A self-adapting silt seabed suction anchor anti-displacement system and construction method

Abstract

The present application relates to the field of suction anchors, and discloses a suction anchor anti-displacement system for self-adaptive silt seabed and a construction method, which comprises a suction anchor body, a sensor module, a control module and an actuator mechanism. The method comprises the following steps: acquiring the posture, pressure difference and penetration depth signals of the suction anchor in real time through the sensor module; processing the signals by an AI adaptive control engine and generating control instructions; finally, adjusting the pressure difference inside and outside the anchor body according to the instructions by the actuator mechanism, so as to adaptively control the penetration or jacking process. Through AI adaptive control, the system can accurately guide the safe penetration of the suction anchor, form a firm anchoring, and significantly improve the operation safety of the ship in high-flow sea areas after being connected with the ship. The present application solves the problem that the traditional anchor is easy to walk off and fail in silt seabed, and its reusable design compared with anchor blocks greatly reduces the engineering cost and environmental impact, and has outstanding economic benefits.

Description

Technical Field

[0001] The present invention relates to the technical field of suction anchors, and in particular to a suction anchor anti-displacement system and a construction method for self-adapting to a muddy seabed. Background Art

[0002] During the installation of large marine structures such as offshore wind power plants and oil and gas platforms, construction vessels must be anchored accurately and stably at predetermined locations to ensure construction safety and project quality.

[0003] Currently, temporary mooring systems for construction vessels typically utilize traditional high-holding anchors, such as drag anchors or gravity anchors. These anchors rely primarily on their own weight and the unique geometry of their claws to embed themselves into the seabed surface, generating anchoring force. During the underwater installation of large components such as bucket foundations, vessels must withstand the lateral forces generated by ocean currents acting on the massive underwater structure for extended periods, placing extremely high demands on the stability of the anchoring system.

[0004] However, when the operating area is a muddy seabed with low shear strength, the anchor claws of traditional anchors have difficulty effectively cutting into and anchoring in deep stable soil. They are very likely to slide on the surface, resulting in the "anchor drag" phenomenon, which seriously threatens construction safety and quality. Although suction anchor technology is considered a potential solution because it can provide strong suction by using the negative pressure principle, its traditional installation process is highly dependent on operator experience and lacks the ability to perceive the penetration status in real time and adaptively control it. This results in low installation efficiency and a difficult to guarantee success rate when facing complex and variable seabed resistance, which greatly limits its promotion and application as an efficient, reliable and reusable anti-displacement solution.

[0005] Therefore, the present invention proposes an adaptive mud seabed suction anchor anti-displacement system and construction method to address the deficiencies of the prior art. Summary of the Invention

[0006] In response to the shortcomings of the existing technology, the present invention provides an adaptive suction anchor anti-displacement system and construction method for muddy seabeds, aiming to solve the problems that traditional anchors are prone to anchor drift and fail in muddy seabeds. At the same time, the existing suction anchor installation process has low operational reliability and high risk due to the lack of precise adaptive control means.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0008] A first aspect of the present invention provides an adaptive mud seabed suction anchor anti-displacement system, comprising:

[0009] The suction anchor body comprises a steel drum and a reinforcing ring plate mechanism. A center plate is provided inside the steel drum. A barrel top cover plate is fixedly connected to the top of the steel drum. A center column is fixedly connected to the top of the barrel top cover plate. A plurality of reinforcing plates are distributed around the outer circumference of the center column. The reinforcing plates are embedded in the steel drum and the barrel top cover plate. The reinforcing ring plate mechanism is provided inside the barrel top cover plate. Four eye plates are provided at equal distances on the outer side of the steel drum.

[0010] A sensor module is fixed on the central column;

[0011] The sensor module includes a gyroscope attitude measurement unit for measuring the attitude of the suction anchor, a pressure sensor for measuring the pressure difference between the inside and outside of the suction anchor, and an underwater acoustic altimeter for measuring the penetration depth of the suction anchor;

[0012] A control module, signal-connected to the sensor module, wherein the control module is provided with an AI adaptive control engine for processing the measurement signal of the sensor module and generating a control signal;

[0013] An actuator is connected to the control module signal, and the actuator adjusts the internal and external pressure difference of the suction anchor body according to the control signal to control the penetration or lifting of the suction anchor.

[0014] Preferably, a plurality of reinforcing ribs are distributed on the outer circumference of the lower portion of the steel drum.

[0015] Preferably, a plurality of guide pins are distributed at equal distances on the bottom of the steel barrel.

[0016] Preferably, a plurality of reinforcing ribs 2 are distributed on the inner circumference of the upper portion of the steel drum.

[0017] In a specific embodiment, the reinforcing ring plate mechanism includes reinforcing ring plate one, reinforcing ring plate two and reinforcing ring plate three, and the reinforcing ring plate one, reinforcing ring plate two and reinforcing ring plate three are all fixedly connected to the inner side of the barrel top cover plate, the reinforcing ring plate one is located at the innermost side of the barrel top cover plate, the reinforcing ring plate three is located at the outermost side of the barrel top cover plate, and the reinforcing ring plate two is arranged between the reinforcing ring plate one and the reinforcing ring plate three.

[0018] Preferably, the control module further comprises a multi-sensor data fusion module, the multi-sensor data fusion module being used to perform fusion processing on the measurement signals from the sensor modules to obtain a posterior state estimation of the motion state of the suction anchor;

[0019] The multi-sensor data fusion module adopts the Kalman filter algorithm by calculating the Kalman gain to update the a posteriori state estimate of the motion state of the suction anchor;

[0020] The Kalman gain The calculation formula is:

[0021] ;

[0022] Where, is the covariance matrix of the prior estimate; is the observation matrix; is the transpose of the measurement matrix; is the measurement noise covariance matrix.

[0023] Preferably, the AI ​​adaptive control engine adopts a model predictive control method to predict the future state of the suction anchor based on a preset system dynamics model and the real-time measurement signal of the sensor module, and generates the optimal control signal.

[0024] In a specific embodiment, the system dynamics model used in the model predictive control method is defined by the following formula:

[0025] ;

[0026] Where, is the total mass of the suction anchor body; is the vertical penetration acceleration; is the total gravity; for buoyancy; It is the control force generated by the internal and external pressure difference; is the comprehensive resistance of the silt seabed.

[0027] A second aspect of the present invention provides a method for constructing an adaptive suction anchor for preventing displacement in a muddy seabed, the method comprising the following steps:

[0028] a) Real-time acquisition: The sensor module is used to obtain the measurement signals of the suction anchor’s posture, internal and external pressure difference, and penetration depth in real time;

[0029] b) Adaptive control: using an AI adaptive control engine within a control module to process the measurement signal obtained in step a) and generate a control signal for adjusting the pressure difference between the inside and outside of the suction anchor;

[0030] c) Closed-loop execution: driving the actuator to adjust the internal and external pressure difference of the suction anchor according to the control signal generated in step b) to adaptively control the penetration or lifting process of the suction anchor.

[0031] Preferably, the adaptive control of step b) specifically includes: first, using the multi-sensor data fusion module in the control module to process the measurement signal to obtain a posterior state estimate of the motion state of the suction anchor; then, the AI ​​adaptive control engine adopts a model predictive control method to solve the optimal control strategy based on the posterior state estimate and a preset system dynamics model to generate the control signal.

[0032] The present invention provides a suction anchor anti-displacement system and construction method for self-adapting to muddy seabeds. It has the following beneficial effects:

[0033] 1. The present invention solves the problem of insufficient adhesion and easy displacement of conventional anchors on muddy seabeds by providing a suction anchor body that can generate internal negative pressure and penetrate the seabed to a predetermined depth. The suction anchor uses its cylindrical structure to penetrate into the stable soil layer below the surface mud, and forms a strong adsorption force through the internal and external pressure difference to firmly lock the anchor body, thereby providing an extremely stable anchoring point for the ship. This design fundamentally improves the anchoring reliability and construction safety in harsh sea conditions, especially when carrying out large-scale barrel foundation installation operations. By arranging longitudinal reinforcement ribs on the inner and outer walls of the suction anchor body, and arranging radial reinforcement plates and annular reinforcement plate mechanisms on the inner side of the barrel top cover plate, the anchor body structure is fully strengthened.

[0034] 2. This invention achieves intelligent, adaptive, and precise control of the suction anchor penetration process through a closed-loop control system consisting of a sensor module, a control module, and an actuator. This system senses the anchor's posture and penetration status in real time, predicts changes in seabed resistance based on a dynamic model, and dynamically adjusts the negative pressure. This adaptive control approach ensures stable and efficient installation of the suction anchor to the desired depth in complex, muddy seabed environments, making the entire anti-displacement system deployment process safe and controllable, and avoiding project risks caused by installation errors.

[0035] 3. The present invention's unique recyclable design, which generates positive pressure by reversely injecting water into the anchor body to lift it off the seabed, gives the suction anchor anti-displacement system superior reusability, resulting in significant economic and environmental benefits. Compared to conventional single-use ground anchor solutions, the suction anchor of the present invention can be completely and intactly recovered after completing a single anchoring task and quickly transferred to the next bucket foundation installation operation. This recycling model greatly reduces the material cost of a single operation and the disturbance to the marine environment, and is particularly suitable for engineering projects that require the continuous deployment of multiple anchoring points.

[0036] 4. The present invention systematically solves the technical bottlenecks of traditional suction anchors by innovatively setting a central column inside the suction anchor body and integrating the pumping structure and sensor module into the central column. In traditional designs, the suction port is flush with the top cover, and the unevenly raised soil plug during the pumping process will block it first, which not only causes unexpected interruption of the penetration process, but also makes it difficult for the top cover to fully contact the mud surface. The central column design of the present invention ensures the continuous stability of the pumping and monitoring functions, so that they are completely unaffected by the uplift of the soil plug; more importantly, this structure can greatly increase the contact area between the raised soil plug and the suction anchor top cover, thereby significantly improving the overall bearing capacity of the suction anchor and obtaining a more reliable anchoring effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a structural diagram of the suction anchor body of the present invention;

[0038] Figure 2 This is a schematic diagram of the reinforcing plate structure of the present invention;

[0039] Figure 3 This is a schematic diagram of the internal structure of the suction anchor body of the present invention;

[0040] Figure 4 This is a schematic diagram of the internal structure of the central column of the present invention;

[0041] Figure 5 is a flow chart of the adaptive control system of the present invention;

[0042] Figure 6 It is a flow chart of the construction method of the present invention;

[0043] Figure 7 Schematic diagram of the application scenario of the present invention.

[0044] Among them, 1. Steel barrel; 2. Eye plate; 3. Center plate; 4. Center column; 5. Reinforcement plate; 6. Reinforced ring plate mechanism; 61. Reinforced ring plate 1; 62. Reinforced ring plate 2; 63. Reinforced ring plate 3; 7. Reinforced rib plate 1; 8. Reinforced rib plate 2; 9. Guide column; 10. Gyroscope attitude measurement unit; 11. Pressure sensor; 12. Underwater acoustic altimeter; 13. Barrel top cover plate; 14. Sensor module; 15. Control module; 16. Actuator. DETAILED DESCRIPTION

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the present specification. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0046] Please see the attached Figure 1 -Attached Figure 5 Embodiments of the present invention provide a suction anchor anti-displacement system that adapts to muddy seabeds. This system aims to address the technical issue of conventional anchoring systems being susceptible to dragging anchors due to high flow velocities when large floating structures operate in muddy seabeds, creating safety and quality risks. By providing a suction anchor that can be precisely installed and leverages the strength of deep soil, this system complements or replaces conventional anchoring systems, ensuring a secure anchor system.

[0047] In a specific embodiment, the system includes a suction anchor body, a sensor module 14 , a control module 15 and an actuator 16 .

[0048] The suction anchor body is the main load-bearing structure of the system and includes a steel drum 1, a center plate 3, a drum top cover 13, a center column 4, a reinforcement plate 5, and a reinforcement ring plate mechanism 6.

[0049] The steel drum 1 forms the anchor's main cylindrical structure, defining an enclosed volume sufficient to penetrate the muddy seabed to a predetermined depth. A central plate 3 is located in the center of the drum. A top cover 13 is secured to the top of the drum. This seal creates a stable negative pressure and suction when pumping water. It also provides a sturdy mounting base for the central column 4 and external operating equipment.

[0050] The central column 4 is positioned perpendicular to the center of the barrel top cover 13. It provides a stable and central mounting point for the internal sensor module 20 and serves as an access point for the external actuator 16 (such as a water pump). The reinforcement plates 5 are radially distributed and provide radial structural support for the barrel top cover 13. This helps resist the significant forces generated by the internal and external pressure differential during installation and operation, preventing the barrel top cover 13 from centrally sag or radial buckling. In this embodiment, sixteen reinforcement plates 5 are installed, embedded within the steel drum 1 and the barrel top cover 13 to enhance the overall structural strength and connection rigidity of the suction anchor body.

[0051] To further enhance the overall structural strength of the suction anchor body, a reinforcing ring plate mechanism 6, reinforcing rib plate 1 7, and reinforcing rib plate 2 8 are also provided. The reinforcing ring plate mechanism 6 is located within the barrel top cover plate 13 and is composed of multiple concentric rings. Together with the radial reinforcing plates 5, it forms a grid-like reinforcement structure, providing circumferential support for the barrel top cover plate 13 and preventing localized deformation under uneven external forces. Specifically, the reinforcing ring plate mechanism 6 includes reinforcing ring plate 1 61, reinforcing ring plate 2 62, and reinforcing ring plate 3 63. All three are fixedly connected to the inside of the barrel top cover plate 13. Reinforcing ring plate 1 61 is located on the inner side closest to the center column 4, reinforcing ring plate 3 63 is located on the outer side closest to the inner wall of the lower steel barrel 1, and reinforcing ring plate 2 62 is located between reinforcing ring plates 1 61 and 3 63.

[0052] Both reinforcing ribs 1 7 and 2 8 are longitudinal reinforcing ribs, designed to increase the anchor body's anti-buckling capacity and prevent instability under external hydrostatic pressure and soil lateral pressure during penetration. Ribs 1 7 are evenly spaced on the lower, outer side of the steel drum 1 and also provide resistance to external water flow. In this embodiment, eight reinforcing ribs 1 7 are provided. Ribs 2 8 are evenly spaced on the upper, inner side of the steel drum 1. In this embodiment, sixteen reinforcing ribs 2 8 are provided. Both ribs 1 7 and 2 8 extend through the center plate 3 to increase the strength of the suction anchor body.

[0053] Several guide pins 9 are evenly spaced along the bottom edge of the steel drum 1. These pins penetrate the seabed before the drum wall during the initial lowering of the suction anchor. This design serves two purposes: first, they provide initial lateral positioning for the anchor, preventing it from sliding on the soft mud surface; and second, they correct its posture, ensuring that the anchor begins penetration in a near-vertical position, creating the initial conditions for subsequent precise installation.

[0054] The sensor module 14 is fixedly mounted on the central column 4. This location, near the geometric center of the suction anchor, accurately reflects its overall motion. The sensor module 14 includes a gyroscope attitude measurement unit 10, which measures the pitch and roll angles of the suction anchor in three dimensions; a pressure sensor 11, which measures the pressure differential between the interior of the suction anchor and the external seawater environment; and an underwater acoustic altimeter 12, which measures the vertical distance between the bottom edge of the suction anchor and the seabed surface, i.e., the penetration depth.

[0055] Control module 15, typically an industrial programmable logic controller (PLC), has its signal input connected to the signal output of sensor module 14. Control module 15 houses an AI adaptive control engine, the core of which is the control algorithm of the present invention. This AI adaptive control engine includes a multi-sensor data fusion module and a model predictive control module.

[0056] The actuator 16 has a signal input terminal connected to the signal output terminal of the control module 15. The actuator 16 receives the control signal from the control module 15 and accurately adjusts the pumping / draining rate of the water pump, thereby changing the internal and external pressure difference of the suction anchor body.

[0057] Refer to the attached Figure 5 The following details the working principle of the adaptive control system of the present invention. The system, through the coordinated operation of the sensor module 14, the control module 15, and the actuator 16, forms a closed-loop feedback control circuit to achieve precise control of the suction anchor body during penetration or lifting.

[0058] In one specific embodiment, the control process is as follows: First, the sensor module 14 is responsible for acquiring real-time physical state data of the suction anchor. The gyroscope attitude measurement unit 10 in this module outputs attitude data regarding pitch and roll angles; the pressure sensor 11 outputs pressure differential data across the anchor; and the underwater acoustic altimeter 12 outputs the vertical distance between the bottom edge of the anchor and the seabed. These raw measurement signals are transmitted to the control module 15.

[0059] The control module 15 is the core of the entire control system. Its internal AI adaptive control engine performs two main functions in sequence: multi-sensor data fusion and model predictive control.

[0060] Multi-sensor data fusion is performed by the Multi-Sensor Data Fusion module. Its purpose is to comprehensively process the noisy and uncertain measurement signals from multiple sensors to generate a more accurate and reliable a posteriori state estimate of the current motion state of the suction anchor. This module uses the Kalman filter algorithm, and its process includes two steps: prediction and update:

[0061] Prediction step: Based on the previous moment The state posterior estimate and system dynamics model predict the current moment The state prior estimate and covariance prior estimate matrix.

[0062] ;

[0063] ;

[0064] Where, is the state vector of the system, which can be specifically expressed as a vector including penetration depth, velocity and acceleration in this embodiment, that is, ;

[0065] For the previous moment The state posterior estimate is the result of the update calculation in the previous step;

[0066] For the current moment The prior estimate of the state of , that is, the current state based on the model prediction;

[0067] is the control input vector applied to the system;

[0068] is the state transition matrix, which describes how the system state changes from time Evolved to ;

[0069] is the control input matrix, which describes how the control input affects the system state;

[0070] For the previous moment The covariance posterior estimation matrix represents the uncertainty of the state estimate at the previous moment;

[0071] For the current moment The covariance prior estimation matrix represents the degree of uncertainty of the current forecast state;

[0072] is the state transition matrix The transpose of

[0073] is the process noise covariance matrix, which represents the uncertainty caused by the difference between the system model itself and the actual physical process.

[0074] Update step: Using the current moment The actual sensor measurement value is used to correct the prior estimate obtained in the prediction step. First, calculate the Kalman gain :

[0075] ;

[0076] Then, calculate the current time The posterior estimate of the state :

[0077] ;

[0078] Finally, update the current time The posterior covariance estimation matrix :

[0079] ;

[0080] Where, is the Kalman gain, which is used to weigh the credibility of the prior estimate and the actual measurement value;

[0081] For the current moment The actual measurement value vector of the sensor module 14;

[0082] is the observation matrix, which is used to map the state vector of the system to the space of sensor measurements;

[0083] is the observation matrix The transpose of

[0084] is the measurement noise covariance matrix, which represents the degree of uncertainty of the sensor measurement value;

[0085] For the current moment The state posterior estimate is the final state estimate after fusing the model prediction and sensor measurement;

[0086] For the current moment The covariance posterior estimation matrix of represents the uncertainty of the final state estimate;

[0087] is the identity matrix.

[0088] Through the above loop iteration, the module continuously outputs high-precision estimation of the suction anchor motion state.

[0089] Model predictive control, which is performed by the model predictive control module, which receives the state estimation value from the multi-sensor data fusion module , and generates the optimal control signal accordingly. Its working method is based on rolling time domain optimization. In each control cycle , the module does the following:

[0090] a) Prediction: Estimated value based on the current state and the preset system dynamics model to predict a finite time domain in the future The state trajectory of the system under different control input sequences. The dynamic model is defined as follows:

[0091] ;

[0092] Where, is the total mass of the suction anchor;

[0093] is the vertical penetration acceleration;

[0094] is the total gravity;

[0095] for buoyancy;

[0096] It is the control force generated by the internal and external pressure difference;

[0097] The suction anchor is subjected to the force during the penetration process, which is related to the penetration depth. and penetration speed The associated combined resistance of the silt seabed.

[0098] b) Optimization: Find the optimal control input sequence by solving the objective function. The objective function aims to minimize the deviation between the predicted trajectory and the reference trajectory while constraining the control energy consumption. A typical objective function is It can be defined as:

[0099] ;

[0100] Where,

[0101] is the objective function value to be minimized;

[0102] is the length of the prediction time domain;

[0103] is the discrete time step in the prediction domain;

[0104] For the future reference state trajectory (e.g., a preset ideal penetration velocity);

[0105] For the future The state trajectory predicted by the model predictive control module;

[0106] For the future Control input;

[0107] and are the weight matrices of state error and control input, respectively, used to adjust the emphasis on tracking accuracy and control energy consumption;

[0108] represents the error vector About the weight matrix The quadratic form of .

[0109] c) Execution: Only the first element of the optimal control sequence obtained by optimization is used as the control signal at the current moment and sent to the actuator 16 through the signal output terminal. , the entire process from a) to c) above will be repeated.

[0110] Finally, the actuator 16 receives the control signal from the control module 15 and converts it into specific operating instructions for equipment such as water pumps, thereby accurately adjusting the internal and external pressure difference of the suction anchor body and realizing closed-loop control of the penetration or jacking process.

[0111] Refer to the attached Figure 6 and attached Figure 7 The present invention also provides a method for constructing an adaptive suction anchor for preventing displacement in a muddy seabed. The method involves installing the suction anchor body at intervals of 200m and can be used on ships with 5-8 barrel-type foundations. In a specific embodiment, the method may include the following steps:

[0112] Preparation and deployment steps: First, the suction anchor body is connected to the surface operation vessel via a lifting device. The power supply and signal transmission cables for the sensor module 14, control module 15, and actuator 16 are connected to the surface vessel's central control unit. Before the operation, reference parameters such as the target penetration depth and expected penetration rate curve are input into the control module 15 via the central control unit. The lifting device is then activated, and the suction anchor body is smoothly lowered to the waters directly above the designated seabed location.

[0113] Initial positioning and placement: Continue lowering the suction anchor until the guide pins 9 at its base contact and penetrate the seabed's surface mud. During this phase, the control module 15 continuously receives and analyzes attitude data from the gyroscopic attitude measurement unit 10 in the sensor module 14 to monitor the anchor's horizontality and verticality. By adjusting the surface vessel's mooring system, the anchor's position is fine-tuned until its initial installation conditions are met, ensuring it sits correctly on the seabed.

[0114] Adaptive penetration control step: After the suction anchor body is stably implanted, the adaptive penetration control process is started. The core of this step is a closed-loop feedback control process led by the AI ​​adaptive control engine in the control module 15.

[0115] When the process starts, the control module 15 sends a command to the actuator 16 to start the water pump to start draining water to the outside of the suction anchor body, thereby forming an initial negative pressure inside the anchor body.

[0116] The system then enters a continuous rolling-horizon control loop. During each control cycle, the sensor module 14 first collects the suction anchor's posture, internal and external pressure difference, and the current penetration depth measured by the underwater acoustic altimeter 12 in real time, and sends these measurement signals to the control module 15.

[0117] After receiving the measurement signal, the multi-sensor data fusion module in the control module 15 executes the aforementioned Kalman filter algorithm to perform prediction and update calculations to obtain an accurate a posteriori state estimate of the current penetration depth, velocity, acceleration and other information of the suction anchor.

[0118] The model predictive control module then uses this posterior state estimate as the current state and, based on the aforementioned system dynamics model, predicts the system state trajectory over a finite time domain in the future. By solving a preset objective function, the module calculates the optimal control sequence that minimizes the deviation between the predicted trajectory and the preset reference trajectory while satisfying control constraints.

[0119] The model predictive control module only uses the first control variable of the optimal control sequence as the final output signal of the current cycle and sends it to the actuator 16.

[0120] After receiving the control signal, the actuator 16 accurately adjusts the power and pumping rate of the water pump, thereby dynamically adjusting the negative pressure inside the suction anchor body, generating optimal control force, and driving the suction anchor to continuously and stably penetrate the muddy seabed at a speed close to the preset reference rate.

[0121] The above control loop is repeatedly executed at a high frequency until the penetration depth measured by the sensor module 14 reaches a preset target depth value, at which point the control module 15 stops the loop.

[0122] Anchoring and Locking Step: When the suction anchor reaches the target penetration depth, the control module 15 instructs the actuator 16 to cease pumping. At this point, the negative pressure created by the enclosed space between the suction anchor and the seabed is maintained, firmly locking the anchor into the deep seabed. The vessel's anchor chain can then be connected to the suction anchor's designated anchor point, completing the final anchoring operation. The buoy on the anchor chain, floating on the sea surface, facilitates the positioning of the suction anchor for subsequent salvage.

[0123] Connecting the construction vessel to the suction anchor: After the suction anchor is locked, the construction vessel begins mooring. Using the vessel's windlass, the operator connects one end of the anchor chain to the eye plate 2, located outside the suction anchor body 100. This connection secures the construction vessel in place using the suction anchor.

[0124] Construction vessel operation steps: After the vessel completes the mooring connection and confirms that the anchoring system is stable and reliable, the construction vessel can carry out its main construction operations.

[0125] Recovery Step: When the anchoring operation is complete and the suction anchor needs to be recovered, the reverse of the insertion process is performed. The control module 15 issues a command to the actuator 16, driving the water pump to inject water into the suction anchor body. The injected water creates a positive pressure inside the anchor body that exceeds the external seawater pressure. This positive pressure not only offsets the adsorption effect of the soil, but also generates an upward thrust at the top of the anchor body, helping the suction anchor to be lifted smoothly from the seabed.

[0126] Transfer to the next operating point: Once the suction anchor is completely free of the seabed, it is retrieved to the deck or hung from the side of the vessel using the surface vessel's lifting equipment. The vessel then transfers the suction anchor to the next scheduled operating area and begins the "prepare and deploy" step anew, completing an efficient, economical, and reusable operation cycle.

[0127] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A suction anchor anti-displacement system for adaptive muddy seabed, characterized in that: include: A suction anchor body, the suction anchor body comprising a steel barrel (1) and a reinforcing ring plate mechanism (6), a center plate (3) being provided inside the steel barrel (1), a barrel top cover plate (13) being fixedly connected to the top of the steel barrel (1), a center column (4) being fixedly connected to the top of the barrel top cover plate (13), a plurality of reinforcing plates (5) being distributed around the outer circumference of the center column (4), the reinforcing plates (5) being embedded in the interior of the steel barrel (1) and the barrel top cover plate (13), the reinforcing ring plate mechanism (6) being provided inside the barrel top cover plate (13), and four eye plates (2) being provided at equal distances on the outer side of the steel barrel (1); A sensor module is fixed on the central column (4); The sensor module comprises a gyroscope attitude measurement unit (10) for measuring the attitude of the suction anchor, a pressure sensor (11) for measuring the pressure difference between the inside and outside of the suction anchor, and an underwater acoustic altimeter (12) for measuring the penetration depth of the suction anchor; A control module, signal-connected to the sensor module, wherein the control module is provided with an AI adaptive control engine for processing the measurement signal of the sensor module and generating a control signal; An actuator is connected to the control module signal, and the actuator adjusts the internal and external pressure difference of the suction anchor body according to the control signal to control the penetration or lifting of the suction anchor.

2. The self-adaptive suction anchor anti-displacement system for muddy seabed according to claim 1, characterized in that: A plurality of reinforcing ribs (7) are distributed on the outer circumference of the lower portion of the steel drum (1).

3. The self-adaptive suction anchor anti-displacement system for muddy seabed according to claim 1, characterized in that: A plurality of guide pins (9) are distributed at equal intervals on the bottom of the steel drum (1).

4. The self-adaptive suction anchor anti-displacement system for muddy seabed according to claim 1, characterized in that: A plurality of reinforcing ribs (8) are distributed on the inner circumference of the upper portion of the steel drum (1).

5. The self-adaptive suction anchor anti-displacement system for muddy seabed according to claim 1, characterized in that: The reinforcing ring plate mechanism (6) comprises a reinforcing ring plate 1 (61), a reinforcing ring plate 2 (62) and a reinforcing ring plate 3 (63), wherein the reinforcing ring plate 1 (61), the reinforcing ring plate 2 (62) and the reinforcing ring plate 3 (63) are all fixedly connected to the inner side of the barrel top cover plate (13), the reinforcing ring plate 1 (61) is located at the innermost side of the barrel top cover plate (13), the reinforcing ring plate 3 (63) is located at the outermost side of the barrel top cover plate (13), and the reinforcing ring plate 2 (62) is arranged between the reinforcing ring plate 1 (61) and the reinforcing ring plate 3 (63).

6. The self-adaptive suction anchor anti-displacement system for muddy seabed according to claim 1, characterized in that: The control module further includes a multi-sensor data fusion module, which is used to perform fusion processing on the measurement signals from the sensor modules to obtain a posterior state estimation of the motion state of the suction anchor; The multi-sensor data fusion module adopts the Kalman filter algorithm by calculating the Kalman gain to update the a posteriori state estimate of the motion state of the suction anchor; The Kalman gain The calculation formula is: ； Where, is the covariance matrix of the prior estimate; is the observation matrix; is the transpose of the measurement matrix; is the measurement noise covariance matrix.

7. The self-adaptive suction anchor anti-displacement system for muddy seabed according to claim 1, characterized in that: The AI ​​adaptive control engine adopts a model predictive control method to predict the future state of the suction anchor based on a preset system dynamics model and the real-time measurement signal of the sensor module, and generates the optimal control signal.

8. The self-adaptive suction anchor anti-displacement system for muddy seabed according to claim 7, characterized in that: The system dynamics model is defined by the following formula: ； Where, is the total mass of the suction anchor body; is the vertical penetration acceleration; is the total gravity; for buoyancy; It is the control force generated by the internal and external pressure difference; is the comprehensive resistance of the silt seabed.

9. A construction method for preventing displacement of a suction anchor in an adaptive mud seabed, applied to an adaptive suction anchor anti-displacement system for a mud seabed as claimed in any one of claims 1 to 8, characterized in that: The following steps are involved: The sensor module is used to obtain the measurement signals of the suction anchor's posture, internal and external pressure difference, and penetration depth in real time; Using the AI ​​adaptive control engine in the control module to process the acquired measurement signal and generate a control signal for adjusting the pressure difference between the inside and outside of the suction anchor; The actuator is driven to adjust the internal and external pressure difference of the suction anchor according to the generated control signal, so as to adaptively control the penetration or lifting process of the suction anchor.

10. The self-adaptive suction anchor anti-displacement construction method for mud seabed according to claim 9, characterized in that: The step of using the AI ​​adaptive control engine in the control module to process the measurement signal obtained and generate a control signal for adjusting the pressure difference between the inside and outside of the suction anchor includes: Processing the measurement signal using a multi-sensor data fusion module within the control module to obtain a posterior state estimate of the motion state of the suction anchor; The AI ​​adaptive control engine adopts a model predictive control method to solve the optimal control strategy based on the posterior state estimation and a preset system dynamics model to generate the control signal.

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