A mobile surface cleaning and flaw detection device for offshore wind power piles and a use method thereof

Abstract

The application discloses a mobile surface cleaning and flaw detection device for offshore wind power piles and a use method, and belongs to the technical field of offshore wind power pile surface cleaning and flaw detection. The technical scheme is that the device comprises a rack, a mobile wheel assembly, a lifting mechanism, a surface cleaning mechanism and a control mechanism. The overall device rack is spirally lowered by the gravity of the machine body and spirally raised by the air bag buoyancy. The surface cleaning mechanism comprises a bottom plate, a cleaning head and a vibrating motor, and the cleaning head is in a conical distribution. A cavity region is formed at the bottom of the cleaning head, and the vibrating motor is embedded in the cavity of the cleaning head. The surface cleaning is completed by the vibrating mode, the operation efficiency is high, and the protection effect on the pile surface is good. The controller is electrically connected with the power mechanism, the surface cleaning mechanism and the flaw detection mechanism, can analyze and record the damage condition, and can enhance the surface cleaning effect by controlling the rotation of the cleaning head. The device can detect the change of the tidal law, complete two cleaning operations at regular times every day, and is efficient and environmentally friendly.

Description

TECHNICAL FIELD

[0001] The present application relates to offshore wind power pile surface cleaning and flaw detection technical field, especially to a mobile type surface cleaning and flaw detection device for offshore wind power pile and use method. BACKGROUND

[0002] Developing offshore wind power industry has become one of the focuses of China's new energy development, and the offshore wind power pile column as the foundation of the high-rise structure of the offshore wind farm, the underwater part is eroded for a long time due to the influence of marine organisms' adhesion, metabolism, fouling and other factors, the stability is greatly reduced, and internal disasters such as pitting and micro fracture may occur, if not cleaned and detected in time, disastrous damage such as column body fracture may occur.

[0003] At present, the industry mainly uses manual diving or high pressure water jet to clean the surface of the pile. Manual diving is high in danger and low in operation efficiency; high pressure water jet cleaning has high cleaning pressure and is easy to damage the protective coating on the surface of the pile. In addition, it is not easy to carry out flaw detection work on the internal defects of the underwater column body.

[0004] Therefore, it is of great significance to reasonably and effectively design an automatic, efficient and non-destructive surface cleaning and flaw detection device for the underwater part of the offshore wind turbine pile foundation. SUMMARY

[0005] In order to solve the above problems, the present application provides a mobile type surface cleaning and flaw detection device for offshore wind power pile and use method to solve the related problems in the background art.

[0006] To achieve the above purpose, the technical scheme adopted by the present application is as follows:

[0007] A mobile type surface cleaning and flaw detection device for offshore wind power pile, comprising a rack, a first moving wheel assembly, a second moving wheel assembly, a lifting mechanism, a surface cleaning mechanism, a control mechanism and a to-be-tested wind power pile, the first moving wheel assembly, the second moving wheel assembly and an upper magnetic induction proximity switch are installed on the upper surface of the rack, the lifting mechanism, the control mechanism and a lower magnetic induction proximity switch are installed on the lower surface of the rack, and the surface cleaning mechanism surrounds the to-be-tested wind power pile in the center of the rack.

[0008] The rack comprises two layers of annular rings with 60° notches, which are coaxially arranged, the rack, the surface cleaning mechanism and the to-be-tested wind power pile have a coaxial spatial positional relationship, and the control mechanism controls the upper magnetic induction proximity switch and the lower magnetic induction proximity switch.

[0009] The rack comprises a C-shaped frame, a connecting frame, a retaining frame, a gear and a servo motor.

[0010] The C-shaped frame comprises an upper C-shaped frame and a lower C-shaped frame; the C-shaped frame is a circular ring with a 60° gap, and the upper C-shaped frame and the lower C-shaped frame are arranged coaxially; the connecting frame is centrally symmetrically distributed in the vertical direction with the device axis as the center, and is arranged along the outer circumference of the C-shaped frame to support and connect the upper C-shaped frame and the lower C-shaped frame; a retaining frame is arranged in the upper C-shaped frame and faces the gap; the servo motor is installed on the upper surface of the upper C-shaped frame, and the output shaft of the servo motor is coaxially fixedly connected with the gear to form a driving mechanism.

[0011] Second and third limiting grooves are formed in the upper C-shaped frame near the two ends thereof; the retaining frame is in the shape of Π, is coplanar with and tightly connected with the upper C-shaped frame, and has a first limiting groove in the middle; the first, second and third limiting grooves are arranged in the vertical plane at an angle of 45° with the horizontal direction and face the axis of the C-shaped frame.

[0012] The lifting mechanism comprises an air inlet electromagnetic valve, an air outlet electromagnetic valve, a non-return valve, an air bag, an air inlet pipeline, an air outlet pipeline and a high-pressure air chamber; the lifting mechanism is arranged on the surface of the lower C-shaped frame.

[0013] When fully inflated, the air bag expands into a cylindrical shape, and the upper bottom surface coincides with the lower bottom surface of the lower C-shaped frame.

[0014] The lower C-shaped frame is a high-density counterweight alloy casting, the air inlet electromagnetic valve is connected with the high-pressure air chamber and the air bag through the air inlet pipeline at the two ends, respectively, the air outlet electromagnetic valve is connected with the air bag and the non-return valve through the air outlet pipeline at the two ends, respectively, and the non-return valve leads to the outside.

[0015] The surface cleaning mechanism comprises a cleaning head bottom plate, a cleaning head, a vibration motor and an annular guide groove; the cleaning head is in the shape of a cone, a cavity region is formed in the bottom of the cleaning head, the vibration motor is embedded in the cavity of the cleaning head, and the base of the vibration motor is tightly attached to the cavity; after the coil of the vibration motor is electrified, the surface cleaning mechanism is vibrated synchronously.

[0016] The surface cleaning mechanism is coaxial with the frame, is arranged between the C-shaped frames, and is coaxial with the frame; the cleaning head bottom plate is also in the shape of a C.

[0017] The control mechanism comprises a flaw detection sensor and a controller, the flaw detection sensor is electrically connected with the controller, detects the damage condition of the surface of the wind power pile to be measured, and transmits the result to the controller; the controller evaluates the damage result, and controls the surface cleaning mechanism to perform cleaning work of different degrees according to the evaluation result.

[0018] The control mechanism is arranged on the surface of the lower C-shaped frame, and the sensing surface faces the center of the lower C-shaped frame.

[0019] The upper magnetic induction proximity switch and the lower magnetic induction proximity switch are arranged at the uppermost and lowermost sides of the C-shaped frame.

[0020] The controller is electrically connected with the lifting mechanism and the surface cleaning mechanism to control the operation of the lifting mechanism and the surface cleaning mechanism.

[0021] The first moving wheel assembly comprises a first moving wheel, a type I connecting flange, a type I spring damping piece, a type I convex connecting piece and a type I concave connecting piece. The first moving wheel is connected with the type I connecting flange and embedded in the second limiting groove. The second moving wheel assembly comprises a second moving wheel and a type II connecting flange. The second moving wheel and the type II connecting flange are connected and embedded in the third limiting groove. Through the first moving wheel, the second moving wheel and their assemblies, the device can be lowered or raised from the wind power pile to be tested in a spiral manner, so that comprehensive cleaning work can be completed.

[0022] The type I convex connecting piece is a cylindrical structural piece with a cylindrical protruding structure. The type I concave connecting piece is a cylindrical structural piece with a cylindrical slot. The cylindrical part of the type I convex connecting piece is coaxially matched with the slot of the type I concave connecting piece. The type I spring damping piece is used to connect the type I convex connecting piece and the type I concave connecting piece, so that the rotational movement of the first moving wheel assembly and the second moving wheel assembly has a certain damping. The shaft part of the type I convex connecting piece has a limiting protrusion to prevent excessive rotational movement.

[0023] The type II convex connecting piece is a cylindrical structural piece with a cylindrical protruding structure. The type II concave connecting piece is a cylindrical structural piece with a cylindrical slot. The cylindrical part of the type II convex connecting piece is coaxially matched with the slot of the type II concave connecting piece. The type II spring damping piece is used to connect the type II convex connecting piece and the type II concave connecting piece, so that the rotational movement of the first moving wheel assembly and the second moving wheel assembly has a certain damping. The shaft part of the type II convex connecting piece has a limiting protrusion to prevent excessive rotational movement.

[0024] The device is provided with three limiting grooves, i.e. a first limiting groove, a second limiting groove and a third limiting groove. The first moving wheel assembly and the second moving wheel assembly can be installed at any position as required.

[0025] The cleaning head bottom plate is coaxially matched with the upper C-shaped frame. The cleaning head bottom plate is provided with a ring-shaped guide groove concentric with it. The upper surface of the cleaning head is provided with a ring-shaped suspension head which is suspended on the ring-shaped guide groove and can slide relative to the ring-shaped guide groove.

[0026] The outermost circumferential gear belt is provided around the cleaning head and is tightly matched with the gear driven by the servo motor.

[0027] The upper and lower sides of the C-shaped frame are provided with two proximity switches, namely an upper magnetic induction proximity switch and a lower magnetic induction proximity switch; the proximity switches are AC / DC universal Hall magnetic induction proximity switches, which are used to sense the magnet ring placed in advance on the wind power pile; the magnet ring includes an upper limiting magnet ring and a lower limiting magnet ring; the magnet ring is coaxially arranged with the wind power pile, and the longitudinal position is arranged according to the tidal law;

[0028] The longitudinal position is specifically that the position of the upper limiting magnet ring is the upper limit of the position reached by the surface cleaning and flaw detection device when the tidal level increases to the maximum value, and a certain margin is left; the position of the lower limiting magnet ring is the lower limit of the position of the surface cleaning and flaw detection device under the requirements of pressure resistance and waterproof, and a certain margin is left.

[0029] The lifting mechanism further includes a sliding assembly, the sliding assembly includes a ball and a sliding groove, the sliding groove is circumferentially distributed along the inner ring of the lower C-shaped frame, and the balls are uniformly distributed in the sliding grooves, and the diameter of the balls is greater than the distance between the notches.

[0030] A use method of the mobile surface cleaning and flaw detection device based on the offshore wind power pile, including the following steps:

[0031] A, the initial state is that the air inlet electromagnetic valve is closed, the air bag is fully inflated, and the device floats on the water surface; the device rises with the rising of the tidal water, and when the upper limiting magnet ring senses the upper magnetic induction proximity switch, the air release electromagnetic valve is opened, and the air bag is deflated; in the overall frame, the lower C-shaped frame is a high-density counterweight alloy casting, so that the device can overcome the decrease in seawater buoyancy under the influence of its own gravity;

[0032] B, during the descent of the device, the surface cleaning mechanism starts to work, the vibration motor coil is energized, the surface cleaning mechanism vibrates synchronously, and the cleaning head cleans the surface attachments of the wind power pile to be measured;

[0033] C, after the surface cleaning mechanism starts to work, the flaw detection sensor starts to work;

[0034] D, the device continues to descend to the lower magnetic induction proximity switch sensing the lower limiting magnet ring; at this time, the vibration motor coil is de-energized, the surface cleaning mechanism stops vibrating, and the surface cleaning work stops; the air release electromagnetic valve is closed, the air inlet electromagnetic valve is opened, the gas enters the air bag from the high-pressure gas chamber through the air inlet pipeline, and when the pressure in the air bag reaches the set threshold, the air inlet electromagnetic valve is closed, and the air bag is in a fully inflated state; the device as a whole rises under the condition that the buoyancy is greater than its own gravity;

[0035] E, during the rising of the device, the flaw detection sensor continues to work, and the controller records the damage position and damage condition;

[0036] F, after the device rises to the water surface, the surface cleaning mechanism and the flaw detection sensor stop working, the air bag is in a fully inflated state, and the device floats on the water surface;

[0037] G, repeat the steps A-F, according to the experience law, the tidal water reaches the tide peak at two times in a day, that is, the steps A-F are repeated twice, the air bag is inflated and deflated twice a day, and the device cleans the surface of the pile twice a day, so that excessive cleaning and resource waste are avoided.

[0038] In step C, the working process of the control mechanism is as follows:

[0039] A, the eddy current probe detects the damage condition of the pile surface;

[0040] B, the controller receives and analyzes the damage condition, if the damage condition of a position on the pile surface is a serious type or the surface has more attachments, the servo motor drives the cleaning head to rotate along the axis in the device; through the rotating mode, the cleaning head is effectively prevented from being stuck by the attachments on the convex surface of the pile; the current of the vibration motor coil is adjusted to change the vibration intensity of the cleaning head, and the current of the servo motor coil is adjusted to change the rotation speed and direction of the cleaning head, so that the surface cleaning effect on the position is improved;

[0041] C, if the damage condition of the pile surface is a basic type, the power supply of the servo motor is cut off, only the surface cleaning of the position with general effect is needed; meanwhile, the use of the live actuator is reduced, so that the operation of the present application is safer, energy-saving and environment-friendly.

[0042] Compared with the prior art, the present application has the following advantages:

[0043] (1) the present application realizes automatic lifting by air bag inflation and deflation and high-density counterweight design, without manual operation or external continuous energy supply, and completes twice cleaning and flaw detection operation every day, so that the energy consumption and labor cost are significantly reduced.

[0044] (2) the present application adopts a vibration motor to drive a conical cleaning head, which strips the attachments through high-frequency vibration, and the cleaning strength is moderate; in combination with the servo motor to drive the cleaning head to rotate, the cleaning strength can be adaptively adjusted, so that blockage or excessive cleaning is avoided, the pile surface integrity is protected, and efficient operation is realized.

[0045] (3) the present application integrates the eddy current flaw detection mechanism and the controller, can analyze the damage degree of the pile surface, dynamically adjusts the cleaning strategy according to the damage degree, records the damage position, realizes accurate maintenance, and improves the safety and maintenance efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0046] The accompanying drawings are included to provide a further understanding of the present application, and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and are used to explain the present application, but are not intended to limit the present application.

[0047] Figure 1 It is a schematic diagram of the overall structure of the embodiment of the present application.

[0048] Figure 2 It is a schematic diagram of the structure of the rack of the embodiment of the present application.

[0049] Figure 3 It is a schematic diagram of the structure of the first moving wheel assembly of the embodiment of the present application.

[0050] Figure 4 It is a schematic diagram of the structure of the second moving wheel assembly of the embodiment of the present application.

[0051] Figure 5 It is a schematic diagram of the structure of the lifting mechanism of the embodiment of the present application.

[0052] Figure 6 It is a schematic diagram of the structure of the surface cleaning mechanism of the embodiment of the present application.

[0053] Figure 7 It is a schematic diagram of the structure of the control mechanism of the embodiment of the present application.

[0054] Figure 8 It is a flow chart of the working process of the embodiment of the present application.

[0055] Figure 9 It is a flow chart of the working process of the surface cleaning mechanism and the flaw detection mechanism of the embodiment of the present application.

[0056] Wherein, the reference signs are: 1, rack; 11, C frame; 111, upper C frame; 1111, first limiting groove; 1112, second limiting groove; 1113, third limiting groove; 112, lower C frame; 12, connecting frame; 13, retaining frame; 14, gear; 15, servo motor; 2, first moving wheel assembly; 21, first moving wheel; 22, I-shaped connecting flange; 23, I-shaped spring damping piece; 24, I-shaped convex connecting piece; 25, I-shaped concave connecting piece; 3, second moving wheel assembly; 31, second moving wheel; 32, II-shaped connecting flange; 33, II-shaped spring damping piece; 34, II-shaped convex connecting piece; 35, II-shaped concave connecting piece; 4, lifting mechanism; 41, air inlet electromagnetic valve; 42, air outlet electromagnetic valve; 43, non-return valve; 44, air bag; 45, air inlet pipeline; 46, air outlet pipeline; 47, high-pressure air chamber; 48, ball; 49, sliding groove; 5, surface cleaning mechanism; 51, cleaning head bottom plate; 52, cleaning head; 53, vibration motor; 54, cavity; 55, annular guide groove; 56, annular suspension head plate; 57, outermost circumferential gear; 6, control mechanism; 61, flaw detection sensor; 62, controller; 7, lower magnetic induction proximity switch; 8, upper magnetic induction proximity switch; 9, to-be-detected wind power pile;

[0057] 100, upper limiting magnet ring; 200, lower limiting magnet ring. DETAILED DESCRIPTION

[0058] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0059] The present application will be further described below with reference to the drawings.

[0060] Specifically, with reference to Figure 1 A mobile surface cleaning and flaw detection device for offshore wind power piles, comprising a rack 1, a first moving wheel assembly 2, a second moving wheel assembly 3, a lifting mechanism 4, a surface cleaning mechanism 5, a control mechanism 6, and a to-be-detected wind power pile 9, the first moving wheel assembly 2, the second moving wheel assembly 3, and an upper magnetic induction proximity switch 8 are installed on the top of the rack 1, the lifting mechanism 4, the control mechanism 6, and a lower magnetic induction proximity switch 7 are installed on the bottom of the rack 1, and the surface cleaning mechanism 5 is arranged around the to-be-detected wind power pile 9 in the center of the rack 1.

[0061] The rack 1 comprises two upper and lower circular rings with 60° notches and arranged coaxially, and the rack 1, the surface cleaning mechanism 5 and the wind power pile 9 to be tested have a spatial positional relationship coaxial with each other; the control mechanism 6 controls the upper and lower magnetic induction proximity switches 8 and 7.

[0062] Specifically, referring to Figure 2 , the rack 1 comprises a C-shaped frame 11, a connecting frame 12, a retaining frame 13, a gear 14 and a servo motor 15.

[0063] The C-shaped frame 11 comprises an upper C-shaped frame 111 and a lower C-shaped frame 112; the C-shaped frame 11 is a circular ring with a 60° notch, and the upper C-shaped frame 111 and the lower C-shaped frame 112 are arranged coaxially in an upper and lower arrangement; the connecting frame 12 is centrally symmetrically distributed in the vertical direction with the device axis as the center and is arranged along the outer circumference of the C-shaped frame, and is used for supporting and connecting the upper C-shaped frame 111 and the lower C-shaped frame 112; the retaining frame 13 is arranged in the upper C-shaped frame 111 and faces the notch; the servo motor 15 is installed on the upper surface of the upper C-shaped frame 111, and the output shaft of the servo motor 15 is coaxially fixedly connected with the gear 14 to form a driving mechanism.

[0064] In the upper C-shaped frame 111, a second limiting groove 1112 and a third limiting groove 1113 are arranged near the two ends thereof; the retaining frame 13 is in the shape of Π, is coplanar with the upper C-shaped frame 111 and is tightly connected with the upper C-shaped frame 111, and a first limiting groove 1111 is arranged in the middle part thereof; the first limiting groove 1111, the second limiting groove 1112 and the third limiting groove 1113 are arranged in the vertical plane at an angle of 45° with the horizontal direction and face the axis of the C-shaped frame 11.

[0065] Specifically, referring to Figure 5 , the lifting mechanism 4 comprises an air inlet electromagnetic valve 41, an air outlet electromagnetic valve 42, a check valve 43, an air bag 44, an air inlet pipeline 45, an air outlet pipeline 46 and a high-pressure air chamber 47; the lifting mechanism 4 is arranged on the surface of the lower C-shaped frame 112;

[0066] When fully inflated, the air bag 44 expands into a cylindrical shape, and the upper bottom surface coincides with the lower bottom surface of the lower C-shaped frame 112.

[0067] The lower C-shaped frame 112 is a high-density counterweight alloy casting, the two ends of the air inlet electromagnetic valve 41 are connected with the high-pressure air chamber 47 and the air bag 44 through the air inlet pipeline 45, the two ends of the air outlet electromagnetic valve 42 are connected with the air bag 44 and the check valve 43 through the air outlet pipeline 46, and the check valve 43 is connected to the outside; the lifting mechanism 4 further comprises a sliding assembly, the sliding assembly comprises a ball 48 and a sliding groove 49, the sliding groove 49 is circumferentially distributed along the inner ring of the lower C-shaped frame 112, the balls 48 are uniformly distributed in the sliding grooves 49, and the diameter of the balls 48 is greater than the distance between the notches.

[0068] Specifically, referring to Figure 6The surface cleaning mechanism 5 comprises a cleaning head bottom plate 51, a cleaning head 52, a vibration motor 53 and an annular guide groove 55. The cleaning head 52 is in a conical distribution, and a cavity 54 is opened at the bottom of the cleaning head 52. The vibration motor 53 is embedded in the cavity 54 of the cleaning head 52, and the base of the vibration motor 53 is tightly fitted with the cavity 54. After the coil of the vibration motor 53 is electrified, the surface cleaning mechanism 5 is vibrated synchronously. The cleaning head bottom plate 51 is coaxially fitted with the upper C-shaped frame 111. The cleaning head bottom plate 51 is provided with the annular guide groove 55 concentric with the cleaning head bottom plate 51. The upper surface of the cleaning head 52 is provided with an annular suspension head plate 56, which is suspended on the annular guide groove 55 and can slide relative to the annular guide groove 55.

[0069] The cleaning head 52 is provided with an outermost circumferential gear 57 around the circumference. The outermost circumferential gear 57 is tightly fitted with the gear 14 driven by the servo motor 15.

[0070] Specifically, in the embodiment, the surface cleaning mechanism 5 is coaxial with the rack 1, is arranged between the C-shaped frames 11 and is coaxially fitted. The cleaning head bottom plate 51 also has a C-shaped structure.

[0071] Specifically, referring to Figure 7 The control mechanism 6 comprises a flaw detection sensor 61 and a controller 62. The flaw detection sensor 61 is electrically connected with the controller 62. The flaw detection sensor 61 detects the damage condition of the surface of the wind power pile 9 to be measured and transmits the result to the controller 62. The controller 62 evaluates the damage result.

[0072] Specifically, in the embodiment, the controller 62 is electrically connected with the lifting mechanism 4 and the surface cleaning mechanism 5 to control the work of the lifting mechanism 4 and the surface cleaning mechanism 5.

[0073] Specifically, referring to Figure 3 and Figure 4 The first moving wheel assembly 2 comprises a first moving wheel 21, an I-shaped connecting flange 22, an I-shaped spring damping piece 23, an I-shaped convex connecting piece 24 and an I-shaped concave connecting piece 25. The first moving wheel 21 is connected with the I-shaped connecting flange 22 and is embedded in the second limiting groove 1112. The second moving wheel assembly 3 comprises a second moving wheel 31 and a II-shaped connecting flange 32. The second moving wheel 31 and the II-shaped connecting flange 32 are connected and combined and are embedded in the third limiting groove 1113. The I-shaped convex connecting piece 24 is a cylindrical structural piece with a cylindrical protruding structure. The I-shaped concave connecting piece 25 is a cylindrical structural piece with a cylindrical slot. The cylindrical part of the I-shaped convex connecting piece 24 is coaxially fitted with the slot of the I-shaped concave connecting piece 25. The I-shaped spring damping piece 23 is used to connect the I-shaped convex connecting piece 24 and the I-shaped concave connecting piece 25, so that the rotary motion of the first moving wheel assembly 2 and the second moving wheel assembly 3 has a certain damping. The shaft part of the I-shaped convex connecting piece 24 is limitedly protruded to prevent excessive rotary motion.

[0074] The type II convex connector 34 is a cylindrical structure with a cylindrical protruding structure; the type II concave connector 35 is a cylindrical structure with a cylindrical slot; the cylindrical part of the type II convex connector 34 is coaxially matched with the slot of the type II concave connector 35; the type II spring damping part 33 is used to connect the type II convex connector 34 and the type II concave connector 35, so that the rotating movement of the first mobile wheel assembly 2 and the second mobile wheel assembly 3 has a certain damping; the shaft part of the type II convex connector 34 is limited to protrude to prevent over-limit rotating movement.

[0075] The device is provided with three limiting grooves, i.e., a first limiting groove 1111, a second limiting groove 1112, and a third limiting groove 1113, and the first mobile wheel assembly and the second mobile wheel assembly 3 can be installed at any position as required.

[0076] Specifically, in the embodiment, two proximity switches are arranged on the upper and lower sides of the C-shaped frame 11, which are an upper magnetic induction proximity switch 8 and a lower magnetic induction proximity switch 7; the proximity switch is a Hall type magnetic induction proximity switch for AC and DC, which is used to sense the magnet ring pre-positioned on the wind power pile; the magnet ring includes an upper limiting magnet ring 100 and a lower limiting magnet ring 200; the magnet ring is coaxially arranged with the wind power pile, and the longitudinal position is arranged according to the tidal law.

[0077] The longitudinal position is specifically: the position of the upper limiting magnet ring 100 is the upper limit of the position reached by the surface cleaning and flaw detection device when the tidal level increases to the maximum value, and a certain margin is left; the position of the lower limiting magnet ring 200 is the lower limit of the position under the requirements of the surface cleaning and flaw detection device in terms of pressure resistance and waterproof, and a certain margin is left.

[0078] Specifically, in the embodiment, the mobile surface cleaning and flaw detection device will clean and detect the to-be-tested wind power pile 9, and the working process of the embodiment is as follows:

[0079] A, the 60° gap of the C-shaped frame 11 of the device is aligned with the to-be-tested wind power pile 9, and the frame is erected when the two are coaxial, and the cleaning and detection work can be started. The initial state is that the air inlet electromagnetic valve 41 is closed, the air bag 44 is fully inflated, and the device floats on the water surface. The device rises with the rising of the tidal water, and when the upper limiting magnet ring 100 senses the upper magnetic induction proximity switch 8, the air release electromagnetic valve 42 is opened, and the air bag 44 is deflated. In the overall frame, the lower C-shaped frame 112 is a high-density counterweight alloy casting to ensure that the device can overcome the seawater buoyancy under the influence of its own gravity.

[0080] B, during the spiral descent of the device with the to-be-tested wind power pile 9, the surface cleaning mechanism 5 starts to work, the coil of the vibration motor 53 is electrified, the surface cleaning mechanism 5 vibrates synchronously, and the cleaning head 52 cleans the surface of the to-be-tested wind power pile.

[0081] C. After the surface cleaning mechanism 5 starts working, the flaw detection sensor 61 starts working.

[0082] D. The device continues to descend until the upper magnetic induction proximity switch 8 senses the lower limit magnet coil 200. At this time, the coil of the vibration motor 53 is de-energized, the surface cleaning mechanism 5 stops vibrating, and the surface cleaning work stops; the venting solenoid valve 42 closes, and the inlet solenoid valve 41 opens. Gas enters the airbag 44 from the high-pressure air chamber 47 through the inlet pipe 45. After the pressure inside the airbag 44 reaches the set threshold, the inlet solenoid valve 41 closes, and the airbag 44 is fully inflated. The entire device rises due to buoyancy exceeding its own weight.

[0083] E. During the device's ascent, the flaw detection sensor 61 continues to operate, and the controller 62 records the location and condition of the damage.

[0084] F. After the device rises to the water surface, the surface cleaning mechanism 5 and the flaw detection sensor 61 both stop working, the airbag 44 is fully inflated, and the device floats on the water surface.

[0085] G. Repeat step AF. Based on empirical patterns, the tide will reach its peak at two times a day. Therefore, step AF is repeated twice. The airbag 44 is inflated and deflated twice a day. The device cleans the surface of the pile twice a day, which will not cause excessive cleaning or waste of resources.

[0086] Specifically, in this implementation case, in step C of the mobile surface cleaning and flaw detection device's workflow, the control mechanism 6's workflow is as follows:

[0087] A. Eddy current probe is used to detect surface damage on the pile.

[0088] B. The controller 62 receives and analyzes the damage. If the damage at a certain location on the pile surface is severe or there is a lot of surface deposits, the servo motor 15 drives the cleaning head 52 to rotate along the axis inside the device. This rotation effectively prevents the cleaning head 52 from being stuck by protruding deposits on the pile surface. By adjusting the current in the coil of the vibration motor 53 to change the vibration intensity of the cleaning head 52, and adjusting the current in the coil of the servo motor 15 to change the rotation speed and direction of the cleaning head 52, the cleaning effect on the surface at that location is improved.

[0089] C. If the damage to the pile surface is of the basic type, disconnect the power supply to the servo motor 15, and only perform general surface cleaning at the location. This also reduces the use of live actuators, making the operation of this invention safer, more energy-efficient, and more environmentally friendly.

[0090] Specifically, in this implementation case, in step C of the mobile surface cleaning and flaw detection device's workflow, the flaw detection mechanism's specific workflow is as follows:

[0091] A, eddy current probe detects the damage of pile surface.

[0092] B, the controller 62 compares the eddy current detection data, including phase angle, impedance amplitude, etc. with the preset threshold value, and classifies the damage into three levels by fuzzy logic algorithm:

[0093] (1) Basic type: surface attachment thickness ≤2mm (such as thin layer of algae, silt), corrosion depth <0.5mm;

[0094] (2) Moderate type: attachment thickness 2-10mm (such as barnacle community), crack length 5-20mm or corrosion pit depth 0.5-1.5mm;

[0095] (3) Severe type: attachment thickness ≥10mm (calcified biological hard shell) through cracks or corrosion perforation;

[0096] C, the controller 62 receives and analyzes the damage, if the damage of the surface of the pile at a certain position is severe type or there are more surface attachments, the servo motor 15 drives the cleaning head 52 to rotate along the axis inside the device. By rotating, the cleaning head 52 is effectively prevented from being stuck by the protruding attachments on the surface of the pile. By adjusting the current of the coil of the vibration motor 53 to change the vibration intensity of the cleaning head 52, and adjusting the current of the coil of the servo motor 15 to change the rotation speed and direction of the cleaning head 52, the surface cleaning effect at the position is improved.

[0097] D, if the surface condition of the pile is basic type, the power supply of the servo motor 15 is cut off, only the surface cleaning effect at the position is needed. At the same time, the use of live actuators is reduced, making the operation of the invention safer, energy-saving and environmentally friendly.

[0098] Specifically, in the present embodiment, the specific processing strategy of different column surfaces in the working process step C of the damage detection mechanism is as follows:

[0099] (1) Basic type processing strategy: the servo motor 15 cuts off the three-phase power supply and locks the rotor to prevent inertia slip; the vibration motor 53 maintains the basic frequency but the amplitude is reduced to 30% of the rated value; the cleaning head 52 relies on the device travel power to realize passive scraping, and the tungsten carbide blade contacts the surface to remove loose attachments.

[0100] (2) Moderate and severe type enhanced cleaning strategy: the servo motor 15 switches to vector frequency conversion mode, the rotation speed is self-adaptively adjusted according to the hardness of the attachments, the vibration frequency is switched to the resonance point, the amplitude is increased to 150%, and the impact energy is increased by 2 times.

[0101] The above descriptions are only the preferred embodiments of the present application, and are not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A mobile surface cleaning and inspection device for offshore wind turbine piles, characterized in that: It comprises a rack (1), a first mobile wheel assembly (2), a second mobile wheel assembly (3), a lifting mechanism (4), a surface cleaning mechanism (5), a control mechanism (6) and a to-be-tested wind power pile (9). The rack (1) comprises a C-shaped rack (11), a connecting rack (12), a retaining rack (13), a gear (14) and a servo motor (15); the C-shaped rack (11) is provided with two proximity switches on the uppermost and lowermost sides, which are an upper magnetic induction proximity switch (8) and a lower magnetic induction proximity switch (7) respectively. The first mobile wheel assembly (2), the second mobile wheel assembly (3) and the upper magnetic induction proximity switch (8) are installed on the upper surface of the rack (1), the lifting mechanism (4), the control mechanism (6) and the lower magnetic induction proximity switch (7) are installed on the lower surface of the rack (1), and the surface cleaning mechanism (5) surrounds the to-be-tested wind power pile (9) in the center of the rack (1). The rack (1) comprises two layers of annular rings with 60° notches, which are coaxially arranged; the rack (1), the surface cleaning mechanism (5) and the to-be-tested wind power pile (9) have a coaxial spatial positional relationship; the control mechanism (6) controls the upper magnetic induction proximity switch (8) and the lower magnetic induction proximity switch (7). The C-shaped rack (11) comprises an upper C-shaped rack (111) and a lower C-shaped rack (112); the C-shaped rack (11) is an annular ring with a 60° notch, and the upper C-shaped rack (111) and the lower C-shaped rack (112) are coaxially arranged in a vertical direction; the connecting rack (12) is centrally symmetrically distributed in the vertical direction and arranged along the outer circumference of the C-shaped rack (11) with the device axis as the center, and is used for supporting and connecting the upper C-shaped rack (111) and the lower C-shaped rack (112); the retaining rack (13) facing the notch is arranged in the upper C-shaped rack (111); the servo motor (15) is installed on the upper surface of the upper C-shaped rack (111), and the output shaft of the servo motor (15) is coaxially connected with the gear (14) to form a driving mechanism; The lifting mechanism (4) comprises an air inlet electromagnetic valve (41), an air outlet electromagnetic valve (42), a check valve (43), an air bag (44), an air inlet pipeline (45), an air outlet pipeline (46) and a high-pressure air chamber (47); The surface cleaning mechanism (5) comprises a cleaning head bottom plate (51), a cleaning head (52), a vibration motor (53) and an annular guide groove (55); The control mechanism (6) comprises a flaw detection sensor (61) and a controller (62); The control end of the controller (62) is connected with the electric control driving end of the lifting mechanism (4) and the electric control output end of the surface cleaning mechanism (5) respectively.

2. A mobile surface cleaning and inspection apparatus for offshore wind turbine piles according to claim 1, characterized in that: The upper C-shaped frame (111) is provided with a second limiting groove (1112) and a third limiting groove (1113) near two ends thereof respectively; the holder (13) is in the shape of Π and is coplanar with and tightly connected with the upper C-shaped frame (111), and a first limiting groove (1111) is formed in the middle of the holder (13); the first limiting groove (1111), the second limiting groove (1112) and the third limiting groove (1113) are arranged in a vertical plane at an angle of 45° with the horizontal direction and face the shaft center of the C-shaped frame (11); The lifting mechanism (4) is arranged on the surface of the lower C-shaped frame (112); When fully inflated, the air bag (44) is expanded into a cylindrical shape, and the upper bottom surface of the air bag (44) coincides with the lower bottom surface of the lower C-shaped frame (112); The air inlet electromagnetic valve (41) is connected with the high-pressure air chamber (47) and the air bag (44) through the air inlet pipeline (45) at two ends respectively, the air outlet electromagnetic valve (42) is connected with the air bag (44) and the check valve (43) through the air outlet pipeline (46) at two ends respectively, and the check valve (43) is connected with the outside.

3. A mobile surface cleaning and inspection apparatus for offshore wind turbine piles according to claim 2, characterized in that: The cleaning head (52) is in a conical distribution, a cavity (54) is formed in the bottom of the cleaning head (52), the vibration motor (53) is embedded in the cavity (54) of the cleaning head (52), and the base of the vibration motor (53) is tightly attached to the cavity (54); after the coil of the vibration motor (53) is electrified, the surface cleaning mechanism (5) vibrates synchronously; The surface cleaning mechanism (5) is coaxially arranged with the rack (1) and is arranged between the C-shaped frames (11) and coaxially matched; the cleaning head bottom plate (51) is in a C-shaped structure; The cleaning head bottom plate (51) is coaxially matched with the upper C-shaped frame (111); the cleaning head bottom plate (51) is provided with a ring-shaped guide groove (55) concentric with the cleaning head bottom plate (51), and the upper surface of the cleaning head (52) is provided with a ring-shaped suspension head (56), and the ring-shaped suspension head (56) is suspended on the ring-shaped guide groove (55); The cleaning head (52) is provided with an outermost circumferential gear (57) around the cleaning head (52), and the outermost circumferential gear (57) is engaged with the gear (14) driven by the servo motor (15).

4. A mobile surface cleaning and inspection apparatus for offshore wind turbine piles according to claim 3, characterized in that: The signal output end of the flaw detection sensor (61) is connected with the control end of the controller (62); The control mechanism (6) is arranged on the surface of the lower C-shaped frame (112), and the sensing surface faces the center of the lower C-shaped frame (112).

5. A mobile surface cleaning and inspection apparatus for offshore wind turbine piles according to claim 4, characterized in that: The upper magnetic induction proximity switch (8) and the lower magnetic induction proximity switch (7) are arranged at the uppermost and lowermost sides of the C-shaped frame (11) respectively.

6. A mobile surface cleaning and inspection apparatus for offshore wind turbine piles according to claim 5, characterized in that: The first mobile wheel assembly (2) comprises a first mobile wheel (21), a type I connecting flange (22), a type I spring damping piece (23), a type I convex connecting piece (24) and a type I concave connecting piece (25); the first mobile wheel (21) is connected with the type I connecting flange (22) and is embedded in the second limiting groove (1112); the second mobile wheel assembly (3) comprises a second mobile wheel (31), a type II connecting flange (32), a type II spring damping piece (33), a type II convex connecting piece (34) and a type II concave connecting piece (35), the second mobile wheel (31) and the type II connecting flange (32) are connected and combined, and are embedded in the third limiting groove (1113); The type I convex connecting piece (24) is a cylindrical structural piece with a cylindrical protruding structure; the type I concave connecting piece (25) is a cylindrical structural piece with a cylindrical slot; the type I convex connecting piece (24) is coaxially matched with the type I concave connecting piece (25) in the cylindrical part; the type I spring damping piece (23) is used for connecting the type I convex connecting piece (24) and the type I concave connecting piece (25); the type I convex connecting piece (24) is limited by the protrusion of the shaft part; The type II convex connecting piece (34) is a cylindrical structural piece with a cylindrical protruding structure; the type II concave connecting piece (35) is a cylindrical structural piece with a cylindrical slot; the type II convex connecting piece (34) is coaxially matched with the type II concave connecting piece (35) in the cylindrical part; the type II spring damping piece (33) is used for connecting the type II convex connecting piece (34) and the type II concave connecting piece (35).

7. A mobile surface cleaning and inspection apparatus for offshore wind turbine piles according to claim 6, characterized in that: The magnet ring prepositioned on the wind power pile column comprises an upper limiting magnet ring (100) and a lower limiting magnet ring (200); the magnet ring is coaxially arranged with the wind power pile column, and the longitudinal position is arranged according to the tidal law.

8. A mobile surface cleaning and inspection apparatus for offshore wind turbine piles according to claim 7, characterized in that: The lifting mechanism (4) further comprises a sliding assembly, the sliding assembly comprises a ball (48) and a sliding groove (49), the sliding groove (49) is circumferentially distributed along the inner ring of the lower C-shaped frame (112), the balls (48) are uniformly distributed in the sliding grooves (49), and the diameter of the ball (48) is greater than the slot distance.

9. A method of using a mobile surface cleaning and inspection apparatus for offshore wind turbine piles according to claim 8, characterized in that, The method comprises the following steps: A, the initial state is that the air inlet electromagnetic valve (41) is closed, the air bag (44) is fully inflated, and the device floats on the water surface; the device rises with the rising of the tidal water, and when the upper limiting magnet ring (100) senses the upper magnetic induction proximity switch (8), the air release electromagnetic valve (42) is opened and the air bag (44) is deflated; B, during the descending process of the device, the surface cleaning mechanism (5) starts to work, the coil of the vibration motor (53) is electrified, the surface cleaning mechanism (5) vibrates synchronously, and the cleaning head (52) cleans the surface attachments of the measured wind power pile column; C, after the surface cleaning mechanism (5) starts to work, the flaw detection sensor (61) starts to work; D, the device continues to drop to the lower magnetic induction proximity switch (7) to the lower limit of the magnetic ring (200); at this time, the vibration motor (53) coil is powered off, the surface cleaning mechanism (5) stops vibrating, and the surface cleaning work stops; the air release electromagnetic valve (42) is closed, the air inlet electromagnetic valve (41) is opened, the gas enters the air bag (44) from the high-pressure gas chamber (47) through the air inlet pipeline (45), and the air inlet electromagnetic valve (41) is closed after the air bag (44) reaches the set threshold. The air bag (44) is in a fully inflated state; the device as a whole is lifted by the buoyancy greater than its own gravity; E, in the process of rising, the flaw detection sensor (61) continues to work, and the controller (62) records the damage position and damage condition; F, after the device rises to the water surface, the surface cleaning mechanism (5) and the flaw detection sensor (61) stop working, the air bag (44) is in a fully inflated state, and the device floats on the water surface; G, repeat the above A-F steps, the tidal water will reach the tide peak at two times in a day, that is, the A-F steps are repeated twice, the air bag (44) is inflated and deflated twice a day, and the device cleans the surface of the pile body twice a day.

10. The method of using a mobile surface cleaning and inspection apparatus for offshore wind turbine piles of claim 9, wherein: In step C, the working steps of the control mechanism (6) are as follows: C1, the eddy current probe detects the damage condition of the pile surface; C2, the controller (62) drives the cleaning head (52) to rotate along the axis in the device according to the damage or surface attachments at a certain position on the pile surface; through the rotating mode, the cleaning head (52) is prevented from being stuck by the protruding attachments on the pile surface; the vibration intensity of the cleaning head (52) is changed by adjusting the current of the vibration motor (53) coil, and the rotation speed and direction of the cleaning head (52) are changed by adjusting the current of the servo motor (15) coil; C3, if there is no damage condition or no attachments on the pile surface, the power supply of the servo motor (15) is cut off, and the surface of the position is cleaned.

Images