Single-beam unmanned ship and method for monitoring scouring condition of bed surface near foundation pile

Abstract

The invention relates to a single-beam unmanned ship and method for monitoring the scouring condition of a bed surface near a foundation pile, and belongs to the field of offshore equipment foundation pile monitoring equipment. The single-beam unmanned ship comprises an unmanned ship body used for carrying the single-beam sonar and a liftable track device installed on the side wall of the foundation pile, and the liftable track device ascends and descends according to different water levels of rising and falling tides. The unmanned ship main body is arranged on the liftable track device through the sliding base; the unmanned ship is kept to run around the foundation pile within the fixed range of the liftable track device, and a single-beam sonar of the unmanned ship is located at the bottom of the unmanned ship body and monitors the distance between a single-beam measuring point and a bed surface in real time with a constant radius. According to the monitoring method, a water surface monitoring mode or an underwater monitoring mode is adopted according to the marine environment condition, so that the integrity and accuracy of monitoring data are ensured, and smooth execution of a long-term monitoring task is ensured.

Description

Technical Field

[0001] The present invention relates to a single-beam unmanned vessel and method for monitoring the scour condition of the seabed near a foundation pile, belonging to the field of foundation pile monitoring equipment for offshore facilities. Background Art

[0002] The foundation structures adopted in offshore wind power mainly include monopiles, gravity bases, tripods, jacket foundations, and floating foundations, etc. Among them, the monopile foundation has been widely used due to its advantages such as low construction cost and convenient installation, and its global market share is as high as over 70%.

[0003] The construction of offshore wind turbines has been one of the key energy development forms that China has focused on in recent years. Foundation scour is a common problem near the piles of offshore wind turbine foundations. After setting the foundation piles on the seabed, the original flow field has changed. Under the combined action of horseshoe vortices, lateral accelerating flow around the pile, and wake vortices, scour pits are formed around the pile foundation. The deepening of the scour pit will increase the free cantilever length of the structure, resulting in a reduction in the stiffness and bearing capacity of the foundation. In severe cases, it will cause the collapse of the wind turbine unit. Therefore, the real-time monitoring and early warning of the scour pit are important measures to prevent risks. At present, the monitoring of pile foundation scour mainly uses a shipborne multi-beam sonar system to conduct regular offshore surveys, which is expensive and cannot achieve real-time monitoring. Especially in bad weather conditions, it cannot go to sea. CN 113029054 A, CN 106917420 A, CN 108755786 A, CN 110133666 A, CN 113123376 A, CN116429897A, etc. have all provided good ideas for the real-time monitoring of the scour pits of wind power pile foundations. However, these technologies still have some deficiencies, such as cumbersome installation, inability to draw a complete scour pit morphology, unfavorable for maintenance, and difficult to accurately control the monitoring route. In addition, the high cost and complex operation of the multi-beam sonar limit its application in small-scale detection. Summary of the Invention

[0004] The present invention aims to solve the above existing defect problems, and provides a single-beam unmanned vessel and method for monitoring the scour condition of the seabed near a foundation pile. By collecting reflected wave data, accurate positioning and real-time monitoring can be achieved. The data can be stored and transmitted to the monitoring center. The whole set of devices is convenient to install, without the need to deploy devices on the seabed, and has the characteristics of being easy to disassemble and maintain, simple installation, safe and reliable, etc.

[0005] The present invention adopts the following technical solutions:

[0006] A single-beam unmanned vessel for monitoring the scour condition of the bed surface near a foundation pile, comprising an unmanned vessel main body for carrying a single-beam sonar, and a liftable track device installed on the side wall of the foundation pile, wherein the liftable track device shall be lifted and lowered in response to different water levels during flood and ebb tides; the unmanned vessel main body is arranged on the liftable track device through a sliding base; the unmanned vessel maintains running around the foundation pile within a fixed range of the liftable track device, and the single-beam sonar of the unmanned vessel is located at the bottom of the unmanned vessel main body to monitor and measure the distance between the single-beam measurement point and the bed surface in real time at a constant radius. The unmanned vessel main body is relatively wide and thick, capable of maintaining high stability under the action of ocean hydrodynamic forces, and has a streamlined shape, which can reduce the disturbance of the water flow to the hull and the generation of noise, and reduce the interference of the noise on the sonar signal.

[0007] For the single-beam unmanned vessel for monitoring the scour condition of the bed surface near a foundation pile described in the present invention, the unmanned vessel main body is propelled by a propeller propulsion system;

[0008] The propeller propulsion system consists of a propeller installed at the stern of the vessel, ensuring that the unmanned vessel can move and stop precisely on the track. The propeller is made of corrosion-resistant alloy and is driven by a motor installed inside the propeller propulsion system.

[0009] The top of the unmanned vessel main body is provided with a first protection cabin, a second protection cabin, and a third protection cabin;

[0010] A solar energy supply system is arranged in the first protection cabin; a GPS positioning system and an ultra-short baseline (USBL) positioning system are arranged in the second protection cabin; a data transmission module is arranged in the third protection cabin;

[0011] A storage battery, a depth warning system, and a data storage module are arranged inside the unmanned vessel main body; the power is jointly provided by the solar energy supply system and the high-efficiency storage battery to ensure long-term endurance at night or in low-light environments;

[0012] The single-beam sonar, the positioning system, the depth warning system, the data storage module, and the data transmission module constitute the monitoring system of the unmanned vessel main body. The data storage and transmission module supports multiple transmission protocols, including radio, Wi-Fi, and satellite communication, etc., to ensure the stable transmission of data in a complex ocean environment. The transmission module is installed in the antenna protection cover at the rear of the hull and has the characteristics of waterproof and dustproof, and can work continuously and stably under relatively large wind and waves; the positioning system is installed at the middle position on the top of the hull, enabling the monitoring center to accurately confirm the position of the unmanned vessel;

[0013] The ultra-short baseline (USBL) positioning system consists of a transmitting transducer, a transponder, and a receiving array.

[0014] The depth warning system is installed at the front of the hull. By monitoring the changes in sonar data in real time, it automatically triggers an alarm when the seabed scouring reaches a preset threshold, sends a warning message to the monitoring center to ensure timely protective measures are taken, and the solar energy supply system is installed above the warning system;

[0015] For the single-beam unmanned ship used in the present invention to monitor the bed scouring near the foundation pile, the liftable track device includes an arc track, a track inclined support, a support base, and a hydraulic system;

[0016] The fixed sleeve matches the outer wall surface of the foundation pile and is fixed on the foundation pile;

[0017] A number of support bases are arranged annularly along the circumferential surface of the fixed sleeve. A hydraulic system is arranged on the support base. The driving end of the hydraulic system is connected to the track inclined support, and the arc track is erected on the track inclined support;

[0018] The arc track is an inner arc track and an outer arc track with the same axis; the inner arc track and the outer arc track are arranged horizontally;

[0019] The top and both side walls of the inner arc track and the outer arc track are concave arc grooves;

[0020] The track inclined support is composed of two inclined inner arc track support feet and outer arc track support feet. The setting directions of the two support feet correspond to and are fixed to the inner arc track and the outer arc track; through holes are provided on the outer arc track support feet.

[0021] For the single-beam monitoring unmanned ship used in the present invention to monitor the bed scouring near the foundation pile, the sliding base is connected to the unmanned ship hull through a fixed sleeve, and two guiding grooves matching the inner arc track and the outer arc track are provided in the sliding base;

[0022] A number of sliding balls are provided on the inner wall of the guiding groove. The number of sliding balls is evenly linearly distributed on the corresponding surface. The cutting radian of the guiding groove matches the concave arc groove of the arc track of the liftable track device.

[0023] The sliding balls are made of high-strength composite materials, have strong compressive capacity, can maintain structural stability under long-term working conditions, and the sliding base ensures that the unmanned ship always operates around the foundation pile within a fixed range and monitors with a constant radius. The unmanned ship can be disassembled from the sliding base for easy maintenance.

[0024] Furthermore, there are a total of thirteen sliding balls, which are evenly linearly distributed on the corresponding surface. The cutting radian of the guiding groove matches the sliding groove of the arc track of the liftable track device.

[0025] The single-beam unmanned vessel for monitoring the scour condition of the seabed near a foundation pile according to the present invention, the hydraulic system thereof includes a hydraulic cylinder, a hydraulic pump, an oil tank, a hydraulic energy storage system, a protective rib, a lithium battery pack, and a hydraulic protection cabin;

[0026] Further, the liftable track device is installed on the wind turbine foundation pile through a fixed sleeve and is located below the mean sea level. The hydraulic system is composed of four hydraulic devices, and the four sets of hydraulic devices are installed on four support bases evenly distributed on the fixed sleeve. The hydraulic system is connected to the two arc tracks through inclined support columns, and the inclined support columns are fixedly connected to the hydraulic system through protective pads. Among them, the hydraulic system is composed of a hydraulic cylinder, a piston rod, a hydraulic pump, an oil tank, a hydraulic energy storage system, a protective rib, and a lithium battery pack. Among them, the hydraulic cylinder, the hydraulic pump, the oil tank, and the lithium battery pack are all integrated inside the protection cabin to ensure the normal operation of the system in a harsh marine environment.

[0027] The single-beam unmanned vessel for monitoring the scour condition of the seabed near a foundation pile according to the present invention, the unmanned vessel emits detection beams through a single-beam sonar installed at the bottom of the vessel, precisely controls the time difference between the sound wave emission and reception, calculates the distance between the unmanned vessel and the seabed, and can generate a sonar scan map through built-in software, and cooperates with the positioning system to accurately identify the scour condition of the seabed.

[0028] The single-beam sonar detector is installed inside the noise shielding protection cabin. The single-beam sonar is located between the inner arc track and the outer arc track, and a sound insulation baffle is additionally provided outside the protection cabin.

[0029] The monitoring method of the single-beam unmanned vessel for monitoring the scour condition of the seabed near a foundation pile according to the present invention is as follows:

[0030] The unmanned vessel body of this monitoring method is divided into two types according to the monitoring mode of the sea surface environment: one is monitoring on the water surface, and the other is monitoring underwater;

[0031] When monitoring on the water surface, according to different water levels, the hydraulic system in the liftable track device raises the arc track, so that the unmanned vessel body floats on the water surface for driving;

[0032] When the unmanned vessel body is driving on the water surface, the position of the unmanned vessel body is confirmed through the GPS positioning system, and the single-beam sonar measures the distance between the seabed and the unmanned vessel in real time. Through the combination of the data collected by the single-beam sonar in real time and the GPS positioning system, a three-dimensional map of the bed scour is automatically generated;

[0033] When the wind and waves are large, the noise interference is serious or in shallow water areas, the hydraulic system in the liftable track device lowers the arc track, so that the unmanned vessel body sinks into the water for submersible navigation,

[0034] When monitoring underwater, the ultra-short baseline (USBL) positioning system is combined with GPS to accurately track the position of the unmanned surface vessel;

[0035] The transmitting transducer of the ultra-short baseline (USBL) emits an acoustic pulse. After the transponder receives it, it emits a return acoustic pulse. After the receiving array receives it, the phase differences in the X and Y directions are measured, and the distance R from the underwater device to the array is calculated based on the arrival time of the acoustic wave, thereby calculating the position of the unmanned surface vessel on the plane coordinates and the depth of the unmanned surface vessel.

[0036] The data monitored by the unmanned surface vessel is transmitted to the monitoring center through the data transmission module. The data storage module uses the wavelet transform compression algorithm to efficiently compress and process the sonar data. The principle of wavelet transform is to transform the sonar data from the time domain to the multi-scale time-frequency domain. By decomposing the data signal, the important feature information at different frequencies is captured, thereby removing the redundant part, retaining the key data, and achieving data compression while maintaining the main features of the signal. The processed data not only saves storage space but also preserves the historical sonar data for subsequent detailed analysis;

[0037] The unmanned surface vessel hull sets a preset threshold for seabed scouring through the depth warning system, combines the changes in the real-time monitored sonar data for automatic warning, and sends a warning message to the monitoring center;

[0038] The wind turbine supplies energy to the hydraulic system, and the excess electricity generated by the wind turbine is stored by the lithium battery pack. The sailing speed of the unmanned surface vessel when sailing on the water surface or submerging in water is: 0.2 - 0.9 m / s.

[0039] Beneficial effects

[0040] The single-beam unmanned surface vessel provided by the present invention for monitoring the bed scouring near the pile foundation uses a single-beam sonar to monitor the scouring pit of the pile foundation. Compared with the multi-beam system, the single-beam sonar has significant advantages: its simplicity and ease of use enable operators to quickly master it, and it has low cost, high measurement efficiency, and is more convenient to manufacture and maintain. The single-beam sonar is also easy to integrate into other measurement systems, such as GPS and sensors, so as to provide more comprehensive monitoring data.

[0041] The protective cabin of the present invention cooperates with the baffle to effectively reduce the influence of external noise and water flow on the sonar device and improve the measurement accuracy. The noise shielding protective cover and the baffle are both made of high-density materials with excellent sound absorption performance, which can effectively block the propagation of noise and reduce the noise interference generated by water flow, hull, guide rail structure and other dynamic equipment in the marine environment. The detection hole on the inclined support of the track is a through-round hole, and its diameter matches the diameter of the noise shielding protective cabin, ensuring that when the unmanned surface vessel passes through the inclined support, the monitoring process of the single-beam sonar is not hindered, allowing the acoustic wave to pass through the detection hole for underwater monitoring and ensuring the continuity of monitoring.

[0042] The hull of the unmanned ship of the present invention is connected to the sliding base through an oval fixing sleeve. A shock-absorbing washer is provided inside the fixing sleeve, which can effectively alleviate the damage of the hull vibration to the device, and is convenient for disassembly, thus improving the service life.

[0043] The hydraulic system of the present invention can automatically adjust the height of the unmanned ship according to real-time tide data to ensure that the hull is always within the optimal monitoring range at different water levels. The hydraulic pump is directly connected to the wind turbine through a dedicated transmission circuit. The wind turbine generates electrical energy under windy conditions and directly supplies it to the hydraulic pump to drive the operation of the hydraulic system. The excess power generated by the wind turbine is stored in the lithium battery pack for continuous power supply under windless or low wind speed conditions. In addition, the hydraulic energy storage system can ensure a smooth and efficient compression and release process of the hydraulic oil, reduce energy loss, and enhance the stability of the system during long-term operation.

[0044] The method of the single-beam unmanned ship provided by the present invention for monitoring the scour of the seabed near the pile foundation. The unmanned ship can automatically navigate to the monitoring area and transmit real-time monitoring data to the monitoring center through the data storage and transmission module. When the depth warning system detects that the erosion of the seabed reaches the set warning standard, it will immediately send an alarm signal to the monitoring center to remind the staff to carry out maintenance work to prevent potential risks caused by unstable pile foundations. At the same time, the data is transmitted to the monitoring center in real time through the wireless communication protocol and stored in the high-performance data processing module to ensure the integrity and accuracy of the monitoring data and guarantee the smooth execution of long-term monitoring tasks.

[0045] In this method, the unmanned ship determines the optimal navigation speed of 0.2 - 0.9 m / s. This speed range is considered ideal in the application of underwater sonar detection because it can ensure the accuracy of data collection while reducing the water flow interference that may be caused by the movement of the ship. And compared with high-speed navigation, the low-to-medium-speed movement can effectively reduce the interference of water flow turbulence and wake noise on sonar detection, thereby improving the reliability of monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a side schematic view of the monitoring unmanned ship of the present invention;

[0047] Figure 2 It is a bottom schematic view of the monitoring unmanned ship of the present invention;

[0048] Figure 3 It is a side schematic view of the liftable track device of the present invention;

[0049] Figure 4 It is a side schematic view of the arc track of the present invention;

[0050] Figure 5This is the internal schematic diagram of the hydraulic system of the present invention.

[0051] Description of the reference numerals in the figure:

[0052] 0, foundation pile; 1, hull; 2, first protective cabin; 3, solar energy supply system; 4, second protective cabin; 5, antenna protective cover; 6, third protective cabin; 7, propeller propulsion system; 8, sliding base; 81, sliding ball; 82, mounting ring; 9, arc track; 10, detection hole; 11, inclined track support; 12, support base; 13, hydraulic system; 131, piston rod; 14, fixed sleeve; 15, protective pad; 16, noise shielding protective cabin; 161, sound insulation baffle; 18, energy storage system; 19, dust-proof ring; 20, hydraulic protection cabin; 21, protective rib. Specific implementation manner

[0053] To make the objectives and technical solutions of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0054] As Figures 1-2 shown: A single-beam unmanned ship for monitoring the scour of the bed surface near the pile foundation includes an unmanned ship hull 1, a first protective cabin 2, a solar energy supply system 3, a second protective cabin 4, an antenna protective cover 5, a third protective cabin 6, a propeller propulsion system 7, a sliding base 8, a sliding ball 81, a mounting ring 82, an arc track 9, a detection hole 10, an inclined track support 11, a support base 12, a hydraulic system 13, a piston rod 131, a fixed sleeve 14, a protective pad 15, a single-beam sonar, a noise shielding protective cabin 16, a sound insulation baffle 161, and a storage battery 17. The solar energy supply system, the positioning system, the depth warning system, and the data storage and transmission module are all installed on the top of the unmanned ship.

[0055] The described solar energy supply system 3, positioning system, depth warning system, and data storage and transmission module are all installed on the top of the unmanned ship 1. From the bow to the stern of the surface of the unmanned ship body 1, a solar energy supply system 3, a depth warning system, a positioning system, and a data storage and transmission module are installed respectively. The depth warning system and the solar energy supply system 3 are uniformly installed in the first protective cabin 2, and the positioning system is installed in the second protective cabin 4, which consists of a GPS positioning system and a short baseline (USBL) positioning system. The data storage module and the transmission module are installed in the third protective cabin 6 and the antenna protective cover 5 respectively. All the described systems are powered by the solar energy supply system 3, and all the protective cabins are made of high-strength materials, with the characteristics of wave resistance and corrosion resistance.

[0056] The single-beam sonar, positioning system, depth warning system, and data storage and transmission module are jointly integrated into the multi-functional monitoring system of this unmanned ship. The single-beam sonar measures the distance between the seabed and the unmanned ship in real time. Through the combination of the data collected by the sonar and the positioning system, the monitoring system can automatically generate a three-dimensional map of the bed surface scouring and transmit the data to the monitoring center through radio, Wi-Fi, or satellite communication.

[0057] The data storage module compresses and processes the sonar data using an efficient algorithm to ensure that a large amount of historical data can be saved for subsequent analysis during long-term operation. The depth warning system automatically triggers an alarm when the seabed scouring reaches a preset threshold by real-time monitoring of the changes in sonar data, and sends a warning message to the monitoring center to ensure timely protective measures are taken. All modules are powered by the solar energy supply system 3 to ensure the long-term stable operation of the unmanned ship in the open sea environment. The propeller propulsion system 7 is installed at the tail of the hull 1 of the unmanned ship and consists of a single propeller, which minimizes the noise generated by propulsion, and the propeller is made of corrosion-resistant materials (stainless steel or composite materials) to improve the durability of the unmanned ship.

[0058] Research shows that an appropriate sailing speed will not significantly affect the detection effect of the single-beam sonar. The optimal sailing speed of the unmanned ship selected in the present invention is 0.2 - 0.9 m / s. This speed range is considered ideal in the application of underwater sonar detection because it can ensure the accuracy of data collection while reducing the water flow interference that may be caused by the movement of the ship. And compared with high-speed sailing, low to medium-speed movement can effectively reduce the interference of water flow turbulence and wake noise on sonar detection, thereby improving the reliability of monitoring.

[0059] Arc track 9, track inclined support 11, support base 12, hydraulic system 13, and Figure 3The shown protective pads 15 together constitute the liftable track device of the apparatus. The sliding base 8 is connected to the hull 1 of the unmanned ship through a fixing sleeve, and is designed with corrosion-resistant bolt connections and shock-proof gaskets, which is convenient for installation and disassembly. The bottom of the sliding base 8 is designed with two guiding grooves, and the inside of the guiding grooves is mainly composed of wear-resistant sliding balls. There are a total of thirteen sliding balls, which are evenly linearly distributed on the corresponding surfaces. The cutting arc of the guiding grooves matches the sliding grooves of the arc track 9 of the liftable track device (as Figure 4 shown).

[0060] The single-beam sonar is installed at the bottom of the hull 1, and is covered with a noise shielding protection cabin 16. Moreover, a sound insulation baffle 161 is additionally arranged outside the protection cabin 16. The protection cabin 16 and the baffle 161 can effectively reduce the influence of external noise and water flow on the sonar device, and improve the measurement accuracy. The track inclined support 11 connects the arc track 9 and the hydraulic system 13. The hydraulic system 13 can control the lifting range to reach 2m. The hydraulic system 13 is connected to the inclined support 11 through the protective pad 15. The protective pad is made of high-toughness material, which enhances the service life and ensures that the unmanned ship can safely and stably rise and fall with the sea level.

[0061] As Figure 5 shown: The specific structure of the hydraulic system 13 consists of a hydraulic cylinder, a piston rod 131, a hydraulic pump, an oil tank, a hydraulic energy storage system 18, a protective rib 21 and a lithium battery pack. Among them, the hydraulic cylinder, the hydraulic pump, the oil tank and the lithium battery pack are all integrated inside the hydraulic protection cabin 20 to ensure the normal operation of the system in the harsh marine environment. The working principle of the hydraulic system is based on the compression and release of hydraulic oil: The hydraulic pump is driven by the electric power provided by the wind turbine, and pumps the hydraulic oil from the oil tank into the hydraulic cylinder. With the compression of the hydraulic oil, the piston rod in the hydraulic cylinder is pushed, driving the liftable track device to rise. When it is necessary to lower the height of the unmanned ship, the hydraulic valve is opened, and the hydraulic oil gradually releases back to the oil tank, and the piston rod retracts under the action of gravity, thereby realizing the precise descent of the height.

[0062] This system can automatically adjust the height of the unmanned ship according to the real-time tide data to ensure that the hull is always within the best monitoring range under different water levels. The hydraulic pump is directly connected to the wind turbine through a special transmission circuit. The wind turbine generates electric energy under windy conditions and directly supplies it to the hydraulic pump to drive the operation of the hydraulic system. The excess electric power generated by the fan is stored in the lithium battery pack for continuing to provide power under windless or low wind speed conditions. In addition, the hydraulic energy storage system 18 can ensure the smooth and efficient compression and release process of the hydraulic oil, reduce energy loss, and improve the stability of the system during long-term operation.

[0063] The method of the single-beam unmanned ship for monitoring the bed scour near the foundation pile provided by the present invention is as follows:

[0064] Before the overall installation, 4 support bases 12 have been pre-installed evenly on the fixing sleeve 14, and a hydraulic system 13 is equipped on the base 12. The arc track 9 and the track inclined support 11 are integrally cast and designed, and are firmly connected to the hydraulic system 13 through four protective pads 15. In addition, the sliding base 8 has also been installed on the arc track 9. Then, the integrated fixing sleeve 14 and the above-mentioned related equipment are installed below the sea level of the foundation pile 0. Finally, the selected unmanned ship hull 1 is connected to the sliding base 8 through the installation ring 82. Removable stainless steel bolts and shock-absorbing washers are equipped inside the ring, which can effectively relieve the damage of the hull vibration to the device, and ensure the firm connection between the hull and the base and facilitate disassembly, maintenance and repair.

[0065] When monitoring on the water surface, according to different water levels, the arc track is lifted by the hydraulic system in the liftable track device, so that the main body of the unmanned ship floats on the water surface for driving; under normal circumstances, the unmanned ship mainly conducts monitoring on the water surface, relying on the stability of the hull and the single-beam sonar to achieve accurate measurement, and the sliding base has a certain degree of mobility in the vertical direction and can always float on the water surface, suitable for most sea conditions.

[0066] When the main body of the unmanned ship is driving on the water surface, the position of the main body of the unmanned ship is confirmed through the GPS positioning system. The single-beam sonar measures the distance between the seabed and the unmanned ship in real time. Through the combination of the data collected by the single-beam sonar and the GPS positioning system, a three-dimensional map of the bed surface scouring is automatically generated;

[0067] However, when the wind and waves are large, the noise interference is serious or in shallow water areas, the water surface environment may affect the monitoring accuracy. At this time, the unmanned ship can switch to the underwater working mode. Through the hydraulic lifting system, part or all of the hull is immersed underwater to avoid the interference of wind and waves, wake and environmental noise, and ensure the stability and accuracy of data collection.

[0068] When monitoring underwater, the ultra-short baseline (USBL) positioning system is combined with the GPS to accurately track the position of the underwater unmanned ship;

[0069] The data monitored by the unmanned ship is transmitted to the monitoring center through the data transmission module. The data storage module uses the wavelet transform compression algorithm to efficiently compress the sonar data. The principle of wavelet transform is to convert the sonar data from the time domain to the multi-scale time-frequency domain. By decomposing the data signal, the important feature information at different frequencies is captured, so as to remove the redundant part, retain the key data, and keep the main features of the signal while realizing data compression; the processed data not only saves storage space, but also can save historical sonar data for subsequent detailed analysis.

[0070] The unmanned ship 1 is mainly powered by the solar energy supply system 3, which cooperates with the storage battery 17 installed inside the first protective cabin 2. Under the conditions of night or weak light, the storage battery 17 can continuously supply power to the unmanned ship 1 to ensure that the unmanned ship 1 can work 24 hours a day and all-weather.

[0071] The power supply of the hydraulic system 13 is directly provided by the wind power generation device, which can effectively reduce the dependence on external power sources and ensure the autonomous operation ability of the system. The detection hole 10 on the track inclined support 11 is a through-round hole, and its diameter matches the diameter of the noise shielding protection cabin 16, ensuring that when the unmanned ship passes through the inclined support 11, the monitoring process of the single-beam sonar is not blocked, allowing sound waves to pass through the detection hole 10 for underwater monitoring to ensure the coherence of the monitoring.

[0072] When the unmanned ship is in use, the track is adjusted according to the sea level height to place the sea level at the middle horizontal position of the hull. The single-beam sonar can be manually turned on through the central control system of the monitoring center, and the propulsion speed can be set. Through the GPS positioning system, the unmanned ship can automatically navigate to the monitoring area and use the data storage and transmission module to transmit the real-time monitoring data to the monitoring center. When the depth warning system monitors that the erosion of the seabed reaches the set warning standard, it will immediately send an alarm signal to the monitoring center to remind the staff to carry out maintenance work to prevent potential risks caused by unstable piles. At the same time, the data is transmitted to the monitoring center in real time through the wireless communication protocol and stored in the high-performance data processing module to ensure the integrity and accuracy of the monitoring data and guarantee the smooth execution of the long-term monitoring task.

[0073] The unmanned ship and the monitoring device need to be maintained regularly to ensure their long-term stable operation. The sliding base and the track should be checked every 6 months, and anti-corrosion lubricant should be added to extend the service life of the equipment. The hydraulic system should be checked once a year to prevent problems such as oil leakage from affecting the performance of the equipment. Each electronic module and sensor should be subjected to a function test every quarter to ensure the normal operation of the data transmission module and avoid data loss problems caused by hardware failures.

[0074] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A single-beam unmanned boat used to monitor the scouring of the bed surface near the pile foundation, characterized by: The invention comprises an unmanned boat body for carrying a single-beam sonar, and a liftable track device installed on the side wall of a foundation pile, wherein the liftable track device can be lifted and lowered in response to different water levels of rising and falling tides; the unmanned boat body is arranged on the liftable track device through a sliding base; the unmanned boat runs around the foundation pile within a fixed range of the liftable track device, and the single-beam sonar of the unmanned boat is located at the bottom of the unmanned boat body, and monitors and measures the distance between the single-beam measuring point and the bed surface in real time at a constant radius.

2. The single-beam unmanned boat for monitoring the scouring of the bed surface near the pile foundation according to claim 1 is characterized in that: The unmanned boat body is propelled by a propeller propulsion system; a first protection cabin, a second protection cabin, and a third protection cabin are provided on the top of the unmanned boat body; The first protection cabin is equipped with a solar energy supply system; the second protection cabin is equipped with a GPS positioning system and an ultra-short baseline positioning system; the third protection cabin is equipped with a data transmission module; The interior of the unmanned boat is equipped with batteries, a depth warning system, and a data storage module; the solar energy supply system stores energy for the batteries; The single-beam sonar, positioning system, depth warning system, data storage module, and data transmission module constitute the monitoring system of the unmanned ship body; The ultra-short baseline positioning system is composed of a transmitting transducer, a transponder and a receiving array to form an underwater monitoring system of the unmanned ship body.

3. The single-beam unmanned boat for monitoring the scouring of the bed surface near the pile foundation according to claim 1, characterized in that: The liftable track device includes an arc track, a track oblique support, a support base, and a hydraulic system; The fixing sleeve matches the outer wall surface of the foundation pile and is fixed on the foundation pile; A plurality of support bases are arranged in a ring shape along the circumferential surface of the fixed sleeve, a hydraulic system is arranged on the support base, a driving end of the hydraulic system is connected to the track oblique support, and the circular arc track is erected on the track oblique support.

4. The single-beam unmanned boat for monitoring the scouring of the bed surface near the pile foundation according to claim 3 is characterized in that: The arc track is an inner circle arc track and an outer circle arc track with the same axis; the inner circle arc track and the outer circle arc track are arranged horizontally; The top and both side walls of the inner circle arc track and the outer circle arc track are both concave arc grooves; The track oblique support is composed of two inclined inner circle arc track support feet and outer circle arc track support feet. The two support feet are arranged in a position corresponding to the inner circle arc track and the outer circle arc track and fixed. The outer circle arc track support feet are provided with through holes.

5. The single-beam monitoring unmanned boat for monitoring the scouring of the bed surface near the pile foundation according to claim 1 or 4, characterized in that: The sliding base is connected to the unmanned boat hull through a fixed sleeve, and two guide grooves matching the inner circle arc track and the outer circle arc track are arranged in the sliding base; The inner wall of the guide groove is provided with a plurality of sliding balls, and the plurality of sliding balls are evenly and linearly distributed on the corresponding surface. The cutting arc of the guide groove matches the concave arc groove of the circular arc track of the lifting track device.

6. The single-beam unmanned boat for monitoring the scouring of the bed surface near the pile foundation according to claim 3 is characterized in that: The hydraulic system includes a hydraulic cylinder, a hydraulic pump, an oil tank, a hydraulic energy storage system, a protective rib, a lithium battery pack, and a hydraulic protection cabin; The hydraulic cylinder, hydraulic pump, oil tank, hydraulic energy storage system and lithium battery pack constitute a complete hydraulic drive system, which is integrated inside the hydraulic protection cabin; the hydraulic protection cabin is fixed on the support base through protective ribs; The piston rod of the hydraulic cylinder supports the track obliquely and lifts the circular arc track to move up and down.

7. The single-beam unmanned boat for monitoring the scouring of the bed surface near the pile foundation according to claim 1 or 4, characterized in that: The bottom of the unmanned boat body is provided with a noise shielding protection cabin, a single-beam sonar is arranged in the noise shielding protection cabin, and a circle of sound insulation baffles is arranged on the outside of the noise shielding protection cabin; The single-beam sonar at the bottom of the unmanned hull is located between the inner circular arc track and the outer circular arc track.

8. The monitoring method of a single-beam unmanned boat for monitoring the scouring of the bed surface near the pile foundation according to any one of claims 1 to 7, characterized in that: Here are the steps: The unmanned boat of this monitoring method is divided into two monitoring modes according to the sea surface environment conditions: one is surface monitoring and the other is underwater monitoring; When monitoring on the water surface, the hydraulic system in the liftable track device lifts the circular track according to different water levels, so that the main body of the unmanned boat floats on the water surface; When the unmanned boat is traveling on the water, the GPS positioning system is used to confirm the position of the unmanned boat. The single-beam sonar measures the distance between the seabed and the unmanned boat in real time. The data collected by the single-beam sonar is combined with the GPS positioning system to automatically generate a three-dimensional map of the seabed scour. When the wind and waves are strong, the noise interference is serious or the water is shallow, the hydraulic system in the lifting track device descends, and the arc track makes the main body of the unmanned boat sink into the water and dive. When monitoring underwater, the ultra-short baseline positioning system is combined with GPS to accurately track the position of underwater unmanned vessels; The transmitting transducer in the ultra-short baseline positioning system sends out an acoustic pulse, and the transponder sends back an acoustic pulse; the receiving array measures the phase difference in the X and Y directions, and calculates the distance R from the underwater device to the array based on the arrival time of the sound wave, thereby calculating the position of the unmanned ship on the plane coordinates and the depth of the unmanned ship; The data monitored by the unmanned ship is transmitted to the monitoring center through the data transmission module, and the data storage module uses the wavelet transform compression algorithm to efficiently compress the sonar data.

9. The monitoring method of a single-beam unmanned boat for monitoring the scouring of the bed surface near the pile foundation according to claim 8, characterized in that: The unmanned vessel sets a preset threshold for seabed scour through the depth warning system, automatically warns of changes in real-time monitoring sonar data, and sends warning information to the monitoring center; The wind turbine supplies energy to the hydraulic system, and the excess electricity generated by the wind turbine is stored in a lithium battery pack.

10. The monitoring method of a single-beam unmanned boat for monitoring the scouring of the bed surface near the pile foundation according to claim 8, characterized in that: The speed of the unmanned boat when traveling on the water surface or submerged in water is 0.2-0.9m / s.

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