Construction system and construction method for seabed earthquake monitoring system

Abstract

The embodiment of the invention provides a construction system and a construction method for a submarine earthquake monitoring system. The system comprises a wind power platform, a workboat, an underwater robot and a seabed monitoring base station, wherein the wind power platform is used for arranging a winch, a lifting belt, a beam embracing clamp, a chain block and a pulley; the workboat is used for loading an underwater robot, a water entry bridge, a protection pipe, a seabed monitoring base station, a submarine cable, a winch, a sling, a beam embracing clamp, a chain block, a pulley, a detacher, an acoustic releaser and an operator. The underwater robot is used for monitoring drawing of the protection pipe; the seabed monitoring base station is used for monitoring seabed seismic data. By utilizing the existing structure and facilities of the existing wind power platform, a special monitoring platform or foundation does not need to be additionally built, the cost of foundation construction materials, manpower and time is effectively reduced, and a large amount of repeated cost input is avoided; and the monitoring of the pulling of the protection pipe can be completed by releasing the underwater robot, so that the labor cost is reduced, and the safety is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of marine seismic monitoring, and in particular to a construction system and method for a seabed seismic monitoring system. BACKGROUND

[0002] With the development and utilization of marine resources, marine seismic monitoring has become increasingly important. Traditional seabed seismic monitoring system construction often requires a dedicated survey ship to operate, which is costly, inefficient, and greatly limited by natural conditions such as sea conditions. At the same time, traditional construction methods also have certain deficiencies in the precision and stability of equipment installation, affecting the accuracy and reliability of seismic monitoring data.

[0003] Moreover, the existing seabed seismic monitoring system construction mainly relies on a survey ship to operate. During the construction process, the survey ship carries various equipment and tools to the designated sea area. The seabed topography is detected by sonar and other equipment to determine the appropriate monitoring point position. Then, the seismic monitoring equipment (such as seismic detectors, data collectors, etc.) is lowered to the seabed using the hoisting equipment on the ship. The submarine cable is laid from the ship to the seabed by a special laying device, connecting each monitoring device and the data processing center. Due to the leasing, operation and maintenance costs of the survey ship, as well as the large amount of human and material resources required during the construction process, the construction cost is high. SUMMARY

[0004] The embodiments of the present application provide a construction system and method for a seabed seismic monitoring system to reduce labor costs and improve safety.

[0005] In a first aspect, the embodiments of the present application provide a construction system for a seabed seismic monitoring system, comprising:

[0006] a wind power platform, a construction ship, an underwater robot, and a seabed monitoring base station;

[0007] wherein the wind power platform is used to lay a winch, a sling, a beam clamp, a chain, and a pulley;

[0008] the construction ship is used to load an underwater robot, a water inlet bridge, a pipe protector, a seabed monitoring base station, a submarine cable, a winch, a sling, a beam clamp, a chain, a pulley, an unhooking device, an acoustic release, and an operator;

[0009] the underwater robot is used to monitor the pulling of the pipe protector;

[0010] the seabed monitoring base station is used to monitor seabed seismic data.

[0011] In a second aspect, the embodiments of the present application provide a construction method for a seabed seismic monitoring system, which uses the construction system for a seabed seismic monitoring system as described in the first aspect. The method comprises:

[0012] Controlling the construction ship to sail to the construction site, which is a sea area with a preset area around the wind power platform;

[0013] Testing and calibrating the navigation positioning system at the construction site to control the construction ship to sail to the target coordinate point of the construction site, and releasing the underwater robot to conduct wet measurement when detecting that the sea area environment of the target coordinate point meets the wet measurement condition to obtain the wet measurement result;

[0014] When it is detected that the wet measurement result is permitted construction, the site is arranged at the wind power platform to complete the pulling preparation work of the signal cable;

[0015] Controlling the construction ship to approach the wind power platform, making the orientation of the water inlet bridge opposite to the orientation of the underwater horn mouth of the protection pipe, and delivering the signal cable in the protection pipe to the construction ship;

[0016] Connecting the signal cable with the head end of the submarine cable, pulling the submarine cable on the wind power platform, and lowering the submarine cable on the construction ship until the head end of the submarine cable reaches the wind power platform;

[0017] Connecting the head end of the submarine cable to the machine box and powering on, connecting the tail end of the submarine cable to the seabed monitoring base station, and powering on the seismograph to debug the seismic test process, and anchoring the submarine cable on the wind power platform after debugging is completed;

[0018] Controlling the construction ship to move according to the preset submarine cable route to lay the submarine cable on the seabed, and connecting the tail end of the submarine cable with the seabed monitoring base station at the end of laying;

[0019] Arranging the seabed monitoring base station on the seabed and confirming the stability of the arrangement of the seabed monitoring base station to complete the construction of the bottom seismic monitoring system.

[0020] In a possible implementation, the testing and calibration of the navigation positioning system at the construction site to control the construction ship to sail to the target coordinate point of the construction site includes: detecting the positioning error accuracy of the ship at the construction site to confirm that the construction ship has the ability to maintain within the preset working range and heading of the target coordinate point; detecting the deviation between the calibration data of the position reference system, sensors and each anemometer compass of the construction ship and the preset standard data at the construction site to confirm that the deviation is within the preset deviation range; and controlling the construction ship to sail to the target coordinate point of the construction site.

[0021] In a possible implementation, the releasing the underwater robot to perform a wet test to obtain a wet test result includes: releasing the underwater robot into water; performing a basic function test on the underwater robot to obtain a basic function test result; performing a sensor and navigation system test on the underwater robot to obtain a sensor test result and a navigation system test result; performing a mechanical operation test on the underwater robot to obtain a mechanical operation result; and collating the basic function test result, the sensor test result, the navigation system test result, and the mechanical operation to obtain the wet test result.

[0022] In a possible implementation, the controlling the construction ship to approach the wind power platform includes: maintaining a distance between the construction ship and the wind power platform within a range of 15 meters to 25 meters when the construction ship approaches the wind power platform.

[0023] In a possible implementation, the pulling the submarine cable on the wind power platform includes: starting a winch on the wind power platform to pull the submarine cable, and pulling the submarine cable on the wind power platform.

[0024] In a possible implementation, the connecting the head end of the submarine cable to the power distribution cabinet in the machine box to power on includes: connecting the head end of the submarine cable to the power distribution cabinet in the machine box through a through hole, setting a protection tube at the through hole, and starting the power distribution cabinet to complete the power-on.

[0025] In a possible implementation, the controlling the construction ship to move according to the preset submarine cable route to lay the submarine cable on the seabed includes: controlling the construction ship to move according to the preset submarine cable route, setting a tensioner to have a same speed as the moving speed of the construction ship until the end section of the submarine cable is about to be unwound from the reel, using the tensioner to provide a pulling force for the submarine cable, and binding a sling at the end of the submarine cable, the sling being connected to a floor anchor of the construction ship.

[0026] In a possible implementation, after the tensioner is set to have the same speed as the moving speed of the construction ship, the method further includes: when a time for the tensioner to have the same speed as the moving speed of the construction ship reaches a preset length of time, controlling the tensioner to have the same speed as the moving speed of the construction ship to accelerate at a preset acceleration.

[0027] In a possible implementation, the method further includes: implementing water blocking and fire blocking at a port of the protection tube.

[0028] In a third aspect, an electronic device is provided, including: a memory, a processor;

[0029] The memory stores computer execution instructions.

[0030] The processor executes the computer-executed instructions stored in the memory, so that the processor executes the second aspect and / or various possible implementation manners of the second aspect as above.

[0031] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, wherein the computer readable storage medium stores computer-executed instructions, and the computer-executed instructions are executed by a processor to implement the second aspect and / or various possible implementation manners of the second aspect as above.

[0032] In a fifth aspect, an embodiment of the present application provides a computer program product, comprising a computer program, and the computer program is executed by a processor to implement the second aspect and / or various possible implementation manners of the second aspect as above.

[0033] The construction system and the construction method for the seabed seismic monitoring system provided by the embodiments of the present application can effectively reduce the cost of construction materials, manpower and time without the need of additional construction of a special monitoring platform or foundation by utilizing the existing structure and facilities of the existing wind power platform, thereby avoiding a large amount of repeated cost investment, and the monitoring of the pipe pulling can be completed by releasing the underwater robot, thereby reducing the labor cost and improving the safety. BRIEF DESCRIPTION OF DRAWINGS

[0034] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application.

[0035] Figure 1 The scene diagram of the construction system for the seabed seismic monitoring system provided by the present application Figure 1

[0036] Figure 2 The scene diagram of the construction system for the seabed seismic monitoring system provided by the present application Figure 2

[0037] Figure 3 The flowchart of the construction method for the seabed seismic monitoring system provided by the present application

[0038] Figure 4 The structural diagram of the electronic device provided by the present application

[0039] LEGEND

[0040] 1-wind power platform; 2-construction ship; 3-underwater robot; 4-seabed monitoring base station; 5-sea cable

[0041] ​​The application has been illustrated by the above figures, and will be described in more detail hereinafter. These figures and the written description are not intended to limit the scope of the application in any way, but to illustrate the application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0042] The exemplary embodiments will be described in detail herein with reference to the accompanying drawings. In the following description, like reference numerals refer to like elements, unless the context clearly dictates otherwise. The following exemplary embodiments are described in detail with reference to the accompanying drawings. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the application as detailed in the appended claims.

[0043] With the development and utilization of marine resources, marine seismic monitoring becomes increasingly important. Traditional submarine seismic monitoring system construction often requires a dedicated survey ship to operate, which is costly, inefficient, and greatly limited by natural conditions such as sea conditions. At the same time, the traditional construction method also has certain deficiencies in the precision and stability of equipment installation, affecting the accuracy and reliability of seismic monitoring data.

[0044] Traditional submarine seismic monitoring system construction mainly relies on a survey ship to operate. During the construction process, the survey ship carries various equipment and tools to the designated sea area. First, the submarine topography is detected by sonar and other equipment to determine the appropriate monitoring point position. Then, the seismic monitoring equipment (such as seismic detectors, data acquisition devices, etc.) is lowered to the seabed using the hoisting equipment on the ship. The transmission submarine cable is laid from the ship to the seabed by a special laying device, connecting each monitoring device and the data processing center. The rental, operation and maintenance cost of the survey ship is extremely high, and a large amount of manpower and material resources are required during the construction process, resulting in high construction cost.

[0045] At the same time, due to the openness of some sea areas, additional measures need to be taken to bury the transmission submarine cable and increase the protection measures. Burying the submarine cable increases the construction workload and difficulty, and is not conducive to subsequent operation and maintenance.

[0046] The buoy-type submarine seismic monitoring system mainly transmits data through wireless communication, which is easily affected by the marine environment, such as water absorption and scattering, resulting in poor stability and reliability of data transmission. In severe weather or complex marine environment, data loss or transmission interruption may occur, affecting the continuity of seismic monitoring.

[0047] The buoy floats on the sea surface and is easily affected by external forces such as waves, sea ice, and ship collisions, resulting in equipment damage. Moreover, the buoy is exposed on the sea surface and is easily attached and corroded by marine organisms, shortening the service life of the equipment.

[0048] The application provides a construction system and a construction method for a submarine seismic monitoring system, which utilizes existing structures and facilities of an existing wind power platform, does not need to additionally build a special monitoring platform or foundation, effectively reduces the cost of construction materials, manpower and time, and avoids a large amount of repeated cost investment; and the monitoring of pipe protection pulling can be completed by releasing an underwater robot, the labor cost is reduced, and the safety is improved.

[0049] The technical solutions of the application and how the technical solutions solve the above technical problems will be described in detail in specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described again in some embodiments. The embodiments of the application will be described below with reference to the drawings.

[0050] As shown in Figure 1 and Figure 2 , the embodiment provides a construction system for a submarine seismic monitoring system, comprising a wind power platform 1, a construction ship 2, an underwater robot 3 and a submarine monitoring base station 4.

[0051] The wind power platform 1 is used to lay a winch, a sling, a beam clamp, a chain and a pulley.

[0052] The construction ship 2 is used to load the underwater robot 3, a water inlet bridge, a pipe protection, the submarine monitoring base station 4, a submarine cable 5, the winch, the sling, the beam clamp, the chain, the pulley, an unhooking device, an acoustic release and operating personnel.

[0053] The underwater robot 3 is used to monitor the pulling of the pipe protection.

[0054] The submarine monitoring base station is used to monitor submarine seismic data.

[0055] Specifically, the wind power platform 1 is used as a fixed support point for offshore construction, provides a device storage, power supply and operation platform. The winch is used to pull the submarine cable 5, and the speed and tension of the submarine cable 5 are controlled by mechanical power. The sling, the beam clamp, the chain and the pulley form a hoisting system, which is used to fix and adjust the position of the submarine cable 5 to prevent the submarine cable 5 from deviating or falling off during the pulling process. The pipe protection horn is a pre-embedded guide structure, which provides a stable sea inlet channel for the submarine cable and reduces the possibility of bending damage of the submarine cable. The submarine cable is pulled by the winch, and the direction of the force is changed by the pulley set to realize accurate laying of the submarine cable from the pipe protection to the seabed. The beam clamp and the chain are used to fix the temporary position of the submarine cable to ensure that the submarine cable will not be displaced due to wind and waves or ship sway during the construction process.

[0056] The construction ship 2 is used as a transportation device, performs submarine cable laying and submarine monitoring base station 4 deployment, and has the ability of operation command and emergency response. The water inlet bridge is used as a ramp structure erected between the ship and the sea surface to guide the submarine cable or heavy objects to enter the water smoothly and reduce the impact; the tensioner is used to control the submarine cable laying speed and adjust the submarine cable tension through hydraulic or mechanical devices to avoid excessive slack or breakage; the acoustic release is remotely triggered by acoustic signals to release the hook quickly in an emergency. The construction ship navigation positioning system ensures the stability of the ship body, and the real-time monitoring of the ROV (Remotely Operated Vehicle) is realized to achieve high-precision laying of the submarine cable route; the tensioner is synchronized with the moving speed of the ship to ensure that the submarine cable is evenly laid on the seabed and avoid accumulation or tensile deformation.

[0057] The underwater robot 3 replaces manual work to complete complex underwater operations and ensure construction accuracy and safety. The underwater robot 3 can perform high-definition imaging and size measurement on the pipe protector horn and seabed topography to verify the feasibility of the construction; and real-time observation of the process of the submarine cable entering the pipe protector to avoid jamming or wear; and assist in the position fine adjustment of the submarine monitoring base station after touching the bottom to ensure the horizontal stability of the device. The underwater robot can carry a multi-beam sonar, an optical camera and a mechanical arm, transmit power and control signals through a umbilical cable, and be remotely controlled by the construction ship.

[0058] The submarine monitoring base station 4 is used for long-term acquisition of seismic waveform, water pressure, temperature and other data, and transmits the data to the platform through the submarine cable 5. The submarine monitoring base station can convert mechanical waves into electrical signals through the seismic detector to sense the vibration of the seabed crust; amplify, filter and digitize the detector signal through the data acquisition device, store or transmit in real time according to the set sampling rate; and use the suction anchor or counterweight to fix the base station on the seabed through the anchoring system to resist the impact of ocean currents. By covering different directions through the detector array, the characteristics of P wave, S wave and other seismic waves are captured, and the data is transmitted to the wind power platform or the land center through the submarine cable.

[0059] The construction system for the submarine seismic monitoring system provided in the embodiment solves the problems of high cost, low efficiency and poor precision in traditional submarine seismic monitoring construction through the cooperative mode of wind power platform fixed support, construction ship dynamic operation and ROV intelligent monitoring; and effectively improves the precision and stability of the construction of the submarine seismic long-term monitoring network by using the existing wind power facilities to reduce the operation and maintenance difficulty and cost.

[0060] Figure 3 The flowchart of the construction method for the submarine seismic monitoring system provided in the present application is shown in FIG. 1, and the construction method for the submarine seismic monitoring system provided in the embodiment includes the following steps: Figure 3

[0061] ​Step S301: Control the construction ship to sail to the construction site, which is a predetermined area of the sea around the wind power platform.

[0062] Specifically, based on the geographic coordinates of the wind power platform, the construction ship can be controlled to move to the water area near the platform, i.e., the operation site, through a navigation positioning system (such as DP dynamic positioning). By determining the starting point of the construction, a reference position is provided for subsequent high-precision operations, effectively reducing sailing time and fuel consumption, and relying on the wind power platform to reuse its surrounding resources such as power and communication.

[0063] Step S302: Test and calibrate the navigation positioning system at the construction site to control the construction ship to sail to the target coordinate point of the construction site, and when the sea environment of the target coordinate point meets the wet measurement conditions, release the underwater robot to perform wet measurement and obtain the wet measurement result.

[0064] Specifically, the position deviation of the construction ship can be corrected by differential GPS, acoustic array, etc. to ensure positioning accuracy. After testing, it is ensured that the positioning error accuracy of the ship meets the preset operation conditions, and it is confirmed that the ship has the ability to maintain the position and heading in the preset operation range. After testing and calibration, the ship can be moved to the operation coordinate point in DP mode, and the underwater robot can be used to carry multiple beam sonar and high-definition camera to perform three-dimensional scanning of the pipe guard horn mouth and seabed topography, detect obstacles and marine bioattachment, verify the feasibility of the construction environment, and avoid reefs, gullies, etc. in the submarine cable route, thereby improving the success rate of construction and avoiding equipment damage or rework due to unknown environment.

[0065] Step S303: When it is detected that the wet measurement result permits construction, the site is set up on the wind power platform to complete the pulling preparation of the signal cable.

[0066] Specifically, the winch, pulley block and sling are pre-installed on the wind power platform, the submarine cable pulling path is determined through mechanical calculation, and a safety margin is reserved to provide mechanical support for the pulling of the submarine cable first end. By reducing manual intervention, the pulling efficiency is effectively improved, and the insulation layer is prevented from being damaged due to too small bending radius or uneven stress.

[0067] Step S304: Control the construction ship to approach the wind power platform, so that the orientation of the water entry bridge is opposite to the orientation of the underwater horn mouth of the pipe guard, and the signal cable in the pipe guard is delivered to the construction ship.

[0068] Specifically, the ship body attitude is fine-tuned by the ship propeller and rudder, the water entry bridge axis is aligned with the pipe guard horn mouth, the signal cable in the pipe guard is pulled out by the crane or winch, and connected to the temporary storage device of the construction ship. By establishing a physical connection channel between the submarine cable and the platform, the wear and tear of the submarine cable when entering the pipe guard is reduced, and the stability of signal transmission is ensured.

[0069] Step S305: Connect the signal cable with the head end of the submarine cable, and pull the submarine cable on the wind power platform while lowering the submarine cable on the construction ship until the head end of the submarine cable reaches the wind power platform.

[0070] Specifically, the hoist pulls the submarine cable, the force direction is converted through the pulley block, the submarine cable is controlled to enter the pipe at a constant speed, the tensioner dynamically adjusts the submarine cable tension, cooperates with the moving speed of the ship, maintains the catenary form of the submarine cable, realizes the reliable connection of the head end of the submarine cable and the platform, avoids excessive relaxation of the submarine cable (which may cause winding) or excessive tension (which may cause fracture), ensures the straightness of the route, and until the head end of the submarine cable reaches the wind power platform.

[0071] Step S306: Connect the head end of the submarine cable to the power supply of the cabinet, connect the tail end of the submarine cable to the seabed monitoring base station, and power on the seismograph to debug the seismic test process. When the debugging is completed, anchor the submarine cable on the wind power platform.

[0072] Specifically, the seismograph is arranged in the seabed monitoring base station and is fixed in structure. The seabed monitoring base station is arranged on the seabed within the length radius of the submarine cable centered on the wind power platform. The seabed monitoring base station contains an electronic cavity and a seismograph. The submarine cable is connected to the electronic cavity, and the electronic cavity is connected to the seismograph through a water-tight cable. The integrity of the submarine cable is verified through insulation resistance test and signal path detection; the distribution cabinet through-hole is filled with fireproof material (such as fire-resistant glue) to prevent fire from spreading along the submarine cable; hydraulic clamp or grouting can be used to fix the submarine cable to resist ocean current impact. Electrical connection and debugging are used to ensure the reliability of power and data transmission and improve system safety. At the same time, debugging the seismic test process can reduce the later operation and maintenance failures.

[0073] Step S307: Control the movement of the construction ship according to the preset submarine cable route to lay the submarine cable on the seabed, and connect the tail end of the submarine cable with the seabed monitoring base station at the end of the laying.

[0074] Specifically, the construction ship moves according to the preset route, the tensioner adjusts the output speed of the submarine cable in real time, the burying machine or the crawler-type cable laying device buries the submarine cable into the seabed, realizes the accurate coverage of the submarine cable on the seabed, and reduces the possibility of fishery activities or ship anchor damage.

[0075] Step S308: Place the seabed monitoring base station on the seabed and confirm the stability of the seabed monitoring base station to complete the construction of the bottom seismic monitoring system.

[0076] Specifically, the crane uniformly lowers the seabed monitoring base station, the ROV monitors the seabed monitoring base station in real time, and the acoustic release device is used as an emergency escape device, so that the base station positioning time is effectively shortened, the positioning accuracy is improved, and the long-term stable operation of the base station is ensured. The way to confirm the stability can be, for example: the ROV observes the size marks designed on the four corners of the seabed monitoring base station to preliminarily determine that the four corners are at the same height; or the software observes the horizontal angle instrument inside the seabed monitoring base station to ensure that the angle change within half an hour is not greater than 1°.

[0077] The construction method for the seabed seismic monitoring system provided by the embodiment of the application reduces the investment in special construction ships and temporary facilities, reduces the material, labor and time costs, and avoids a large amount of repeated cost investment by using the wind power platform infrastructure (power, communication and protection pipe); and the use of the underwater robot to complete the monitoring of the protection pipe pulling effectively reduces the labor cost, improves the construction safety and efficiency.

[0078] The embodiment details the process of testing the navigation positioning system and calibrating the positioning system on the construction site in the above embodiment to control the construction ship to travel to the target coordinate point of the construction site, and the specific implementation manner of the process includes the following steps.

[0079] Step a1: Detecting the positioning error accuracy of the ship on the construction site to confirm that the construction ship has the ability to stay within the preset operation range and heading of the target coordinate point.

[0080] Specifically, the positioning error of the multi-source positioning system (such as GPS, Beidou, acoustic array and inertial navigation) carried by the construction ship is calculated by comparing the real-time data of the multi-source positioning system. For example, the deviation between the actual position and the analysis position of the construction ship at the target coordinate point is measured by using the differential GPS (DGPS) or real-time motion baseline (RMB) technology combined with external reference points (such as a wind power platform or a seabed beacon). At the same time, the dynamic holding capacity of the ship under the interference of wind and waves, water flow and the like is analyzed, and the dynamic holding capacity can be tested by a closed-loop control system. The absolute accuracy and relative stability of the positioning system are verified. The staying capacity of the construction ship at the target point is confirmed to avoid the deviation of the construction ship from the target area due to the positioning error, which affects the accuracy of subsequent submarine cable laying or monitoring equipment installation.

[0081] Step a2: Detecting the deviation between the calibration data of the position reference system, sensors and each anemometer compass of the construction ship and the preset standard data on the construction site to confirm that the deviation is within the preset deviation range.

[0082] Specifically, the position reference system (such as a GPS antenna array) of the construction ship, sensors (such as an inertial measurement unit, IMU), an anemometer, and a compass are jointly calibrated. The influence of environmental interference (such as the ship's magnetic field, vibration, and temperature change) on the measurement is excluded; the consistency of multi-sensor data fusion is ensured, the positioning error caused by the deviation of a single device is avoided, and the redundancy reliability of the positioning system is improved.

[0083] Step a3: controlling the construction ship to travel to the target coordinate point of the construction site.

[0084] Specifically, the construction ship can be navigated by a navigation positioning system (DP) or a preset route. The navigation positioning system can use closed-loop control of the propeller, rudder, and side thruster to correct the position deviation in real time; control instructions are generated according to the preset route (such as a straight line or a curve), and the sailing speed is dynamically adjusted according to the sea conditions. The construction ship is accurately guided to the target coordinate point, providing a reference position for subsequent submarine cable laying or equipment deployment. During the travel process, small deviations can be corrected through real-time feedback data monitored by the underwater robot.

[0085] The embodiment of the application achieves data consistency through multi-system calibration to avoid error accumulation; and through the combination of deviation detection and holding capacity testing, the possibility of the construction ship deviating from the target point is reduced, and the accurate positioning of the construction ship in complex marine environments is ensured.

[0086] The embodiment details the process of wet testing the underwater robot released in the above embodiment to obtain the wet test results. The specific implementation of the process includes the following steps:

[0087] Step b1: releasing the underwater robot into the water.

[0088] Specifically, the underwater robot is smoothly placed into the water through a mechanical release device (such as a hoisting system or a slide rail), simulating the actual marine operating environment, preliminarily testing its sealing performance, buoyancy adjustment capability, and impact resistance, and ensuring the basic stability of the robot in the water.

[0089] Step b2: performing basic function testing on the underwater robot to obtain basic function testing results.

[0090] Specifically, the robot is instructed to perform basic actions (such as starting and stopping, light switching, and simple movement), and its response speed and state feedback are monitored to verify the normal operation of the core modules (such as communication, power supply, and propeller).

[0091] Step b3: performing sensor and navigation system testing on the underwater robot to obtain sensor testing results and navigation system testing results.

[0092] Specifically, by collecting underwater environmental data (such as water temperature, pressure, light, sonar image), comparing known standard values or redundant sensor data, verifying sensor accuracy and consistency. Using acoustic array, inertial navigation system or visual odometry, combined with pre-calibrated underwater coordinate points, detecting positioning accuracy and heading stability. Ensure that sensors (such as multi-beam sonar, high-definition camera) can accurately perceive the seabed terrain, obstacles and target objects, while verifying the reliability of the navigation system in complex environments (such as water flow interference, magnetic field anomalies), avoiding path deviation.

[0093] Step b4, mechanical operation test of underwater robot, get mechanical operation result.

[0094] Specifically, control the robot to perform complex mechanical actions (such as mechanical arm grabbing, gimbal turning, winch winding and unwinding), and test joint torque, motor power and hydraulic system pressure through load test. Check for wear, lack of lubrication or control algorithm defects in mechanical components in advance to prevent on-site operation failure, thereby improving the robot's ability to perform fine operations.

[0095] Step b5, organize basic function test results, sensor test results, navigation system test results and mechanical operation to get wet test results.

[0096] Specifically, the scattered test data (function log, sensor reading, navigation trajectory, mechanical action record) is summarized and combined with the preset standard (such as allowable error range, performance threshold) to get the wet test results.

[0097] The embodiment of the present application reduces the possibility of missed detection by directly testing in water, close to actual working conditions, and performing step-by-step testing.

[0098] In some optional embodiments, when the construction ship approaches the wind power platform, the distance between the construction ship and the wind power platform is kept within a range of 15 to 25 meters.

[0099] Specifically, by using navigation positioning system or anchoring system, combined with real-time monitoring technology (such as GPS, laser ranging, underwater sonar, etc.), the position of the construction ship is accurately controlled. The navigation positioning system adjusts the propeller, rudder and side thruster in a closed loop to offset the interference of wind and current on the ship body; the anchoring system fixes the ship position by adjusting the length and direction of the anchor chain.

[0100] The distance range is 15 to 25 meters, which is determined based on safety specifications and construction requirements. In order to facilitate operation, the distance can be selected according to actual conditions and requirements.

[0101] By maintaining a safe distance, the construction ship can avoid colliding with the wind power platform due to waves or currents, causing equipment damage or personnel injury; provides a buffer zone for submarine cable transmission, mechanical arm operation, etc. to prevent the ship body from shaking and interfering with precise operations, improving the precision of submarine cable transmission, lifting and other operations.

[0102] In some optional embodiments, the submarine cable is pulled on the wind power platform, comprising: starting the winch to pull the submarine cable on the wind power platform, and pulling the submarine cable on the wind power platform.

[0103] Specifically, by the motor driving capacity of the winch, the steel wire rope or synthetic fiber rope applies a controllable pulling force to pull the submarine cable from the construction ship to the wind power platform. The winch is equipped with a speed regulation system and a tension sensor to adjust the pulling force in real time, and cooperates with the pulley block to change the direction of the force to reduce friction loss. Through the pulley block and the fairlead, it is ensured that the submarine cable enters the platform along the preset path (such as the pipe protector and the J-shaped groove), and it is replaced by manual pulling to realize fast and continuous pulling of the submarine cable, avoid the submarine cable from being broken due to too large pulling force or being loose and knotted due to too small pulling force, ensure the uniformity of the submarine cable tension, avoid the internal optical fiber or power conductor from being invalid due to uneven stress, and effectively shorten the construction period.

[0104] The present embodiment details the process of connecting the first end of the submarine cable to the power supply of the cabinet in the above-mentioned embodiment. The specific implementation of this process includes: inserting the first end of the submarine cable through the through-hole into the power distribution cabinet inside the cabinet, and setting a protective tube at the through-hole before starting the power distribution cabinet to complete the power supply.

[0105] Specifically, inserting the first end of the submarine cable through the through-hole into the power distribution cabinet inside the cabinet provides a safe path from the external environment to the inside of the cabinet, avoiding direct exposure outside the cabinet, ensuring the stability of the electrical connection between the submarine cable and the power distribution cabinet, avoiding joint loosening due to external pulling, and reducing the corrosion possibility of external environment (such as salt spray, humidity) on the electrical equipment inside the cabinet.

[0106] By wrapping the contact part of the submarine cable and the through-hole with a protective tube at the through-hole, the protective tube prevents the submarine cable from being damaged due to vibration, friction or too small bending radius at the through-hole, prolongs the service life of the submarine cable, reduces the possibility of electrical leakage or short circuit caused by mechanical damage, ensures the sealing of the through-hole, and prevents seawater from penetrating into the inside of the cabinet along the submarine cable sheath.

[0107] In some optional embodiments, it also includes: implementing water-blocking plugging and fireproof plugging at the port of the protective tube.

[0108] Specifically, the water-blocking plugging at the port of the protective tube can use flexible waterproof materials (such as polyurethane sealant, rubber seal ring or epoxy resin) to fill the gap between the protective tube and the submarine cable, forming a physical isolation layer. The material needs to have resistance to seawater corrosion, elasticity and adhesion.

[0109] The fireproof plugging of the protection pipe port can be achieved by using fireproof materials (such as fireproof mortar, ceramic fiber or intumescent fire seal) to block the protection pipe port and form a fireproof barrier. If an electrical fire occurs inside the cabinet, the fireproof plugging can delay the spread of the fire through the protection pipe to the outside, reduce the damage of high temperature to the cable insulation layer, and avoid the expansion of the fire to the external cable route.

[0110] The embodiment details the process of controlling the movement of the construction ship according to the preset cable route to lay the submarine cable on the seabed. The specific implementation manner of the process comprises: controlling the movement of the construction ship according to the preset cable route, and setting the pay-off speed of the tensioner to be consistent with the movement speed of the construction ship. Until the end section of the submarine cable is about to leave the cable reel, the tensioner provides tension to the submarine cable, and a sling is tied at the end of the submarine cable, which is connected to the floor anchor of the construction ship.

[0111] Specifically, the pay-off speed of the tensioner is dynamically adjusted by the speed regulation system of the tensioner to be synchronized with the movement speed of the construction ship. The tensioner monitors the submarine cable tension in real time through the sensor to feedback control the pay-off speed. When the end of the submarine cable is about to leave the cable reel, the end of the submarine cable is fixed to the floor anchor of the construction ship by the sling, and the auxiliary tension is provided by the elastic or rigid connection of the sling. The stable submarine cable tension avoids the problems of insulation layer damage and optical fiber breakage caused by excessive bending or stretching of the submarine cable, and protects the end section to reduce the possibility of end jamming and prevent the submarine cable from being hooked by obstacles when it is dragged on the seabed.

[0112] In some optional embodiments, after setting the pay-off speed of the tensioner to be consistent with the movement speed of the construction ship, the process further comprises:

[0113] When the time for the pay-off speed of the tensioner to be consistent with the movement speed of the construction ship reaches a preset length of time, the pay-off speed of the tensioner and the movement speed of the construction ship are controlled to accelerate at a preset acceleration.

[0114] Specifically, after the tensioner and the ship speed are synchronized for a preset length of time, the control system sends instructions to gradually increase the pay-off speed of the tensioner and the power of the construction ship thruster, so that both of them accelerate at the same acceleration. The submarine cable tension and the ship speed are monitored in real time by the sensor to feedback adjust the acceleration, so as to ensure that the tension fluctuation is within a safe range during the acceleration process.

[0115] After acceleration, the operation speed of the construction ship and the tensioner is increased, the laying time of unit length of submarine cable is shortened, and in the case of strong current or large waves, the acceleration can offset external interference to maintain the stability of the submarine cable tension. The acceleration parameter can be dynamically adjusted according to different cable specifications (such as diameter and weight) and route environment (such as rock area and soft mud area) to improve the construction flexibility.

[0116] Figure 4 The hardware structure schematic diagram of the electronic device provided in the present application is as follows: Figure 4As shown, the electronic device 40 comprises at least one processor 401 and a memory 402. Optionally, the electronic device 40 further comprises a communication component 403. Wherein, the processor 401, the memory 402 and the communication component 403 are connected through a bus 404.

[0117] In the implementation process, the at least one processor 401 executes the computer execution instructions stored in the memory 402, so that the at least one processor 401 executes the method as above.

[0118] The specific implementation process of the processor 401 can refer to the method embodiments as above, which has similar implementation principles and technical effects, and will not be described here in detail.

[0119] In the above embodiments, it should be understood that the processor can be a central processing unit (English: Central Processing Unit, CPU for short), and can also be other general-purpose processors, digital signal processors (English: Digital Signal Processor, DSP for short), application specific integrated circuits (English: Application Specific Integrated Circuit, ASIC for short) and the like. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor and the like. The steps of the method disclosed in combination with the application can be directly embodied as hardware processor execution, or executed by hardware and software modules in the processor.

[0120] The memory can contain a high-speed memory (Random Access Memory, RAM), and can also include a non-volatile memory (Non-volatile Memory, NVM), for example, at least one disk memory.

[0121] The bus can be an industry standard architecture (Industry Standard Architecture, ISA) bus, a peripheral component interconnect (Peripheral Component, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus and the like. The bus can be divided into address bus, data bus, control bus and the like. For the convenience of representation, the bus in the drawings of the present application does not limit to only one bus or one type of bus.

[0122] The present application also provides a computer program product, comprising a computer program, which is executed by a processor to realize the above method.

[0123] The application further provides a computer readable storage medium, and the computer readable storage medium stores computer execution instructions.

[0124] The readable storage medium can be implemented by any type of volatile or nonvolatile storage devices or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0125] An exemplary readable storage medium is coupled to the processor, so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in the device.

[0126] The division of units is only a logical function division, and in actual implementation, there can be another division mode, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0127] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment.

[0128] In addition, the functional units in each embodiment of the application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0129] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the parts of the technical solutions that essentially contribute to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the method of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0130] It can be understood by those skilled in the art that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware. The aforementioned program can be stored in a computer readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, and various media that can store program codes.

[0131] Finally, it should be noted that: those skilled in the art will easily think of other embodiments of the present application after considering the specification and practicing the application disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application that follow the general principles of the present application and include common knowledge or conventional technical means in the art that are not disclosed in the present application, and is not limited to the precise structure described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present application is only limited by the appended claims.

Claims

1. A construction system for a submarine earthquake monitoring system, characterized in that: include: Wind power platforms, construction vessels, underwater robots and seabed monitoring base stations; The wind turbine platform is used to lay out winches, slings, beam clamps, fall chains and pulleys; The construction vessel is used to carry underwater robots, launching bridges, protective pipes, seabed monitoring base stations, submarine cables, winches, slings, beam clamps, fall chains, pulleys, unhookers, acoustic releasers and operators; The underwater robot is used to monitor the pulling and pulling of the protective pipe; The seabed monitoring base station is used to monitor seabed seismic data.

2. A construction method for a seabed earthquake monitoring system, characterized in that: Using the construction system for a seabed seismic monitoring system according to claim 1, the method comprises: Controlling the construction vessel to sail to the construction site, where the construction site is a sea area of ​​a preset area surrounding the wind turbine platform; Complete navigation and positioning system testing and positioning system calibration at the construction site to control the construction vessel to navigate to the target coordinate point at the construction site, and when the sea environment of the target coordinate point meets the wet measurement conditions, release the underwater robot to perform wet measurement and obtain the wet measurement results; When it is detected that the wet test result is that construction is permitted, the site is laid out on the wind power platform to complete the preparation work for pulling out the signal cable; Controlling the construction vessel to approach the wind turbine platform so that the direction of the water entry bridge is opposite to the direction of the underwater bell mouth of the protective pipe, and transmitting the signal cable in the protective pipe to the construction vessel; Connecting the signal cable to the head end of the submarine cable, pulling the submarine cable on the wind power platform, and lowering the submarine cable under the construction vessel until the head end of the submarine cable reaches the wind power platform; Connect the head end of the submarine cable to the chassis and power it on, connect the end of the submarine cable to the seabed monitoring base station, and power on the seismometer to debug the seismic test process. After the debugging is completed, anchor the submarine cable to the wind turbine platform; Controlling the movement of the construction vessel according to a preset submarine cable route to lay the submarine cable on the seabed, and connecting the end of the submarine cable to the seabed monitoring base station when the laying is completed; The seabed monitoring base station is deployed on the seabed, and the deployment stability of the seabed monitoring base station is confirmed to complete the construction of the bottom seismic monitoring system.

3. The method according to claim 2, characterized in that The navigation and positioning system test and positioning system calibration are completed at the construction site to control the construction vessel to navigate to the target coordinate point at the construction site, including: Testing the vessel's positioning error accuracy at the construction site to confirm that the construction vessel is capable of maintaining its position within the preset operating range and heading of the target coordinate point; Detecting deviations between calibration data of the position reference system, sensors, and anemometer compasses of the construction vessel and preset standard data at the construction site to confirm that the deviations are within a preset deviation range; Control the construction boat to sail to the target coordinate point of the construction site.

4. The method according to claim 2, characterized in that The releasing of the underwater robot to perform wet testing and obtain wet testing results includes: Release the underwater robot into the water; Performing a basic function test on the underwater robot to obtain a basic function test result; Performing sensor and navigation system tests on the underwater robot to obtain sensor test results and navigation system test results; Performing a mechanical operation test on the underwater robot to obtain a mechanical operation result; The basic function test results, sensor test results, navigation system test results and mechanical operation are sorted out to obtain wet test results.

5. The method according to claim 2, characterized in that When controlling the construction vessel to approach the wind power platform, the distance between the construction vessel and the wind power platform is maintained in a range of 15 meters to 25 meters.

6. The method according to claim 2, characterized in that Pulling out the submarine cable on the wind power platform includes: The winch is started on the wind power platform to pull the submarine cable, and the submarine cable is pulled on the wind power platform.

7. The method according to claim 2, characterized in that Connecting the head end of the submarine cable to the chassis and powering it on includes: The head end of the submarine cable is passed through the through hole and connected to the power distribution cabinet in the chassis, and after a protective tube is set at the through hole, the power distribution cabinet is started to complete the power-on.

8. The method according to any one of claims 2 to 7, characterized in that The controlling the movement of the construction vessel according to the preset submarine cable route to lay the submarine cable on the seabed includes: The movement of the construction vessel is controlled according to the preset submarine cable recording, and the tensioner cable release speed is set to be consistent with the movement speed of the construction vessel. When the end section of the submarine cable is about to be unwound from the cable drum, the tensioner is used to provide tension for the submarine cable, and a sling is tied at the end of the submarine cable, and the sling is connected to the floor anchor of the construction vessel.

9. The method according to claim 8, characterized in that After setting the tensioner cable-releasing speed to be consistent with the moving speed of the construction vessel, the method further includes: When the time during which the cable-releasing speed of the tensioner and the moving speed of the construction vessel are consistent reaches a preset time length, the cable-releasing speed of the tensioner and the moving speed of the construction vessel are controlled to accelerate according to a preset acceleration.

10. The method according to claim 7, characterized in that Also includes: Water-blocking and fire-proofing sealing are implemented at the ports of the protection tube.

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