Underwater sacrificial anode block inspection device for offshore wind power pile foundation

Abstract

The invention discloses an inspection device for an underwater sacrificial anode block of an offshore wind power pile foundation, and relates to the technical field of underwater inspection, the inspection device comprises an image acquisition assembly, a driving assembly, a cleaning assembly, a measuring assembly and a control module, and the image acquisition assembly, the driving assembly, the cleaning assembly and the measuring assembly are all in communication connection with the control module; the image acquisition assembly comprises a lighting lamp and a double-sided camera, and the lighting direction of the lighting lamp is the same as the lens direction of the double-sided camera. According to the underwater sacrificial anode block inspection device, the optical system and the cleaning system are integrated, the cathode protection potential measuring system is used, the underwater sacrificial anode block inspection device is complete in function, various observation tasks can be completed in water at a time, the underwater sacrificial anode block inspection device can be conveniently integrated on an underwater robot, underwater unmanned work is achieved, and the inspection efficiency is improved. The maintenance cost of inspection of the sacrificial anode block of the offshore wind power pile foundation is greatly reduced, and the operation risk is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater inspection, and particularly to an underwater sacrificial anode block inspection device for an offshore wind power pile foundation. Background Art

[0002] Offshore wind farms have the advantages of large reserves of wind energy resources, high development efficiency, little environmental pollution, and no occupation of arable land. Offshore wind power generation has become a key area for the development of renewable energy in the world.

[0003] In the construction of offshore wind farms, the offshore wind power pile foundations are in seawater and are severely affected by factors such as dissolved oxygen, salinity, sunlight, environmental temperature, pollution, and marine organisms in seawater, resulting in serious pile foundation corrosion problems. The anti-corrosion protection method for steel pipe piles in offshore wind farms generally adopts sacrificial anode cathodic protection. Due to the impact of tides and surges on the sacrificial anode blocks, they are extremely likely to fall off, thus unable to ensure the cathodic protection effect. At the same time, the sacrificial anode blocks are immersed in seawater, with serious biological attachment, causing the isolation of the sacrificial anode blocks from seawater and reducing the protection effect on the pile foundation. At present, the sacrificial anode blocks of offshore wind power pile foundations are mainly inspected by manual underwater probing. This method not only cannot be carefully inspected due to turbid seawater, but also there are certain safety hazards when workers conduct inspections under the sea with complex environments. Moreover, only relying on the naked eye detection of workers, the detection efficiency is low and the detection accuracy cannot be guaranteed.

[0004] Therefore, this invention patent proposes an underwater sacrificial anode block inspection device for an offshore wind power pile foundation to inspect the underwater sacrificial anode blocks of offshore wind power pile foundations in an efficient and low-risk manner and solve the operation and maintenance problems of offshore wind farms. Summary of the Invention

[0005] The technical solution of the present invention provides a solution significantly different from the prior art for the technical problem of the overly single solution of the prior art. Specifically, the purpose of the present invention is to provide an underwater sacrificial anode block inspection device for an offshore wind power pile foundation to solve the problems of low detection efficiency, inability to guarantee detection accuracy, and potential safety hazards when manually inspecting the existing underwater sacrificial anode blocks of offshore wind power pile foundations as mentioned in the above background art.

[0006] To achieve the above purpose, the present invention provides the following technical solution: An underwater sacrificial anode block inspection device for an offshore wind power pile foundation, including an image acquisition component, a driving component, a cleaning component, a measurement component, and a control module, and the image acquisition component, the driving component, the cleaning component, and the measurement component are all communicatively connected to the control module; The image acquisition component includes a lighting lamp and a double-sided camera, and the lighting direction of the lighting lamp is the same as the lens orientation of the double-sided camera. The image acquisition component is used to photograph the sacrificial anode of the underwater wind power pile foundation; The cleaning component includes a cavitation jet gun body, and the water injection port of the cavitation jet gun body faces the same direction as the image acquisition window of the image acquisition component; The measurement component includes a cathode potential measurement sensor, and the cathode potential measurement sensor is used for the potential state of the sacrificial anode of the underwater wind power pile foundation; A first mounting flange is connected to the output end of the driving component, and the lighting lamp, the dual-sided camera, the cathode potential measurement sensor and the cavitation jet gun body are all mounted on the first mounting flange through a mounting base. The driving component is used to drive the image acquisition component, the cleaning component and the measurement component to rotate.

[0007] Preferably, the underwater inspection device for the sacrificial anode block of the offshore wind power pile foundation further includes an underwater robot, and the driving component is mounted on the front end of the underwater robot. The underwater robot is used to drive the driving component to move underwater.

[0008] Preferably, the driving component includes a second mounting flange mounted on the front end of the underwater robot. A robotic arm base is provided on the second mounting flange. A base drive shaft is provided on the robotic arm base. The output end of the base drive shaft is connected to a shoulder drive shaft. An arm drive shaft is connected to the output shaft of the shoulder drive shaft. A wrist drive shaft is connected to the arm drive shaft. A wrist flip shaft is connected to the wrist drive shaft.

[0009] Preferably, a total control unit pressure-resistant cabin for mounting the control module is provided on the second mounting flange. A pressure-resistant watertight cable is connected to the total control unit pressure-resistant cabin. The control module is communicatively connected to an external base station through the pressure-resistant watertight cable.

[0010] Preferably, the cleaning component further includes a high-pressure pumping station, and the high-pressure pumping station inlet pipe of the high-pressure pumping station is connected to the seawater inlet pipe; A cavitation jet gun inlet pipe is connected to the water inlet of the cavitation jet gun body, and the cavitation jet gun inlet pipe is connected to the high-pressure pumping station outlet pipe of the high-pressure pumping station.

[0011] Preferably, the underwater inspection device for the sacrificial anode block of the offshore wind power pile foundation further includes a hull, and the high-pressure pumping station is mounted on the hull through a pumping station base.

[0012] Preferably, the dual-sided camera includes a protective shell, and the protective shell is mounted on the first mounting flange. An equipment compartment is opened in the first mounting flange, and a dual-sided camera body is mounted in the equipment compartment; A transparent plate is hermetically installed at the opening of the device compartment, and the lens of the dual-sided camera body faces the transparent plate. A cleaning component is arranged on the outer side of the transparent plate, and the cleaning component is used to clean the transparent plate.

[0013] Preferably, the cleaning component includes a rotating plate installed on the side surface of the protective shell. A cleaning member is connected to the rotating plate, and the cleaning member is in sliding contact with the transparent plate. A driving motor for driving the rotating plate to rotate is arranged on the protective shell.

[0014] Preferably, the cleaning member includes a cleaning plate connected to one side surface of the rotating plate facing the transparent plate through a spring. A cleaning sponge is connected to the side surface of the cleaning plate facing the transparent plate. Under the elastic force of the spring, the cleaning sponge is in sliding contact with the transparent plate.

[0015] Preferably, a propulsion device is arranged on the underwater robot, and the propulsion device is communicatively connected to a ground base station through a communication module arranged on the underwater robot.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. In the present invention, the underwater sacrificial anode block inspection device integrates an optical system and a cleaning system, and consists of a cathodic protection potential measurement system. It has complete functions and can complete multiple observation tasks in one dive. Moreover, the underwater sacrificial anode block inspection device is convenient to be integrated on an underwater robot, realizing unmanned underwater operation, which will greatly reduce the maintenance cost of inspecting sacrificial anode blocks of offshore wind power pile foundations and reduce the operation risk.

[0017] 2. In the present invention, the cavitating jet gun integrated in the underwater sacrificial anode block inspection device can clean the biological attachment on the sacrificial anode block and restore the cathodic potential protection function of the sacrificial anode block. At the same time, the cathodic potential measurement sensor can more accurately measure the potential state of the sacrificial anode and detect whether the sacrificial anode structure is within the protection potential range.

[0018] 3. In the present invention, the driving component of the underwater sacrificial anode block inspection device has multiple joints such as a wrist, an arm, a shoulder and a base. Through rotation and telescoping, underwater measurements at different distances and angles can be completed to meet the complex measurement requirements of wind power pile foundations.

[0019] 4. In the present invention, a cleaning component is provided, which can clean the lens of the dual-sided camera in time underwater, avoiding the lens of the dual-sided camera being attached with impurities and affecting the clarity of the captured image of the dual-sided camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic diagram of the overall external structure of the present invention; Figure 2 Schematic diagram of the structure of the inspection and detection end in the present invention; Figure 3 Schematic diagram of the structure of the high-pressure pumping station in the present invention; Figure 4 Schematic diagram of the structure of the cleaning component in the present invention; In the figure: 1 Inlet pipe of the cavitation jet gun, 2 Wrist turning shaft, 3 Wrist drive shaft, 4 Arm drive shaft, 5 Shoulder drive shaft, 6 Base drive shaft, 7 Pressure-resistant watertight cable, 8 Robotic arm base, 9 Second mounting flange, 10 Pressure-resistant cabin of the total control unit, 11 Claw drive shaft, 12 First mounting flange, 13 Mounting base, 14 Lighting lamp; 15 Dual-sided camera, 1501 Protective shell, 1502 Equipment compartment, 1503 Dual-sided camera body, 1504 Transparent plate, 1505 Driving motor, 1506 Rotating plate, 1507 Spring, 1508 Cleaning plate; 16 Cathode potential measurement sensor, 17 Cavitation jet gun body, 18 Outlet pipe of the high-pressure pumping station, 19 High-pressure pumping station, 20 Inlet pipe of the high-pressure pumping station, 21 Pumping station base, 22 Seawater inlet pipe. Specific embodiments

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with 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 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.

[0022] In order to solve the problems in the above-mentioned background technology that when manually inspecting the underwater sacrificial anode blocks of existing offshore wind power pile foundations, the inspection efficiency is low, the inspection accuracy cannot be guaranteed, and there are potential safety hazards.

[0023] Please refer to Figure 2 As shown, the present invention provides a technical solution: an inspection device for underwater sacrificial anode blocks of offshore wind power pile foundations, including an image acquisition component, a driving component, a cleaning component, a measurement component and a control module, and the image acquisition component, the driving component, the cleaning component and the measurement component are all communicatively connected to the control module.

[0024] The image acquisition component includes a lighting lamp 14 and a dual-sided camera 15, and the lighting direction of the lighting lamp 14 is the same as the lens orientation of the dual-sided camera 15. The dual-sided camera 15 is used to photograph the sacrificial anode of the underwater wind power pile foundation to determine whether the sacrificial anode has peeled off or been damaged. The lighting lamp 14 can provide supplementary light for the dual-sided camera 15 to improve the clarity of the captured image of the dual-sided camera 15.

[0025] The cleaning component includes the cavitation jet gun body 17. The water injection port of the cavitation jet gun body 17 faces the same direction as the image acquisition window of the image acquisition component. High-speed water flow can be ejected through the cavitation jet gun body 17 to remove impurities and biological attachments on the surface of the sacrificial anode.

[0026] The measurement component includes the cathode potential measurement sensor 16. The cathode potential measurement sensor 16 is used to measure the potential state of the sacrificial anode of the underwater wind power pile foundation to ensure that the pile foundation structure is within the protected potential range.

[0027] A first mounting flange 12 is connected to the output end of the driving component. The lighting lamp 14, the dual-sided camera 15, the cathode potential measurement sensor 16, and the cavitation jet gun body 17 are all mounted on the first mounting flange 12 through the mounting base 13. The driving component is used to drive the image acquisition component, the cleaning component, and the measurement component to rotate, so as to flexibly drive the image acquisition component, the cleaning component, and the measurement component to turn.

[0028] In this embodiment, referring to Figure 1 As shown, the underwater inspection device for the sacrificial anode block of the offshore wind power pile foundation further includes an underwater robot. The driving component is installed at the front end of the underwater robot. The underwater robot is used to drive the driving component to move underwater. A communication module is provided on the underwater robot, and the underwater robot is communicatively connected to an external base station through the communication module thereon.

[0029] In this embodiment, the driving component includes a second mounting flange 9 installed at the front end of the underwater robot. A robotic arm base 8 is provided on the second mounting flange 9. A base drive shaft 6 is provided on the robotic arm base 8. The output end of the base drive shaft 6 is connected to a shoulder drive shaft 5. The output shaft of the shoulder drive shaft 5 is connected to an arm drive shaft 4. The arm drive shaft 4 is connected to a wrist drive shaft 3. The wrist drive shaft 3 is connected to a wrist turning shaft 2.

[0030] The output end of the wrist turning shaft 2 is connected to a jaw drive shaft 11, and the jaw drive shaft 11 is connected to the first mounting flange 12.

[0031] The above drive shafts form a five-axis robotic arm. The first mounting flange 12 is driven to move in the three-dimensional X-Y-Z axes by the five-axis robotic arm, and underwater measurements at different distances and angles are completed through rotation and telescoping to meet the complex measurement requirements of the wind power pile foundation.

[0032] In this embodiment, a total control unit pressure-resistant cabin 10 for installing the control module is provided on the second mounting flange 9. A pressure-resistant watertight cable 7 is connected to the total control unit pressure-resistant cabin 10. The control module is communicatively connected to an external base station through the pressure-resistant watertight cable 7.

[0033] In this embodiment, referring to Figure 3 as shown, the cleaning assembly further includes a high-pressure pumping station 19, and the high-pressure pumping station inlet pipe 20 of the high-pressure pumping station 19 is connected to the seawater inlet pipe 22.

[0034] At the water inlet of the cavitating jet gun body 17, a cavitating jet gun inlet pipe 1 is connected. The cavitating jet gun inlet pipe 1 is connected to the high-pressure pumping station outlet pipe 18 of the high-pressure pumping station 19. The high-pressure pumping station 19 sucks seawater and injects the seawater into the cavitating jet gun body 17, so as to perform jet cleaning on the surface of the sacrificial anode through the cavitating jet gun body 17.

[0035] In this embodiment, referring to Figure 1 as shown, the underwater sacrificial anode block inspection device for offshore wind power piles further includes a hull, and the high-pressure pumping station 19 is installed on the hull through a pumping station base 21.

[0036] In this embodiment, a propulsion device is provided on the underwater robot, and the propulsion device is communicatively connected to a ground base station through a communication module provided on the underwater robot.

[0037] Working principle: When using the underwater sacrificial anode block inspection device for offshore wind power piles, first, the surface hull is driven to the position of the wind power pile, and the underwater robot is lowered underwater. The underwater robot is propelled and moved by the propulsion device thereon until the robot moves near the underwater sacrificial anode.

[0038] Turn on the dual-sided camera 15 and the lighting lamp 14 to detect the appearance of the sacrificial anode and judge whether the sacrificial anode has peeled or broken. At the same time, turn on the cathode potential measurement sensor 16 to measure whether the potential of the sacrificial anode is normal.

[0039] During this process, the images captured by the dual-sided camera 15 are transmitted to the ground base station in real time through the control module. The staff can view remotely and control the multi-axis operation in the drive assembly through the control module, so as to drive the dual-sided camera 15 and the cathode potential measurement sensor 16 to perform small-range movement and turning, so as to be able to operate more carefully and then detect the sacrificial anode more accurately.

[0040] For the biological attachment existing on the surface of the sacrificial anode, the operator can control the cavitating jet gun body 17 to be turned on through the control module. The cavitating jet gun body 17 sprays high-speed water flow to the corresponding biological attachment position, so as to impact and break the biological attachment and wash it away.

[0041] When flushing the biological attachment on the sacrificial anode through the cavitating jet gun body 17, the water body surges and becomes turbid. The dual-sided camera 15 is located at the front end, and impurities are easily attached to the lens of the dual-sided camera 15, resulting in blurred images captured by the dual-sided camera 15. Therefore, we propose the following solutions to solve the above problems: In this embodiment, referring to Figure 4 as shown, the dual-sided camera 15 includes a protective housing 1501, and the protective housing 1501 is installed on the first mounting flange 12. An equipment chamber 1502 is provided inside the first mounting flange 12, and a dual-sided camera body 1503 is installed inside the equipment chamber 1502.

[0042] A transparent plate 1504 is hermetically installed at the opening of the equipment chamber 1502, and the lens of the dual-sided camera body 1503 faces the transparent plate 1504. A cleaning assembly is provided on the outer side of the transparent plate 1504, and the cleaning assembly is used to clean the transparent plate 1504.

[0043] The cleaning assembly includes a rotating plate 1506 installed on the side surface of the protective housing 1501. A cleaning member is connected to the rotating plate 1506, and the cleaning member is in sliding contact with the transparent plate 1504.

[0044] A driving motor 1505 for driving the rotating plate 1506 to rotate is provided on the protective housing 1501, and the driving motor 1505 is communicatively connected to the control module.

[0045] The cleaning member includes a cleaning plate 1508 connected to one side surface of the rotating plate 1506 facing the transparent plate 1504 through a spring 1507. An expansion rod is provided between the rotating plate 1506 and the cleaning plate 1508, and the spring 1507 is sleeved on the expansion rod to define the expansion direction of the spring 1507 and prevent a large deviation between the cleaning plate 1508 and the rotating plate 1506. A cleaning sponge is connected to the side surface of the cleaning plate 1508 facing the transparent plate 1504. Under the elastic force of the spring 1507, the cleaning sponge is in sliding contact with the transparent plate 1504.

[0046] During the cleaning of the biological attachments on the surface of the sacrificial anode by the cavitating jet gun body 17, when impurities adhere to the outer surface of the transparent plate 1504, the operator turns on the driving motor 1505. The driving motor 1505 drives the rotating plate 1506 to rotate, and the rotating plate 1506 drives the cleaning plate 1508 to rotate through the spring 1507. The cleaning plate 1508 intermittently scrapes the outer surface of the transparent plate 1504, thereby cleaning the transparent plate 1504 and preventing the lens of the dual-sided camera body 1503 from being blocked.

[0047] 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 embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An underwater sacrificial anode block inspection device for an offshore wind power pile foundation, characterized in that, It includes an image acquisition component, a driving component, a cleaning component, a measurement component and a control module, and the image acquisition component, the driving component, the cleaning component and the measurement component are all communicatively connected to the control module; The image acquisition component includes a lighting lamp (14) and a dual-sided camera (15), and the lighting direction of the lighting lamp (14) is the same as the lens orientation of the dual-sided camera (15). The image acquisition component is used to photograph the sacrificial anode of the underwater wind power pile foundation; The cleaning component includes a cavitating jet gun body (17), and the water injection port of the cavitating jet gun body (17) has the same orientation as the image acquisition window of the image acquisition component; The measurement component includes a cathode potential measurement sensor (16), and the cathode potential measurement sensor (16) is used for the potential state of the sacrificial anode of the underwater wind power pile foundation; A first mounting flange (12) is connected to the output end of the driving component, and the lighting lamp (14), the dual-sided camera (15), the cathode potential measurement sensor (16) and the cavitating jet gun body (17) are all mounted on the first mounting flange (12) through a mounting base (13). The driving component is used to drive the image acquisition component, the cleaning component and the measurement component to rotate.

2. The underwater sacrificial anode block inspection device for offshore wind power pile foundations according to claim 1, characterized in that: The underwater inspection device for the sacrificial anode block of the offshore wind power pile foundation further includes an underwater robot, and the driving component is mounted at the front end of the underwater robot. The underwater robot is used to drive the driving component to move underwater.

3. The underwater sacrificial anode block inspection device for an offshore wind power pile foundation according to claim 2, characterized in that: The driving component includes a second mounting flange (9) mounted at the front end of the underwater robot. A robotic arm base (8) is provided on the second mounting flange (9). A base drive shaft (6) is provided on the robotic arm base (8). The output end of the base drive shaft (6) is connected to a shoulder drive shaft (5). An arm drive shaft (4) is connected to the output shaft of the shoulder drive shaft (5). A wrist drive shaft (3) is connected to the arm drive shaft (4). A wrist flip shaft (2) is connected to the wrist drive shaft (3).

4. An underwater sacrificial anode block inspection device for an offshore wind power pile foundation according to claim 1, characterized in that: A total control unit pressure-resistant cabin (10) for mounting the control module is provided on the second mounting flange (9). A pressure-resistant watertight cable (7) is connected to the total control unit pressure-resistant cabin (10). The control module is communicatively connected to an external base station through the pressure-resistant watertight cable (7).

5. The underwater sacrificial anode block inspection device for offshore wind power pile foundations according to claim 1, characterized in that: The cleaning component further includes a high-pressure pumping station (19), and the high-pressure pumping station water inlet pipe (20) of the high-pressure pumping station (19) is connected to a seawater inlet pipe (22); A cavitating jet gun inlet pipe (1) is connected to the water inlet of the cavitating jet gun body (17), and the cavitating jet gun inlet pipe (1) is connected to the high-pressure pumping station outlet pipe (18) of the high-pressure pumping station (19).

6. The underwater sacrificial anode block inspection device for an offshore wind power pile foundation according to claim 5, characterized in that: The underwater inspection device for the sacrificial anode block of the offshore wind power pile foundation further includes a hull, and the high-pressure pumping station (19) is mounted on the hull through a pumping station base (21).

7. An underwater sacrificial anode block inspection device for an offshore wind power pile foundation according to claim 1, characterized in that: The dual-sided camera (15) includes a protective housing (1501), and the protective housing (1501) is installed on the first mounting flange (12). An equipment compartment (1502) is provided inside the first mounting flange (12), and a dual-sided camera body (1503) is installed inside the equipment compartment (1502); A transparent plate (1504) is hermetically installed at the opening of the equipment compartment (1502), and the lens of the dual-sided camera body (1503) faces the transparent plate (1504). A cleaning component is provided on the outer side of the transparent plate (1504), and the cleaning component is used to clean the transparent plate (1504).

8. An underwater sacrificial anode block inspection device for an offshore wind power pile foundation according to claim 7, characterized in that: The cleaning component includes a rotating plate (1506) installed on the side surface of the protective housing (1501). A cleaning member is connected to the rotating plate (1506), and the cleaning member is in sliding contact with the transparent plate (1504); A driving motor (1505) for driving the rotating plate (1506) to rotate is provided on the protective housing (1501).

9. The underwater sacrificial anode block inspection device for an offshore wind power pile foundation according to claim 8, characterized in that: The cleaning member includes a cleaning plate (1508) connected by a spring (1507) on one side of the rotating plate (1506) facing the transparent plate (1504). A cleaning sponge is connected to the side of the cleaning plate (1508) facing the transparent plate (1504). Under the elastic force of the spring (1507), the cleaning sponge is in sliding contact with the transparent plate (1504).

10. The underwater sacrificial anode block inspection device for an offshore wind power pile foundation according to claim 2, characterized in that: The underwater robot is provided with a propulsion device, and the propulsion device is communicatively connected to a ground base station through a communication module provided on the underwater robot.

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