Device and method for detecting marine organisms attached to underwater structure

Abstract

The invention discloses a device and a method for detecting marine organisms attached to an underwater structure. The device comprises a machine shell, a watertight pressure-resistant cabin arranged in the machine shell, an ultrasonic signal excitation and receiving module arranged outside the machine shell, an underwater carrying camera, a motion control mechanism, a man-machine interaction module, a power supply system arranged in the watertight pressure-resistant cabin and a data storage processing module. The method comprises the following steps: initial motion control and information input of a to-be-tested component group; lowering the device to a specified position; inputting a motion direction and a speed; opening an ultrasonic signal excitation and receiving module; the movement mechanism is started, and the control device translates in the vertical component direction; continuously receiving images and signal images; stopping movement, closing the probe, and calculating the thickness; carrying out data return processing; recovering the device, and the like. According to the device, manual detection is replaced, the measurement cost and difficulty can be reduced, the measurement data accuracy is improved, and timely and efficient measurement is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of ocean engineering, and particularly relates to a detection device and a detection method for marine organisms attached to underwater structures. Background Art

[0002] In the marine environment, some marine organisms can form large-area attachments on components of marine structures such as jacket platforms and offshore wind turbines in a short period of time. The attachment of marine organisms will increase the roughness and outer diameter of the components, thereby increasing the environmental forces and weight borne by the components. The attachment of marine organisms is one of the key factors that need to be focused on in platform design and subsequent platform maintenance.

[0003] In the prior art, manual diving measurement is used for the marine organisms attached to the platform structure, and the method of manual diving measurement has the following problems:

[0004] Firstly, the period of manual regular detection is long, and it is impossible to timely judge the thickness of marine organisms. If the thickness exceeds the rated design value and is not cleaned in time, it will threaten the in-situ safety of the platform structure, and subsequent cleaning will be difficult; secondly, due to the harshness of the underwater operation environment, the risk coefficient of manual measurement is high and the cost is high; in addition, due to the error and subjective factors of the human eye, it is difficult to obtain accurate marine organism data.

[0005] With the increasing requirements for the safe operation of the platform, the development of research on reasonable design parameter values of marine organisms and the timely detection of the thickness of marine organisms on existing platforms both require a more economical and convenient marine organism thickness measurement device. Summary of the Invention

[0006] The present invention is proposed to solve the problems existing in the prior art, and its purpose is to provide a detection device and a detection method for marine organisms attached to underwater structures.

[0007] The present invention is achieved through the following technical solutions:

[0008] A detection device for marine organisms attached to underwater structures includes a housing, a watertight and pressure-resistant cabin body arranged inside the housing, an ultrasonic signal excitation and reception module arranged outside the housing, an underwater-mounted camera, a motion control mechanism and a human-computer interaction module, and a power supply system and a data storage and processing module arranged inside the watertight and pressure-resistant cabin body; the human-computer interaction module is connected to the data storage and processing module through an optical fiber; the human-computer interaction module is electrically connected to the power supply system; the power supply system supplies power to the ultrasonic signal excitation and reception module, the underwater-mounted camera, the motion mechanism, the data storage and processing module and the human-computer interaction module.

[0009] In the above technical solution, the watertight and pressure-resistant cabin body is arranged in the middle inside the housing, and it is used for encapsulating the power supply system and the data storage and processing module.

[0010] In the above technical solution, the watertight and pressure-resistant cabin body is made of nylon material which is lightweight, corrosion-resistant, and has strength and hardness.

[0011] In the above technical solution, the ultrasonic signal excitation and reception module is used to transmit ultrasonic signals to excite and receive the reflected signals; the ultrasonic signal excitation and reception module is arranged at the top inside the casing and can rotate around the central axis.

[0012] In the above technical solution, the underwater-mounted camera is electrically connected to the data storage and processing module to achieve data transmission back; the connection method between the underwater-mounted camera and the data storage and processing module adopts the connection method of ROV cameras; the underwater-mounted camera can rotate 360° in two planes.

[0013] In the above technical solution, the motion mechanism includes a plurality of thruster groups, and each thruster group includes at least one thruster, and the orientations of each group of thrusters are different.

[0014] In the above technical solution, the underwater-mounted camera can rotate 360° in two planes.

[0015] A detection method for detecting marine organisms attached to underwater structures by using a detection device includes the following steps:

[0016] (Ⅰ) Initial motion control, input the information of the component to be measured and the lowering depth through the human-computer interaction module;

[0017] (Ⅱ) Lower the device to a specified position on one side of the component to be measured;

[0018] (Ⅲ) Input the motion direction and motion speed;

[0019] (Ⅳ) After preparation is completed, turn on the probe of the ultrasonic signal excitation and reception module

[0020] (Ⅴ) Start the motion mechanism and control the device to translate along the direction of the vertical component;

[0021] (Ⅵ) Continuously receive the images of the underwater-mounted camera and the signals recorded by the ultrasonic signal excitation and reception module. The received reflected ultrasonic signals are presented in the form of spectrograms on the user interaction interface through the data processing and storage module;

[0022] (Ⅶ) The device records and identifies the time from signal reflection to the start of signal attenuation, and outputs the first measurement result on the interface of the human-computer interaction module;

[0023] (Ⅷ) The user inputs the motion control instruction again, restart the ultrasonic probe recorded by the ultrasonic signal excitation and reception module or after the signal completely attenuates, re-measure this component from the end point or move to measure other components or recover the device;

[0024] (IX) End the movement, turn off the probe, and calculate the thickness;

[0025] (X) Transmit and process the data;

[0026] (XI) Recovery device.

[0027] The beneficial effects of the present invention are as follows:

[0028] The present invention provides an underwater structure attached marine organism detection device and a detection method, which combines a detection device with a movement device to measure the thickness of marine organisms attached to an underwater structure at a specified water depth and a specified azimuth; through one operation, the thickness of marine organisms attached to multiple parallel components in the same azimuth can be obtained simultaneously; the present invention combines the existing relatively mature ultrasonic detection technology and underwater robot technology to collect the characteristic images of attached marine organisms, and simply, quickly, and accurately obtains the thickness of attached marine organisms at a specified position through formula conversion; using the device of the present invention to replace manual detection can reduce the measurement cost and difficulty, improve the accuracy of measurement data, and achieve timely and efficient measurement. Description of the Drawings

[0029] Figure 1 is a schematic diagram of the system principle of the present invention;

[0030] Figure 2 is the front view of the present invention;

[0031] Figure 3 is the left view of the present invention;

[0032] Figure 4 is the schematic diagram of the measurement method of the present invention;

[0033] Figure 5 is the method flow chart of the present invention.

[0034] Wherein:

[0035] 1. Horizontal thruster; 2. Rotary thruster; 3. Ultrasonic signal excitation and reception module; 4. Underwater mounted camera; 5. Power supply system; 6. Watertight and pressure-resistant cabin; 7. Housing; 8. Data storage and processing module; 9. Human-computer interaction module.

[0036] For those of ordinary skill in the art, without creative efforts, other related drawings can be obtained based on the above drawings. Detailed Embodiments

[0037] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the present invention will be further described below with reference to the drawings in the specification and through specific embodiments.

[0038] Embodiment 1

[0039] As Figures 1 to 3 shown, an underwater structure attached marine organism detection device includes a housing 7, a watertight and pressure-resistant cabin 6 arranged inside the housing 7, an ultrasonic signal excitation and reception module 3 arranged outside the housing 7, an underwater-mounted camera 4, a motion control mechanism and a human-computer interaction module 9, and a power supply system 5 and a data storage and processing module 8 arranged inside the watertight and pressure-resistant cabin 6;

[0040] The watertight and pressure-resistant cabin 6 is arranged in the middle inside the housing 7, which is used to encapsulate the power supply system 5 and the data storage and processing module 8 to provide a sealed and isolated water environment for electronic devices;

[0041] The watertight and pressure-resistant cabin 6 is made of lightweight, corrosion-resistant nylon material with certain strength and hardness;

[0042] The ultrasonic signal excitation and reception module 3 is used to transmit ultrasonic signals to excite and receive reflected signals;

[0043] The ultrasonic signal excitation and reception module 3 is arranged at the top inside the housing 7 and can rotate around the central axis to facilitate measuring components at different angular positions in cooperation with the overall movement of the device;

[0044] The ultrasonic signal excitation and reception module 3 adopts a water immersion focusing transceiver integrated probe to realize transmitting and receiving signals in the underwater vertical movement direction; The propagation distance of ultrasonic waves in water is mainly related to its own frequency and the content of solid suspended matter in water. According to the experimental data of underwater ranging transducers, for 200KHZ ultrasonic waves self-exciting and self-receiving, the measurable distance can reach 30 - 40m; for 50KHZ ultrasonic waves self-exciting and self-receiving, the measurable distance can reach 150 - 200m; In the pool test with added yellow sand and soil, the ultrasonic signal will attenuate by 3 - 10 times. Therefore, the device of the present invention can at least meet the measurement requirement of 10m;

[0045] The ultrasonic signal excitation and reception module 3 records the whole process from no reflection to the reflection data of the component and the surface marine organisms and then to no reflection again after passing through the detection area. From the starting time t1 when the reflected wave can be received to the time t2 when the reflected wave attenuates, according to the signal time difference Δt = t2 - t1 and the test speed v of the device, calculate the traversing distance s = v * Δt of the device, and calculate the average thickness of the bilateral attached marine organisms: t = (s - d) / 2 according to the initial diameter d of the measured component; To enhance the measurement reliability, statistical averaging can be used to eliminate interference and monitor with the help of the underwater-mounted camera 4;

[0046] In this embodiment, the ultrasonic signal excitation and reception module 3 is an ultrasonic transceiver integrated device, and its model is AJ-SR04M;

[0047] The underwater-mounted camera 4 is used for underwater photography and video recording. It is electrically connected to the data storage and processing module 8 to achieve data transmission back. The connection method between the underwater-mounted camera 4 and the data storage and processing module 8 adopts the connection control method of an ROV camera. The underwater-mounted camera 4 can rotate 360° in two planes to monitor the situation around or at the bottom of the device.

[0048] The motion mechanism includes multiple thruster groups. Each thruster group includes at least one thruster, and the orientations of each group of thrusters are different, realizing the lowering, floating recovery of the detection device and translational movement in all directions.

[0049] In this embodiment, the motion mechanism includes a horizontal thruster group and a rotary thruster group. The horizontal thruster group includes two horizontal thrusters 1, and the rotary thruster group includes two rotary thrusters 2. The horizontal thrusters 1 and the rotary thrusters 2 are all commercially available products. The software part of their motion control adopts PID and LQR algorithms to control the position, attitude and speed of the device. The motion control mechanism embeds common control instructions in advance and realizes the movement of the control device along the direction perpendicular to the component to be measured through the cooperation of manual operation and the control program. The motion mechanism is electrically connected to the power supply system 5.

[0050] The human-computer interaction module 9 realizes the input of artificial information and the output of device information through optical fiber connection. The human-computer interaction module 9 is electrically connected to the power supply system 5. The human-computer interaction module 9 is electrically connected to the data storage and processing module 8.

[0051] The human-computer interaction module is presented in the form of a user-friendly interface to realize the data input and output of the data storage and processing module. The human-computer interaction module and the data storage and processing module are connected through optical fiber to realize the input of artificial information to other modules and the output of receiving information from other modules. The artificial input signal controls the ultrasonic signal excitation and reception module, the start and stop of the underwater-mounted camera, and the control of the motion mode. The received real-time ultrasonic signal and influence signal are transmitted back to the user end in the form of spectrograms and images through the data storage and processing module. Information such as the initial diameter of the detected component, the controlled staying water depth, the motion speed and direction, etc. are manually input in the human-computer interaction module, and images, actual water depth, received signal spectrograms, calculated attachment wall thickness, etc. are output.

[0052] The power supply system 5 supplies power to the ultrasonic signal excitation and reception module 3, the underwater-mounted camera 4, the motion mechanism, the data storage and processing module 8 and the human-computer interaction module 9.

[0053] The main motion mode of the underwater structure attached marine organism detection device draws on that of an underwater robot, equipped with a camera and ultrasonic signal excitation and reception probes. The depth of the device is positioned by a pressure gauge. The device is lowered near the position to be measured of the component. When reaching the specified measurement depth, the device is horizontally moved to one side of the component in combination with the camera. Then the ultrasonic probe is turned on, and the device is controlled to horizontally move along the direction perpendicular to the component.

[0054] Embodiment 2

[0055] As Figure 4 、 5 shown, a detection method using an underwater structure attached marine organism detection device is as follows:

[0056] (Ⅰ) Initial motion control: Input the information of the component to be measured and the lowering depth through the human-machine interaction module 9;

[0057] (Ⅱ) Lower the device to a specified position on one side of the component to be measured;

[0058] (Ⅲ) Input the motion direction and motion speed;

[0059] (Ⅳ) After preparation, turn on the probe of the ultrasonic signal excitation and reception module

[0060] (Ⅴ) Start the motion mechanism and control the device to translate along the direction perpendicular to the component;

[0061] (Ⅵ) Continuously receive the images of the underwater camera 4 and the signals recorded by the ultrasonic signal excitation and reception module 3. The received reflected ultrasonic signals are presented in the form of spectrograms on the user interaction interface through the data processing and storage module;

[0062] (Ⅶ) The device records and identifies the time from signal reflection to the start of signal attenuation, and outputs the first measurement result on the interface of the human-machine interaction module 9;

[0063] (Ⅷ) The user inputs the motion control instruction again, restart the ultrasonic probe of the ultrasonic signal excitation and reception module 3, or after the signal completely attenuates, re-measure the component from the end, or move to measure other components, or recover the device;

[0064] (Ⅸ) End the motion, turn off the probe, and calculate the thickness;

[0065] (Ⅹ) Data transmission and processing;

[0066] (Ⅺ) Recover the device.

[0067] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise stated, the meaning of "a plurality" is two or more.

[0068] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected", and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0069] The applicant declares that the above description is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that any changes or substitutions that can be easily thought of by any person skilled in the art within the technical scope disclosed by the present invention fall within the protection scope and the disclosure scope of the present invention.

Claims

1. A device for detecting marine organisms attached to underwater structures, characterized in that: The invention comprises a casing (7), a watertight pressure-resistant cabin (6) arranged inside the casing (7), an ultrasonic signal excitation and receiving module (3) arranged outside the casing (7), an underwater camera (4), a motion control mechanism and a human-machine interaction module (9), and a power supply system (5) and a data storage and processing module (8) arranged inside the watertight pressure-resistant cabin (6); the human-machine interaction module (9) is connected to the data storage and processing module (8) via an optical fiber; the human-machine interaction module (9) is electrically connected to the power supply system (5); and the power supply system (5) supplies power to the ultrasonic signal excitation and receiving module (3), the underwater camera (4), the motion mechanism, the data storage and processing module (8), and the human-machine interaction module (9).

2. The underwater structure attached marine organism detection device according to claim 1, characterized in that: The watertight pressure-resistant cabin (6) is arranged in the middle of the casing (7) and is used to encapsulate the power supply system (5) and the data storage and processing module (8).

3. The underwater structure attached marine organism detection device according to claim 1, characterized in that: The watertight pressure-resistant cabin (6) is made of nylon material which is light, corrosion-resistant, strong and hard.

4. The underwater structure attached marine organism detection device according to claim 1, characterized in that: The ultrasonic signal excitation and receiving module (3) is used to transmit ultrasonic signal excitation and receive reflected signals; the ultrasonic signal excitation and receiving module (3) is arranged at the top of the casing (7) and can rotate around the central axis.

5. The underwater structure attached marine organism detection device according to claim 1, characterized in that: The underwater camera (4) is electrically connected to the data storage and processing module (8) to realize data return; the connection method of the underwater camera (4) and the data storage and processing module (8) adopts the connection method of the ROV camera; the underwater camera (4) can realize 360° rotation in two planes.

6. The underwater structure attached marine organism detection device according to claim 1, characterized in that: The motion mechanism comprises a plurality of propeller groups, each of which comprises at least one propeller, and each group of propellers has a different orientation.

7. The underwater structure-attached marine organism detection device according to claim 1, characterized in that: The underwater camera can realize 360° rotation in two planes.

8. A detection method using the underwater structure attached marine organism detection device according to any one of claims 1 to 7, characterized in that: The following steps are involved: (I) Initial motion control, inputting the information of the component to be tested and the lowering depth through the human-computer interaction module (9); (II) Lower the device to a designated position on one side of the component to be tested; (III) Input movement direction and movement speed; (IV) After the preparation is completed, turn on the probe of the ultrasonic signal excitation and receiving module (V) starting the motion mechanism to control the device to move in a direction perpendicular to the member; (VI) continuously receiving images from an underwater camera (4) and signals recorded by an ultrasonic signal excitation and receiving module (3), and presenting the received reflected ultrasonic signals in the form of graphs on a user interaction interface through a data processing and storage module; (VII) the device records and identifies the time from signal reflection to the start of reflection attenuation, and outputs the first measurement result on the interface of the human-computer interaction module (9); (VIII) The user inputs the motion control command again, restarts the ultrasonic signal excitation and receiving module to record the ultrasonic probe (3), or after the signal is completely attenuated, re-measures the component from the end end or moves to measure other components or recovery devices; (IX) End the movement, close the probe, and calculate the thickness; (Ⅹ) data return processing; (Ⅺ) Recovery device.

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