained in time after the measurement task is completed, so there is no need to consider the problem of seawater corrosion and marine biological attachment, the reliability is higher, the maintenance is convenient, and the multi-beam echo sounder beam is fan-shaped and spreads out, and the coverage is wider. On the other hand, the detection method of the embodiment of the present application will not affect the normal operation of the offshore wind turbine.

[0048] In the embodiment of the present application, the target sea area refers to the sea area including the wind power foundation, wherein the scope of the sea area can be determined according to the measurement task and the area occupied by the wind power foundation.

[0049] In the embodiment of the present application, as an optional implementation, the scanning method of the drone scanning the target sea area includes a single point detection method and a continuous scanning method. Therefore, this optional implementation can scan the target sea area based on one or a combination of the single point detection method and the continuous scanning method.

[0050] In the embodiment of the present application, as an optional implementation, the method of the embodiment of the present application further includes the following steps:

[0051] When the UAV scans the target sea area in a continuous scanning mode, the cruise path of the UAV is determined based on the beam opening angle range of the multi-beam echo sounder and the average water depth of the target sea area. This optional implementation can accurately determine the cruise path of the UAV based on the beam opening angle range of the multi-beam echo sounder and the average water depth of the target sea area.

[0052] In an embodiment of the present application, in an optional implementation manner, the method of the embodiment of the present application further includes the following steps:

[0053] Get the real-time wind speed in the target sea area;

[0054] Determine whether the real-time wind speed of the target sea area is greater than the safe flight wind speed of the UAV. If the real-time wind speed of the target sea area is greater than the safe flight wind speed of the UAV, control the UAV to return.

[0055] This optional implementation method obtains the real-time wind speed of the target sea area, and then can determine whether the real-time wind speed of the target sea area is greater than the safe flight wind speed of the UAV. Therefore, when the real-time wind speed of the target sea area is greater than the safe flight wind speed of the UAV, the UAV is controlled to return to improve the flight safety of the UAV.

[0056] In the embodiment of the present application, as an optional implementation, the method of the embodiment of the present application further includes the following steps:

[0057] Control multiple drones to collaboratively scan the target sea area.

[0058] This optional implementation method can control multiple drones to collaboratively scan the target sea area, and then perform joint measurement based on multiple drones, thereby shortening the measurement time and improving the measurement efficiency.

[0059] In this optional embodiment, the multiple drones may be more than two drones.

[0060] In an optional implementation, the scouring state of the wind power foundation in the target sea area is determined based on the bathymetric data of the multi-beam echo sounder and the sound velocity calibration data of the sound velocity profiler:

[0061] Determine the initial wind power foundation scour state based on the bathymetric data of the multi-beam bathymeter;

[0062] Correct the scour state of wind power foundation based on the sound velocity calibration data of the sound velocity profiler.

[0063] This optional implementation can determine the initial scour state of the wind turbine foundation based on the sounding data of the multi-beam echo sounder, and then can correct the scour state of the wind turbine foundation based on the sound velocity calibration data of the sound velocity profiler, thereby correcting the multi-beam echo sounder data and improving the measurement accuracy.

[0064] In addition, an embodiment of the present application also provides a drone, which is applied to the method for detecting the scour status of an offshore wind power foundation as described in any of the aforementioned implementation modes, wherein the drone includes a multi-beam depth sounder and a sound velocity profiler.

[0065] In an embodiment of the present application, as an optional implementation, the drone also includes a main body, an extension frame and a connecting rod frame, wherein the extension frame is connected to the main body, the upper end of the connecting rod frame is connected to the extension frame, and the lower end of the connecting rod frame is connected to the multi-beam depth sounder and the sound velocity profiler.

[0066] This optional implementation can connect the multi-beam echo sounder and the sound velocity profiler through an expansion rack and a connecting rod rack.

[0067] In an embodiment of the present application, as an optional implementation, the drone also includes an anti-sinking plate, which is connected to the expansion frame to generate buoyancy.

[0068] This optional implementation manner can provide sufficient buoyancy for the drone through the anti-sinking plate when the drone accidentally falls, thereby reducing the possibility of the drone falling into the water.

[0069] In an optional embodiment, the interior of the connecting rod frame is a hollow structure, and the power line of the multi-beam echo sounder, the signal line of the multi-beam echo sounder, the power line of the sound velocity profiler, and the signal line of the sound velocity profiler pass through the interior of the connecting rod frame, and the power line of the multi-beam echo sounder, the signal line of the multi-beam echo sounder, the power line of the sound velocity profiler, and the signal line of the sound velocity profiler are all watertight cables.

[0070] This optional implementation method can improve the sealing of power lines and signal lines by connecting the hollow structure of the pole frame and the watertight cable, reduce the probability of the power lines and signal lines being corroded by moisture, and thus improve the stability and reliability of power supply and signal transmission.

[0071] For the embodiment of this application, as an example: please refer to Figure 2 , Figure 2 Schematic diagram of a UAV scour detection solution disclosed in the embodiment of the present application. Figure 2 As shown, the flushing solution for the wind power foundation includes an operation and maintenance ship 10, a monopile foundation 20 of an offshore wind turbine, and a drone 30.

[0072] Furthermore, the UAV scour detection solution can be divided into two parts: a UAV seabed topography mapping system and a data receiving and storage system to realize the scour status detection of the wind power foundation.

[0073] Furthermore, the UAV submarine topography mapping system uses UAVs as the main carrier, among which, please refer to Figure 3 , Figure 3 Schematic diagram of a drone disclosed in an embodiment of the present application. Figure 3 As shown, the UAV 30 includes a main body, a watertight compartment 31, an expansion frame 32, an anti-sinking plate 33, a connecting rod frame 34, a sound velocity profiler 40, and a multi-beam echo sounder 50, wherein the multi-beam echo sounder and the sound velocity profiler are mounted on the expansion bracket and the connecting rod frame to perform seabed topography mapping.

[0074] Furthermore, the multi-beam echo sounder transmits multiple sound waves to the seabed and receives reflected waves, and then calculates the distance L = v × Δt traveled by the sea wave based on the time difference Δt from the emission to the reception of the sound wave and the propagation speed v of the sound wave in the seawater.

[0075] Furthermore, since the propagation speed v of sound waves in seawater is affected by temperature, salinity and water depth, a sound velocity profiler is needed to measure the sound velocity values ​​of seawater at different depths from the sea surface to the seabed, correct the multi-wave velocity sounder data, and improve the measurement accuracy.

[0076] For further information, see Figure 4 , Figure 4 1 is a composition diagram of a watertight compartment of a drone disclosed in an embodiment of the present application. Figure 4 As shown, in addition to the power module, flight control module, navigation and positioning module, attitude measurement module and wireless communication module, a data acquisition and processing module is also installed in the watertight compartment of the UAV. The data acquisition and processing module is used to convert and correct the data collected by the multi-beam echo sounder and the sound velocity profiler, and upload the final measurement results to the computer through the wireless communication module and store them.

[0077] For further information, see Figure 5 , Figure 5 This is a workflow diagram of a drone scour monitoring disclosed in the embodiment of this application. Figure 5As shown, the multi-beam echo sounder transmits sound waves to the seabed and receives reflected waves, and transmits the collected sound wave data to the data acquisition and processing module in the watertight compartment on the upper part of the drone through a signal line. The data acquisition and processing module can calculate the seabed depth at different locations in the measured sea area based on the time difference Δt from the sound wave emission to the reception and the sound velocity v in the seawater measured by the sound velocity profiler. In addition, the data acquisition and processing module will also read the GPS positioning information and the attitude information of the drone, and transmit them together with the collected seabed terrain data information to the terminal computer located on the operation and maintenance ship or the wind turbine platform through the wireless communication module in a wireless manner.

[0078] Furthermore, the UAV is a propeller-type UAV, and an expansion frame and a connecting rod frame are fixedly connected to the bottom of the UAV for mounting a multi-beam depth sounder and a sound velocity profiler.

[0079] Furthermore, in order to solve the problem of being affected by wind and waves during the detection process, the fixed-point hovering technology of the drone is used to achieve fixed-point measurement to avoid measurement errors caused by the shaking of the drone; at the same time, in order to avoid the multi-beam depth sounder and sound velocity profiler located in the water being affected by waves during measurement, the expansion frame and the connecting rod frame must have sufficient rigidity to avoid vibration and deformation of the bracket under the action of waves and currents, causing measurement errors. Optionally, the expansion frame and the connecting rod frame can be made of carbon fiber, which has the advantages of light weight, high rigidity, and corrosion resistance.

[0080] Furthermore, the connecting rod frame is a hollow structure inside, and the power lines and signal lines of the multi-beam echo sounder and the sound velocity profiler all pass through the inside of the connecting rod frame to protect the cables.

[0081] Furthermore, the power lines and signal lines of the multi-beam echo sounder and the sound velocity profiler are all made of watertight cables, which improves the stability and reliability of power supply and signal transmission;

[0082] Furthermore, in order to prevent the drone from becoming unstable and falling into the sea due to other unexpected situations such as sudden changes in sea surface wind speed or wind direction or insufficient power during measurement, which may cause the drone to be lost or damaged by water, an anti-sinking plate is provided under the expansion frame. The anti-sinking plate is made of lightweight materials such as polyethylene foam plastic to provide sufficient buoyancy for the drone when it falls into the water, allowing the drone to float on the sea surface and prevent the drone from taking on water or sinking to the bottom of the sea.

[0083] Furthermore, the drone inspection task can be set in advance by the program, and the drone can cruise and scan along the planned path. The user can also control the drone to fly over the sea, select the inspection location, and then hover over the inspection location for inspection.

[0084] Furthermore, the UAV relies on its own GPS system for positioning when working. When the UAV performs a side scanning task, it can use Figure 6The grid method shown in the figure plans the measurement path to measure the scour terrain around the offshore platform foundation, wherein: Figure 6 This is a schematic diagram of a UAV grid method measurement path planning disclosed in the embodiment of the present application. The grid spacing can be calculated based on the beam opening angle range of the multi-beam echo sounder and the average water depth of the scanned sea area, and can generally be set to 20m×20m.

[0085] Furthermore, the data receiving and storage system is used for receiving, storing, displaying and analyzing the measurement data of the drone. When performing the measurement task, the data receiving and storage system can be arranged on the operation and maintenance ship or the wind turbine platform to be measured.

[0086] Furthermore, the data receiving and storage system includes a wireless communication module, a computer and surveying and mapping data processing software stored in a computer-readable storage medium. The data processing software installed on the computer is used for reading, statistically analyzing and displaying the data.

[0087] Furthermore, a small anemometer can be installed on the data processing and analysis system to obtain the real-time wind speed in the measurement sea area. When the wind speed when the UAV performs the measurement task exceeds the wind speed at which the UAV can fly safely, the control end can send a command to make the UAV end the measurement and return.

[0088] Furthermore, the detection system of the present invention can also be fixedly deployed on an offshore wind power platform, and the operation and maintenance personnel can remotely control the drone to perform measurement tasks through the communication ring network of the offshore wind farm at the onshore centralized control center. Especially after severe weather such as typhoons and rainstorms, when personnel cannot go out to sea in time, the system can be remotely controlled to perform measurement tasks, providing users with very valuable information on terrain changes caused by water erosion on the offshore wind power foundation.

[0089] Furthermore, when there are many measurement tasks, the detection system described in the present invention can also utilize the technology of drone swarms to expand the number of drones, conduct joint measurements, shorten the measurement time, and improve the measurement efficiency.

[0090] It should be noted that in addition to detecting the scouring status of offshore wind power foundations, drones can also be used to scan the sea area and analyze the scouring status of submarine cables in offshore wind farms, so as to promptly discover problems such as exposed and suspended submarine cables.

[0091] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0092] In addition, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0093] Furthermore, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0094] It should be noted that if the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM) random access memory (RAM), disk or optical disk, and other media that can store program codes.

[0095] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0096] The above are only embodiments of the present application and are not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for detecting the scouring state of an offshore wind power foundation, characterized in that: The method further comprises: Control the UAV to fly to the target sea area based on the location information of the target sea area; Based on the UAV scanning the target sea area, seabed topography scanning information of the target sea area is obtained, wherein the scanning information includes the bathymetric data of the multi-beam echo sounder and the sound velocity calibration data of the sound velocity profiler; Based on the bathymetric data of the multi-beam echo sounder and the sound velocity calibration data of the sound velocity profiler, the scouring state of the wind power foundation in the target sea area is determined.

2. The method according to claim 1, characterized in that The scanning methods of the target sea area scanned by the drone include a single-point detection method and a large-area continuous scanning method.

3. The method according to claim 2, characterized in that The method further comprises: When the scanning mode of the UAV scanning the target sea area is the continuous scanning mode, the cruising path of the UAV is determined based on the beam opening angle range of the multi-beam echo sounder and the average water depth of the target sea area.

4. The method according to claim 1, characterized in that The method further comprises: Obtaining the real-time wind speed of the target sea area; It is determined whether the real-time wind speed of the target sea area is greater than the safe flight wind speed of the UAV. If the real-time wind speed of the target sea area is greater than the safe flight wind speed of the UAV, the UAV is controlled to return.

5. The method according to claim 1, characterized in that The method comprises: Control multiple UAVs to collaboratively scan the target sea area.

6. The method according to claim 1, characterized in that The method of determining the scouring state of the wind power foundation in the target sea area based on the bathymetric data of the multi-beam bathymeter and the sound velocity calibration data of the sound velocity profiler: Determining an initial wind power foundation scour state based on the sounding data of the multi-beam echo sounder; The scour state of the wind power foundation is corrected based on the sound velocity calibration data of the sound velocity profiler.

7. A drone, characterized in that: The UAV is applied to the scour status detection method of the offshore wind power foundation as described in any one of claims 1 to 5, wherein the UAV includes a multi-beam depth sounder and the sound velocity profiler.

8. The drone according to claim 7, characterized in that: The UAV also includes a main body, an expansion frame and a connecting rod frame, wherein the expansion frame is connected to the main body, the upper end of the connecting rod frame is connected to the expansion frame, and the lower end of the connecting rod frame is connected to the multi-beam depth sounder and the sound velocity profiler.

9. The drone according to claim 8, characterized in that: The drone also includes an anti-sinking plate, which is connected to the expansion frame and is used to generate buoyancy.

10. The drone according to claim 8, characterized in that: The interior of the connecting rod frame is a hollow structure, and the power line of the multi-beam echo sounder, the signal line of the multi-beam echo sounder, the power line of the sound velocity profiler and the signal line of the sound velocity profiler pass through the interior of the connecting rod frame, and the power line of the multi-beam echo sounder, the signal line of the multi-beam echo sounder, the power line of the sound velocity profiler and the signal line of the sound velocity profiler are all watertight cables.

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