A mooring failure early warning method, device and system for a mud buoy offshore wind turbine

Abstract

The present application relates to the technical field of offshore wind turbines, and particularly relates to a mooring failure early warning method, device and system for a mud floating offshore wind turbine. The method comprises: obtaining real-time operation data of the mud floating offshore wind turbine in a suspended state; inputting the real-time operation data into a pre-constructed mooring failure early warning model to output a prediction result of mooring failure of the mud floating offshore wind turbine; and based on the prediction result, controlling an anchor chain and an air-water displacement valve of the mud floating offshore wind turbine to operate so as to convert the mud floating offshore wind turbine from the suspended state to a mud floating state. The above technical solution can ensure safe and effective mooring failure early warning.

Description

Technical Field

[0001] This invention relates to the field of offshore wind turbine technology, and in particular to a method, device and system for early warning of mooring failure of a mud-floating offshore wind turbine. Background Technology

[0002] With the growing prominence of the energy crisis, offshore wind power, as a renewable energy source, has become an important component of the current energy structure and a crucial energy source for addressing the energy crisis. However, among related technologies, mud-floating offshore wind turbines lack a safe and effective early warning system for mooring failure.

[0003] Therefore, there is an urgent need to provide a mud-floating offshore wind turbine system for collaborative marine environmental monitoring to solve the above-mentioned technical problems. Summary of the Invention

[0004] This invention provides a method, device, and system for early warning of mooring failure of mud-floating offshore wind turbines, which can ensure the safety and effectiveness of mooring failure early warning.

[0005] In a first aspect, embodiments of the present invention provide a method for early warning of mooring failure of a mud-floating offshore wind turbine, comprising:

[0006] Acquire real-time operating data of mud-floating offshore wind turbines in a suspended state;

[0007] The real-time operating data is input into a pre-built mooring failure early warning model, and the predicted results of mooring failure of the mud-floating offshore wind turbine are output.

[0008] Based on the predicted results, the anchor chain and air-water displacement valve of the mud-floating offshore wind turbine are controlled to operate, so that the mud-floating offshore wind turbine changes from a suspended state to a mud-floating state.

[0009] Secondly, embodiments of the present invention also provide a mooring failure early warning device for a mud-floating offshore wind turbine, comprising:

[0010] The acquisition module is used to acquire real-time operating data of the mud-floating offshore wind turbine when it is in a suspended state.

[0011] The prediction module is used to input the real-time operating data into the pre-built mooring failure early warning model and output the prediction result of the mooring failure of the mud-floating offshore wind turbine.

[0012] The control module is used to control the anchor chain and air-water displacement valve of the mud-floating offshore wind turbine to operate based on the prediction results, so as to change the mud-floating offshore wind turbine from a suspended state to a mud-floating state.

[0013] Thirdly, embodiments of the present invention also provide a mooring failure early warning system for a mud-floating offshore wind turbine. The mud-floating offshore wind turbine includes a wind turbine, a tower, a foundation, and a base connected sequentially from top to bottom. Lateral anchor chains and anchors are sequentially connected to the foundation, and a vertical anchor chain connects the foundation and the base. The mooring failure early warning system includes a dredging device and a controller disposed within the tower. The controller is used to execute the above method. The dredging device includes:

[0014] The robotic arm grab bucket installed on the outer wall of the base is used to remove stones and upper silt from inside the base;

[0015] The vibrating rod installed inside the base is used to loosen the lower layer of silt inside the base;

[0016] The sludge pump installed on the base is used to suck the loosened lower layer of sludge out of the base.

[0017] This invention provides a method, device, and system for early warning of mooring failure in mud-floating offshore wind turbines. When a monitoring system detects a mooring system failure while the foundation is in a suspended state, it monitors real-time operational data and proposes adjustment schemes for different mooring failures, including adjustments to the anchor chain and water-air displacement operations, to successfully transition the foundation to a mud-floating state for maintenance. Through intelligent technology, the reliability and economy of offshore wind turbine foundations are improved, providing strong technical support for the sustainable development of offshore wind power. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart of the mooring failure early warning method for mud-floating offshore wind turbines provided in an embodiment of the present invention;

[0020] Figure 2 This is a hardware architecture diagram of the electronic device provided in an embodiment of the present invention;

[0021] Figure 3 This is a structural diagram of the mooring failure early warning device for a mud-floating offshore wind turbine provided in an embodiment of the present invention;

[0022] Figure 4 This is a technical roadmap of the mooring failure early warning method for mud-floating offshore wind turbines provided in the embodiments of the present invention;

[0023] Figure 5This is a diagram showing the lateral tensile force distribution of a mud-floating offshore wind turbine provided in an embodiment of the present invention.

[0024] Figure 6 This is a schematic diagram of the anchor chain tension on a mud-floating offshore wind turbine provided in an embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of the structure of the mud-floating offshore wind turbine provided in an embodiment of the present invention;

[0026] Figure 8 for Figure 7 The diagram shows the structural schematic of the foundation in a mud-floating offshore wind turbine.

[0027] Figure 9 for Figure 7 The diagram shows the structural design of the base in a mud-floating offshore wind turbine.

[0028] Figure 10 for Figure 9 An enlarged schematic diagram of the base shown;

[0029] Figure 11 for Figure 7 The diagram shows the structure of the anchor in a mud-floating offshore wind turbine.

[0030] Figure label:

[0031] 1-Wind turbine; 2-Tower; 3-Foundation; 4-Base; 41-Groove; 42-Compartment plate; 5-Lateral anchor chain; 6-Anchor bar; 7-Vertical anchor chain;

[0032] 1a-Mechanical arm grab; 2a-Vibrating rod; 3a-Sludge pump; 4a-Camera; 5a-Spiral blade; 6a-Air outlet; 7a-Ring belt; 8a-First water outlet; 9a-Water inlet; 10a-Booster; 11a-Second water outlet; 12a-Flushing pipe. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0034] Mud-floating offshore wind turbines refer to wind turbine foundations that can switch between a suspended state and a mud-floating state. In the suspended state, the wind turbine foundation is suspended on the sea surface or in seawater. In this state, the upper wind turbine operates at a higher height, which is beneficial to improving power generation efficiency and is suitable for marine environments with good conditions. In the mud-floating state, the wind turbine foundation is fixed in the mud layer on the seabed. In this state, the upper wind turbine operates at a lower height, which is beneficial to improving safety and is suitable for marine environments with harsher conditions.

[0035] like Figure 1 As shown, this embodiment of the invention provides a method for early warning of mooring failure of a mud-floating offshore wind turbine, including:

[0036] Step 100: Obtain real-time operating data of the mud-floating offshore wind turbine in a suspended state;

[0037] Step 102: Input the real-time operating data into the pre-built mooring failure early warning model and output the prediction results of mooring failure of the mud-floating offshore wind turbine.

[0038] Step 104: Based on the prediction results, control the anchor chain and air-water replacement valve of the mud-floating offshore wind turbine to switch the mud-floating offshore wind turbine from a suspended state to a mud-floating state.

[0039] In this embodiment, when the monitoring system detects a mooring system failure in a suspended state, it monitors real-time operational data and proposes adjustment schemes for different mooring failures, combining anchor chains and water-air displacement operations to successfully transition the foundation to a mud-floating state for maintenance. Through intelligent technology, the reliability and economy of offshore wind power foundations are improved, providing strong technical support for the sustainable development of offshore wind power.

[0040] In one embodiment of the present invention, real-time operating data is obtained by measuring displacement sensors, angle sensors, tension sensors, and an inertial measurement unit. Specific details of the real-time operating data are not elaborated here, as those skilled in the art will already know them.

[0041] In one embodiment of the present invention, the mooring failure early warning model is an LSTM model. The specific LSTM model will not be described in detail here, as it is well known to those skilled in the art.

[0042] In one embodiment of the present invention, step 106 may specifically include:

[0043] The anchor chain was shortened, and the ballast water volume of the floats in the mud-floating offshore wind turbine was increased by using an air-water displacement valve.

[0044] Understandably, the monitoring system comprises five layers: a monitoring layer, a safety alarm system, a computing layer, an automatic control system, and a control layer. The monitoring system identifies and assesses the operational status of the system platform in real time. The monitoring layer incorporates devices such as a liquid level measurement system, tension sensors, tilt sensors, and displacement sensors. This allows the status monitoring system to observe in real time changes in the ballast water volume in the ballast tanks, the mooring force transmitted by the anchor chains, the displacement and angle of the platform structure, and other degrees of freedom, as well as environmental changes such as wind, waves, currents, and tides, in order to determine the structure's buoyancy, stability, and strength.

[0045] The monitoring layer has a built-in automatic alarm device. By judging the data input to the monitoring layer, the alarm system will be activated immediately when the data reaches a dangerous value indicating structural imbalance.

[0046] like Figure 4 As shown, the calculation layer comprises three parts: data analysis, load adjustment calculation, and tensile force calculation. The data analysis system comprehensively analyzes the displacement and tilt changes of the structure based on data transmitted from the monitoring layer, and provides various schemes for adjusting system stability. The load adjustment calculation system and the tensile force calculation system complete the overall calculation process using computer software. Based on the calculation principles of load adjustment and tensile force, and utilizing known parameters in the structure, a suitable mathematical model is established, and appropriate calculation methods are used to solve for the theoretical load adjustment and tensile force changes (see [link to relevant documentation]). Figure 5 and Figure 6 ).

[0047] Once the control system receives the calculation results from the computing layer, it activates the platform's self-adjustment function, enabling the platform to self-adjust.

[0048] The control layer includes control methods for adjusting ballast water volume, the number of ballast tanks, anchor chain tension, and mooring line extension / retraction. The pontoon foundation has a built-in air-water displacement valve. By controlling the opening and closing of this valve, and the valve's on / off state, water can be injected into or discharged from the pontoon to regulate ballast water. Adjusting the number of ballast tanks can increase the loading speed, allowing for rapid water injection or discharge. Alternatively, adjusting the anchor chain tension or length in different directions can help the system achieve balance under external forces.

[0049] After system adjustments are made, the results can be fed back to the monitoring layer in real time. The monitoring layer continuously monitors the system platform in real time, and the entire mooring failure intelligent early warning and handling measures are in dynamic equilibrium, so that the state of the structure can be adjusted immediately.

[0050] Compared with the prior art, the technical solution of the present invention has the following advantages:

[0051] 1) The various systems in this invention are interconnected and monitored in real time, exhibiting a high degree of autonomy. This greatly reduces manpower consumption, lowers the experience requirements for technical personnel and maintenance costs, and enables the platform to maintain continuous stability, thereby improving operational security.

[0052] 2) The monitoring layer of this invention can identify and judge the working status of the system platform in real time through the monitoring system, intuitively reflect the status of each control parameter in the system, make the control system visible, improve the convenience of operation, and enable the device to work more stably and efficiently in the designated sea area.

[0053] 3) This invention analyzes the various factors affecting platform stability and provides multiple solutions from different levels of influence. By comparing the solutions, the optimal solution is selected, thus avoiding human error.

[0054] 4) This invention takes into account the influence of environmental factors around the platform, including wind, waves, currents, and tides. By analyzing data over many years, it predicts tidal changes and determines a tidal value that is closer to the actual value. Based on the changes in the tidal value at the loading dock, it selects a reasonable operating time to ensure operational safety and improve work efficiency.

[0055] 5) Based on statics theory, this invention analyzes the platform's buoyancy, stability, and strength at the theoretical level. By using known parameters, a mathematical model that conforms to the actual situation is established. Appropriate calculation methods are used to solve the changes in regulating force using a computer, making it more scientific and systematic, greatly simplifying the calculation process, and improving the system's regulating speed.

[0056] 6) The status monitoring system during the loading process of this invention has a built-in large visual screen, which can intuitively reflect the status of the platform and allow direct operation on the objects on the screen. After the operation is performed, the screen can immediately provide feedback information or results, making it more convenient for the operator to control.

[0057] 7) This invention utilizes the intuitive images, objective data, and trend prediction functions in the monitoring software to record the entire load adjustment process. Furthermore, its alarm function is highly sensitive and can issue an alarm immediately when it is determined that there is a risk of platform imbalance, which can prevent accidents and improve the safety of operations.

[0058] 8) In this invention, multiple air-water replacement valves are installed inside the float, which reduces the requirements for the flow rate and head of the air-water replacement valves. At the same time, it shortens the pipeline length, reduces pipeline resistance, and reduces energy loss in the pipeline, which can significantly reduce costs.

[0059] 9) The high degree of autonomy of this invention can minimize human error and mistakes, eliminate the disadvantages of slow response, poor precision and high requirements for operator experience in manual adjustment, effectively reduce the risk of accidents caused by floating instability during state transition, ensure the safe state transition of large structures, improve the safety of state transition, significantly improve work efficiency, reduce the time required for state transition, achieve a more efficient work process, and provide more reliable protection for state transition.

[0060] 10) This invention is self-contained, and the entire status monitoring and control system is in continuous operation. It feeds back the main influencing factors to the load control system in real time, which can make the calculation results of the load value take into account the influence of the current tide level, load efficiency, ballast system layout, data acquisition speed and accuracy, greatly improving the accuracy of the calculation. It can also predict the changing trend of structural stability, which helps the staff to make correct and timely judgments and make reasonable dynamic compensation for the overall measurement and calculation results.

[0061] like Figure 2 , Figure 3 As shown, this embodiment of the invention provides a mooring failure early warning device for a mud-floating offshore wind turbine. The device embodiment can be implemented through software, hardware, or a combination of both. From a hardware perspective, as... Figure 2 The diagram shown is a hardware architecture diagram of an electronic device for a mooring failure early warning device of a mud-floating offshore wind turbine provided in an embodiment of the present invention. Besides... Figure 2 In addition to the processor, memory, network interface, and non-volatile memory shown, the electronic device in the embodiment may also include other hardware, such as a forwarding chip responsible for processing packets. Taking software implementation as an example, such as... Figure 3 As shown, a device in a logical sense is formed by the CPU of the electronic device in which it is located reading the corresponding computer program from the non-volatile memory into the memory for execution.

[0062] This embodiment provides a mooring failure early warning device for a mud-floating offshore wind turbine, comprising:

[0063] The acquisition module 300 is used to acquire real-time operating data of the mud-floating offshore wind turbine when it is in a suspended state.

[0064] The prediction module 302 is used to input real-time operating data into a pre-built mooring failure early warning model and output the prediction results of mooring failure of mud-floating offshore wind turbines.

[0065] The control module 304 is used to control the anchor chain and air-water displacement valve of the mud-floating offshore wind turbine to operate based on the prediction results, so as to change the mud-floating offshore wind turbine from a suspended state to a mud-floating state.

[0066] In this embodiment of the invention, the acquisition module 300 can be used to execute step 100 in the above method embodiment, the prediction module 302 can be used to execute step 102 in the above method embodiment, and the control module 304 can be used to execute step 104 in the above method embodiment.

[0067] In one embodiment of the present invention, real-time operating data is obtained by measuring displacement sensors, angle sensors, tension sensors and inertial measurement units.

[0068] In one embodiment of the present invention, the mooring failure early warning model is an LSTM model.

[0069] In one embodiment of the present invention, the control module 306 is configured to perform the following operations:

[0070] The anchor chain was shortened, and the ballast water volume of the floats in the mud-floating offshore wind turbine was increased by using an air-water displacement valve.

[0071] In related technologies, during the installation and transition from a suspended state to a mud-floating state of offshore wind turbines, a large amount of silt and rocks will appear at the bottom of the base, which is not conducive to the embedding of the foundation into the base.

[0072] To address the aforementioned technical problems, embodiments of the present invention also provide a mooring failure early warning system for mud-floating offshore wind turbines (such as...). Figure 7 (As shown) includes a wind turbine 1, tower 2, foundation 3, and base 4 connected sequentially from top to bottom. Lateral anchor chains 5 and anchor bolts 6 are sequentially connected to foundation 3. A vertical anchor chain 7 connects foundation 3 and base 4. The mooring failure early warning system includes a dredging device (such as...). Figures 7 to 11 The dredging device includes a controller (not shown in the figure) disposed within the tower 2, the controller being used to execute the method as described in any of the above embodiments, and the dredging device comprising:

[0073] The robotic arm grab bucket 1a, installed on the outer wall of the base 4, is used to remove stones and upper silt from inside the base 4.

[0074] The vibrating rod 2a installed inside the base 4 is used to loosen the lower layer of silt inside the base 4.

[0075] The sludge pump 3a, installed on the base 4, is used to suck the loosened lower layer of sludge out of the base 4.

[0076] In this embodiment, during the installation process, the device is first used to dredge the seabed, facilitating the smooth installation of the mud-floating foundation 3 and the base 4. When encountering extreme marine environments requiring a transition from a suspended to a mud-floating state, the device first dredges the base 4, ensuring that the foundation 3 can be fully embedded into the base 4. This technology features thorough dredging, wide applicability, and high operational efficiency, providing strong support for the stable operation and smooth state transition of the offshore wind power foundation 3.

[0077] Specifically, during the transition of foundation 3 from a suspended state to a mud-floating state, a large amount of silt at the bottom of base 4 needs to be cleared before foundation 3 can be fully integrated with base 4. At this time, a remotely controlled robotic arm grab bucket 1a is used to roughly remove large clumps of silt and rocks accumulated on the upper part. Then, a vibrator 2a is activated to loosen the silt accumulated inside base 4. Finally, a mud pump 3a is used to suck out the loosened silt, completing the silt removal work on base 4 and allowing the structure to better complete the state transition. When the structure is in a mud-floating state, the robotic arm grab bucket 1a is located on the side wall of base 4, leaving space for foundation 3 to sink.

[0078] In one embodiment of the present invention, the bottom of the vibrating rod 2a has a conical structure (not shown in the figure) to facilitate better insertion into the mud.

[0079] like Figure 8 As shown, in one embodiment of the present invention, a camera 4a is provided at the bottom center of the base 3. The camera 4a is used to perform visual operation of the robotic arm grab bucket 1a in conjunction with a remote control system (not shown in the figure) at the back end.

[0080] In this embodiment, an underwater visualization camera 4a is installed at the lower spherical part of the foundation 3. When the foundation 3 transitions from a suspended state to a mud-floating state, it descends. When the underwater camera 4a on the base 4 achieves a certain range and clarity, the operator remotely controls the robotic arm grab bucket 1a via a computer. Combined with the underwater visualization camera 4a, dredging and silt removal can be carried out intuitively and conveniently. When the silt removal work is completed, the robotic arm grab bucket 1a returns to the outside of the foundation 3, leaving space for the foundation 3 to sink. The underwater visualization camera 4a can monitor and observe the silt accumulation at the bottom of the mud-floating structure in real time. With the help of computer-aided equipment, the robotic arm grab bucket 1a can be controlled to perform targeted silt removal work on the base 4. This technology makes the silt removal work intuitive and convenient, reducing the difficulty of silt removal.

[0081] In some implementations, the robotic arm grab 1a can be remotely controlled by a computer using digital twin technology, which will not be elaborated here.

[0082] In one embodiment of the present invention, a spiral blade 5a is provided on the bottom outer periphery of the base 3, which can rotate as the base 3 rises and sinks.

[0083] In this embodiment, a spiral blade 5a is installed at the bottom of the foundation 3. A vertical anchor chain is connected to the central axis of the spiral blade 5a. The spiral blade 5a can rotate as the foundation 3 rises and falls, and can also be controlled by a motor. The spiral blade 5a can remove marine organisms attached to the lower part of the foundation 3, as well as remove and cut flexible plants such as aquatic plants that may entangle or adhere to the anchor chain, preventing the influence of impurities when the anchor chain is raised or lowered, and ensuring that the structure can smoothly complete the state transition.

[0084] In one embodiment of the present invention, the base 4 is provided with a plurality of grooves 41, each groove 41 corresponding to a spiral blade 5a. The inner wall surface of each groove 41 is provided with a plurality of air outlets 6a to centrally exhaust air outward to remove the silt deposited in that part, prevent excessive silt accumulation, and prevent the anchor chain from operating normally. This plays a crucial role in maintaining the stable state transition of the mud-floating structure.

[0085] In one embodiment of the present invention, the base 4 is provided with a plurality of compartment plates 42. The compartment plates 42 are used to divide the cavity inside the base 4 into a plurality of compartments. Each compartment is provided with a vibrating rod 2a and each compartment corresponds to a robotic arm grab bucket 1a and a mud suction pump 3a.

[0086] In this embodiment, the base 4 adopts a compartmentalized approach, dividing the hexagonal structure of the foundation 3 into six equal compartments via compartmentalized plates 42. Each compartment independently undertakes dredging work, reducing the difficulty of dredging the entire structure. Each compartment is equipped with a sludge suction pump 3a, one end of which is connected to the interior of the compartment of the base 4, and the other end is connected to the external marine environment. The sludge suction pump 3a, in conjunction with the vibrating rod 2a, can completely suck out the sludge that is difficult to remove by the robotic arm grab bucket 1a, ensuring the cleanliness of the base 4 and providing bottom space for the structure to transition from a suspended state to a mud-floating state, allowing the foundation 3 to be completely fitted into the base 4.

[0087] In one embodiment of the present invention, the dredging device further includes an annular belt 7a surrounding the inner ring of the base 4, the annular belt 7a being connected to the compartment plate 42, and the sludge pump 3a being disposed on the annular belt 7a.

[0088] In one embodiment of the present invention, a micro pump (not shown in the figure) is provided inside the ring 7a, and a plurality of first water outlet holes 8a connected to the micro pump are provided on the outside of the ring 7a, so as to flush the silt deposited on the upper part of the base 4 by spraying high-pressure water flow, so as to prevent the silt from accumulating and hindering the sinking of the foundation 3.

[0089] like Figure 11 As shown, in one embodiment of the present invention, the side wall of the anchor 6 is provided with a water inlet hole 9a, the inside is provided with a booster 10a, and the bottom wall is provided with a second water outlet hole 11a. The water inlet hole 9a, the booster 10a and the second water outlet hole 11a are connected in sequence.

[0090] In this embodiment, during the sinking of the anchor 6, the water inlet 9a draws in water. When the anchor 6 is about to reach the mud surface, the second water outlet 11a opens and uses the booster 10a to spray high-pressure water outward to flush the silt on the seabed, loosening and suspending the seabed mud and sand layer. This has a good effect on softer mud and sediment, thereby making the seabed surface where the anchor 6 is located smoother.

[0091] In one embodiment of the present invention, a flushing pipe 12a is provided on the top of the anchor 6, and the water inlet 9a, the booster 10a and the flushing pipe 12a are connected in sequence, with the outlet of the flushing pipe 12a facing the lateral anchor chain 5.

[0092] In this embodiment, the lateral anchor chain 5 contacts the transmission gear set in the anchor 6. Two flushing pipes 12a are installed on the upper part of the anchor 6. The flushing pipes 12a can use the booster 10a to spray high-pressure water to flush away marine organisms attached to the lateral anchor chain 5. At the same time, it cleans the lateral anchor chain 5 and prevents the lateral anchor chain 5 from rusting and the large amount of marine organisms attached, which would make it difficult for the lateral anchor chain 5 to retract normally.

[0093] It is understood that the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on a mooring failure early warning device for a mud-floating offshore wind turbine. In other embodiments of the present invention, a mooring failure early warning device for a mud-floating offshore wind turbine may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0094] The information interaction and execution process between the modules in the above-mentioned device are based on the same concept as the method embodiment of the present invention, and the specific details can be found in the description of the method embodiment of the present invention, and will not be repeated here.

[0095] This invention also provides an electronic device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements a mooring failure early warning method for a mud-floating offshore wind turbine according to any embodiment of this invention.

[0096] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform a mooring failure early warning method for a mud-floating offshore wind turbine according to any embodiment of this invention.

[0097] Specifically, a system or apparatus equipped with a storage medium may be provided, on which software program code implementing the functions of any of the embodiments described above is stored, and the computer (or CPU or MPU) of the system or apparatus may read and execute the program code stored in the storage medium.

[0098] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of the present invention.

[0099] Examples of storage media used to provide program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.

[0100] Furthermore, it should be clear that not only can the program code read by the computer be executed, but also the operating system or other components operating on the computer can be instructed based on the program code to perform some or all of the actual operations, thereby realizing the function of any of the embodiments described above.

[0101] Furthermore, it is understood that the program code read from the storage medium is written to the memory set in the expansion board inserted into the computer or to the memory set in the expansion module connected to the computer. Then, based on the instructions of the program code, the CPU or other components installed on the expansion board or expansion module execute some and all of the actual operations, thereby realizing the function of any of the embodiments described above.

[0102] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or electronic device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or electronic device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or electronic device that includes said element.

[0103] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various storage media that can store program code, such as ROM, RAM, magnetic disk, or optical disk.

[0104] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mooring failure early warning system for a mud-floating offshore wind turbine, characterized in that, The mud-floating offshore wind turbine includes a wind turbine, a tower, a foundation, and a base connected sequentially from top to bottom. Lateral anchor chains and anchors are sequentially connected to the foundation, and a vertical anchor chain connects the foundation and the base. The mooring failure early warning system includes a dredging device and a controller installed inside the tower. The controller is used to execute: Acquire real-time operating data of mud-floating offshore wind turbines in a suspended state; The real-time operating data is input into a pre-built mooring failure early warning model, and the predicted results of mooring failure of the mud-floating offshore wind turbine are output. Based on the prediction results, the anchor chain and air-water replacement valve of the mud-floating offshore wind turbine are controlled to operate so that the mud-floating offshore wind turbine changes from a suspended state to a mud-floating state. The dredging device includes: The robotic arm grab bucket installed on the outer wall of the base is used to remove stones and upper silt from inside the base; The vibrating rod installed inside the base is used to loosen the lower layer of silt inside the base; The sludge suction pump installed on the base is used to suck the loosened lower layer of sludge out of the base. The base has multiple compartment plates inside, which are used to divide the cavity inside the base into multiple compartments. Each compartment is equipped with a vibrating rod, and each compartment corresponds to a robotic arm grab and a mud suction pump.

2. The system according to claim 1, characterized in that, The real-time operating data is obtained through measurements using displacement sensors, angle sensors, tension sensors, and inertial measurement units.

3. The system according to claim 2, characterized in that, The mooring failure early warning model is an LSTM model.

4. The system according to any one of claims 1-3, characterized in that, Operating the anchor chain and air-water displacement valve of the mud-floating offshore wind turbine includes: The anchor chain was shortened, and the ballast water volume of the floats in the mud-floating offshore wind turbine was increased by using an air-water displacement valve.

5. The system according to claim 1, characterized in that, The anchor has a water inlet hole on its side wall, a booster inside, and a second water outlet hole on its bottom wall. The water inlet hole, the booster, and the second water outlet hole are connected in sequence. A flushing pipe is provided on the top of the anchor bar, and the water inlet, the booster and the flushing pipe are connected in sequence, with the outlet of the flushing pipe facing the lateral anchor chain.

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