Dynamic monitoring method and system for transportation of offshore steel pipe piles

Abstract

The invention relates to the technical field of marine steel pipe pile transportation monitoring, particularly discloses a dynamic monitoring method and system for marine steel pipe pile transportation, and aims to solve the problems that emergency response is delayed, the optimal remedy opportunity is missed, and the transportation efficiency is low when the transportation state of a marine steel pipe pile is judged by only one factor at present. The subsequent installation and use of the steel pipe pile are influenced. The state parameters of the steel pipe column in the transportation process are monitored in real time through the detection equipment, the fixed state coefficient calculation model is constructed according to the gravity state parameters to calculate the fixed state coefficients, and the ship body state coefficient calculation model is constructed according to the ship body state parameters to calculate the ship body state coefficients. The transportation damage evaluation model is constructed based on the gravity state parameters, the ship body state parameters and the marine environment state parameters, the transportation damage value of the steel pipe pile is analyzed, whether damage exists in the transportation process of the steel pipe pile or not is judged, and the transportation safety and reliability of the steel pipe pile are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore steel pipe pile transportation monitoring. More specifically, the present invention relates to a dynamic monitoring method and system for offshore steel pipe pile transportation. Background Art

[0002] During the transportation of offshore steel pipe piles, the fixation problem is an important link to ensure transportation safety and construction quality. Steel pipe piles are the core components of infrastructure such as offshore wind farms and jacket platforms. They have a large diameter, a long length, and a single-piece weight that can reach dozens of tons or even hundreds of tons. During transportation, complex marine environmental factors such as the swaying of the ship, the impact of sea waves, and wind loads can easily cause the sliding, overturning, or collision of steel pipe piles, thereby damaging the surface coating of the steel pipe piles and even triggering transportation accidents. The current monitoring of the offshore steel pipe pile transportation process mainly relies on sensors and intelligent monitoring systems. By installing stress sensors, acceleration sensors, and displacement sensors on the fixing devices and the hull, the stress, vibration, and displacement of the steel pipe piles are monitored in real time. When an abnormal situation occurs in a single factor (such as loose fixation or large displacement), an alarm is triggered to guide the operator to take emergency measures, thereby maintaining the safety and reliability of the transportation process. However, judging the transportation state of offshore steel pipe piles based on a single factor alone is likely to cause delays in emergency responses, miss the best remedial opportunity, and affect the subsequent installation and use of steel pipe piles. To solve the above problems, a technical solution is provided now. Summary of the Invention

[0003] In order to overcome the above-mentioned defects of the prior art, the present invention provides a dynamic monitoring method and system for offshore steel pipe pile transportation. Currently, judging the transportation state of offshore steel pipe piles based on a single factor alone is likely to cause delays in emergency responses, miss the best remedial opportunity, and affect the subsequent installation and use of steel pipe piles, so as to solve the problems raised in the above background art.

[0004] To achieve the above object, the present invention provides the following technical solutions: A dynamic monitoring method for offshore steel pipe pile transportation, comprising the following steps: Step 1, real-time monitoring of the state parameters of the steel pipe column transportation process through detection equipment; the state parameters include gravity state parameters, hull state parameters, and marine environment state parameters; Step 2, constructing a fixed state coefficient calculation model according to the gravity state parameters to calculate the fixed state coefficient; Step 3, constructing a hull state coefficient calculation model according to the hull state parameters to calculate the hull state coefficient; Step 4: Construct a transportation damage assessment model based on the gravity state parameters, hull state parameters, and marine environment state parameters, analyze the transportation damage value of the steel pipe piles, and determine whether there is damage during the transportation of the steel pipe piles. The formula for the transportation damage model is: ; In the formula: is the transportation damage value of the steel pipe piles, is the marine environment impact factor, is the weight factor of the hull state coefficient, is the hull state coefficient, is the fixed state coefficient, is the weight factor of the fixed state coefficient.

[0005] As a further solution of the present invention, in Step 1, the gravity state parameters are obtained by dividing the bottom surface of the steel pipe column transportation into several monitoring blocks, setting several monitoring points in each monitoring block, setting gravity sensors and displacement sensors at each monitoring point, and after the steel pipe column is loaded, obtaining the gravity detection values of all monitoring points as the first gravity state parameters, and obtaining the horizontal movement distance detection values of the center of gravity position of the steel pipe column relative to all monitoring points as the first movement state parameters; when the steel pipe column is being transported in real time, obtaining the gravity detection values of all monitoring points as the second gravity state parameters, and obtaining the horizontal movement distance detection values of the center of gravity position of the steel pipe column relative to all monitoring points as the second movement state parameters; The hull state parameters are obtained by using inclination sensors to monitor the left and right hull inclination angles in real time during the transportation of the steel pipe column, and using vibration sensors to monitor the hull vibration frequency parameters in real time during the transportation of the steel pipe column; The marine environment state parameters are obtained by using meteorological monitoring equipment to monitor the sea wind speed and the change value of the sea wind direction angle in real time.

[0006] As a further solution of the present invention, in Step 2, a fixed state coefficient calculation model is constructed based on the gravity state parameters to calculate the fixed state coefficient. The specific steps are as follows: Step 21: Extract the first gravity state parameter, the second gravity state parameter, the first movement state parameter, and the second movement state parameter from the gravity state parameters; Step 22: Calculate the average value of the first gravity state parameters of all monitoring points to obtain the first weight coefficient, calculate the average value of the second gravity state parameters of all monitoring points to obtain the second weight coefficient, and construct a gravity state factor calculation model based on the first gravity state parameter, the second gravity state parameter, the first weight coefficient, and the second weight coefficient to calculate the gravity state factor. The formula for the gravity state factor calculation model is: ; In the formula: is the gravity state factor, is the number of monitoring points, is the first gravity state parameter of the monitoring point at the i-th position, is the second gravity state parameter of the monitoring point at the i-th position, is the first weight coefficient, is the second weight coefficient; Step 23: Calculate the average value of the first movement state parameters of all monitoring points to obtain the first displacement coefficient, calculate the average value of the second movement state parameters of all monitoring points to obtain the second displacement coefficient, and construct a displacement state factor calculation model based on the first movement state parameter, the second movement state parameter, the first displacement coefficient, and the second displacement coefficient to calculate the displacement state factor. The formula of the displacement state factor calculation model is: ; In the formula: is the displacement state factor, is the number of monitoring points, is the first movement state parameter of the monitoring point at the i-th position, is the second movement state parameter of the monitoring point at the i-th position, is the first displacement coefficient, is the second displacement coefficient; Step 24: Import the gravity state factor and the displacement state factor into the fixed state coefficient calculation model to calculate the fixed state coefficient. The fixed state coefficient calculation model is: ; In the formula: is the fixed state coefficient, is the displacement state factor, is the gravity state factor; Step 25: Extract the fixed state coefficient, compare the fixed state coefficient with the preset fixed state coefficient. If the fixed state coefficient is greater than or equal to the preset fixed state coefficient, there is a fixation problem with the steel pipe pile during transportation, and an alarm will be triggered for reminder; if the fixed state coefficient is less than the preset fixed state coefficient, there is no fixation problem with the steel pipe pile during transportation.

[0007] As a further solution of the present invention, in Step 3, a hull state coefficient calculation model is constructed according to the hull state parameters to calculate the hull state coefficient. The specific steps are as follows: Step 31: Extract the left hull tilt angle and the right hull tilt angle during the transportation of the steel pipe column in the hull state parameters, and construct a hull angle balance analysis model to calculate the hull angle balance coefficient. The formula of the hull angle balance analysis model is: ; In the formula: is the hull angle balance coefficient, is the inclination angle of the left hull at time t, is the inclination angle of the right hull at time t, is the average value of the inclination angle of the left hull up to time t, is the average value of the inclination angle of the right hull up to time t; Step 32: Extract the hull vibration frequency parameter in the hull state parameters, import the hull vibration parameter into the hull vibration coefficient calculation formula, and calculate the hull vibration coefficient. The hull vibration coefficient calculation formula is: ; In the formula: is the hull vibration coefficient, is the hull vibration frequency parameter at time t, is the maximum value in the hull vibration frequency parameter, is the minimum value in the hull vibration frequency parameter; Step 33: Calculate the hull state coefficient according to the hull angle balance coefficient and the hull vibration coefficient and import them into the hull state coefficient calculation model. The formula of the hull state coefficient calculation model is: ; In the formula: is the hull state coefficient, is the hull angle balance coefficient, is the hull vibration coefficient; Step 34: Extract the hull state coefficient, compare the hull state coefficient with the preset hull state coefficient. If the hull state coefficient is greater than or equal to the preset hull state coefficient, the hull state is normal; if the hull state coefficient is less than the preset hull state coefficient, the hull state is abnormal and an alarm will be triggered.

[0008] As a further solution of the present invention, in step 4, a transportation damage assessment model is constructed according to the gravity state parameter, the hull state parameter and the marine environment state parameter, the transportation damage value of the steel pipe pile is analyzed, and whether there is damage during the transportation of the steel pipe pile is judged. The specific steps are as follows: Step 41: Extract the fixed state coefficient, the hull state coefficient and the marine environment state parameter; Step 42: Calculate the marine environment impact factor according to the marine wind speed and the change value of the marine wind direction angle in the marine environment state parameter and construct a marine environment impact factor calculation model. The formula of the marine environment impact factor calculation model is: ; In the formula: is an offshore environmental impact factor, the average offshore wind speed up to time t, is the offshore wind speed at time t, is the maximum offshore wind speed up to time t, is the minimum offshore wind speed up to time t, is the average value of the change in offshore wind direction angle up to time t, is the change in offshore wind direction angle at time t, is the maximum change in offshore wind direction angle up to time t, is the minimum change in offshore wind direction angle up to time t; Step 43, import the fixed state coefficient, hull state coefficient, and offshore environmental impact factor into the transportation damage assessment model to calculate the transportation damage value of the steel pipe pile; Step 44, extract the transportation damage value of the steel pipe pile, compare the transportation damage value of the steel pipe pile with the preset transportation damage threshold of the steel pipe pile. If the transportation damage value of the steel pipe pile is greater than or equal to the preset transportation damage threshold of the steel pipe pile, there will be damage to the steel pipe pile transportation; if the transportation damage value of the steel pipe pile is greater than or equal to the preset transportation damage threshold of the steel pipe pile, there is no damage to the steel pipe pile transportation.

[0009] A dynamic monitoring system for offshore steel pipe pile transportation, used to implement the above-mentioned dynamic monitoring method for offshore steel pipe pile transportation, includes a state parameter monitoring module, a fixed state analysis module, a hull state analysis module, and a transportation damage assessment module. The state parameter monitoring module is respectively connected to the fixed state analysis module, the hull state analysis module, the hull state analysis module, and the transportation damage assessment module. The fixed state analysis module and the hull state analysis module are respectively connected to the transportation damage assessment module; The state parameter monitoring module is used to monitor the state parameters of the steel pipe column transportation process in real time through detection equipment; The fixed state analysis module is used to construct a fixed state coefficient calculation model based on the gravity state parameters to calculate the fixed state coefficient; The hull state analysis module is used to construct a hull state coefficient calculation model based on the hull state parameters to calculate the hull state coefficient; The transportation damage assessment module is used to construct a transportation damage assessment model based on the gravity state parameters, hull state parameters, and offshore environmental state parameters, analyze the transportation damage value of the steel pipe pile, and determine whether there is damage during the transportation of the steel pipe pile.

[0010] As a further solution of the present invention, the fixed state analysis module includes a first parameter extraction unit, a gravity state factor calculation unit, a displacement state factor calculation unit, a fixed state coefficient calculation unit, and a first discrimination unit; the first parameter extraction unit is respectively connected to the gravity state factor calculation unit and the displacement state factor calculation unit, the gravity state factor calculation unit and the displacement state factor calculation unit are respectively connected to the fixed state coefficient calculation unit, and the fixed state coefficient calculation unit is connected to the first discrimination unit; The first parameter extraction unit is used to extract the first gravity state parameter, the second gravity state parameter, the first movement state parameter, and the second movement state parameter in the gravity state parameters; The gravity state factor calculation unit is used to construct a gravity state factor calculation model for calculating the gravity state factor; The displacement state factor calculation unit is used to construct a displacement state factor calculation model for calculating the displacement state factor; The fixed state coefficient calculation unit is used to import the gravity state factor and the displacement state factor into the fixed state coefficient calculation model for calculating the fixed state coefficient; The first discrimination unit is used to extract the fixed state coefficient and compare the fixed state coefficient with the preset fixed state coefficient.

[0011] As a further solution of the present invention, the hull state analysis module includes a hull angle balance analysis unit, a hull vibration coefficient calculation unit, a hull state coefficient calculation unit, and a second discrimination unit; the hull angle balance analysis unit and the hull vibration coefficient calculation unit are respectively connected to the hull state coefficient calculation unit, and the hull state coefficient calculation unit is connected to the second discrimination unit; The hull angle balance analysis unit is used to extract the left hull tilt angle and the right hull tilt angle during the transportation of the steel pipe column in the hull state parameters, and construct a hull angle balance analysis model for calculating the hull angle balance coefficient; The hull vibration coefficient calculation unit is used to extract the hull vibration frequency parameter in the hull state parameters, and import the hull vibration parameter into the hull vibration coefficient calculation formula for calculating the hull vibration coefficient; The hull state coefficient calculation unit is used to import the hull angle balance coefficient and the hull vibration coefficient into the hull state coefficient calculation model for calculating the hull state coefficient; The second discrimination unit is used to extract the hull state coefficient and compare the hull state coefficient with the preset hull state coefficient.

[0012] As a further solution of the present invention, the transportation damage assessment module includes a second parameter extraction unit, a marine environment impact factor calculation unit, a transportation damage assessment unit, and a third discrimination unit; the second parameter extraction unit is connected to the marine environment impact factor calculation unit, the second parameter extraction unit and the marine environment impact factor calculation unit are respectively connected to the transportation damage assessment unit, and the transportation damage assessment unit is connected to the third discrimination unit; The second parameter extraction unit is used to extract the fixed state coefficient, the hull state coefficient, and the marine environment state parameters; The marine environment impact factor calculation unit is used to construct a marine environment impact factor calculation model based on the marine wind speed and the change value of the marine wind direction angle in the marine environment state parameters to calculate the marine environment impact factor; The transportation damage assessment unit is used to import the fixed state coefficient, the hull state coefficient, and the marine environment impact factor into the transportation damage assessment model to calculate the transportation damage value of the steel pipe pile; The third discrimination unit is used to extract the transportation damage value of the steel pipe pile and compare the transportation damage value of the steel pipe pile with a preset transportation damage threshold of the steel pipe pile.

[0013] The technical effects and advantages of a dynamic monitoring method and system for transporting marine steel pipe piles according to the present invention: The present invention uses a detection device to monitor the state parameters of the steel pipe column during transportation in real time, constructs a fixed state coefficient calculation model based on the gravity state parameters to calculate the fixed state coefficient, constructs a hull state coefficient calculation model based on the hull state parameters to calculate the hull state coefficient, constructs a transportation damage assessment model based on the gravity state parameters, the hull state parameters, and the marine environment state parameters, analyzes the transportation damage value of the steel pipe pile, and discriminates whether there is damage during the transportation of the steel pipe pile, improving the safety and reliability of the transportation of the steel pipe pile. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic flow chart of a dynamic monitoring method for transporting marine steel pipe piles provided in Embodiment 1 of the present invention; Figure 2 It is a schematic flow chart of step 2 in a dynamic monitoring method for transporting marine steel pipe piles provided in Embodiment 1 of the present invention; Figure 3 It is a schematic flow chart of step 3 in a dynamic monitoring method for transporting marine steel pipe piles provided in Embodiment 1; Figure 4 It is a schematic flow chart of step 4 in a dynamic monitoring method for transporting marine steel pipe piles provided in Embodiment 1; Figure 5 It is a schematic structural diagram of a dynamic monitoring system for transporting marine steel pipe piles. DETAILED DESCRIPTION OF THE INVENTION

[0015] The following will clearly and completely describe the technical solutions in the present invention in conjunction with the accompanying drawings in the present invention. Obviously, the described technical solutions are only a part of the present invention, rather than all of it. Based on the technical solutions in the present invention, all other technical solutions obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0016] Embodiment 1: Figure 1 The flow diagram of a dynamic monitoring method for offshore steel pipe pile transportation provided in the first embodiment of the present invention is shown. As Figure 1 shown, a dynamic monitoring method for offshore steel pipe pile transportation in this embodiment includes the following steps: Step 1, the state parameters during the transportation of the steel pipe column are monitored in real time through detection equipment; the state parameters include gravity state parameters, hull state parameters, and offshore environmental state parameters; Step 2, a fixed state coefficient calculation model is constructed according to the gravity state parameters to calculate the fixed state coefficient; Step 3, a hull state coefficient calculation model is constructed according to the hull state parameters to calculate the hull state coefficient; Step 4, a transportation damage assessment model is constructed according to the gravity state parameters, hull state parameters, and offshore environmental state parameters to analyze the transportation damage value of the steel pipe pile and determine whether there is damage during the transportation of the steel pipe pile.

[0017] Specifically, in Step 1, the gravity state parameters are obtained by dividing the bottom surface of the steel pipe column transportation into several monitoring blocks, setting several monitoring points in each monitoring block, setting gravity sensors and displacement sensors at each monitoring point. After the steel pipe column is loaded, the gravity detection values of all monitoring points are obtained as the first gravity state parameters, and the horizontal movement distance detection values of the steel pipe column's center of gravity position relative to all monitoring points are obtained as the first movement state parameters; when the steel pipe column is being transported in real time, the gravity detection values of all monitoring points are obtained as the second gravity state parameters, and the horizontal movement distance detection values of the steel pipe column's center of gravity position relative to all monitoring points are obtained as the second movement state parameters; The hull state parameters are obtained by using tilt sensors to monitor the tilt angles of the left and right hulls during the transportation of the steel pipe column in real time, and using vibration sensors to monitor the hull vibration frequency parameters during the transportation of the steel pipe column in real time; The offshore environmental state parameters are obtained by using meteorological monitoring equipment to monitor the offshore wind speed and the change value of the offshore wind direction angle in real time.

[0018] Specifically, in Step 2, the specific steps for constructing a fixed state coefficient calculation model according to the gravity state parameters to calculate the fixed state coefficient are as follows: Step 21, extract the first gravity state parameter, the second gravity state parameter, the first movement state parameter, and the second movement state parameter from the gravity state parameters; Step 22, calculate the average value of the first gravity state parameters of all monitoring points to obtain the first weight coefficient, calculate the average value of the second gravity state parameters of all monitoring points to obtain the second weight coefficient, and construct a gravity state factor calculation model based on the first gravity state parameter, the second gravity state parameter, the first weight coefficient, and the second weight coefficient to calculate the gravity state factor. The formula of the gravity state factor calculation model is: ; In the formula: is the gravity state factor, is the number of monitoring points, is the first gravity state parameter of the monitoring point at the i-th position, is the second gravity state parameter of the monitoring point at the i-th position, is the first weight coefficient, is the second weight coefficient; Step 23, calculate the average value of the first movement state parameters of all monitoring points to obtain the first displacement coefficient, calculate the average value of the second movement state parameters of all monitoring points to obtain the second displacement coefficient, and construct a displacement state factor calculation model based on the first movement state parameter, the second movement state parameter, the first displacement coefficient, and the second displacement coefficient to calculate the displacement state factor. The formula of the displacement state factor calculation model is: ; In the formula: is the displacement state factor, is the number of monitoring points, is the first movement state parameter of the monitoring point at the i-th position, is the second movement state parameter of the monitoring point at the i-th position, is the first displacement coefficient, is the second displacement coefficient; Step 24, import the gravity state factor and the displacement state factor into the fixed state coefficient calculation model to calculate the fixed state coefficient. The fixed state coefficient calculation model is: ; In the formula: is the fixed state coefficient, is the displacement state factor, is the gravity state factor; Step 25: Extract the fixed state coefficient, compare the fixed state coefficient with the preset fixed state coefficient. If the fixed state coefficient is greater than or equal to the preset fixed state coefficient, there is a loosening problem with the steel pipe pile during transportation, and an alarm reminder will be triggered; if the fixed state coefficient is less than the preset fixed state coefficient, there is no loosening problem with the steel pipe pile during transportation.

[0019] When there are 5 monitoring points during the transportation of the steel pipe pile, and the corresponding first gravity state parameter, second gravity state parameter, first movement state parameter, and second movement state parameter are collected, the summary table of the data collected by the monitoring points is as follows:

[0020] Calculate the first weight coefficient and the second weight coefficient respectively based on the summary table of the data collected by the monitoring points. The calculation formula for the first weight coefficient is: ; The calculation formula for the first weight coefficient is: ; First, calculate ; Monitoring point location number 1: ; Monitoring point location number 2: ; Monitoring point location number 3: ; Monitoring point location number 4: ; Monitoring point location number 5: ; Calculate the gravity state factor at this time based on the above data , ; Obtain the displacement state factor by referring to the above numerical calculation steps , and calculate the fixed state coefficient by importing the gravity state factor and the displacement state factor into the fixed state coefficient calculation model. The fixed state coefficient calculation model is: ; Extract the fixed state coefficient 0.0337, compare the fixed state coefficient 0.0337 with the preset fixed state coefficient 0.05. At this time, the fixed state coefficient is less than the preset fixed state coefficient, so there is no loosening problem with the steel pipe pile during transportation, and there is no need to trigger an alarm reminder.

[0021] Through the dual monitoring of the gravity state parameters and displacement state parameters, the comprehensiveness and accuracy of data collection are ensured. By calculating the gravity state factor, displacement state factor, and fixed state coefficient, the loosening state of the steel pipe piles is quantified for easy judgment. Using the threshold judgment of the fixed state coefficient can automatically trigger an alarm, reducing the workload and misjudgment rate of manual monitoring. Once the loosening problem is detected, the system can immediately trigger an alarm, facilitating the timely adoption of remedial measures to prevent accidents. Loose steel pipe piles may cause accidents during transportation. This system can effectively prevent the safety risks brought by loosening. By detecting loosening problems early, further damage to the steel pipe piles caused by vibration and collision during transportation can be avoided. By processing the average value of data from multiple monitoring points, the influence of individual abnormal data on the results is reduced, improving the stability and reliability of the results.

[0022] Specifically, in step 3, a hull state coefficient calculation model is constructed based on the hull state parameters to calculate the hull state coefficient. The specific steps are as follows: Step 31: Extract the left hull tilt angle and right hull tilt angle during the transportation of the steel pipe column in the hull state parameters, and construct a hull angle balance analysis model to calculate the hull angle balance coefficient. The formula of the hull angle balance analysis model is: ; In the formula: is the hull angle balance coefficient, is the left hull tilt angle at time t, is the right hull tilt angle at time t, is the average value of the left hull tilt angle up to time t, is the average value of the right hull tilt angle up to time t; Step 32: Extract the hull vibration frequency parameters in the hull state parameters, and import the hull vibration parameters into the hull vibration coefficient calculation formula to calculate the hull vibration coefficient. The hull vibration coefficient calculation formula is: ; In the formula: is the hull vibration coefficient, is the hull vibration frequency parameter at time t, is the maximum value in the hull vibration frequency parameters, is the minimum value in the hull vibration frequency parameters; Step 33: According to the hull angle balance coefficient and the hull vibration coefficient, import them into the hull state coefficient calculation model to calculate the hull state coefficient. The formula of the hull state coefficient calculation model is: ; In the formula: is the hull state coefficient, is the hull angle balance coefficient, is the hull vibration coefficient; Step 34: Extract the hull state coefficient, compare the hull state coefficient with the preset hull state coefficient. If the hull state coefficient is greater than or equal to the preset hull state coefficient, the hull state is normal; if the hull state coefficient is less than the preset hull state coefficient, the hull state is abnormal and an alarm will be triggered for reminder.

[0023] Comprehensively consider the fixed state coefficient, hull state coefficient and marine environment impact factor, comprehensively analyze the transportation state and potential risks of steel pipe piles, continuously monitor parameters such as gravity state, hull inclination, vibration frequency, wind speed and wind direction to ensure the real-time and continuity of monitoring data; judge whether there is damage to the steel pipe piles through the preset threshold, and the evaluation criteria are clear and easy to operate. When the fixed state coefficient, hull state coefficient or transportation damage value is abnormal, the system can trigger an alarm reminder to notify relevant personnel to take remedial measures in time. By discovering problems early, it can effectively prevent further damage to the steel pipe piles during transportation and avoid accidents; calculate the hull angle balance coefficient and vibration coefficient in real time to ensure that the transportation hull operates in a stable state, reduce the risks brought by inclination or violent vibration, judge the loosening state of the steel pipe piles during transportation, ensure the stability of the steel pipe piles during transportation, and dynamically evaluate the impact of the external environment on the transportation process in combination with environmental parameters such as changes in marine wind speed and wind direction angle; through the calculation of the fixed state coefficient, hull state coefficient and damage value, it can accurately locate the abnormal state, improve the maintenance efficiency, discover problems during transportation early, and avoid high maintenance costs and resource waste caused by damage to the steel pipe piles.

[0024] Specifically, in step 4, construct a transportation damage assessment model based on the gravity state parameters, hull state parameters and marine environment state parameters, analyze the transportation damage value of the steel pipe piles, and judge whether there is damage during the transportation of the steel pipe piles. The specific steps are as follows: Step 41: Extract the fixed state coefficient, hull state coefficient and marine environment state parameters; Step 42: Construct a marine environment impact factor calculation model based on the marine wind speed and the change value of the marine wind direction angle in the marine environment state parameters to calculate the marine environment impact factor. The formula of the marine environment impact factor calculation model is: ; In the formula: is the marine environment impact factor, is the average marine wind speed up to time t, is the marine wind speed at time t, is the maximum marine wind speed up to time t, is the minimum marine wind speed up to time t, is the mean value of the change in the offshore wind direction angle up to time t, is the change in the offshore wind direction angle at time t, is the maximum change in the offshore wind direction angle up to time t, is the minimum change in the offshore wind direction angle up to time t; Step 43: Import the fixed state coefficient, hull state coefficient, and offshore environmental impact factor into the transportation damage assessment model to calculate the transportation damage value of the steel pipe pile. The formula for the transportation damage model is: ; In the formula: is the transportation damage value of the steel pipe pile, is the offshore environmental impact factor, is the weight factor of the hull state coefficient, is the hull state coefficient, is the fixed state coefficient, is the weight factor of the fixed state coefficient; Step 44: Extract the transportation damage value of the steel pipe pile and compare it with the preset transportation damage threshold of the steel pipe pile. If the transportation damage value of the steel pipe pile is greater than or equal to the preset transportation damage threshold of the steel pipe pile, there will be damage to the steel pipe pile during transportation; if the transportation damage value of the steel pipe pile is greater than or equal to the preset transportation damage threshold of the steel pipe pile, there is no damage to the steel pipe pile during transportation.

[0025] Monitor the inclination angle and balance state of the hull, combine with vibration frequency parameters, comprehensively analyze the hull stability. Through the comprehensive evaluation of the fixed state coefficient and the hull state coefficient, accurately judge the fixing situation of the steel pipe piles. Incorporate marine environmental parameters such as sea wind speed and direction, analyze the impact of the external environment on the transportation stability, and be applicable to complex working conditions; the hull angle balance coefficient, vibration coefficient, hull state coefficient, etc. are quantified through mathematical models. The transportation damage assessment model combines multiple state parameters to scientifically calculate the transportation damage value of the steel pipe piles; if the hull state is abnormal (such as excessive inclination or vibration), the steel pipe piles are loose, or the marine environment changes violently, the system will automatically trigger an alarm reminder, update the state parameters and damage value in real time, continuously monitor the transportation state, ensure the safety of the transportation process, give early warnings in case of abnormalities, and facilitate taking measures (such as adjusting the loading, optimizing the navigation route) to prevent accidents; through the monitoring of the inclination angle balance coefficient and vibration coefficient, ensure that the hull is in a balanced and stable state, through the calculation of the fixed state coefficient, ensure that the steel pipe piles do not become loose during transportation, reduce the risk of structural instability, through the monitoring of the marine environment impact factor, identify the impact of wind speed and direction changes on the transportation, and facilitate taking remedial measures; through the calculation and comparison of the transportation damage value, be able to identify in advance whether there is damage to the steel pipe piles, reduce the failure rate during transportation, effectively avoid accidents caused by hull abnormalities, environmental changes or loose steel pipe piles, ensure the smooth progress of transportation, be able to handle problems in advance, and avoid high maintenance and economic losses brought by damaged steel pipe piles or transportation delays.

[0026] A dynamic monitoring system for the transportation of offshore steel pipe piles, which is used to implement the above-mentioned dynamic monitoring method for the transportation of offshore steel pipe piles, includes a state parameter monitoring module, a fixed state analysis module, a hull state analysis module and a transportation damage assessment module. The state parameter monitoring module is respectively connected to the fixed state analysis module, the hull state analysis module, the hull state analysis module and the transportation damage assessment module. The fixed state analysis module and the hull state analysis module are respectively connected to the transportation damage assessment module; The state parameter monitoring module is used to monitor the state parameters of the steel pipe column transportation process in real time through detection equipment; The fixed state analysis module is used to construct a fixed state coefficient calculation model according to the gravity state parameters to calculate the fixed state coefficient; The hull state analysis module is used to construct a hull state coefficient calculation model according to the hull state parameters to calculate the hull state coefficient; The transportation damage assessment module is used to construct a transportation damage assessment model according to the gravity state parameters, hull state parameters and marine environmental state parameters, analyze the transportation damage value of the steel pipe piles, and judge whether there is damage during the transportation of the steel pipe piles.

[0027] The fixed state analysis module includes a first parameter extraction unit, a gravity state factor calculation unit, a displacement state factor calculation unit, a fixed state coefficient calculation unit, and a first discrimination unit; the first parameter extraction unit is respectively connected to the gravity state factor calculation unit and the displacement state factor calculation unit, the gravity state factor calculation unit and the displacement state factor calculation unit are respectively connected to the fixed state coefficient calculation unit, and the fixed state coefficient calculation unit is connected to the first discrimination unit; The first parameter extraction unit is used to extract the first gravity state parameter, the second gravity state parameter, the first movement state parameter, and the second movement state parameter in the gravity state parameters; The gravity state factor calculation unit is used to construct a gravity state factor calculation model for calculating the gravity state factor; The displacement state factor calculation unit is used to construct a displacement state factor calculation model for calculating the displacement state factor; The fixed state coefficient calculation unit is used to import the gravity state factor and the displacement state factor into the fixed state coefficient calculation model to calculate the fixed state coefficient; The first discrimination unit is used to extract the fixed state coefficient and compare the fixed state coefficient with the preset fixed state coefficient.

[0028] The hull state analysis module includes a hull angle balance analysis unit, a hull vibration coefficient calculation unit, a hull state coefficient calculation unit, and a second discrimination unit; the hull angle balance analysis unit and the hull vibration coefficient calculation unit are respectively connected to the hull state coefficient calculation unit, and the hull state coefficient calculation unit is connected to the second discrimination unit; The hull angle balance analysis unit is used to extract the left hull tilt angle and the right hull tilt angle during the transportation of the steel pipe column in the hull state parameters, and construct a hull angle balance analysis model for calculating the hull angle balance coefficient; The hull vibration coefficient calculation unit is used to extract the hull vibration frequency parameter in the hull state parameters, and import the hull vibration parameter into the hull vibration coefficient calculation formula to calculate the hull vibration coefficient; The hull state coefficient calculation unit is used to import the hull angle balance coefficient and the hull vibration coefficient into the hull state coefficient calculation model to calculate the hull state coefficient; The second discrimination unit is used to extract the hull state coefficient and compare the hull state coefficient with the preset hull state coefficient.

[0029] The transportation damage assessment module includes a second parameter extraction unit, a marine environment impact factor calculation unit, a transportation damage assessment unit, and a third discrimination unit; the second parameter extraction unit is connected to the marine environment impact factor calculation unit, the second parameter extraction unit and the marine environment impact factor calculation unit are respectively connected to the transportation damage assessment unit, and the transportation damage assessment unit is connected to the third discrimination unit; The second parameter extraction unit is used to extract the fixed state coefficient, the hull state coefficient, and the marine environment state parameters; The marine environment impact factor calculation unit is used to construct a marine environment impact factor calculation model based on the marine wind speed and the marine wind direction angle change value in the marine environment state parameters to calculate the marine environment impact factor; The transportation damage assessment unit is used to import the fixed state coefficient, the hull state coefficient, and the marine environment impact factor into the transportation damage assessment model to calculate the transportation damage value of the steel pipe pile; The third discrimination unit is used to extract the transportation damage value of the steel pipe pile and compare the transportation damage value of the steel pipe pile with the preset transportation damage threshold of the steel pipe pile.

[0030] In the embodiment of the present invention, the state parameters of the steel pipe column transportation process are monitored in real time by the detection device, the fixed state coefficient calculation model is constructed based on the gravity state parameters to calculate the fixed state coefficient, the hull state coefficient calculation model is constructed based on the hull state parameters to calculate the hull state coefficient, and the transportation damage assessment model is constructed based on the gravity state parameters, the hull state parameters, and the marine environment state parameters to analyze the transportation damage value of the steel pipe pile and determine whether there is damage in the steel pipe pile transportation process, improving the safety and reliability of the steel pipe pile transportation.

[0031] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, and all should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0032] Finally: The above is only the preferred solution of the present invention and is not used to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A dynamic monitoring method for the transportation of offshore steel pipe piles, characterized in that, The steps include: Step 1: Use a detection device to monitor the state parameters of the steel pipe column during transportation in real time; the state parameters include gravity state parameters, hull state parameters, and marine environment state parameters. Step 2: Construct a fixed state coefficient calculation model based on the gravity state parameters to calculate the fixed state coefficient. Step 3: Construct a hull state coefficient calculation model based on the hull state parameters to calculate the hull state coefficient. Step 4: Construct a transportation damage assessment model based on the gravity state parameters, hull state parameters, and marine environment state parameters to analyze the transportation damage value of the steel pipe pile and determine whether there is damage during the transportation of the steel pipe pile. The formula for the transportation damage model is: ； Wherein: is the transportation damage value of the steel pipe pile, is the marine environment impact factor, is the weight factor of the hull condition coefficient, is the hull condition coefficient, is the fixed condition coefficient, is the weight factor of the fixed condition coefficient.

2. The method for analyzing weld defects of a wind power tower barrel according to claim 1, characterized in that In Step 1, the gravity state parameters are obtained by dividing the bottom surface of the steel pipe column transportation into several monitoring blocks, setting several monitoring points in each monitoring block, setting gravity sensors and displacement sensors at each monitoring point. After the steel pipe column is loaded, the gravity detection values of all monitoring points are obtained as the first gravity state parameter, and the horizontal movement distance detection value of the center of gravity position of the steel pipe column relative to all monitoring points is obtained as the first movement state parameter; when the steel pipe column is being transported in real time, the gravity detection values of all monitoring points are obtained as the second gravity state parameter, and the horizontal movement distance detection value of the center of gravity position of the steel pipe column relative to all monitoring points is obtained as the second movement state parameter. The hull state parameters are obtained by using inclination sensors to monitor the left and right hull inclination angles during the transportation of the steel pipe column in real time, and using vibration sensors to monitor the hull vibration frequency parameters during the transportation of the steel pipe column in real time. The marine environment state parameters are obtained by using meteorological monitoring equipment to monitor the sea wind speed and the change value of the sea wind direction angle in real time.

3. The method for analyzing weld defects of a wind power tower barrel according to claim 1, characterized in that, In Step 2, the specific steps for constructing a fixed state coefficient calculation model based on the gravity state parameters to calculate the fixed state coefficient are as follows: Step 21: Extract the first gravity state parameter, second gravity state parameter, first movement state parameter, and second movement state parameter from the gravity state parameters. Step 22: Calculate the average value of the first gravity state parameters of all monitoring points to obtain the first weight coefficient, calculate the average value of the second gravity state parameters of all monitoring points to obtain the second weight coefficient, and construct a gravity state factor calculation model based on the first gravity state parameter, second gravity state parameter, first weight coefficient, and second weight coefficient to calculate the gravity state factor. The formula for the gravity state factor calculation model is: ； Where: is the gravity state factor, is the number of monitoring points, is the first gravity state parameter of the monitoring point at the i-th position, is the second gravity state parameter of the monitoring point at the i-th position, is the first weight coefficient, is the second weight coefficient; Step 23: Calculate the average value of the first movement state parameters of all monitoring points to obtain the first displacement coefficient, calculate the average value of the second movement state parameters of all monitoring points to obtain the second displacement coefficient, and construct a displacement state factor calculation model based on the first movement state parameter, second movement state parameter, first displacement coefficient, and second displacement coefficient to calculate the displacement state factor. The formula for the displacement state factor calculation model is: ； Wherein: is the displacement state factor, is the number of monitoring points, is the first movement state parameter of the monitoring point at the i-th position, is the second movement state parameter of the monitoring point at the i-th position, is the first displacement coefficient, is the second displacement coefficient; Step 24: Import the gravity state factor and displacement state factor into the fixed state coefficient calculation model to calculate the fixed state coefficient. The fixed state coefficient calculation model is: ； Wherein: is the fixed state coefficient, is the displacement state factor, is the gravity state factor; Step 25: Extract the fixed state coefficient, compare it with the preset fixed state coefficient. If the fixed state coefficient is greater than or equal to the preset fixed state coefficient, there is a problem with the fixation of the steel pipe pile during transportation, and an alarm will be triggered for reminder; If the fixed state coefficient is less than the preset fixed state coefficient, there is no problem with the fixation of the steel pipe pile during transportation.

4. The method for analyzing weld defects of a wind power tower barrel according to claim 1, wherein, In Step 3, a hull state coefficient calculation model is constructed according to the hull state parameters to calculate the hull state coefficient. The specific steps are as follows: Step 31: Extract the left hull tilt angle and the right hull tilt angle when the steel pipe column is transported in the hull state parameters, and construct a hull angle balance analysis model to calculate the hull angle balance coefficient. The formula of the hull angle balance analysis model is: ； Wherein: is the hull angle balance coefficient, is the inclination angle of the left hull at time t, is the inclination angle of the right hull at time t, is the average value of the inclination angle of the left hull up to time t, is the average value of the inclination angle of the right hull up to time t; Step 32: Extract the hull vibration frequency parameter in the hull state parameters, import the hull vibration parameter into the hull vibration coefficient calculation formula, and calculate the hull vibration coefficient. The hull vibration coefficient calculation formula is: ； In the formula: is the hull vibration coefficient, is the hull vibration frequency parameter at time t, is the maximum value among the hull vibration frequency parameters, is the minimum value among the hull vibration frequency parameters; Step 33: Calculate the hull state coefficient according to the hull angle balance coefficient and the hull vibration coefficient and import them into the hull state coefficient calculation model. The formula of the hull state coefficient calculation model is: ； In the formula: is the hull state coefficient, is the hull angle balance coefficient, is the hull vibration coefficient; Step 34: Extract the hull state coefficient, compare it with the preset hull state coefficient. If the hull state coefficient is greater than or equal to the preset hull state coefficient, the hull state is normal; If the hull state coefficient is less than the preset hull state coefficient, the hull state is abnormal, and an alarm will be triggered for reminder.

5. The method for analyzing weld defects of a wind power tower barrel according to claim 1, wherein In Step 4, a transportation damage assessment model is constructed according to the gravity state parameters, hull state parameters, and marine environment state parameters to analyze the transportation damage value of the steel pipe pile and determine whether there is damage during the transportation of the steel pipe pile. The specific steps are as follows: Step 41: Extract the fixed state coefficient, hull state coefficient, and marine environment state parameters; Step 42: Construct a marine environment impact factor calculation model according to the marine wind speed and the change value of the marine wind direction angle in the marine environment state parameters to calculate the marine environment impact factor. The formula of the marine environment impact factor calculation model is: ； In the formula: is the marine environmental impact factor, is the average marine wind speed up to time t, is the marine wind speed at time t, is the maximum marine wind speed up to time t, is the minimum marine wind speed up to time t, is the average value of the change in marine wind direction angle up to time t, is the change in marine wind direction angle at time t, is the maximum change in marine wind direction angle up to time t, is the minimum change in marine wind direction angle up to time t; Step 43: Import the fixed state coefficient, hull state coefficient, and marine environment impact factor into the transportation damage assessment model to calculate the transportation damage value of the steel pipe pile; Step 44: Extract the transportation damage value of the steel pipe pile, compare it with the preset transportation damage threshold of the steel pipe pile. If the transportation damage value of the steel pipe pile is greater than or equal to the preset transportation damage threshold of the steel pipe pile, there will be damage to the transportation of the steel pipe pile; if the transportation damage value of the steel pipe pile is greater than or equal to the preset transportation damage threshold of the steel pipe pile, there is no damage to the transportation of the steel pipe pile.

6. A dynamic monitoring system for the transportation of offshore steel pipe piles, which is used to implement the dynamic monitoring method for the transportation of offshore steel pipe piles described in any one of claims 1-5, and is characterized in that, It includes a state parameter monitoring module, a fixed state analysis module, a hull state analysis module, and a transportation damage assessment module. The state parameter monitoring module is respectively connected to the fixed state analysis module, the hull state analysis module, the hull state analysis module, and the transportation damage assessment module. The fixed state analysis module and the hull state analysis module are respectively connected to the transportation damage assessment module; The status parameter monitoring module is used to monitor the status parameters of the steel pipe column during transportation in real time through detection devices; The fixed status analysis module is used to construct a fixed status coefficient calculation model based on the gravity status parameters to calculate the fixed status coefficient; The hull status analysis module is used to construct a hull status coefficient calculation model based on the hull status parameters to calculate the hull status coefficient; The transportation damage assessment module is used to construct a transportation damage assessment model based on the gravity status parameters, hull status parameters, and marine environment status parameters, analyze the transportation damage value of the steel pipe pile, and determine whether there is damage during the transportation of the steel pipe pile.

7. The wind power tower weld defect analysis system according to claim 6, wherein The fixed status analysis module includes a first parameter extraction unit, a gravity status factor calculation unit, a displacement status factor calculation unit, a fixed status coefficient calculation unit, and a first discrimination unit; The first parameter extraction unit is respectively connected to the gravity status factor calculation unit and the displacement status factor calculation unit. The gravity status factor calculation unit and the displacement status factor calculation unit are respectively connected to the fixed status coefficient calculation unit. The fixed status coefficient calculation unit is connected to the first discrimination unit; The first parameter extraction unit is used to extract the first gravity status parameter, the second gravity status parameter, the first movement status parameter, and the second movement status parameter in the gravity status parameters; The gravity status factor calculation unit is used to construct a gravity status factor calculation model to calculate the gravity status factor; The displacement status factor calculation unit is used to construct a displacement status factor calculation model to calculate the displacement status factor; The fixed status coefficient calculation unit is used to import the gravity status factor and the displacement status factor into the fixed status coefficient calculation model to calculate the fixed status coefficient; The first discrimination unit is used to extract the fixed status coefficient and compare it with the preset fixed status coefficient.

8. The wind power tower weld defect analysis system according to claim 6, characterized in that, The hull status analysis module includes a hull angle balance analysis unit, a hull vibration coefficient calculation unit, a hull status coefficient calculation unit, and a second discrimination unit. The hull angle balance analysis unit and the hull vibration coefficient calculation unit are respectively connected to the hull status coefficient calculation unit. The hull status coefficient calculation unit is connected to the second discrimination unit; The hull angle balance analysis unit is used to extract the left hull tilt angle and the right hull tilt angle during the transportation of the steel pipe column in the hull status parameters, and construct a hull angle balance analysis model to calculate the hull angle balance coefficient; The hull vibration coefficient calculation unit is used to extract the hull vibration frequency parameter in the hull status parameters, import the hull vibration parameter into the hull vibration coefficient calculation formula, and calculate the hull vibration coefficient; The hull status coefficient calculation unit is used to import the hull angle balance coefficient and the hull vibration coefficient into the hull status coefficient calculation model to calculate the hull status coefficient; The second discrimination unit is used to extract the hull status coefficient and compare it with the preset hull status coefficient.

9. The wind power tower weld defect analysis system according to claim 6, wherein The transportation damage assessment module includes a second parameter extraction unit, a marine environment impact factor calculation unit, a transportation damage assessment unit, and a third discrimination unit; the second parameter extraction unit is connected to the marine environment impact factor calculation unit, the second parameter extraction unit and the marine environment impact factor calculation unit are respectively connected to the transportation damage assessment unit, and the transportation damage assessment unit is connected to the third discrimination unit; The second parameter extraction unit is used to extract the fixed state coefficient, the hull state coefficient, and the marine environment state parameters; The marine environment impact factor calculation unit is used to construct a marine environment impact factor calculation model based on the sea wind speed and the change value of the sea wind direction angle in the marine environment state parameters to calculate the marine environment impact factor; The transportation damage assessment unit is used to import the fixed state coefficient, the hull state coefficient, and the marine environment impact factor into the transportation damage assessment model to calculate the transportation damage value of the steel pipe pile; The third discrimination unit is used to extract the transportation damage value of the steel pipe pile and compare the transportation damage value of the steel pipe pile with the preset transportation damage threshold of the steel pipe pile.

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