Leg inserting and pulling method and system of landing leg ship for installing fan on deep soft soil covering layer

Abstract

The invention provides a leg inserting and pulling method and system of a landing leg ship for installing a draught fan on a deep soft soil covering layer, and relates to the field of offshore wind power construction, and the method comprises the following steps: data acquisition and preprocessing, feature extraction and recognition, three-dimensional modeling and risk assessment, and leg inserting and pulling control. The leg inserting and pulling control comprises the following steps of initial tapping and perpendicularity inspection, and observation and adjustment in the pile sinking process. According to the method, through observation and adjustment of the pile sinking process and hammering control and adaptive adjustment, real-time monitoring of the perpendicularity of the pile leg in the pile leg sinking process is achieved, the hammering force is dynamically controlled according to the pile sinking depth, and safety and accuracy in the construction process are improved.

Description

Technical Field

[0001] The present invention relates to the field of offshore wind power construction, and more particularly, to a method and system for inserting and extracting the legs of a leg jack-up vessel for installing wind turbines in a deep soft soil overlay layer. Background Art

[0002] With the rapid development of the offshore wind power industry, the wind turbine installation project is gradually expanding to the deep and far sea areas. These areas are usually covered with a deep soft soil layer, and the geological conditions are complex, which brings great challenges to the construction. The operation of inserting and extracting the legs is a key step in the process of installing wind turbines by a leg jack-up vessel. It involves inserting the pile legs of the leg jack-up vessel into the seabed to provide the necessary support and stability. However, due to the non-uniformity and easy deformation characteristics of the soft soil layer, it is difficult to accurately control the verticality of the pile legs during the sinking process by traditional methods, resulting in problems such as pile leg inclination and pile slipping, which seriously affect the construction efficiency and safety.

[0003] Although the existing technology can be adjusted through manual observation and simple tools, it lacks the ability of real-time monitoring and dynamic control, and cannot meet the high-precision construction requirements under complex geological conditions.

[0004] Therefore, we make improvements in this regard and propose a method and system for inserting and extracting the legs of a leg jack-up vessel for installing wind turbines in a deep soft soil overlay layer. Summary of the Invention

[0005] The purpose of the present invention is to solve the problem that the current method lacks the ability of real-time monitoring and dynamic control.

[0006] In order to achieve the above-mentioned invention purpose, the present invention provides the following method and system for inserting and extracting the legs of a leg jack-up vessel for installing wind turbines in a deep soft soil overlay layer to improve the above problems.

[0007] Specifically, this application is as follows:

[0008] A method for inserting and extracting the legs of a leg jack-up vessel for installing wind turbines in a deep soft soil overlay layer includes the following steps:

[0009] Data collection and preprocessing: Using an unmanned aerial vehicle and a ground-penetrating radar to collect ground images and underground soil layer data, and processing the data to integrate it into a unified data set;

[0010] Feature extraction and recognition: Identifying the geological structure, processing the provided data to obtain information on the soil layer distribution and type, and fusing the image and radar data to generate a comprehensive geological information map;

[0011] Three-dimensional modeling and risk assessment: Based on the fused data, constructing a three-dimensional geological model to display the soil layer distribution and strength attributes, verifying the accuracy of the model and assessing the geological risk, and generating a risk level map;

[0012] Insertion and extraction leg control: Gently tap the pile leg and check the verticality. Regularly observe and adjust to ensure stable sinking. Dynamically adjust the hammering energy according to the soil layer properties to prevent pile slipping; After pile driving is completed, measure the parameters and conduct non-destructive inspection to ensure compliance with requirements;

[0013] The insertion and extraction leg control includes the following steps:

[0014] Initial gentle tapping and verticality inspection: First, gently tap the pile leg once with a small energy. The verticality error should be controlled within ±0.5°. If it exceeds the range, immediately use a jack to adjust the verticality of the pile leg to ensure that the pile leg sinks vertically;

[0015] Observation and adjustment during pile driving: During pile driving, observe and adjust the verticality of the pile body every 1 - 2 meters of sinking to ensure that the error is within ±1°; At a depth of more than 10 meters, observe once every 3 - 4 meters of sinking to ensure that the error is within ±1.5°.

[0016] As a preferred technical solution of this application, the data acquisition and preprocessing include the following steps:

[0017] UAV flight path planning: According to the topography, obstacle distribution and weather conditions of the operation area, formulate the UAV flight route;

[0018] High-definition image and data acquisition: The UAV is equipped with a camera and a ground penetrating radar, and data is acquired according to the preset flight route. The camera captures ground images for identifying geological structures; The radar penetrates the surface of the earth to collect information on the underground soil layer structure;

[0019] Data preprocessing: The collected images and radar data need to be processed by denoising, calibration and registration. Use image processing algorithms to remove noise in the images and improve clarity; The radar data is calibrated to ensure accurate correspondence with the geographical location, and the registration step integrates the images and radar data into a dataset under a unified coordinate system.

[0020] As a preferred technical solution of this application, the feature extraction and recognition include the following steps:

[0021] Image feature extraction: Use deep learning algorithms to analyze the preprocessed high-definition images and automatically identify geological features;

[0022] Radar data processing: Conduct advanced processing on the ground penetrating radar data, such as applying inversion algorithms to identify the distribution, thickness, type of underground soil layers and possible aquifers or cavities;

[0023] Feature fusion: Fusion of image features and radar data features, using multi-source data fusion technology to generate a more comprehensive and accurate geological information map.

[0024] As a preferred technical solution of this application, the three-dimensional modeling and risk assessment includes the following steps:

[0025] 3D geological modeling: Based on the fused geological information, a 3D geological model of the operation area is constructed using professional 3D modeling software. The model shows in detail the 3D distribution, thickness changes, and strength properties of the soil layers;

[0026] Geological risk assessment: Based on the three-dimensional geological model and combined with the principles of geomechanics, the geological stability of the operation area is evaluated and potential geological risk areas are identified; based on the data, GIS technology is used for spatial analysis to generate risk level maps to provide decision support for leg insertion and extraction operation planning.

[0027] As a preferred technical solution of the present application, the plug-in and pull-out leg control further includes the following steps:

[0028] Hammer control and adaptation adjustment:

[0029] Initial stage (0-5m depth): low-energy hammering (30%-50% of rated energy) is used, and the penetration of each hammer is controlled at 5-10mm;

[0030] Mid-term stage (5-15m depth): gradually increase hammer energy (50%-80% of rated energy), and control the penetration of each hammer at 10-20mm;

[0031] Late stage (depth below 15 meters): high-energy hammering (80% to 100% of rated energy) is used, and the penetration of each hammer is controlled at 20 to 30 mm;

[0032] Dynamic adjustment strategy: Combine real-time monitoring data and soil hardness to dynamically adjust the hammer energy to ensure stable sinking of the pile legs.

[0033] As a preferred technical solution of the present application, the plug-in and pull-out leg control further includes the following steps:

[0034] Measures to prevent pile slippage: In soil layers where pile slippage is expected to occur, reduce the hammer energy to 30% to 40% of the rated energy in advance, and control the penetration of each blow within 5 mm; if pile slippage occurs, stop the hammer immediately and remeasure the verticality of the pile body, and continue the pile driving operation after readjustment.

[0035] A leg insertion and extraction system for a leg boat used for installing a wind turbine in a thick soft soil covering layer, comprising:

[0036] The sea surface collection module uses a drone and a camera to collect and store images when it moves to a designated location via the flight module;

[0037] The flight module records the shooting position set by the user and controls the sea surface collection module to move to the specified position at a fixed time;

[0038] A processing module, configured to analyze the images stored in the sea surface collection module and analyze the anomalies in the images;

[0039] The processing module unit includes:

[0040] A data analysis unit, to which the images collected by the sea surface collection module are transmitted. The collected images are compared with the initially captured images to identify the pile legs. When an anomaly appears on the pile legs, other images with the same position are compared. If the anomaly does not appear in other positions, it is determined that the anomaly does not appear on the pile legs and no processing is required; if the anomaly also appears in the same position in other images, it is determined that the position belongs to the anomaly on the pile legs and is marked and a reminder is given.

[0041] As a preferred technical solution of the present application, the sea surface collection module includes:

[0042] An image collection unit, using a drone equipped with a high-definition camera. When the drone moves to a specified position through the flight module, the camera is activated for shooting, and the captured images are stored in the storage unit in real time;

[0043] A storage unit, which collects the images captured by the image collection unit, stores them, and at the same time supports sending the images to the processing module.

[0044] As a preferred technical solution of the present application, the flight module:

[0045] A position recording unit, where the user sets the shooting points around the pile legs through the display screen, and records the position information of each shooting point;

[0046] A positioning unit, when it is necessary to activate the image collection unit to collect images, according to the positions recorded by the position recording unit, plans the flight path of the drone and sends the planned path to the flight control unit;

[0047] A flight control unit, which receives the control of the positioning unit and controls the drone to fly to the specified position according to the path provided by the positioning unit for shooting.

[0048] Compared with the prior art, the beneficial effects of the present invention:

[0049] In the solution of the present application:

[0050] 1. Through the observation and adjustment of the pile driving process and the hammering control and adaptive adjustment set, the real-time monitoring of the verticality of the pile legs during the sinking process of the pile legs is realized, and the hammering force is dynamically controlled according to the pile driving depth, improving the safety and accuracy during the construction process, and solving the problem that the traditional methods in the prior art lack the ability of real-time monitoring and dynamic control;

[0051] 2. By setting the measures to prevent pile slipping, it is possible to reduce the hammering energy in advance in the soil layer prone to pile slipping and adjust the verticality of the pile body in real time, solving the problems of high pile-slipping risk and lagging adjustment in the prior art;

[0052] 3. By setting the three-dimensional geological modeling and risk assessment, it is possible to achieve geological modeling and risk prediction based on multi-source data fusion, solving the problems of incomplete geological information and inaccurate risk assessment in the prior art;

[0053] 4. By setting the data collection and preprocessing, it is possible to achieve efficient and comprehensive collection and processing of geological data, solving the problems of incomplete data acquisition and low efficiency in the prior art;

[0054] 5. By setting the data analysis unit, it is possible to process and analyze the collected images, identify abnormalities (such as cracks, foreign objects, etc.) on the pile legs, and mark and remind, improving the accuracy and efficiency of detection, being able to discover potential safety hazards in a timely manner, and solving the problems of relying on manual visual inspection and being prone to omission or misjudgment in the prior art. Brief Description of the Drawings

[0055] Figure 1 It is the method flow chart of the leg insertion and extraction method for the leg ship used for installing wind turbines in the deep soft soil covering layer provided by this application;

[0056] Figure 2 It is the method flow chart of data collection and preprocessing in the leg insertion and extraction method for the leg ship used for installing wind turbines in the deep soft soil covering layer provided by this application;

[0057] Figure 3 It is the method flow chart of feature extraction and recognition in the leg insertion and extraction method for the leg ship used for installing wind turbines in the deep soft soil covering layer provided by this application;

[0058] Figure 4 It is the method flow chart of three-dimensional modeling and risk assessment in the leg insertion and extraction method for the leg ship used for installing wind turbines in the deep soft soil covering layer provided by this application;

[0059] Figure 5 It is the method flow chart of leg insertion and extraction control in the leg insertion and extraction method for the leg ship used for installing wind turbines in the deep soft soil covering layer provided by this application;

[0060] Figure 6 It is the method flow chart of the measures to prevent pile slipping in the leg insertion and extraction method for the leg ship used for installing wind turbines in the deep soft soil covering layer provided by this application;

[0061] Figure 7 It is the system flow chart of the leg insertion and extraction system for the leg ship used for installing wind turbines in the deep soft soil covering layer provided by this application;

[0062] Figure 8System flowchart of the sea surface collection module in the leg insertion and extraction system for a wind turbine installation on a piled barge in a deep soft soil layer provided by this application

[0063] Figure 9 System flowchart of the flight module in the leg insertion and extraction system for a wind turbine installation on a piled barge in a deep soft soil layer provided by this application

[0064] Figure 10 System flowchart of the processing module in the leg insertion and extraction system for a wind turbine installation on a piled barge in a deep soft soil layer provided by this application Detailed implementation manners

[0065] To enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention

[0066] To enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings

[0067] It should be noted that, without conflict, the embodiments in the present invention and the features and technical solutions in the embodiments may be combined with each other

[0068] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings

[0069] Embodiment 1

[0070] Please refer to Figure 1 and Figure 5 , a method for inserting and extracting legs of a piled barge for installing a wind turbine in a deep soft soil layer, which includes the following steps

[0071] Data acquisition and preprocessing: Use an unmanned aerial vehicle and a ground penetrating radar to collect ground images and underground soil layer data, process the data, and integrate it into a unified data set

[0072] Feature extraction and recognition: Identify the geological structure, process the provided data to obtain information on the soil layer distribution and type, and fuse the image and radar data to generate a comprehensive geological information map

[0073] 3D modeling and risk assessment, constructing a 3D geological model based on integrated data, displaying soil layer distribution and strength properties, verifying the model accuracy and assessing geological risks, and generating a risk level map;

[0074] Inserting and extracting leg control, gently hitting the pile leg and checking the verticality, regularly observing and adjusting to ensure stable sinking, dynamically adjusting the hammering energy according to the soil layer properties to prevent pile slipping; after pile driving is completed, measuring parameters and conducting non-destructive inspection to ensure compliance with requirements;

[0075] The inserting and extracting leg control includes the following steps:

[0076] Initial gentle hitting and verticality inspection, first, gently hit the pile leg once with a small energy, and the verticality error should be controlled within ±0.5°. If it exceeds the range, immediately use a jack to adjust the verticality of the pile leg to ensure the pile leg sinks vertically;

[0077] Observation and adjustment during pile driving, during pile driving, observe and adjust the verticality of the pile body once every 1 - 2 meters of sinking to ensure the error is within ±1°; at a depth of more than 10 meters, observe once every 3 - 4 meters of sinking to ensure the error is within ±1.5°. Use a real-time monitoring system to integrate the data of the inclinometer sensor and total station, and display the verticality information in real time through wireless transmission for timely adjustment.

[0078] Furthermore, as Figure 1 and Figure 2 shown, the data collection and preprocessing include the following steps:

[0079] UAV flight path planning: According to the topography, obstacle distribution, and weather conditions of the operation area, use flight path planning software to formulate the UAV flight path, ensuring that the flight path covers comprehensively and avoids collisions with obstacles, while considering flight efficiency and safety;

[0080] High-definition image and data collection: The UAV is equipped with a camera and a ground penetrating radar, and data collection is carried out according to the preset flight path. The camera captures ground images for identifying geological structures; the radar penetrates the ground surface to collect underground soil layer structure information;

[0081] Data preprocessing: The collected images and radar data need to undergo denoising, calibration, and registration processing. Use image processing algorithms to remove noise in the images and improve clarity; the radar data is calibrated to ensure accurate correspondence with the geographical location, and the registration step integrates the images and radar data into a dataset under a unified coordinate system.

[0082] Furthermore, as Figure 1 and Figure 3 shown, the feature extraction and recognition include the following steps:

[0083] Image Feature Extraction: Use deep learning algorithms (such as Convolutional Neural Network CNN under deep learning frameworks) to analyze the preprocessed high-definition images, and automatically identify geological features, including but not limited to rock layer interfaces, faults, folds, soil types, etc.;

[0084] Radar Data Processing: Perform advanced processing on geological radar data, such as applying inversion algorithms, to identify the distribution, thickness, type (such as sandy soil, clay, rock, etc.) of underground soil layers, as well as possible aquifers or cavities;

[0085] Feature Fusion: Integrate image features with radar data features, and use multi-source data fusion techniques (such as weighted average, Bayesian network, decision tree, etc.) to generate a more comprehensive and accurate geological information map.

[0086] Furthermore, as Figure 1 and Figure 4 shown, 3D modeling and risk assessment include the following steps:

[0087] 3D Geological Modeling: Based on the fused geological information, use professional 3D modeling software (such as ArcGIS Pro, Surfer, GoCAD, etc.) to construct a 3D geological model of the operation area. The model details key information such as the 3D distribution of soil layers, thickness changes, strength properties, etc., and supports operations such as rotation, scaling, and cutting, facilitating observation and analysis from different angles;

[0088] Model Accuracy Requirements: The horizontal resolution is not less than 1 meter, the vertical resolution is not less than 0.5 meter, the spatial position error is controlled within ±0.1 meter, and the strength property error is controlled within ±5%;

[0089] Model Verification Method: Ensure the accuracy and reliability of the model through borehole data comparison, cross-validation, on-site testing, and review;

[0090] Geological Risk Assessment: Based on the 3D geological model, combined with geological mechanics principles, evaluate the geological stability of the operation area, and identify potential geological risk areas (such as landslides, settlements, seismic activities, etc.); Use GIS technology for spatial analysis based on the provided data to generate a risk level map, providing decision-making support for the planning of leg insertion and extraction operations.

[0091] Furthermore, as Figure 1 and Figure 5 shown, leg insertion and extraction control also includes the following steps:

[0092] Hammering Control and Adaptive Adjustment:

[0093] Initial Stage (0 - 5 meters in depth): Use low-energy hammering (30% - 50% of the rated energy), and control the penetration per blow within 5 - 10 millimeters;

[0094] Mid-term stage (5-15m depth): gradually increase hammer energy (50%-80% of rated energy), and control the penetration of each hammer at 10-20mm;

[0095] Late stage (depth below 15 meters): high-energy hammering (80% to 100% of rated energy) is used, and the penetration of each hammer is controlled at 20 to 30 mm;

[0096] Dynamic adjustment strategy: Combine real-time monitoring data and soil hardness to dynamically adjust the hammer energy to ensure stable sinking of the pile legs.

[0097] Further, such as Figure 1 and Figure 6 As shown, the plug-in and pull-out leg control also includes the following steps:

[0098] Measures to prevent pile slipping: In soil layers where pile slipping is expected to occur, reduce the hammering energy to 30% to 40% of the rated energy in advance, and control the penetration of each hammer within 5 mm; if pile slipping occurs, stop hammering immediately and re-measure the verticality of the pile body, and continue the pile sinking operation after readjustment;

[0099] After the pile is sunk, the pile top elevation and pile body verticality are measured in time to ensure that the pile legs meet the requirements. The pile legs are subjected to 100% UT non-destructive testing to detect the integrity of the flange annular seam and record the test results.

[0100] Example 2

[0101] The method for inserting and removing legs of a leg boat for installing a wind turbine in a thick soft soil cover layer provided in Example 1 is further optimized. Specifically, Figure 1 and Figure 4 As shown, 3D modeling and risk assessment also includes the following steps:

[0102] Soil layer distribution: color-coding to distinguish different soil layers, annotate depth ranges and horizontal extensions, and highlight special geological structures (such as faults, folds, aquifers or cavities);

[0103] Soil layer strength properties: Integrate the mechanical parameters of the soil layer (such as shear strength, compression modulus, etc.) and display the spatial variation of strength through visualization.

[0104] Example 3

[0105] The leg insertion and extraction system for installing a wind turbine in a thick soft soil cover layer provided in Example 1 or 2 is further optimized. Specifically, Figure 7 and Figure 10 As shown, a leg insertion and extraction system for a leg boat for installing a wind turbine in a thick soft soil covering layer comprises:

[0106] Sea surface collection module, using a drone and a camera, when moving to a specified position through the flight module, collects images and stores them, thereby recording the leg after installation is completed;

[0107] Flight module, records the shooting positions set by the user, and regularly controls the sea surface collection module to move to the specified positions;

[0108] Processing module, used to analyze the images stored by the sea surface collection module and analyze the anomalies in the images;

[0109] The processing module unit includes:

[0110] Data analysis unit, the images collected by the sea surface collection module are transmitted to the data analysis unit, the collected images are compared with the initially taken images, the leg is identified, when an anomaly (such as a crack or foreign object) appears on the leg, the images of other positions with the same location are compared, if the anomaly does not appear in other positions, it is determined that the anomaly does not appear on the leg and no management is required; if the anomaly also appears in the same location in other images, it is determined that the location appears on the leg, and it needs to be marked and reminded, and the leg after construction is completed is detected.

[0111] Further, as Figure 7 and Figure 8 shown, the sea surface collection module includes:

[0112] Image collection unit, using a drone equipped with a high-definition camera, when the drone moves to the specified position through the flight module, starts the camera to take pictures, and stores the taken images in the storage unit in real time;

[0113] Storage unit, collects the images taken by the image collection unit, stores them, and at the same time supports sending the images to the processing module.

[0114] Further, as Figure 7 and Figure 9 shown, the flight module:

[0115] Position recording unit, the user sets the shooting points around the leg through the display screen, and records the position information of each shooting point;

[0116] Positioning unit, when it is necessary to start the image collection unit to collect images, according to the positions recorded by the position recording unit, plans the flight path of the drone, and sends the planned path to the flight control unit;

[0117] Flight control unit, receives the control of the positioning unit, and through the path provided by the positioning unit, controls the drone to fly to the specified position according to the path to take pictures.

[0118] In the present invention, unless otherwise clearly specified or limited, terms such as "installed", "connected", "coupled", "fixed", etc. shall be construed broadly. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection, an electrical connection, or capable of communicating with each other; it may be directly connected, or indirectly connected through an intermediate medium, and may be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0119] Obviously, the embodiments described above are only a part of the embodiments of the present invention, rather than all of the embodiments. The drawings show preferred embodiments of the present invention, but do not limit the scope of the patent of the present invention. The present invention can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosed content of the present invention more thorough and comprehensive. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing specific embodiments, or perform equivalent replacements for some of the technical features. Any equivalent structure made by using the content of the specification and drawings of the present invention, directly or indirectly applied in other related technical fields, is equally within the scope of protection of the patent of the present invention.

Claims

1. A method for inserting and extracting legs of a support vessel for installing a wind turbine on a thick soft soil covering layer, characterized in that, It includes the following steps: Data collection and preprocessing: Use drones and ground penetrating radar to collect ground images and underground soil layer data, process the data, and integrate it into a unified data set; Feature extraction and identification: Identify geological structures, process the provided data to obtain soil layer distribution and type information, and fuse image and radar data to generate a comprehensive geological information map; 3D modeling and risk assessment: Based on the fused data, construct a 3D geological model to display soil layer distribution and strength attributes, verify the model accuracy and assess geological risks, and generate a risk level map; Jacking leg control: Tap the jacking leg and check the verticality, regularly observe and adjust to ensure stable sinking, dynamically adjust the hammering energy according to the soil layer properties to prevent pile slipping; After pile driving is completed, measure the parameters and conduct non-destructive inspection to ensure compliance with requirements; The jacking leg control includes the following steps: Initial tapping and verticality inspection: First, tap the jacking leg once with a small energy, and the verticality error should be controlled within ±0.5°. If it exceeds the range, immediately use a jack to adjust the verticality of the jacking leg to ensure the jacking leg sinks vertically; Observation and adjustment during pile driving: During pile driving, observe and adjust the verticality of the pile body every 1 - 2 meters of sinking to ensure the error is within ±1°; At depths below 10 meters, observe once every 3 - 4 meters of sinking to ensure the error is within ±1.5°.

2. The leg insertion and extraction method of the support leg ship for installing a fan in a deep soft soil covering layer according to claim 1, characterized in that, The data collection and preprocessing includes the following steps: UAV flight path planning: According to the topography, obstacle distribution, and weather conditions of the operation area, formulate the UAV flight path; High-definition image and data collection: The UAV is equipped with a camera and ground penetrating radar, and data collection is carried out according to the preset flight path. The camera captures ground images for identifying geological structures; The radar penetrates the surface to collect underground soil layer structure information; Data preprocessing: The collected images and radar data need to undergo denoising, calibration, and registration processing. Use image processing algorithms to remove noise in the images and improve clarity; The radar data is calibrated to ensure accurate correspondence with the geographical location, and the registration step integrates the image and radar data into a data set under a unified coordinate system.

3. A method for inserting and extracting the legs of a support vessel for installing a wind turbine in a deep soft soil overburden layer according to claim 2, characterized in that The feature extraction and identification includes the following steps: Image feature extraction: Use deep learning algorithms to analyze the preprocessed high-definition images and automatically identify geological features; Radar data processing: Conduct advanced processing on the ground penetrating radar data, such as applying inversion algorithms to identify the distribution, thickness, type of underground soil layers, and possible aquifers or cavities; Feature fusion: Fuse the image features and radar data features, and use multi-source data fusion technology to generate a more comprehensive and accurate geological information map.

4. A method for inserting and pulling out the legs of a support barge for installing a wind turbine in a deep soft soil covering layer according to claim 3, characterized in that, The 3D modeling and risk assessment includes the following steps: 3D geological modeling: Based on the fused geological information, use professional 3D modeling software to construct a 3D geological model of the operation area. The model details the 3D distribution, thickness variation, and strength attributes of the soil layer; Geological risk assessment: Based on the 3D geological model, combined with geological mechanics principles, assess the geological stability of the operation area and identify potential geological risk areas; Conduct spatial analysis using GIS technology based on the data to generate a risk level map to provide decision-making support for jacking leg operation planning.

5. A method for inserting and extracting legs of a support barge for installing a wind turbine in a deep soft soil overburden layer according to claim 4, characterized in that, The plug-in and pull-out leg control further comprises the following steps: Hammer control and adaptation adjustment: Initial stage (0-5m depth): low-energy hammering (30%-50% of rated energy) is used, and the penetration of each hammer is controlled at 5-10mm; Mid-term stage (5-15m depth): gradually increase hammer energy (50%-80% of rated energy), and control the penetration of each hammer at 10-20mm; Late stage (depth below 15 meters): high-energy hammering (80% to 100% of rated energy) is used, and the penetration of each hammer is controlled at 20 to 30 mm; Dynamic adjustment strategy: Combine real-time monitoring data and soil hardness to dynamically adjust the hammer energy to ensure stable sinking of the pile legs.

6. A method for inserting and extracting legs of a support barge for installing a wind turbine in a deep soft soil overburden layer, according to claim 5, characterized in that The plug-in and pull-out leg control further comprises the following steps: Measures to prevent pile slippage: In soil layers where pile slippage is expected to occur, reduce the hammer energy to 30% to 40% of the rated energy in advance, and control the penetration of each blow within 5 mm; if pile slippage occurs, stop the hammer immediately and remeasure the verticality of the pile body, and continue the pile driving operation after readjustment.

7. A method for inserting and extracting legs of a support barge for installing a wind turbine in a deep soft soil overburden layer according to claim 6, characterized in that, The three-dimensional modeling and risk assessment also includes the following steps: Soil layer distribution: color-coding to distinguish different soil layers, annotate depth ranges and horizontal extensions, and highlight special geological structures; Soil layer strength properties: Integrate the mechanical parameters of the soil layer and display the spatial variation of strength through visualization.

8. A leg inserting and extracting system for a wind turbine installation support vessel in a deep soft soil overburden layer, using the leg inserting and extracting method for a wind turbine installation support vessel in a deep soft soil overburden layer as described in claim 7, characterized in that, include: The sea surface collection module uses a drone and a camera to collect and store images when it moves to a designated location via the flight module; The flight module records the shooting position set by the user and controls the sea surface collection module to move to the specified position at a fixed time; A processing module is used to analyze the images stored by the sea surface collection module and analyze the anomalies in the images; The processing module unit includes: The data analysis unit transmits the images collected by the sea surface collection module to the data analysis unit, compares the collected images with the images initially taken, and identifies the pile legs. When an abnormality is found on the pile legs, it is compared with other images with this position. If it does not appear in other positions, it is determined that the abnormality does not appear on the pile legs and no processing is required. If other images also show abnormalities at this position, it is determined that the position appears on the pile legs, and is marked and reminded.

9. A leg insertion and extraction system for a wind turbine installation on a deep soft soil covering, according to claim 8, characterized in that The sea surface collection module comprises: The image collection unit uses a drone equipped with a high-definition camera. When the drone moves to a designated location through the flight module, the camera is activated to take pictures, and the pictures are stored in a storage unit in real time. The storage unit collects the images taken by the picture collection unit and stores them, and also supports sending the images to the processing module.

10. A leg inserting and extracting system for a wind turbine installation support vessel in a deep soft soil covering layer according to claim 9, characterized in that, The flight module: Position recording unit, the user sets the shooting points around the pile legs through the display screen and records the position information of each shooting point; The positioning unit, when it is necessary to start the image collection unit to collect images, plans the flight path of the UAV according to the position recorded by the position recording unit, and sends the planned path to the flight control unit; The flight control unit receives control from the positioning unit and controls the drone to fly to a designated location for shooting according to the path provided by the positioning unit.

Images