Construction system and method for a submarine seismic monitoring system

Abstract

The embodiment of the present application provides a construction system and a construction method for a submarine seismic monitoring system. The system comprises a wind power platform, a construction ship, an underwater robot and a submarine monitoring base station; wherein the wind power platform is used for arranging a winch, a sling, a beam clamp, a chain and a pulley; the construction ship is used for loading the underwater robot, a water inlet bridge, a protection pipe, the submarine monitoring base station, a submarine cable, the winch, the sling, the beam clamp, the chain, the pulley, an unhooking device, an acoustic release and an operator; the underwater robot is used for monitoring the pulling of the protection pipe; and the submarine monitoring base station is used for monitoring submarine seismic data. By using 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 infrastructure materials, manpower and time is effectively reduced, and a large amount of repeated cost investment is avoided; and the monitoring of the pulling of the protection pipe can be completed by releasing the underwater robot, the manpower cost is reduced, and the safety is improved.

Description

Technical Field

[0001] This application relates to the field of marine earthquake monitoring, and in particular to a construction system and construction method for a seabed earthquake monitoring system. Background Technology

[0002] With the development and utilization of marine resources, marine earthquake monitoring has become increasingly important. Traditional seabed earthquake monitoring system construction often requires specialized survey vessels, which is costly, inefficient, and heavily dependent on natural conditions such as sea conditions. Furthermore, traditional construction methods have limitations in terms of equipment installation accuracy and stability, affecting the accuracy and reliability of earthquake monitoring data.

[0003] Furthermore, the construction of existing submarine seismic monitoring systems primarily relies on survey vessels. During construction, these vessels, carrying various equipment and tools, reach designated sea areas. They use sonar and other equipment to survey the seabed topography and determine suitable monitoring point locations. Then, using the vessel's hoisting equipment, seismic monitoring equipment (such as seismographs and data loggers) is lowered to the seabed. Submarine cables are laid from the vessel to the seabed using specialized equipment, connecting the various monitoring devices to the data processing center. The high cost of leasing, operating, and maintaining survey vessels, as well as the substantial human and material resources required for construction, results in high overall construction costs. Summary of the Invention

[0004] This application provides a construction system and construction method for a submarine earthquake monitoring system, which aims to reduce labor costs and improve safety.

[0005] In a first aspect, embodiments of this application provide a construction system for a submarine earthquake monitoring system, comprising:

[0006] Wind power platforms, construction vessels, underwater robots, and seabed monitoring base stations;

[0007] The wind power platform is used to install winches, slings, beam clamps, chain hoists, and pulleys;

[0008] The construction vessel is used to carry underwater robots, water entry bridges, protective pipes, submarine monitoring base stations, submarine cables, winches, slings, beam clamps, chain hoists, pulleys, unhooking devices, acoustic release devices, and workers;

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

[0010] The seabed monitoring base station is used to monitor seabed earthquake data.

[0011] Secondly, embodiments of this application provide a construction method for a submarine earthquake monitoring system, using the construction system for a submarine earthquake monitoring system as described in the first aspect, the method comprising:

[0012] Control the construction vessel to travel to the construction site, which is a pre-defined area of ​​sea surrounding the wind power platform;

[0013] The navigation and positioning system is tested and calibrated at the construction site to control the construction vessel to travel to the target coordinate point at the construction site. When the marine environment at the target coordinate point meets the wet measurement conditions, the underwater robot is released to perform wet measurement and obtain the wet measurement results.

[0014] When the wet test results indicate that construction is permitted, the site is set up on the wind power platform to prepare for the pulling of the signal cable.

[0015] The construction vessel is controlled to approach the wind power platform so that the orientation of the inlet bridge is opposite to the orientation of the underwater funnel of the protective pipe, and the signal cable inside the protective pipe is transmitted to the construction vessel.

[0016] Connect the signal cable to the head end of the submarine cable, pull the submarine cable on the wind power platform, and simultaneously lower the submarine cable on the construction vessel until the head end of the submarine cable reaches the wind power platform.

[0017] Connect the first end of the submarine cable to the chassis and power it on, connect the last end of the submarine cable to the seabed monitoring base station, and power on the seismograph to conduct earthquake test process debugging. After debugging is completed, anchor the submarine cable to the wind power platform.

[0018] The construction vessel is moved according to a preset submarine cable route to lay the submarine cable on the seabed, and the end of the submarine cable is connected to the seabed monitoring base station when the laying is completed.

[0019] The seabed monitoring base station is deployed on the seabed, and the deployment stability of the seabed monitoring base station is confirmed in order to complete the construction of the seabed earthquake monitoring system.

[0020] In one possible implementation, the step of completing the navigation and positioning system test and calibration at the construction site to control the construction vessel to travel to the target coordinate point at the construction site includes: detecting the positioning error accuracy of the vessel at the construction site to confirm that the construction vessel has the ability to maintain its position within the preset operating range and heading direction of the target coordinate point; detecting the deviation between the calibration data of the position reference system, sensors, and anemometers and compasses of the construction vessel and the preset standard data at the construction site to confirm that the deviation is within the preset deviation range; and controlling the construction vessel to travel to the target coordinate point at the construction site.

[0021] In one possible implementation, the process of releasing the underwater robot for wet testing to obtain wet test results includes: releasing the underwater robot into the water; performing basic function tests on the underwater robot to obtain basic function test results; performing sensor and navigation system tests on the underwater robot to obtain sensor test results and navigation system test results; performing mechanical operation tests on the underwater robot to obtain mechanical operation results; and combining the basic function test results, sensor test results, navigation system test results, and mechanical operation results to obtain the wet test results.

[0022] In one possible implementation, when the construction vessel is controlled to approach the wind power platform, the distance between the construction vessel and the wind power platform is maintained within the range of 15 meters to 25 meters.

[0023] In one possible implementation, the step of 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 one possible implementation, connecting the first end of the submarine cable to the power supply of the chassis includes: passing the first end of the submarine cable through a through hole to the power distribution cabinet inside the chassis, and then starting the power distribution cabinet after installing a protective pipe at the through hole to complete the power supply.

[0025] In one possible implementation, controlling the movement of the construction vessel according to a preset cable route to lay the cable on the seabed includes: controlling the movement of the construction vessel according to the preset cable route, setting the cable release speed of the tensioner to be consistent with the movement speed of the construction vessel, until the end section of the cable is about to exit the reel, using the tensioner to provide tension to the cable, and tying a sling to the end of the cable, the sling being connected to the floor anchor of the construction vessel.

[0026] In one possible implementation, after setting the cable release speed of the tensioner to be consistent with the moving speed of the construction vessel, the method further includes: when the time during which the cable release speed of the tensioner and the moving speed of the construction vessel are consistent reaches a preset duration, controlling the cable release speed of the tensioner and the moving speed of the construction vessel to accelerate according to a preset acceleration.

[0027] In one possible implementation, the method further includes: performing water-blocking and fire-proofing sealing at the port of the protective pipe.

[0028] Thirdly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0029] The memory stores computer-executed instructions;

[0030] The processor executes computer execution instructions stored in the memory, causing the processor to perform the second aspect and / or various possible implementations of the second aspect as described above.

[0031] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the second aspect and / or various possible implementations of the second aspect as described above.

[0032] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the second aspect and / or various possible implementations of the second aspect as described above.

[0033] The construction system and method for submarine earthquake monitoring provided in this application utilize the existing structure and facilities of the existing wind power platform, eliminating the need to build a dedicated monitoring platform or foundation. This effectively reduces the cost of foundation construction materials, manpower, and time, and avoids a large amount of repetitive cost investment. Furthermore, the monitoring of the pipe pulling can be completed by deploying an underwater robot, reducing manpower costs and improving safety. Attached Figure Description

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

[0035] Figure 1 This application provides a schematic diagram of the construction system for a submarine earthquake monitoring system. Figure 1 ;

[0036] Figure 2 This application provides a schematic diagram of the construction system for a submarine earthquake monitoring system. Figure 2 ;

[0037] Figure 3 A flowchart illustrating the construction method for the submarine earthquake monitoring system provided in this application;

[0038] Figure 4 A schematic diagram of the structure of the electronic device provided in this application.

[0039] Explanation of reference numerals in the attached figures:

[0040] 1-Wind power platform; 2-Construction vessel; 3-Underwater robot; 4-Submarine monitoring base station; 5-Submarine cable.

[0041] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0042] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0043] With the development and utilization of marine resources, marine earthquake monitoring has become increasingly important. Traditional seabed earthquake monitoring system construction often requires specialized survey vessels, which is costly, inefficient, and heavily dependent on natural conditions such as sea conditions. Furthermore, traditional construction methods have limitations in terms of equipment installation accuracy and stability, affecting the accuracy and reliability of earthquake monitoring data.

[0044] Traditional submarine seismic monitoring system construction primarily relies on survey vessels. During construction, the vessel carries various equipment and tools to the designated sea area. First, it uses sonar and other equipment to survey the seabed topography and determine suitable monitoring point locations. Then, using the vessel's hoisting equipment, the seismic monitoring equipment (such as seismographs and data loggers) is lowered to the seabed. Submarine cables are laid from the vessel to the seabed using specialized laying equipment, connecting the various monitoring devices to the data processing center. The rental, operation, and maintenance costs of survey vessels are extremely high, and the construction process requires significant human and material resources, resulting in high overall construction costs.

[0045] Meanwhile, due to the openness of some sea areas, it is necessary to lay additional submarine cables and add post-construction protection measures. Laying submarine cables increases the workload and difficulty of construction and is not conducive to subsequent operation and maintenance.

[0046] Buoy-based submarine seismic monitoring systems primarily transmit data wirelessly, making them susceptible to interference from the marine environment, such as absorption and scattering by seawater, resulting in poor stability and reliability of data transmission. In severe weather or complex marine environments, data loss or transmission interruptions may occur, affecting the continuity of seismic monitoring.

[0047] Buoys, floating on the sea surface, are easily affected by external forces such as waves, sea ice, and collisions with ships, which can lead to equipment damage. Moreover, buoys exposed on the sea surface are also susceptible to attachment and corrosion from marine organisms, shortening the equipment's lifespan.

[0048] The construction system and method for the submarine earthquake monitoring system provided in this application utilize the existing structure and facilities of the existing wind power platform, eliminating the need to build an additional dedicated monitoring platform or foundation. This effectively reduces the cost of foundation construction materials, manpower, and time, and avoids a large amount of repetitive cost investment. Furthermore, the monitoring of the pipe pulling can be completed by deploying an underwater robot, reducing manpower costs and improving safety.

[0049] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0050] like Figure 1 and Figure 2 As shown, this embodiment provides a construction system for a submarine earthquake monitoring system, including: a wind power platform 1, a construction vessel 2, an underwater robot 3, and a submarine monitoring base station 4;

[0051] Wind power platform 1 is used to install winches, slings, beam clamps, chain hoists, and pulleys;

[0052] Construction vessel 2 is used to carry underwater robots 3, water entry bridge, protective pipe, seabed monitoring base station 4, submarine cable 5, winch, sling, beam clamp, chain hoist, pulley, unhooking device, acoustic release device and workers;

[0053] The underwater robot 3 is used to monitor the pulling of the protective pipe;

[0054] Submarine monitoring stations are used to monitor submarine earthquake data.

[0055] Specifically, wind power platform 1 serves as a fixed support point for offshore construction, providing equipment storage, power supply, and an operational platform. A winch is used to pull the submarine cable 5, controlling its laying speed and tension via mechanical power. A hoisting system, consisting of slings, beam clamps, chain hoists, and pulleys, is used to fix and adjust the position of the submarine cable 5, preventing it from shifting or falling off during the pulling process. The flared end of the protective casing is a pre-embedded guide structure, providing a stable entry channel for the submarine cable and reducing the possibility of bending damage. By pulling the submarine cable with the winch and using pulleys to change the direction of force, precise laying of the cable from the protective casing to the seabed is achieved. Beam clamps and chain hoists are used to temporarily fix the cable's position, ensuring that it does not shift due to wind, waves, or ship movement during construction.

[0056] Construction vessel 2 serves as transportation equipment, performs submarine cable laying and deployment of seabed monitoring base station 4, and also possesses operational command and emergency response capabilities. The entry bridge, a ramp structure erected between the vessel and the sea surface, guides the submarine cable or heavy objects smoothly into the water, reducing impact. The tensioner controls the cable laying speed, adjusting cable tension via hydraulic or mechanical devices to prevent excessive slack or breakage. The acoustic release device remotely triggers release via acoustic signals for rapid release of equipment (such as the seabed monitoring base station) in emergencies. The construction vessel's navigation and positioning system ensures hull stability, and combined with real-time monitoring by ROV (Remotely Operated Vehicle) technology, achieves high-precision cable routing. The tensioner is synchronized with the vessel's movement speed, ensuring the cable is evenly laid on the seabed, preventing accumulation or tensile deformation.

[0057] The underwater robot 3 replaces manual labor in complex underwater operations, ensuring construction precision and safety. The underwater robot 3 can perform high-definition imaging and dimensional measurements of the duct opening and seabed topography to verify construction feasibility; it can also observe the process of the submarine cable entering the duct in real time to avoid jamming or wear; and it assists in fine-tuning the position of the seabed monitoring base station after it touches the bottom to ensure equipment horizontal stability. The underwater robot can be equipped with multi-beam sonar, optical cameras, and a robotic arm, and is remotely operated by the construction vessel via umbilical cable to transmit power and control signals.

[0058] Submarine monitoring station 4 is used for long-term acquisition of data such as seismic waveforms, water pressure, and temperature, which is then transmitted to the platform via submarine cable 5. The submarine monitoring station uses seismic detectors to sense seabed crustal vibrations, converting mechanical waves into electrical signals. The data acquisition unit amplifies, filters, and digitizes the detector signals, storing them at a set sampling rate or transmitting them in real time. An anchoring system, using suction anchors or counterweights, secures the station to the seabed to resist ocean current impacts. A detector array covers different directions, capturing the characteristics of P-waves, S-waves, and other seismic waves. The data is transmitted via submarine cable to the wind power platform or onshore center.

[0059] The construction system for the submarine earthquake monitoring system provided in this embodiment solves the problems of high cost, low efficiency, and poor accuracy in traditional submarine earthquake monitoring construction by using a collaborative mode of fixed support of wind power platforms, dynamic operation of construction vessels, and intelligent monitoring by ROVs. At the same time, by utilizing existing wind power facilities to reduce the difficulty and cost of operation and maintenance, it effectively improves the accuracy and stability of the construction of a long-term submarine earthquake monitoring network.

[0060] Figure 3 This is a flowchart illustrating the construction method for the submarine earthquake monitoring system provided in this application, such as... Figure 3 As shown in the figure, this embodiment provides a construction method for a submarine earthquake monitoring system, which includes the following steps:

[0061] Step S301: Control the construction vessel to travel to the construction site, which is a pre-defined area of ​​sea surrounding the wind power platform.

[0062] Specifically, based on the geographical coordinates of the wind power platform, a navigation and positioning system (such as DP dynamic positioning) can be used to control the construction vessel to move to the waters near the platform, i.e., the work site. By determining the starting point of the construction, a reference position is provided for subsequent high-precision operations, effectively reducing travel time and fuel consumption. At the same time, the surrounding resources of the wind power platform, such as electricity and communications, can be reused.

[0063] Step S302: Complete the navigation and positioning system test and calibration at the construction site to control the construction vessel to travel to the target coordinate point at the construction site, and when the marine environment at the target coordinate point meets the wet measurement conditions, release the underwater robot to perform wet measurement and obtain the wet measurement results.

[0064] Specifically, differential GPS, acoustic arrays, and other technologies can be used to correct the positional deviation of the construction vessel, ensuring positioning accuracy. After testing, ensure that the vessel's positioning error accuracy meets the preset operating conditions, confirming the vessel's ability to maintain its position and course within the preset operating range. After testing and calibration, the vessel can be moved to the operating coordinates using DP mode. An underwater robot equipped with multibeam sonar and a high-definition camera can then perform a 3D scan of the duct flare and seabed topography to detect obstacles and marine organism attachments; verify the feasibility of the construction environment, avoid potential reefs and gullies in the submarine cable route, thereby improving the success rate of construction and preventing equipment damage or rework due to unknown environments.

[0065] Step S303: When the wet test result is detected as permissible for construction, the site is set up on the wind power platform to complete the preparation work for pulling out the signal cable.

[0066] Specifically, winches, pulley blocks, and slings are pre-installed on the wind power platform. The cable pulling path is determined through mechanical calculations, with a safety margin reserved, providing mechanized support for pulling the cable's initial end. By reducing manual intervention, pulling efficiency is effectively improved, preventing insulation damage caused by excessively small bending radii or uneven stress on the cable.

[0067] Step S304: Control the construction vessel to approach the wind power platform, so that the orientation of the inlet bridge is opposite to the orientation of the underwater funnel of the protective pipe, and transmit the signal cable inside the protective pipe to the construction vessel.

[0068] Specifically, the ship's attitude is finely adjusted using the propellers and steering gear to align the axis of the entry bridge with the flared end of the protective casing, reducing friction on the submarine cable upon entry. Then, a crane or winch is used to pull the signal cable from inside the casing and connect it to a temporary storage device on the construction vessel. By establishing a physical connection between the submarine cable and the platform, the potential for cable wear when entering the protective casing is reduced, ensuring stable signal transmission.

[0069] Step S305: Connect the signal cable to the beginning of the submarine cable, pull the submarine cable on the wind power platform, and simultaneously lower the submarine cable on the construction vessel until the beginning of the submarine cable reaches the wind power platform.

[0070] Specifically, the winch pulls the submarine cable, and the pulley system changes the direction of the force to control the cable to enter the protective tube at a constant speed. The tensioner dynamically adjusts the cable tension, and in conjunction with the ship's movement speed, maintains the catenary shape of the cable, achieving a reliable connection between the cable's head end and the platform. This avoids excessive slack (which may lead to tangling) or excessive tension (which may lead to breakage), ensuring the straightness of the route until the cable's head end reaches the wind power platform.

[0071] Step S306: Connect the first end of the submarine cable to the chassis and power it on, connect the last end of the submarine cable to the seabed monitoring base station, and power on the seismograph to debug the seismic test process. After debugging, anchor the submarine cable to the wind power platform.

[0072] Specifically, the seismograph is installed within the submarine monitoring base station and is structurally fixed. The submarine monitoring base station is located on the seabed within the radius of the submarine cable centered on the wind power platform. The submarine monitoring base station contains an electronic cavity and a seismograph; the submarine cable connects to the electronic cavity, and the electronic cavity is connected to the seismograph via a watertight cable. The integrity of the submarine cable is verified through insulation resistance testing and signal path detection; fire-resistant materials (such as fire-retardant sealant) are filled into the through holes of the distribution cabinet to prevent the spread of fire along the cable; the submarine cable can be fixed using hydraulic clamps or grouting to withstand ocean current impacts. Electrical connections and commissioning are used to ensure the reliability of power and data transmission, improve system security, and reduce later maintenance failures by debugging the seismic testing process.

[0073] Step S307: Control the movement of the construction vessel according to the preset submarine cable route to lay the submarine cable on the seabed, and connect the end of the submarine cable to the seabed monitoring base station when the laying is completed.

[0074] Specifically, the construction vessel moves along a preset route, the tensioner adjusts the cable output speed in real time, and the burying machine or tracked cable laying device buries the cable into the seabed, achieving precise coverage of the cable on the seabed and reducing the possibility of fishing activities or ship anchor damage.

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

[0076] Specifically, the seabed monitoring base station is lowered at a constant speed by a crane, and the ROV monitors the base station's attitude in real time. An acoustic release device serves as an emergency detachment mechanism, effectively shortening the base station's positioning time, improving positioning accuracy, and ensuring long-term stable operation. Stability can be confirmed by, for example, observing the dimension markings at the four corners of the seabed monitoring base station to initially determine that the four corners are at the same height; or by observing the horizontal angle gauge inside the seabed monitoring base station using software to ensure that the angle change does not exceed 1° within half an hour.

[0077] The construction method for a submarine earthquake monitoring system provided in this invention reduces the investment in dedicated construction vessels and temporary facilities by utilizing wind power platform infrastructure (power, communication, and casing), thereby reducing material, labor, and time costs and avoiding a large amount of repetitive cost investment. Furthermore, by using an underwater robot to monitor the casing pulling process, labor costs are effectively reduced, while construction safety and efficiency are improved.

[0078] This embodiment details the process described above, in which navigation and positioning system testing and calibration are performed at the construction site to control the construction vessel to travel to the target coordinates at the construction site. The specific implementation of this process includes the following steps:

[0079] Step a1: Detect the accuracy of the vessel's positioning error at the construction site to confirm that the construction vessel has the ability to maintain its position within the preset operating range and heading direction of the target coordinate point.

[0080] Specifically, the positioning error is calculated by comparing real-time data from the multi-source positioning systems (such as GPS, BeiDou, acoustic arrays, and inertial navigation) on the construction vessel. For example, differential GPS (DGPS) or real-time moving baseline (RMB) technology, combined with external reference points (such as wind power platforms or seabed beacons), is used to measure the deviation between the actual position of the construction vessel at the target coordinate point and the analyzed position. Simultaneously, the vessel's dynamic holding capability under disturbances such as wind, waves, and currents is analyzed. This dynamic holding capability can be tested through methods such as closed-loop control system testing. The absolute accuracy and relative stability of the positioning system are verified. The vessel's ability to remain stationary at the target point is confirmed, preventing positioning errors from causing the vessel to deviate from the target area and affecting the accuracy of subsequent submarine cable laying or monitoring equipment installation.

[0081] Step a2: At the construction site, check the deviation between the calibration data of the position reference system, sensors and anemometer compasses of the construction vessel and the preset standard data to confirm that the deviation is within the preset deviation range.

[0082] Specifically, the position reference system (such as GPS antenna array), sensors (such as inertial measurement unit, IMU), anemometer, and compass of the construction vessel are jointly calibrated. The influence of environmental interference (such as ship magnetic field, vibration, and temperature changes) on the measurements is eliminated; the consistency of multi-sensor data fusion is ensured to avoid the accumulation of positioning errors due to deviations of a single device, thereby improving the redundancy and reliability of the positioning system.

[0083] Step a3: Control the construction vessel to travel to the target coordinate point at the construction site.

[0084] Specifically, the construction vessel can be controlled via a navigation and positioning system (DP) or a preset route. The DP system utilizes closed-loop control of the propellers, servo motors, and side thrusters to correct positional deviations in real time; it generates control commands based on the preset route (such as a straight line or curve) and dynamically adjusts the speed according to sea conditions. This precisely guides the construction vessel to the target coordinates, providing a reference position for subsequent cable laying or equipment deployment. During operation, minor deviations can be corrected using real-time feedback data monitored by an underwater robot.

[0085] The embodiments of the present invention achieve data consistency through multi-system calibration to avoid error accumulation; and by combining deviation detection with retention capability testing, the possibility of the construction vessel deviating from the target point is reduced, ensuring the accurate positioning of the construction vessel in complex marine environments.

[0086] This embodiment provides a detailed description of the process by which the underwater robot is deployed to perform wet testing and obtain the wet testing results, as described in the above embodiment. The specific implementation of this process includes the following steps:

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

[0088] Specifically, the underwater robot is smoothly lowered into the water using a mechanical release device (such as a hoisting system or a slide rail) to simulate the actual marine operating environment, and to initially test its sealing performance, buoyancy adjustment capability, and impact resistance, ensuring the robot's basic stability in the water.

[0089] Step b2: Perform basic function tests on the underwater robot and obtain the basic function test results.

[0090] Specifically, the robot is controlled by commands to perform basic actions (such as start / stop, light switching, and simple movement), and its response speed and status feedback are monitored to verify the normal operation of core modules (such as communication, power supply, and thrusters).

[0091] Step b3: Test the sensors and navigation system of the underwater robot and obtain the sensor test results and navigation system test results.

[0092] Specifically, underwater environmental data (such as water temperature, pressure, illumination, and sonar images) is collected and compared with known standard values ​​or redundant sensor data to verify sensor accuracy and consistency. Using acoustic arrays, inertial navigation systems, or visual odometry, combined with pre-calibrated underwater coordinate points, positioning accuracy and heading stability are tested. This ensures that sensors (such as multibeam sonar and high-definition cameras) can accurately perceive seabed topography, obstacles, and target objects, while simultaneously verifying the reliability of the navigation system in complex environments (such as water flow interference and magnetic field anomalies) to avoid path deviation.

[0093] Step b4: Perform mechanical operation tests on the underwater robot and obtain the mechanical operation results.

[0094] Specifically, the robot is controlled to perform complex mechanical actions (such as robotic arm grasping, gimbal turning, and winch deployment and retrieval), and joint torque, motor power, and hydraulic system pressure are verified through load testing. Pre-emptive checks for wear of mechanical components, insufficient lubrication, or control algorithm defects prevent on-site operation failures, thereby improving the robot's ability to perform precise operations.

[0095] Step b5: Compile the basic function test results, sensor test results, navigation system test results, and mechanical operation results to obtain the wet test results.

[0096] Specifically, the scattered test data (functional logs, sensor readings, navigation trajectories, and mechanical motion records) are summarized and combined with preset standards (such as allowable error range and performance thresholds) to obtain wet test results.

[0097] The embodiments of the present invention conduct direct testing in water, closely simulating actual working conditions, and perform step-by-step testing to reduce the possibility of missed detections.

[0098] In some alternative implementations, when controlling the construction vessel to approach the wind power platform, the distance between the construction vessel and the wind power platform is maintained within the range of 15 to 25 meters.

[0099] Specifically, the position of the construction vessel is precisely controlled through a navigation and positioning system or an anchoring system, combined with real-time monitoring technologies (such as GPS, laser rangefinders, and underwater sonar). The navigation and positioning system uses closed-loop adjustments of the propellers, steering gear, and side thrusters to counteract the interference of wind, waves, and currents on the hull; the anchoring system fixes the vessel's position by adjusting the length and direction of the anchor chain.

[0100] The distance ranges from 15 meters to 25 meters. The distance is determined based on safety regulations and construction requirements. For ease of operation, the distance can be selected according to the actual situation and needs.

[0101] Maintaining a safe distance prevents construction vessels from impacting the wind power platform due to waves or currents, thus avoiding equipment damage or personnel casualties; it also provides a buffer zone for submarine cable transmission, robotic arm operation, etc., preventing hull swaying from interfering with precise operations and improving the accuracy of submarine cable transmission, hoisting, and other operations.

[0102] In some alternative implementations, pulling the submarine cable on the wind power platform includes: starting a winch on the wind power platform to pull the submarine cable, or pulling the submarine cable on the wind power platform.

[0103] Specifically, the submarine cable is pulled from the construction vessel to the wind power platform by the motor drive of a winch and the application of controllable tension through steel wire ropes or synthetic fiber ropes. The winch is equipped with a speed control system and tension sensors to adjust the tension in real time, while also using pulley blocks to change the direction of the force and reduce friction loss. Through the pulley blocks and cable guides, the submarine cable is ensured to enter the platform along a preset path (such as a protective tube or J-slot), replacing manual pulling and enabling rapid and continuous cable pulling. This avoids excessive tension that could cause the cable to break or insufficient tension that could cause it to loosen and knot, ensuring uniform cable tension and preventing internal optical fibers or electrical conductors from failing due to uneven stress, effectively shortening the construction cycle.

[0104] This embodiment provides a detailed description of the process of connecting the first end of the submarine cable to the power supply of the chassis in the above embodiment. The specific implementation method of this process includes: passing the first end of the submarine cable through the through hole to the power distribution cabinet inside the chassis, and then starting the power distribution cabinet after setting a protective tube at the through hole to complete the power supply.

[0105] Specifically, the submarine cable is passed through a through-hole and connected to the power distribution cabinet inside the chassis to provide a safe path for the submarine cable from the external environment to the inside of the chassis, avoiding direct exposure to the outside of the chassis, ensuring the stability of the electrical connection between the submarine cable and the power distribution cabinet, preventing the joint from loosening due to external pulling, and reducing the possibility of corrosion of the electrical equipment inside the chassis by the external environment (such as salt spray and humidity).

[0106] By installing a protective tube at the through-hole to wrap the contact area between the submarine cable and the through-hole, the insulation layer of the submarine cable is prevented from being damaged due to vibration, friction, or excessively small bending radius at the through-hole, thus extending the service life of the submarine cable, reducing the possibility of leakage or short circuit caused by mechanical damage, ensuring the sealing of the through-hole, and preventing seawater from seeping into the chassis along the outer sheath of the submarine cable.

[0107] In some alternative implementations, the method further includes: applying water-blocking and fire-proofing seals to the ports of the protective pipe.

[0108] Specifically, the water-blocking seal at the port of the protective pipe can be achieved by filling the gap between the protective pipe and the submarine cable with flexible waterproof materials (such as polyurethane sealant, rubber sealing rings, or epoxy resin) to form a physical barrier layer. The material must be resistant to seawater corrosion, elastic, and have good adhesion.

[0109] Fireproof sealing of the protective conduit ports can be achieved by using flame-retardant materials (such as fire-retardant putty, ceramic fiber, or intumescent fireproof sealing strips) to seal the ports, forming a fire barrier. In the event of an electrical fire inside the enclosure, fireproof sealing can slow the spread of fire through the protective conduit; reduce the damage of high temperatures to the insulation layer of the submarine cable; and prevent the fire from spreading to external cable routes.

[0110] This embodiment describes in detail the process of controlling the movement of the construction vessel according to the preset submarine cable route in the above embodiment to lay the submarine cable on the seabed. The specific implementation of this process includes: controlling the movement of the construction vessel according to the preset submarine cable route, and setting the cable release speed of the tensioner to be consistent with the movement speed of the construction vessel, until the end section of the submarine cable is about to exit the cable reel, using the tensioner to provide tension to the submarine cable, and tying a sling to the end of the submarine cable, with the sling connected to the floor anchor of the construction vessel.

[0111] Specifically, the cable-laying speed is dynamically adjusted through the tensioner's speed control system to synchronize with the movement speed of the construction vessel. The tensioner monitors the cable tension in real time via sensors and uses feedback to control the cable-laying speed. When the cable end is about to leave the reel, slings are used to secure the cable end to the floor anchor of the construction vessel, providing auxiliary tension through the elastic or rigid connection of the slings. Maintaining stable cable tension prevents problems such as insulation damage and fiber breakage due to excessive bending or stretching, and protects the end section to reduce the possibility of jamming and prevent the cable from being snagged by obstacles while being towed on the seabed.

[0112] In some alternative implementations, after setting the tensioner cable release speed to match the movement speed of the construction vessel, the method further includes:

[0113] When the cable release speed of the tensioner and the moving speed of the construction vessel reach the preset time, the cable release speed of the tensioner and the moving speed of the construction vessel are accelerated according to the preset acceleration.

[0114] Specifically, once the tensioner and the vessel speed have synchronized for a preset time, the control system sends a command to gradually increase the cable release speed of the tensioner and the propeller power of the construction vessel, causing both to accelerate at the same rate. Sensors monitor the cable tension and vessel speed in real time, providing feedback to adjust the acceleration and ensure that tension fluctuations remain within a safe range during acceleration.

[0115] Acceleration increases the operating speed of the construction vessel and tensioner, shortening the laying time per unit length of submarine cable. Furthermore, in situations with strong currents or large waves, acceleration can counteract external interference and maintain stable cable tension. Acceleration parameters can be dynamically adjusted according to different cable specifications (such as diameter and weight) and route conditions (such as rocky or muddy areas), enhancing construction flexibility.

[0116] Figure 4 A schematic diagram of the hardware structure of the electronic device provided in this application, such as... Figure 4As shown, the electronic device 40 includes at least one processor 401 and a memory 402. Optionally, the electronic device 40 also includes a communication component 403. The processor 401, memory 402, and communication component 403 are connected via a bus 404.

[0117] In the specific implementation process, at least one processor 401 executes computer execution instructions stored in memory 402, causing at least one processor 401 to perform the above method.

[0118] The specific implementation process of processor 401 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0119] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0120] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0121] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0122] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0123] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0124] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device 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 accessible to a general-purpose or special-purpose computer.

[0125] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0126] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0127] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0128] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0129] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0130] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0131] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A construction method for a submarine earthquake monitoring system, characterized in that, A construction system for a submarine earthquake monitoring system was used, which includes: a wind power platform, a construction vessel, an underwater robot, and a submarine monitoring base station. The wind power platform is used to install winches, slings, beam clamps, chain hoists, and pulleys; The construction vessel is used to carry underwater robots, water entry bridges, protective pipes, submarine monitoring base stations, submarine cables, winches, slings, beam clamps, chain hoists, pulleys, unhooking devices, acoustic release devices, and workers; The underwater robot is used to monitor the pulling of the protective pipe; The seabed monitoring base station is used to monitor seabed earthquake data; The method includes: Control the construction vessel to travel to the construction site, which is a pre-defined area of ​​sea surrounding the wind power platform; The navigation and positioning system is tested and calibrated at the construction site to control the construction vessel to travel to the target coordinate point at the construction site. When the marine environment at the target coordinate point meets the wet measurement conditions, the underwater robot is released to perform wet measurement and obtain the wet measurement results. When the wet test results indicate that construction is permitted, the site is set up on the wind power platform to prepare for the pulling of the signal cable. The construction vessel is controlled to approach the wind power platform, so that the orientation of the water inlet bridge on the construction vessel is opposite to the orientation of the underwater horn of the protective pipe on the wind power platform, and the signal cable inside the protective pipe is transmitted to the construction vessel. Connect the signal cable to the head end of the submarine cable, pull the submarine cable on the wind power platform, and simultaneously lower the submarine cable on the construction vessel until the head end of the submarine cable reaches the wind power platform. Connect the first end of the submarine cable to the chassis and power it on, connect the last end of the submarine cable to the seabed monitoring base station, and power on the seismograph to conduct earthquake test process debugging. After debugging is completed, anchor the submarine cable to the wind power platform. The construction vessel is moved according to a preset submarine cable route to lay the submarine cable on the seabed, and the end of the submarine cable is connected 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 in order to complete the construction of the seabed earthquake monitoring system.

2. The method according to claim 1, characterized in that, The process of testing and calibrating the navigation and positioning system at the construction site to control the construction vessel to reach the target coordinates at the construction site includes: The accuracy of the vessel's positioning error is tested at the construction site to confirm that the construction vessel has the ability to maintain its position within the preset operating range and heading direction of the target coordinate point. The deviation between the calibration data of the position reference system, sensors and anemometers of the construction vessel and the preset standard data is detected at the construction site to confirm that the deviation is within the preset deviation range. Control the construction vessel to travel to the target coordinates at the construction site.

3. The method according to claim 1, characterized in that, The underwater robot is deployed to perform wet testing, and the wet testing results are obtained, including: Deploy the underwater robot into the water; The underwater robot was subjected to basic functional tests, and the results of the basic functional tests were obtained. The underwater robot was tested for its sensors and navigation system, and the sensor test results and navigation system test results were obtained. The underwater robot was subjected to mechanical operation tests to obtain the mechanical operation results. The results of the basic function tests, sensor tests, navigation system tests, and mechanical operations are compiled to obtain the wet test results.

4. The method according to claim 1, 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 within the range of 15 meters to 25 meters.

5. The method according to claim 1, characterized in that, The process of pulling the submarine cable on the wind power platform includes: The winch on the wind power platform is started to pull the submarine cable.

6. The method according to claim 1, characterized in that, Connecting the first end of the submarine cable to the chassis and powering it on includes: The first end of the submarine cable is passed through the through hole and connected to the power distribution cabinet inside the chassis. After a protective pipe is installed at the through hole, the power distribution cabinet is started to complete the power supply.

7. The method according to any one of claims 1 to 6, characterized in that, The step of controlling the movement of the construction vessel according to a preset submarine cable route to lay the submarine cable on the seabed includes: The construction vessel is moved according to the preset submarine cable route, and the cable release speed of the tensioner is set to be consistent with the movement speed of the construction vessel. When the end section of the submarine cable is about to exit the reel, the tensioner is used to provide tension to the submarine cable, and a sling is tied to the end of the submarine cable. The sling is connected to the floor anchor of the construction vessel.

8. The method according to claim 7, characterized in that, After setting the cable release speed of the tensioner to be consistent with the moving speed of the construction vessel, the method further includes: When the cable-laying speed of the tensioner and the moving speed of the construction vessel reach the same time for a preset duration, the cable-laying speed of the tensioner and the moving speed of the construction vessel are controlled to accelerate according to a preset acceleration.

9. The method according to claim 6, characterized in that, Also includes: Water-blocking and fire-proofing seals are applied to the ports of the protective pipe.

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