A resetting system and a resetting control method of a marine floating energy island

Abstract

The application provides a reset system and a reset control method of a marine floating energy island, wherein the reset system comprises a counterweight adjusting module, a floating force adjusting module, a thrust force adjusting module and a monitoring module; the counterweight adjusting module comprises a servo motor, an annular mooring chain track and a counterweight block; the floating force adjusting module comprises a gas supply device and an air bag; the thrust force adjusting module comprises a horizontal thrust force adjusting module and a vertical thrust force adjusting module; the monitoring module comprises a plurality of groups of sensors to monitor the position information of the energy island in real time; when the energy island is vertically unbalanced, the servo motor drives the counterweight block to move along the annular mooring chain track to perform a first-level reset adjustment; further, the gas supply device charges or discharges the air bag to perform a second-level reset adjustment; further, the vertical thrust force adjusting module provides vertical thrust force to perform a third-level reset adjustment; when the energy island is horizontally unbalanced, the horizontal thrust force adjusting module provides horizontal thrust force to push the main structure of the floating body to realize horizontal reset adjustment. The scheme of the application improves the reset efficiency of the energy island and the adaptability in extreme environments through a multi-level reset strategy.

Description

Technical Field

[0001] This invention relates to the fields of marine engineering and energy technology, and more specifically, to a reset system and reset control method for a floating energy island at sea. Background Technology

[0002] The ocean contains abundant renewable energy sources such as wind, solar, tidal, and wave energy. Fully developing and utilizing these marine resources can effectively improve the utilization rate of clean energy and support the construction of islands and the enhancement of coastal defense capabilities. Offshore energy island devices can effectively utilize renewable energy in the ocean, and different designs such as floating, semi-submersible, and fixed energy islands can adapt to different marine environments. Floating energy islands are particularly favored due to their advantages such as portability, strong adaptability to water depth, strong energy integration capabilities, minimal invasiveness to the seabed, and high environmental benefits.

[0003] Floating power islands operate in complex deep-sea environments for extended periods, subjected to various environmental loads such as strong winds, giant waves, and turbulence. Furthermore, the high maintenance costs following damage pose significant challenges to their stability and safety. Existing self-resetting technologies for offshore floating power islands suffer from the following problems: limited monitoring methods, lacking comprehensive monitoring of platform attitude, displacement, surrounding water flow, and the underwater environment; low reset efficiency, with traditional counterweight adjustments unable to quickly respond to dynamic environmental changes, and propeller thrust control lacking a tiered strategy; and poor adaptability to extreme environments, failing to achieve multi-stage coordinated self-resetting under extreme conditions such as typhoons. Therefore, displacement monitoring and rapid attitude correction control of floating power islands are particularly crucial. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a reset system and reset control method for a floating marine energy island, so as to improve the reset efficiency of the energy island, improve the adaptability of the energy island in extreme environments, thereby ensuring the safety and stability of the energy island, reducing the operation and maintenance costs of the energy island, and improving its service durability.

[0005] To address the aforementioned technical problems, embodiments of the present invention provide a repositioning system for a floating energy island at sea, comprising:

[0006] The counterweight adjustment module includes a servo motor, an annular mooring track, a counterweight block, a counterweight block pod, and an annular counterweight chamber. The servo motor and the annular mooring track are fixed inside the main floating structure of the energy island. The counterweight block pod is located inside the main floating structure, and the counterweight block is located outside the main floating structure. The bottom of the counterweight block pod is fixedly connected to one end of the counterweight block, and the counterweight block pod is slidably connected to the annular mooring track. The annular counterweight chamber is detachably connected to the outer bottom of the main floating structure, and an annular track for accommodating the counterweight block is provided inside the annular counterweight chamber.

[0007] The buoyancy adjustment module includes an air supply device and an airbag. The air supply device is located inside the main structure of the float, and the airbag is located on the outer side of the bottom corner of the main structure of the float.

[0008] The thrust adjustment module includes a horizontal thrust adjustment module and a vertical thrust adjustment module. The horizontal thrust adjustment module is disposed on the outer periphery of the end corner of the main structure of the float, and the vertical thrust adjustment module is disposed on the outer side of the bottom of the end corner of the main structure of the float; and

[0009] The monitoring module includes multiple sets of sensors for real-time monitoring of the energy island's position information. When the position information indicates that the energy island is vertically unbalanced, the servo motor drives the counterweight to move along the annular mooring chain to adjust the center of gravity of the main floating structure, reduce the tilt angle, and achieve a first-stage vertical reset adjustment. The air supply device inflates and deflates the airbag to perform a second-stage vertical reset adjustment after the first-stage vertical reset adjustment. The vertical thrust adjustment module provides thrust perpendicular to the main floating structure to perform a third-stage vertical reset adjustment after the second-stage vertical reset adjustment. When the position information indicates that the energy island is horizontally unbalanced, the horizontal thrust adjustment module provides thrust parallel to the main floating structure to horizontally push the main floating structure to achieve a horizontal reset adjustment.

[0010] In one embodiment, the counterweight adjustment module further includes:

[0011] A counterweight connecting cable is provided, with one end of the cable fixedly connected to the bottom of the counterweight pod and the other end fixedly connected to one end of the counterweight, so as to suspend the counterweight at the bottom of the main structure of the float.

[0012] In one embodiment, the annular counterweight chamber includes:

[0013] An inner ring of a ring-shaped counterweight chamber, the top of which is detachably connected to the outer bottom of the main floating structure; and

[0014] The outer ring of the annular counterweight chamber is fitted outside the inner ring of the annular counterweight chamber, and the top of the outer ring of the annular counterweight chamber is detachably connected to the outer side of the bottom of the main structure of the float, while the bottom of the outer ring of the annular counterweight chamber is fixedly connected to the bottom of the inner ring of the annular counterweight chamber.

[0015] In one embodiment, a first annular groove is formed on the outer side of the inner ring of the annular counterweight chamber, and a second annular groove is formed on the inner side of the outer ring of the annular counterweight chamber. The first annular groove and the second annular groove are connected to form the annular track.

[0016] In one embodiment, the air supply device is connected to the airbag via an air delivery pipeline, and the air delivery pipeline is equipped with an electric air valve to control the inflation volume and inflation speed of the air supply device when inflating the airbag.

[0017] In one embodiment, the airbag is detachably connected to the outer side of the bottom corner of the main structure of the float, and the airbag is a multi-layer composite structure.

[0018] In one embodiment, the horizontal thrust adjustment module is a horizontal thrust propeller, which is detachably connected to the outer periphery of the end corner of the main floating structure.

[0019] The vertical thrust adjustment module is a vertical thrust propeller, which is detachably connected to the outer side of the bottom corner of the main structure of the float; both the horizontal thrust propeller and the vertical thrust propeller are driven to rotate by stepper motors, and the rotation direction of the horizontal thrust propeller is perpendicular to the rotation direction of the vertical thrust propeller.

[0020] In one embodiment, the monitoring module includes multiple sets of sensors, including:

[0021] An inertial navigation sensor is installed at the bottom of the main floating structure to monitor the position information of the main floating structure in real time.

[0022] An underwater pressure sensor, disposed on the outside of the main structure of the buoy and in contact with seawater, is used to monitor in real time the water pressure and current velocity in the sea area near the main structure of the buoy; and

[0023] An underwater optical sensor is installed at the bottom of the main structure of the floating body to monitor environmental information directly below the main structure of the floating body in real time.

[0024] In one embodiment, the repositioning system for the offshore floating energy island further includes:

[0025] A central processing module, integrated within the main structure of the floating body, includes a power supply submodule and a control submodule. The control submodule is communicatively connected to the counterweight adjustment module, the buoyancy adjustment module, the thrust adjustment module, and the monitoring module, respectively. Based on the position information monitored by the monitoring module, it generates control commands for the movement of the counterweight adjustment module, the inflation / deflation commands for the buoyancy adjustment module, and the thrust commands for the thrust adjustment module, and feeds these commands back to each module for reset and adjustment. The power supply submodule provides power to the counterweight adjustment module, the buoyancy adjustment module, the thrust adjustment module, and the monitoring module.

[0026] Embodiments of the present invention also provide a reset control method for a reset system of a floating marine energy island based on the above embodiments, comprising:

[0027] S1: The real-time position information of the main floating structure is monitored by the monitoring module and fed back to the central processing module;

[0028] S2: The central processing module determines the current position offset and tilt angle of the main floating structure based on the initial position information and the real-time position information of the main floating structure;

[0029] S3: The central processing module determines the imbalance state of the energy island based on the position offset and the tilt angle: when the tilt angle is greater than a preset tilt angle threshold, the energy island is determined to be vertically unbalanced, and a first control command is generated based on the direction and magnitude of the tilt angle to control the counterweight adjustment module, buoyancy adjustment module, and thrust adjustment module to execute steps S4-S7; when the position offset is greater than a preset horizontal displacement threshold, the energy island is determined to be horizontally unbalanced, and a second control command is generated based on the magnitude and direction of the position offset to control the thrust adjustment module to execute steps S8-S9.

[0030] S4: The servo motor in the counterweight adjustment module drives the counterweight block to move along the annular mooring chain to dynamically adjust the center of gravity of the main floating structure, so that the tilt angle converges to the preset tilt angle threshold, thereby achieving a first-level vertical reset adjustment.

[0031] S5: If the tilt angle is still greater than the preset tilt angle threshold after step S4 is executed, the buoyancy adjustment module is activated, and the air supply device inflates and deflates the airbag to perform buoyancy compensation, so that the tilt angle converges to the preset tilt angle threshold, thereby realizing the secondary vertical reset adjustment.

[0032] S6: If the tilt angle is still greater than the preset tilt angle threshold after step S5 is executed, the thrust adjustment module is activated, and the vertical thrust adjustment module in the thrust adjustment module provides thrust perpendicular to the main structure of the floating body to perform angle compensation, so that the tilt angle converges to the preset tilt angle threshold and realizes three-level vertical reset adjustment.

[0033] S7: Vertical reset feedback verification: Monitor and update the tilt angle in real time, and determine whether the tilt angle is less than or equal to the preset tilt angle threshold; if it is satisfied, terminate the vertical reset adjustment; otherwise, repeat steps S4-S6 or trigger a manual intervention signal.

[0034] S8: The horizontal thrust adjustment module in the thrust adjustment module provides thrust parallel to the main structure of the floating body to horizontally push the main structure of the floating body to move to the initial position, thereby realizing horizontal reset adjustment;

[0035] S9: Horizontal Reset Dynamic Calibration: When the position offset is less than or equal to a first multiple of the preset horizontal displacement threshold, the thrust pulse frequency of the horizontal thrust adjustment module is adjusted to adjust the horizontal thrust magnitude until the position offset is less than or equal to a second multiple of the preset horizontal displacement threshold and the velocity of the main floating structure approaches zero, thus completing the horizontal reset; the second multiple is less than the first multiple.

[0036] S10: Reset Completion Judgment and System Reset: When the real-time monitored tilt angle is less than or equal to the preset tilt angle threshold, and the position offset is less than or equal to the preset horizontal displacement threshold, the energy island is determined to be successfully reset, and the reset system enters the standby monitoring state.

[0037] The above-described solution of the present invention has at least the following beneficial effects:

[0038] (1) The reset system of the present invention achieves rapid response to platform tilt and displacement anomalies through a three-level hierarchical control strategy of counterweight adjustment, buoyancy adjustment and thrust adjustment. When adjusting vertical imbalance, the reset adjustment is carried out in the order of counterweight adjustment, buoyancy adjustment and thrust adjustment. This can realize the hierarchical control logic of system energy consumption from low to high, intervention from small to large, and adjustment from high reliability to high dynamism. This is in line with the design principle of "lowest cost first" in engineering systems and is conducive to improving the overall energy efficiency, reliability and life of the reset system.

[0039] (2) The reset system of the present invention, through the cooperation of the central processing module, the monitoring module, the counterweight adjustment module, the buoyancy adjustment module and the thrust adjustment module, can realize the automatic reset of the energy island, effectively reduce the number of manual inspections and emergency responses at sea, and significantly reduce operating and maintenance costs.

[0040] (3) When the reset system provided by the present invention resets the energy island: during the normal service phase of the energy island, the real-time monitoring and attitude control of the reset system significantly reduces the impact of the tilt of the floating energy island on the operating efficiency of equipment such as tidal power generation device, wave power generation device, photovoltaic power generation device, and wind power generation device; during the typhoon warning phase, the reset system can adjust the energy island to the best attitude against wind and waves in advance by dynamically adjusting the counterweight, inflating the airbags on the low side, and starting the propellers in the corresponding direction, so as to ensure that the energy device can quickly resume operation after extreme weather, minimize the impact of extreme weather on the operation of the equipment, and thus ensure the stable operation of the equipment on the energy island and ensure all-weather power generation capacity, thereby effectively improving the utilization rate of renewable energy.

[0041] (4) The reset system provided by the present invention can realize real-time monitoring and identification of underwater obstacles such as fishing boat anchor chains and floating objects near the energy island through the cooperation of the monitoring module and the central processing module, so as to actively avoid obstacles and thus ensure the safety of personnel and equipment. At the same time, through the fusion data processing of inertial navigation sensors and environmental sensors, the wave impact torque can be predicted in real time and the pre-reset plan can be activated in advance to control the tilt angle of the energy island within ±5° and the horizontal position offset within ±10 meters, so as to ensure the continuous and stable operation of key energy devices. Through the redundancy and fault-tolerant design of different reset adjustment modules, different modules can cooperate with each other and adopt different reset adjustment strategies in different imbalance states, thereby enhancing the safety and reliability of the energy island after use.

[0042] (5) The reset system of the present invention has advantages such as modular design, strong scalability, and convenient maintenance. The annular counterweight chamber, airbag, and propeller are all standardized modules that can be quickly disassembled and deployed or flexibly added or removed according to the scale of the energy island. The monitoring module supports rapid access to various sensors to meet the needs of multiple scenarios such as marine ranching and scientific research observation.

[0043] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of the present invention, nor is it intended to restrict the scope of the invention. Other features of the invention will become readily apparent from the following description. Furthermore, implementation of any embodiment of the present invention does not imply the simultaneous possession or achievement of multiple or all of the aforementioned beneficial effects. Attached Figure Description

[0044] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0045] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0046] Figure 1 This is a top axonometric view of the repositioning system for a floating energy island at sea provided in an embodiment of the present invention;

[0047] Figure 2 This is a top view of the repositioning system for a floating energy island at sea provided in an optional embodiment of the present invention;

[0048] Figure 3 This is a bottom axonometric view of the resetting system for a floating energy island at sea, provided in an optional embodiment of the present invention.

[0049] Figure 4 This is a bottom view of the repositioning system for a floating energy island at sea, provided in an optional embodiment of the present invention;

[0050] Figure 5 This is an exploded view of the repositioning system for a floating energy island at sea, provided in an optional embodiment of the present invention.

[0051] Figure 6 This is a schematic cross-sectional view of the connection between the annular counterweight compartment and the bottom of the main floating structure and the counterweight block in the resetting system of a floating energy island provided in an optional embodiment of the present invention.

[0052] Figure 7 This is a schematic diagram of the buoyancy adjustment module in the resetting system of a floating energy island at sea, provided in an optional embodiment of the present invention.

[0053] Figure 8 This is a schematic diagram of the components of the monitoring module in the reset system of a floating energy island at sea, provided in an optional embodiment of the present invention;

[0054] Figure 9 This is a flowchart of the reset control method of the reset system provided in the embodiment of the present invention.

[0055] Reference numerals: 1. Main structure of the floating body; 2. Central processing module; 3. Monitoring module; 31. Inertial navigation sensor; 32. Underwater pressure sensor; 33. Underwater camera; 34. Sonar; 35. Underwater optical sensor; 40. Circular track; 41. Servo motor; 42. Circular mooring track; 43. Counterweight pod; 44. Counterweight connecting cable; 45. Counterweight; 46. Inner ring of the circular counterweight pod; 47. Outer ring of the circular counterweight pod; 48. Bolt; 49. Welding; 51. Air supply equipment; 52. Air pipeline; 53. Electric air valve; 54. Airbag; 61. Horizontal thrust propeller; 62. Vertical thrust propeller; 7. Mooring system. Detailed Implementation

[0056] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0057] In the description of this invention, the terms "comprising / including," "consisting of," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a product, apparatus, process, or method that comprises a list of elements includes not only those elements but may also include, where necessary, other elements not expressly listed, or elements inherent to such a product, apparatus, process, or method. Without further limitation, an element defined by the phrases "comprising / including," "consisting of," does not exclude the presence of additional identical elements in the product, apparatus, process, or method that includes said element.

[0058] It should be understood that, in this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0059] It should also be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device, component or structure referred to must have a specific orientation, be constructed or operated in a specific orientation, and should not be construed as a limitation of the present invention.

[0060] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0061] like Figure 1As shown, an embodiment of the present invention provides a resetting system for a floating energy island at sea, which may include a counterweight adjustment module, a buoyancy adjustment module, a thrust adjustment module, and a monitoring module 3. The counterweight adjustment module includes a servo motor 41, a ring-shaped mooring track 42, and a counterweight block 45. The servo motor 41 and the ring-shaped mooring track 42 are fixed inside the main floating structure 1 of the energy island, and the counterweight block 45 is disposed outside the main floating structure 1, with one end of the counterweight block 45 slidably connected to the ring-shaped mooring track 42. The buoyancy adjustment module includes an air supply device 51 and an airbag 54. The air supply device 51 is disposed inside the main floating structure 1, and the airbag 54 is disposed on the outer side of the bottom corner of the main floating structure 1. The thrust adjustment module includes a horizontal thrust adjustment module and a vertical thrust adjustment module. The horizontal thrust adjustment module is disposed on the outer periphery of the bottom corner of the main floating structure 1, and the vertical thrust adjustment module is disposed on the outer side of the bottom corner of the main floating structure 1. The monitoring module 3 includes multiple sets of sensors for real-time monitoring of the energy island's position information. When the position information indicates that the energy island is vertically unbalanced, the servo motor 41 drives the counterweight 45 to move along the annular mooring track 42 to perform a first-level vertical reset adjustment. The air supply device 51 inflates and deflates the airbag 54 to perform a second-level vertical reset adjustment after the first-level vertical reset adjustment. The vertical thrust adjustment module provides thrust to the vertical floating main structure 1 to perform a third-level vertical reset adjustment after the second-level vertical reset adjustment. When the position information indicates that the energy island is horizontally unbalanced, the horizontal thrust adjustment module provides thrust to the parallel floating main structure 1 to horizontally push the floating main structure 1 to achieve horizontal reset adjustment.

[0062] In this embodiment, the main floating structure 1 of the energy island is the base of the entire floating energy island. Located at the bottom of the energy island and floating on the sea surface, it provides buoyancy and structural support for the energy island, while also bearing all equipment and energy devices. It serves as the installation foundation for the entire resetting system. The main floating structure 1 possesses characteristics such as high strength, corrosion resistance, and stability to withstand the effects of wind, waves, and tides in the marine environment.

[0063] In some embodiments of the present invention, the main floating structure 1 includes, but is not limited to, a pontoon structure, a high-performance concrete pontoon, a semi-submersible truss structure platform, an elastic modular floating structure, and a modular raft structure; the main materials of the main floating structure 1 include, but are not limited to, thermoplastic polyurethane (TPU), carbon fiber reinforced composite material (CFRP), glass fiber reinforced composite material (GFRP), lightweight alloy, high-strength steel, high-strength marine engineering steel (EH36 / DH36, etc.), and steel-composite material hybrid structures; the appearance of the main floating structure 1 includes, but is not limited to, triangles, rectangles, pentagons, hexagons, circles, etc.; it should have strong corrosion resistance, strong impact resistance, good stability, lightweight and high strength, and provide sufficient buoyancy.

[0064] The counterweight adjustment module, as the first-level reset module in the reset system, is located at the bottom of the main floating structure 1. The servo motor 41 and the annular mooring track 42 are located inside the main floating structure 1 and fixed to the bottom surface inside the main floating structure 1 to ensure the safety and reliability of the servo motor 41. The counterweight block 45 is located outside the main floating structure 1 and below the annular mooring track 42, with one end of the counterweight block 45 slidably connected to the annular mooring track 42. When the energy island experiences vertical imbalance (i.e., a tilt angle; here, the sea level is the plane containing the XY axes, and the side perpendicular to the sea level is the plane containing the Z axis; normally, the plane containing the bottom of the main floating structure 1 is parallel to the plane containing the XY axes; when a shift occurs, the angle between the plane containing the bottom of the main floating structure 1 and the plane containing the XY axes is the tilt angle), the servo motor 41 drives the counterweight block 45 to move along the annular mooring track 42 to adjust the center of gravity of the main floating structure 1, thereby reducing the tilt angle and achieving the vertical reset of the energy island.

[0065] Here, multiple servo motors 41 and counterweights 45 can be set, and each servo motor 41 corresponds to a counterweight 45. Under normal conditions (the energy island is located in a preset position, and the bottom plane of the main floating structure 1 is parallel to the plane of the XY axis), multiple servo motors 41 and multiple counterweights 45 are evenly distributed along the annular mooring chain track 42. When the energy island is vertically unbalanced, the servo motors 41 drive the corresponding counterweights 45 to move along the annular mooring chain track 42 to adjust the center of gravity of the main floating structure 1, counteract the tilting torque, and thus realize the vertical reset of the energy island.

[0066] In some embodiments of the present invention, the counterweight 45 may be a high-density metal counterweight. The materials selected for the high-density metal counterweight include, but are not limited to, tungsten-nickel-iron alloy (16-19 g / cm³), nickel-copper-tungsten alloy (18-20 g / cm³), lead-antimony alloy (11.2 g / cm³), and other materials that are high in density, easy to process, and wear-resistant.

[0067] The buoyancy adjustment module, as a secondary reset module in the reset system, has an air supply device 51 located inside the main float structure 1, and airbags 54 located at the four corners of the bottom of the main float structure 1. These airbags, after inflation, provide buoyancy. Here, the air supply device 51 and the airbags 54 correspond one-to-one. When the energy island experiences vertical imbalance and cannot be balanced after primary reset adjustment, the air supply device 51 inflates the airbags 54 located on the lower side of the main float structure 1 due to imbalance (or displaces the airbags 54 located on the higher side), using buoyancy to lift one or more sides of the main float structure 1 to achieve vertical balance of the energy island.

[0068] In some embodiments of the present invention, the gas supply device 51 may include one or more of the following: an air pump, an air compressor, a high-pressure gas tank, a gas cylinder, etc.

[0069] In some embodiments of the present invention, the annular mooring track 42 may be made of lightweight, low-friction, and wear-resistant materials such as aluminum alloy, carbon fiber composite material, and self-lubricating polytetrafluoroethylene, in order to ensure the stability of the counterweight adjustment module drive control.

[0070] The thrust adjustment module, as the third-level reset module in the reset system, has its vertical thrust adjustment module located on the outer side of the bottom corner of the main floating structure 1, and maintaining a certain distance from the airbag 54. When the energy island experiences vertical imbalance and still cannot achieve vertical balance after the second-level reset adjustment, the vertical thrust adjustment module provides additional thrust to assist the energy island in adjusting its attitude.

[0071] The horizontal thrust adjustment module is located on the outer periphery of the end corner of the main floating structure 1. When the energy island becomes horizontally unbalanced, the horizontal thrust adjustment module provides forward or backward thrust in the horizontal direction to push the energy island back to the preset position.

[0072] Monitoring module 3 serves as the sensing center for the entire floating energy island. Distributed around the bottom and perimeter of the main floating structure 1, it monitors the island's location and surrounding environmental parameters such as water flow velocity, water pressure, and underwater obstacles in real time. Monitoring module 3 can communicate with the counterweight adjustment module, buoyancy adjustment module, and thrust adjustment module. Correspondingly, each of these modules can be equipped with a communication module to facilitate data and signal transmission.

[0073] During the vertical imbalance reset adjustment of the energy island, the counterweight is adjusted first. On the one hand, the counterweight adjustment changes the center of gravity by moving the existing counterweight block 45, which only requires the servo motor 51 for driving, resulting in extremely low energy consumption and reducing the overall system energy consumption. On the other hand, the counterweight adjustment is a mechanical displacement control, which responds quickly and can precisely control the adjustment amount, making it suitable for handling small initial tilts. In addition, the counterweight adjustment does not involve fluid injection or complex power output, resulting in low system failure risk, minimal impact on the structure, and high safety. After the counterweight adjustment, buoyancy adjustment is performed to increase the adjustment range and thus improve the reset efficiency. After the buoyancy adjustment, thrust adjustment is performed, which has a flexible response, controllable thrust, and strong adjustment capability, thus improving the adjustment accuracy.

[0074] By forming a "redundant + complementary" hierarchical response reset system through counterweight adjustment, buoyancy adjustment, and thrust adjustment, energy efficiency, response speed, adjustment range, and system reliability can be balanced. This solves the problems of upper limit of adjustment torque, large energy consumption, response delay, and low reliability that still exist in single systems. At the same time, in the process of vertical imbalance reset adjustment, following the three-level adjustment sequence of first counterweight adjustment, then buoyancy adjustment, and finally thrust adjustment, the reset system can achieve hierarchical control from low power consumption to high power consumption, from small intervention to large intervention, and from high reliability to high dynamics, which is conducive to improving the overall energy efficiency, reliability, and lifespan of the reset system.

[0075] like Figures 1 to 2 As shown, in an optional embodiment of the present invention, the reset system of the above-mentioned floating energy island may further include a central processing module 2. This central processing module 2 is integrated inside the main structure 1 of the floating body. The central processing module 2 includes a power supply submodule and a control submodule. The control submodule is communicatively connected to the counterweight adjustment module, the buoyancy adjustment module, the thrust adjustment module, and the monitoring module 3, respectively. Based on the position information monitored by the monitoring module 3, it generates control commands for the counterweight adjustment module, the buoyancy adjustment module (inflation / deflation) commands, and the thrust adjustment module (thrust commands), and feeds these commands back to each module to achieve reset adjustment. The power supply submodule provides power to the counterweight adjustment module, the buoyancy adjustment module, the thrust adjustment module, and the monitoring module.

[0076] In this embodiment, the central processing module 2 serves as the central hub of the entire floating energy island. It is integrated inside the main floating structure 1 of the energy island or in a specific control cabin, providing energy distribution, reset decision-making, and scheduling support for the entire reset system. Specifically, it includes an energy supply submodule and a control submodule. The central processing module 2 has a basic monitoring power consumption of ≤5kW in non-extreme environments and supports an energy self-sufficiency rate of over 70%.

[0077] The power supply submodule includes, but is not limited to, tidal power generation devices, wave power generation devices, photovoltaic power generation devices, and wind power generation devices on the energy island, to provide power to each reset and adjustment module. The control submodule mainly analyzes the data and location information monitored in real time by the monitoring module 3, and coordinates the linkage control of each adjustment module when the vertical or horizontal reset plan is triggered, such as controlling the movement of the counterweight, the inflation and deflation of buoyancy, and the direction of thrust. Preferably, the control submodule can also be responsible for predicting the overall dynamic changes of the floating energy island in extreme environments such as typhoons and giant waves, and triggering the corresponding reset plan in advance.

[0078] like Figure 5 As shown, in an optional embodiment of the present invention, the counterweight adjustment module may further include at least one of the following:

[0079] The annular counterweight chamber is detachably connected to the outer side of the bottom of the main floating structure 1. The annular counterweight chamber is equipped with an annular track 40 that accommodates the counterweight block 45.

[0080] The counterweight pod 43 is located inside the main structure 1 of the float and is slidably connected to the annular mooring track 42.

[0081] The counterweight connecting cable 44 has one end fixedly connected to the bottom of the counterweight pod 43 and the other end fixedly connected to one end of the counterweight 45, so as to suspend the counterweight 45 at the bottom of the main floating structure 1.

[0082] In this embodiment, the annular counterweight compartment is located at the center of the bottom of the main floating structure 1, and directly below the annular mooring chain 42. Preferably, the bottom of the main floating structure 1 has an annular opening, and the annular mooring chain 42 is installed on both sides of the annular opening. Here, an annular track 40 is provided inside the annular counterweight compartment. The annular track 40 communicates with the annular opening and corresponds to the annular mooring chain 42. The counterweight block 45 is disposed inside the annular track 40, with one end extending into the annular opening and slidingly connected to the annular mooring chain 42. Preferably, the size of the annular track 40 is slightly larger than that of the counterweight block 45, so that the counterweight block 45 can move along the annular mooring chain 42 within it, avoiding the influence of external fluids on the counterweight adjustment. Here, the top of the annular counterweight compartment is detachably connected to the bottom of the main floating structure 1, preferably by bolts 48, to facilitate disassembly and maintenance, and also to allow for rapid deployment and flexible addition or reduction according to the scale of the energy island, improving applicability. Preferably, waterproofing treatment is applied at the bolt connection to ensure the sealing of the annular counterweight compartment.

[0083] The counterweight pods 43 are all located inside the main structure 1 of the energy island floating body and are slidably connected to the annular mooring track 42. Here, the bottom of the counterweight pod 43 is fixedly connected to one end of the counterweight 45 so that when the servo motor 41 controls and drives the counterweight pod 43 to move along the annular mooring track 42, it will drive the counterweight 45 to move, thereby adjusting the center of gravity of the energy island and counteracting the tilting torque. A counterweight connecting cable 44 can be provided between the counterweight pod 43 and the counterweight 45 to connect the counterweight pod 43 and the counterweight 45 respectively.

[0084] Here, the servo motor 41, the counterweight pod 43, the counterweight connecting cable 44, and the counterweight 45 correspond one-to-one. Preferably, the servo motor 41 can drive the counterweight pod 43 to move along the annular mooring track 42 through a long-distance transmission system (such as a belt, chain, lead screw, or rack and pinion) to ensure the stability and accuracy of the drive control. After receiving the instruction from the central processing module 2, the servo motor 41 reduces its speed and increases its torque through a reducer, driving the ball screw or pulley system to drive the electric push rod / slide rail device to push the counterweight pod 43 to slide along the annular mooring track 42, thereby dynamically adjusting the position of the counterweight 45. The central processing module 2 receives data transmitted from the monitoring module and the motor speed or position information from the encoder of the servo motor 41 in real time. Preferably, a PID closed-loop control algorithm is used to compare the error between the target value and the actual value of the servo motor 41 speed or position information, quickly adjust the motor output, and achieve high-precision fine-tuning of the counterweight 45 and system balance.

[0085] In some embodiments of the present invention, the servo motor 41 can be replaced by hydraulic drive, pneumatic drive, etc., and the drive adjustment can be semi-automatic or fully automatic to ensure the stability and safety of the equipment.

[0086] like Figures 3 to 6 As shown, in an optional embodiment of the present invention, the annular counterweight chamber may include an inner ring 46 and an outer ring 47. The top end of the inner ring 46 is detachably connected to the outer bottom of the main float structure 1. The outer ring 47 is fitted over the inner ring 46, and its top end is detachably connected to the outer bottom of the main float structure 1. The bottom end of the outer ring 47 is fixedly connected to the bottom end of the inner ring 46. Preferably, the bottom ends of both rings can be fixed by welding 49, ensuring the stability and reliability of the connection and the sealing of the annular counterweight chamber. Here, the top ends of both the inner ring 46 and the outer ring 47 can be bolted to the bottom of the main float structure 1 using bolts 48. Preferably, a sealing material can be provided at the bolted connection; more preferably, the sealing material includes, but is not limited to, fluororubber, nitrile rubber, and other materials that prevent seawater penetration.

[0087] Furthermore, a first annular groove is provided on the outer side of the inner ring 46 of the annular counterweight chamber, and a second annular groove is provided on the inner side of the outer ring 47 of the annular counterweight chamber. The first annular groove and the second annular groove are connected to form an annular track 40.

[0088] In some embodiments of the present invention, the main structure of the inner ring 46 and the outer ring 47 of the annular counterweight chamber is made of materials including but not limited to carbon steel, stainless steel, aluminum alloy, and other materials with high strength, strong corrosion resistance, and wear resistance.

[0089] like Figure 7 As shown, in an optional embodiment of the present invention, the gas supply device 51 and the airbag 54 are connected through a gas supply pipeline 52. An electric gas valve 53 is provided on the gas supply pipeline 52 to control the inflation amount and inflation speed when the gas supply device 51 inflates the airbag 54.

[0090] In this embodiment, the gas pipeline 52 serves as a medium transmission channel connecting the gas supply device 51 and the airbag 54. It is preferably made of high-pressure resistant and corrosion-resistant alloy pipe, with its inner wall coated with a nano-level sealing coating to prevent gas leakage, and its outer surface wrapped with an elastic damping layer to buffer fluid pulsation.

[0091] Here, the electric pneumatic valve 53 is installed on the air supply pipeline 52 and located inside the main structure 1 of the float. Specifically, it includes a valve body, a valve plate, a drive motor, and a position feedback device. The valve body can adopt a three-way or two-way structure design, with an annular sealing groove on the inner wall of the valve body, and a high-pressure resistant rubber sealing ring installed inside the groove. The valve plate can be made of high-strength alloy material, with a wear-resistant layer formed by surface hardening treatment. The drive motor can be a stepper motor or a servo motor, and the output shaft of the drive motor is connected to the valve plate rotation shaft via a reduction mechanism. The position feedback device can be a Hall sensor or a photoelectric encoder, used to monitor the opening angle of the valve plate in real time and transmit the signal to the central processing module 2. The control signal input terminal of the electric pneumatic valve 53 is connected to the control signal output terminal of the central processing module 2, and its valve opening can be automatically adjusted according to a preset program or real-time monitoring data to achieve precise control of the inflation volume and inflation speed of each airbag.

[0092] In an optional embodiment of the present invention, the airbag 54 is detachably connected to the outer side of the bottom corner of the main float structure 1. In an achievable example, the main structure of the airbag 54 can be detachably connected to the main float structure 1 by ropes or wires, so as to facilitate quick disassembly and replacement after the airbag 54 ages or is damaged.

[0093] In an optional embodiment of the present invention, the airbag 54 has a multi-layer composite structure, specifically including an inner layer, a middle reinforcing layer, and an outer protective layer. The inner layer of the airbag 54 can be made of neoprene rubber (CR) airtight material to achieve flexible sealing and improve the water resistance of the airbag 54; the middle reinforcing layer of the airbag 54 can be made of aramid fiber, a high-strength tensile material, which can enhance the overall structural strength of the airbag 54 and prevent airbag rupture; the outer protective layer of the airbag 54 can be made of polyester, a wear-resistant, tear-resistant, UV-resistant, and weather-resistant material.

[0094] Through a three-dimensional, multi-layered structure design of "inner tightness, intermediate strength, and outer toughness," the functions of each layer of materials can be complementary and synergistically reinforced, significantly improving the overall performance of the airbag 54 in complex marine environments. Furthermore, it achieves a high degree of unity between the airbag 54's airtightness, structural strength, and environmental durability. This not only meets the core requirements of offshore floating energy islands for high buoyancy adjustment, rapid response, and long-term reliable operation, but also maintains safety and stability under extreme sea conditions, enabling effective adjustment of the buoyancy adjustment module. Preferably, the airbag 54 is designed with a working pressure ≥10MPa and a burst pressure ≥15MPa.

[0095] Here, the airbag 54 is connected to the air supply device 51 via the air pipeline 52. The air supply device 51 is fixed inside the main structure 1 of the float at a temperature below 40°C, in a well-ventilated area, free from corrosive media, and far away from hazardous sources. When using a high-pressure gas tank or cylinder as the air supply device, it should also be fixed upright on the cylinder rack to ensure safe use.

[0096] like Figures 1 to 4 As shown, in an optional embodiment of the present invention, the horizontal thrust adjustment module is a horizontal thrust propeller 61, which is detachably connected to the outer periphery of the end corner of the main floating structure 1; the vertical thrust adjustment module is a vertical thrust propeller 62, which is detachably connected to the outer side of the bottom of the end corner of the main floating structure 1; both the horizontal thrust propeller 61 and the vertical thrust propeller 62 are driven to rotate by a stepper motor, and the rotation direction of the horizontal thrust propeller 61 is perpendicular to the rotation direction of the vertical thrust propeller 62.

[0097] In this embodiment, the main floating structure 1 and components that require dynamic adjustment, such as the horizontal thrust propeller 61 and the vertical thrust propeller 62, are all connected by bolts so that the position and number of the horizontal thrust propeller 61 or the vertical thrust propeller 62 can be dynamically adjusted according to the specific service environment of the energy island.

[0098] Here, each corner of the main floating structure 1 is equipped with two horizontal thrust propellers 61 and two vertical thrust propellers 62. When one propeller fails, the thrust can be switched to the opposite propeller to double the thrust, maximizing the reset function while ensuring stability and efficiency during thrust adjustment. The horizontal thrust propellers 61 are connected to stepper motors, which are communicatively connected to the central processing module 2. The stepper motors are activated by a start command provided by the central processing module 2, driving the horizontal thrust propellers 61 to rotate. During horizontal imbalance adjustment of the energy island, the unidirectional or bidirectional horizontal thrust generated by the horizontal thrust propellers 61 pushes the energy island back to the preset position. Similarly, the vertical thrust propellers 62 are also connected to stepper motors. When the energy island is vertically unbalanced and the counterweight and airbags still cannot balance it, the vertical thrust propellers 62 are activated by a start command provided by the central processing module 2, providing vertical lift or deflection to assist the energy island in adjusting its attitude.

[0099] In some embodiments of the present invention, the blades of the horizontal thrust propeller 61 and the vertical thrust propeller 62 can be made of materials that possess resistance to seawater corrosion and wear, high strength, and ease of processing, such as nickel-based alloys, titanium alloys, lightweight ceramics, carbon fiber reinforced composites (CFRP), glass fiber reinforced composites (GFRP), aluminum-magnesium alloys, and high-strength steel with corrosion-resistant coatings. The surfaces of the blades can be coated with anti-adhesion, corrosion-resistant, environmentally friendly, and long-lasting coatings such as KNM22 anti-adhesion and wear-resistant coating, titanium alloy composite coating, copper-nickel alloy coating, nickel-aluminum bronze alloy coating, copper-based medium-entropy alloy coating, graphene-based antifouling coating, graphene oxide reinforced coating, and polymer-based coating (vinyl resin-based material coating) to effectively resist chloride ion corrosion and reduce surface damage caused by seawater and particle impact. The propeller shafts of the horizontal thrust propeller 61 and the vertical thrust propeller 62 can be made of materials with high corrosion resistance, high wear resistance, and low friction coefficient, such as stainless steel, nickel-based alloys, titanium alloys, ceramic materials (zirconia, silicon nitride, etc.), and engineering plastics; the propeller shaft housings can be made of materials with good corrosion resistance, lightweight and high strength, such as stainless steel, aluminum alloys, titanium alloys, nickel-aluminum bronze alloys, carbon fiber reinforced composite materials, and glass fiber reinforced composite materials.

[0100] like Figure 8 As shown, in an optional embodiment of the present invention, the monitoring module may include multiple sets of sensors, including an inertial navigation sensor 31, an underwater pressure sensor 32, and an underwater optical sensor 35. The inertial navigation sensor 31 is disposed at the bottom of the main floating structure 1 and is used to monitor the position information of the main floating structure 1 in real time. The underwater pressure sensor 32 is disposed on the outside of the main floating structure 1 and is in contact with seawater, and is used to monitor the water pressure and current velocity in the vicinity of the main floating structure 1 in real time. The underwater optical sensor 35 is disposed at the bottom of the main floating structure 1 and is used to monitor the environmental information directly below the main floating structure 1 in real time.

[0101] In this embodiment, the inertial navigation sensor 31 can measure the position, offset angle, and trajectory of the energy island in real time using sensors such as accelerometers and gyroscopes. This data is then fed back to the central processing module 2 in real time to determine the position offset and tilt angle of the energy island. Preferably, the underwater optical sensor 35 is positioned directly below the main structure of the floating body without obstruction. It can work in conjunction with the camera 33 and sonar 34 to identify underwater environmental information such as fishing boat anchor chains, floating objects, and seabed changes, and to actively avoid obstacles. The monitoring module feeds back the real-time monitored data and information to the central processing module 2 so that appropriate reset strategies can be adopted to ensure the stability of the energy island.

[0102] like Figure 9 As shown, embodiments of the present invention also provide a reset control method for a reset system of a floating energy island at sea based on the above embodiments, specifically including the following steps:

[0103] S1: Monitor the real-time position information of the main floating structure 1 through the monitoring module and feed it back to the central processing module 2;

[0104] S2: The central processing module 2 determines the current position offset ΔL and tilt angle Δθ of the main floating structure 1 based on the initial position information and real-time position information of the main floating structure 1.

[0105] S3: The central processing module 2 determines the imbalance state of the energy island based on the position offset ΔL and the tilt angle Δθ: when the tilt angle Δθ is greater than the preset tilt angle threshold θmax, the energy island is determined to be vertically unbalanced. At the same time, based on the direction and magnitude of the tilt angle Δθ, a first control command is generated to control the counterweight adjustment module, buoyancy adjustment module and thrust adjustment module to execute steps S4-S7; when the position offset ΔL is greater than the preset horizontal displacement threshold Lmax, the energy island is determined to be horizontally unbalanced. At the same time, based on the magnitude and direction of the position offset, a second control command is generated to control the thrust adjustment module to execute steps S8-S9.

[0106] S4: The servo motor 41 in the counterweight adjustment module drives and controls the counterweight block 45 to move along the annular mooring chain 42 to dynamically adjust the center of gravity position of the main floating structure 1, so that the tilt angle Δθ converges to the preset tilt angle threshold θmax, and realizes the first-level vertical reset adjustment.

[0107] S5: If the tilt angle Δθ is still greater than the preset tilt angle threshold θmax after step S4 is executed, the buoyancy adjustment module is activated, and the air supply device 51 inflates and deflates the airbag 54 to perform buoyancy compensation, so that the tilt angle Δθ converges to the preset tilt angle threshold θmax, thereby realizing the secondary vertical reset adjustment.

[0108] S6: If the tilt angle Δθ is still greater than the preset tilt angle threshold θmax after step S5 is executed, the thrust adjustment module is activated. The vertical thrust adjustment module in the thrust adjustment module provides the thrust of the vertical floating main structure 1 to perform angle compensation, so that the tilt angle Δθ converges to the preset tilt angle threshold θmax, and realizes the three-level vertical reset adjustment.

[0109] S7: Vertical reset feedback verification: Monitor and update the tilt angle in real time, and determine whether the tilt angle is less than or equal to the preset tilt angle threshold θmax; if it is satisfied, terminate the vertical reset adjustment, otherwise repeat steps S4-S6 or trigger a manual intervention signal.

[0110] S8: The horizontal thrust adjustment module in the thrust adjustment module provides thrust to the parallel floating main structure 1 to horizontally push the floating main structure 1 to move to the initial position and realize horizontal reset adjustment;

[0111] S9: Horizontal reset dynamic calibration: When the position offset ΔL is less than or equal to the first multiple of the preset horizontal displacement threshold Lmax, adjust the thrust pulse frequency of the horizontal thrust adjustment module to adjust the horizontal thrust magnitude until the position offset ΔL is less than or equal to the second multiple of the preset horizontal displacement threshold Lmax and the velocity of the main floating structure 1 approaches zero, thus completing the horizontal reset; the second multiple is less than the first multiple.

[0112] S10: Reset Completion Judgment and System Reset: When the real-time monitored tilt angle is less than or equal to the preset tilt angle threshold and the position offset is less than or equal to the preset horizontal displacement threshold, the energy island is determined to be successfully reset, and the reset system enters the standby monitoring state.

[0113] In this embodiment, the monitoring module 3 mounted on the bottom of the main floating structure 1 of the energy island monitors the energy island's position, tilt angle, surrounding water flow velocity, underwater obstacles, and other conditions in real time. The monitored data is transmitted in real time to the central processing module 2 for data processing and status assessment. Specifically, this may include sequentially performing processes such as sliding window filtering or 3σ principle filtering for outliers, linear interpolation for time synchronization, Kalman filtering or complementary filtering for noise suppression, real-time calculation of the center of gravity coordinates, and Morrison equation environmental parameter coupling analysis to generate corresponding control commands. This dynamically adjusts the triggering sequence and execution intensity of the three-level reset mechanism. Preferably, the first control command may include movement commands for the counterweight adjustment module, inflation / deflation commands for the buoyancy adjustment module, and thrust commands for the vertical thrust adjustment module; the second control command may include thrust commands for the horizontal thrust adjustment module.

[0114] When the processing results indicate that the vertical displacement of the energy island is too large (i.e., the tilt angle is too large, resulting in vertical imbalance), the central processing module 2 controls the reset system to initiate the following vertical reset adjustment process:

[0115] First, the counterweight adjustment module is activated: the servo motor 41 drives the counterweight pod 43 to move on the annular mooring track 42, and the counterweight 45 is driven to move within the annular track 40 of the annular counterweight pod at the bottom of the main floating structure 1 through the counterweight connecting cable 44, so as to dynamically adjust the center of gravity of the energy island and counteract the tilting torque.

[0116] Here, the tilt angle specifically includes the tilt direction and the magnitude of the tilt. When adjusting the counterweight, the low and high sides of the main floating structure 1 can be determined based on the tilt direction and the magnitude of the tilt. At the same time, the required center of gravity offset can be calculated based on the magnitude of the tilt. Furthermore, the counterweight 45 is driven to move according to the specific value of the center of gravity offset, which is the moving direction of the counterweight 45 pointing to the high side and the moving distance of the counterweight 45. This causes the center of gravity of the energy island to shift to the high side, generating a restoring torque to reduce the tilt of the energy island and provide feedback closed-loop adjustment until it returns to horizontal.

[0117] If vertical balance cannot be restored after the first-level vertical reset adjustment, the second-level vertical reset adjustment, namely the buoyancy adjustment module, is initiated. Specifically, the electric gas valve 53 on the low side of the energy island is controlled to inflate the gas in the gas supply device 51 into the corresponding airbag 54 through the gas pipeline 52, thereby raising and adjusting the vertical balance of the energy island through buoyancy. Preferably, under the control of the central processing module 2, the pressure in the airbag 54 can be rapidly inflated from 0MPa to 0.8MPa within 30 seconds to improve the reset adjustment efficiency.

[0118] If vertical balance cannot be restored after the second-stage vertical reset adjustment, the third-stage vertical reset adjustment, i.e., the vertical thrust propeller, is initiated. Here, the central processing module 2 calculates the thrust distribution matrix of the vertical thrust propeller 62 at the end angle of the main floating structure 1 based on the remaining deviation of the tilt angle Δθ. Furthermore, it can determine the thrust of the vertical thrust propeller 62 at the corresponding position through a preset optimization algorithm, and adjust the main floating structure with the determined thrust to reduce the tilt angle and restore the vertical balance of the energy island.

[0119] When the processing results indicate that the horizontal displacement of the energy island is too large (i.e., the horizontal positional offset is too large, resulting in horizontal imbalance), the central processing module 2 controls the reset system to initiate the following horizontal reset adjustment process:

[0120] The single-sided horizontal thrust propeller 61 in the corresponding direction (the single-sided horizontal thrust propeller 61 in the corresponding direction refers to the horizontal thrust propeller 61 on one side of the main floating structure that needs to apply thrust) is started to rotate forward, and the unidirectional thrust generated by it resets the main floating structure 1 of the energy island.

[0121] Here, if the situation is not resolved after step S8, the horizontal thrust propellers 61 on both sides in the corresponding direction (the opposite side refers to the side opposite to the side of the main floating structure that needs to be thrust) will be reversed. The reverse thrust generated by these propellers, together with the unidirectional thrust mentioned above, will help the main floating structure 1 of the energy island to reset, so as to achieve rapid convergence of displacement and improve reset efficiency. If the situation is still not resolved, an alarm will be triggered and a manual intervention signal will be output.

[0122] When performing horizontal reset adjustment, the two propellers on the same side of the main floating structure 1 usually work together. Under the same adjustment target, two or more propellers are usually activated to work together to improve efficiency and avoid torque coupling. For example, if the main floating structure 1 drifts to the right and needs to be reset to the left, the corresponding propeller on the left side is activated. Here, the left side refers to the horizontal thrust propellers 61 at the front left end and the rear left end of the main floating structure 1.

[0123] During horizontal reset dynamic calibration, the first and second multiples of the preset horizontal displacement threshold Lmax can be set according to actual needs.

[0124] By coordinating counterweight adjustment, buoyancy adjustment, and thrust adjustment, the problems of single monitoring methods, low reset efficiency, and poor adaptability to extreme environments in existing technologies are solved. It should be noted that when wind, waves, and disturbances are relatively small, reset adjustments can be made through an adjustment module. Furthermore, during typhoon or giant wave warning phases, monitoring module 3 detects warning values ​​and transmits them to central processing module 2. Central processing module 2 can also make advance predictions using wave impact torque prediction algorithms, thereby activating pre-reset plans in advance. This involves pre-moving counterweights, pre-inflating airbags, and pre-setting the propeller thrust direction to adjust the energy island to the optimal posture for resisting wind and waves, such as lowering the center of gravity and shutting down unnecessary equipment.

[0125] The above-mentioned solution of the present invention solves the problems of insufficient wind and wave resistance, delayed reset response, small adjustment range and poor reliability of existing floating platforms through a three-level reset mechanism (counterweight adjustment, buoyancy adjustment and thrust adjustment) and modular design of the reset system. It realizes the horizontal and vertical reset of the floating energy island at sea, enabling the energy island to cope with the complex and ever-changing marine environment, thereby improving the safety of the energy island and the life safety of personnel, improving the utilization efficiency of renewable energy sources such as offshore wind energy, solar energy, tidal energy and wave energy, reducing the operation and maintenance costs of the energy island, and improving service durability.

[0126] The foregoing description of specific exemplary embodiments of the invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the invention, as well as various different choices and variations. The scope of the invention is intended to be defined by the claims and their equivalents.

Claims

1. A repositioning system for a floating energy island at sea, characterized in that, include: The counterweight adjustment module includes a servo motor, an annular mooring track, a counterweight block, a counterweight block pod, and an annular counterweight chamber. The servo motor and the annular mooring track are fixed inside the main floating structure of the energy island. The counterweight block pod is located inside the main floating structure, and the counterweight block is located outside the main floating structure. The bottom of the counterweight block pod is fixedly connected to one end of the counterweight block, and the counterweight block pod is slidably connected to the annular mooring track. The annular counterweight chamber is detachably connected to the outer bottom of the main floating structure, and an annular track for accommodating the counterweight block is provided inside the annular counterweight chamber. The buoyancy adjustment module includes an air supply device and an airbag. The air supply device is located inside the main structure of the float, and the airbag is located on the outer side of the bottom corner of the main structure of the float. The thrust adjustment module includes a horizontal thrust adjustment module and a vertical thrust adjustment module. The horizontal thrust adjustment module is disposed on the outer periphery of the end corner of the main structure of the float, and the vertical thrust adjustment module is disposed on the outer side of the bottom of the end corner of the main structure of the float; and The monitoring module includes multiple sets of sensors for real-time monitoring of the energy island's position information. When the position information indicates that the energy island is vertically unbalanced, the servo motor drives the counterweight to move along the annular mooring chain to adjust the center of gravity of the main floating structure, reduce the tilt angle, and achieve a first-stage vertical reset adjustment. The air supply device inflates and deflates the airbag to perform a second-stage vertical reset adjustment after the first-stage vertical reset adjustment. The vertical thrust adjustment module provides thrust perpendicular to the main floating structure to perform a third-stage vertical reset adjustment after the second-stage vertical reset adjustment. When the position information indicates that the energy island is horizontally unbalanced, the horizontal thrust adjustment module provides thrust parallel to the main floating structure to horizontally push the main floating structure to achieve a horizontal reset adjustment.

2. The repositioning system for a floating energy island at sea according to claim 1, characterized in that, The counterweight adjustment module also includes: A counterweight connecting cable is provided, with one end of the cable fixedly connected to the bottom of the counterweight pod and the other end fixedly connected to one end of the counterweight, so as to suspend the counterweight at the bottom of the main structure of the float.

3. The repositioning system for a floating energy island at sea according to claim 1, characterized in that, The annular counterweight chamber includes: An inner ring of a ring-shaped counterweight chamber, the top of which is detachably connected to the outer bottom of the main floating structure; and The outer ring of the annular counterweight chamber is fitted outside the inner ring of the annular counterweight chamber, and the top of the outer ring of the annular counterweight chamber is detachably connected to the outer side of the bottom of the main structure of the float, while the bottom of the outer ring of the annular counterweight chamber is fixedly connected to the bottom of the inner ring of the annular counterweight chamber.

4. The repositioning system for a floating energy island at sea according to claim 3, characterized in that, The inner ring of the annular counterweight chamber has a first annular groove on its outer side and a second annular groove on its inner side. The first annular groove and the second annular groove are joined to form the annular track.

5. The repositioning system for a floating energy island at sea according to claim 1, characterized in that, The air supply device is connected to the airbag via an air pipeline, and an electric air valve is installed on the air pipeline to control the inflation volume and inflation speed of the air supply device when inflating the airbag.

6. The repositioning system for a floating energy island at sea according to claim 1, characterized in that, The airbag is detachably connected to the outer side of the bottom corner of the main structure of the float, and the airbag is a multi-layer composite structure.

7. The repositioning system for a floating energy island at sea according to claim 1, characterized in that, The horizontal thrust adjustment module is a horizontal thrust propeller, which is detachably connected to the outer periphery of the end corner of the main floating structure. The vertical thrust adjustment module is a vertical thrust propeller, which is detachably connected to the outer side of the bottom corner of the main structure of the float; both the horizontal thrust propeller and the vertical thrust propeller are driven to rotate by stepper motors, and the rotation direction of the horizontal thrust propeller is perpendicular to the rotation direction of the vertical thrust propeller.

8. The repositioning system for a floating energy island at sea according to claim 1, characterized in that, The monitoring module includes multiple sets of sensors, including: An inertial navigation sensor is installed at the bottom of the main floating structure to monitor the position information of the main floating structure in real time. An underwater pressure sensor, disposed on the outside of the main structure of the buoy and in contact with seawater, is used to monitor in real time the water pressure and current velocity in the sea area near the main structure of the buoy; and An underwater optical sensor is installed at the bottom of the main structure of the floating body to monitor environmental information directly below the main structure of the floating body in real time.

9. The repositioning system for a floating energy island at sea according to claim 1, characterized in that, Also includes: A central processing module, integrated within the main structure of the floating body, includes a power supply submodule and a control submodule. The control submodule is communicatively connected to the counterweight adjustment module, the buoyancy adjustment module, the thrust adjustment module, and the monitoring module, respectively. Based on the position information monitored by the monitoring module, it generates control commands for the movement of the counterweight adjustment module, the inflation / deflation commands for the buoyancy adjustment module, and the thrust commands for the thrust adjustment module, and feeds these commands back to each module for reset and adjustment. The power supply submodule provides power to the counterweight adjustment module, the buoyancy adjustment module, the thrust adjustment module, and the monitoring module.

10. A reset control method for a reset system based on any one of claims 1 to 9 of a floating marine energy island, characterized in that, include: S1: The real-time position information of the main floating structure is monitored by the monitoring module and fed back to the central processing module; S2: The central processing module determines the current position offset and tilt angle of the main floating structure based on the initial position information and the real-time position information of the main floating structure; S3: The central processing module determines the imbalance state of the energy island based on the position offset and the tilt angle: when the tilt angle is greater than a preset tilt angle threshold, the energy island is determined to be vertically unbalanced, and a first control command is generated based on the direction and magnitude of the tilt angle to control the counterweight adjustment module, buoyancy adjustment module, and thrust adjustment module to execute steps S4-S7; when the position offset is greater than a preset horizontal displacement threshold, the energy island is determined to be horizontally unbalanced, and a second control command is generated based on the magnitude and direction of the position offset to control the thrust adjustment module to execute steps S8-S9. S4: The servo motor in the counterweight adjustment module drives the counterweight block to move along the annular mooring chain to dynamically adjust the center of gravity of the main floating structure, so that the tilt angle converges to the preset tilt angle threshold, thereby achieving a first-level vertical reset adjustment. S5: If the tilt angle is still greater than the preset tilt angle threshold after step S4 is executed, the buoyancy adjustment module is activated, and the air supply device inflates and deflates the airbag to perform buoyancy compensation, so that the tilt angle converges to the preset tilt angle threshold, thereby realizing the secondary vertical reset adjustment. S6: If the tilt angle is still greater than the preset tilt angle threshold after step S5 is executed, the thrust adjustment module is activated, and the vertical thrust adjustment module in the thrust adjustment module provides thrust perpendicular to the main structure of the floating body to perform angle compensation, so that the tilt angle converges to the preset tilt angle threshold and realizes three-level vertical reset adjustment. S7: Vertical reset feedback verification: Monitor and update the tilt angle in real time, and determine whether the tilt angle is less than or equal to the preset tilt angle threshold; if it is satisfied, terminate the vertical reset adjustment; otherwise, repeat steps S4-S6 or trigger a manual intervention signal. S8: The horizontal thrust adjustment module in the thrust adjustment module provides thrust parallel to the main structure of the floating body to horizontally push the main structure of the floating body to move to the initial position, thereby realizing horizontal reset adjustment; S9: Horizontal Reset Dynamic Calibration: When the position offset is less than or equal to a first multiple of the preset horizontal displacement threshold, the thrust pulse frequency of the horizontal thrust adjustment module is adjusted to adjust the horizontal thrust magnitude until the position offset is less than or equal to a second multiple of the preset horizontal displacement threshold and the velocity of the main floating structure approaches zero, thus completing the horizontal reset; the second multiple is less than the first multiple. S10: Reset Completion Judgment and System Reset: When the real-time monitored tilt angle is less than or equal to the preset tilt angle threshold, and the position offset is less than or equal to the preset horizontal displacement threshold, the energy island is determined to be successfully reset, and the reset system enters the standby monitoring state.

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