Security risk online analysis method for surrounding facilities based on maritime high-rise building

Abstract

The invention discloses a safety risk on-line analysis method for surrounding facilities based on a high-rise building on the sea, and relates to the field of safety risk on-line analysis for the surrounding facilities based on the high-rise building on the sea. Taking the center of the bottom of the fan tower as an original point to calculate a fan dynamic envelope body changing along with time; a dynamic environment disturbance domain is generated in the downstream direction of a fan by combining the real-time swing direction angle of the fan and real-time ocean current data, and the dynamic environment disturbance domain and a dynamic envelope body of the fan are spatially superposed; the stacked combined risk space area is dynamically divided into multiple risk grades, space matching is performed according to the real-time position, the navigational speed and the navigational direction of the ship, graded early warning and navigational speed and navigational direction adjusting instructions are executed, dynamic demarcation of the safety risk area is achieved, the synergistic effect of structural movement and environment disturbance is considered, and the safety risk area is determined. And the risk assessment is more comprehensive.

Description

Technical Field

[0001] This invention belongs to the field of online analysis technology of safety risks of tall offshore buildings to surrounding facilities, and relates to a method for online analysis of safety risks of tall offshore buildings to surrounding facilities. Background Technology

[0002] With the rapid development of the offshore wind power industry, the number of tall offshore structures such as offshore wind turbines is increasing daily. These structures are usually located near shipping lanes or operating areas with frequent ship traffic, and their structures and the disturbances they cause to the surrounding marine environment pose potential risks to navigation safety. Therefore, online safety risk analysis of the waters surrounding offshore wind turbines is of great significance for ensuring maritime traffic and operational safety.

[0003] Currently, existing technologies for online analysis of ship safety risks around offshore wind turbines have the following significant shortcomings: First, existing technologies mostly rely on static or fixed models based on design parameters and historical extreme values ​​to define the safety zone around the wind turbine. However, the real-time swaying changes of the wind turbine caused by environmental factors such as wind and waves during actual operation cannot be integrated with the actual swaying data of the wind turbine in real time. The static safety boundary often deviates from the actual risk area. When the wind turbine sways at a large angle due to strong winds or waves, the original fixed boundary may not be able to cover the real danger range, causing ships to mistakenly enter high-risk areas. Conversely, in calm weather, the fixed boundary may be too large, affecting the normal use of the waterway, resulting in resource waste and reduced navigation efficiency.

[0004] Secondly, most existing technologies only consider the physical collision risk of the wind turbine itself, or simply superimpose the static ocean current field, ignoring the disturbance caused by the combined effect of ocean current and wind turbine oscillation. This leads to an incomplete assessment of the ship's navigation environment. Especially in areas with strong currents, wind turbine oscillation may cause wake vortices or flow field disturbances, affecting the ship's maneuverability and easily causing the ship to lose control or collide in areas of high disturbance, resulting in blind spots in early warning.

[0005] Finally, existing technologies typically rely on binary alarms based on comparing the ship's current position with fixed boundaries, lacking a mechanism for graded early warning and differentiated intervention based on multi-level risk areas. This results in delayed emergency response, making it difficult for crew members to obtain clear operational guidance in emergency situations. Ships may mistakenly enter areas with turbulent currents caused by wind turbine vibrations, missing the best opportunity to avoid collisions. Summary of the Invention

[0006] In view of this, in order to solve the problems mentioned in the background art, the present invention provides an online analysis method for the safety risks of tall offshore buildings to surrounding facilities.

[0007] The objective of this invention can be achieved through the following technical solution: an online analysis method for the safety risks of tall offshore buildings to surrounding facilities, including: S1, real-time acquisition of the swing amplitude and swing direction angle of offshore wind turbines, and simultaneous acquisition of real-time ocean current data of the waters where the offshore wind turbines are located.

[0008] S2. Taking the center of the bottom of the wind turbine tower as the origin, calculate the dynamic envelope of the wind turbine as it changes over time based on the real-time swing amplitude and direction angle of the wind turbine.

[0009] S3. Based on the swing direction angle of the offshore wind turbine and real-time ocean current data, a dynamic environmental disturbance domain is generated in the downstream direction of the wind turbine.

[0010] S4. Spatially superimpose the dynamic envelope of the wind turbine and the dynamic environmental disturbance domain, and classify the dynamic risk levels, including restricted areas, high-risk areas and medium-risk areas, based on the spatial relationship between the ship and the dynamic envelope of the wind turbine and the range of the dynamic environmental disturbance domain.

[0011] S5. Real-time location of vessels around offshore wind turbines is obtained and spatially matched with the dynamic risk field at the current moment to determine the risk level area of ​​each vessel.

[0012] S6. Based on the risk level zone where each vessel is located, and in conjunction with the vessel's speed and course, implement graded early warnings and adjust the vessel's speed and course.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) The present invention realizes the dynamic definition of the safety risk area by collecting the swing amplitude and swing direction angle of the offshore wind turbine in real time, and calculating the dynamic envelope of the wind turbine changing with time with the center of the bottom of the wind turbine tower as the origin. This enables the defined risk area to match the actual space occupation range of the wind turbine structure in real time. It overcomes the problems of insufficient early warning range caused by the static model being unable to cover the large-angle swing of the wind turbine in severe sea conditions, and excessive occupation of the waterway due to the large boundary in calm sea conditions, thereby improving the utilization efficiency of water resources and the navigation efficiency of ships.

[0014] (2) This invention generates a dynamic environmental disturbance domain in the downstream direction of the wind turbine by combining the real-time swing direction angle of the wind turbine with real-time ocean current data, and spatially superimposes it with the dynamic envelope of the wind turbine. This method not only considers the physical collision risk of the wind turbine itself, but also analyzes the disturbance effect of the wind turbine swing on the local flow field. By quantifying the influence range of the disturbance domain through the fluid dynamics model, it can assess the risk of flow field turbulence and loss of control of ships under strong current or complex sea conditions, and fill the early warning blind spot caused by ignoring the synergistic effect of the two.

[0015] (3) This invention dynamically divides the superimposed combined risk space area into multiple risk levels and performs spatial matching based on the real-time position, speed and heading of the ship to execute graded early warning and speed and heading adjustment instructions. It surpasses the binary alarm mode of the prior art and can provide differentiated intervention guidance according to the different risk levels and motion status of the ship. It not only provides the crew with avoidance decision support, but also shortens the emergency response time. Through trajectory prediction and intervention, it avoids collision accidents caused by the ship entering a high disturbance area or failing to react in time. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a diagram illustrating the implementation steps of the method of the present invention.

[0018] Figure 2 This is a flowchart for determining the risk level of the area surrounding offshore wind turbines according to the present invention.

[0019] Figure 3 This is a flowchart illustrating the tiered early warning execution process for offshore wind turbine surrounding facilities according to the present invention. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figure 1 As shown, the present invention provides an online analysis method for the safety risks of tall offshore buildings to surrounding facilities, including: S1, real-time acquisition of the swing amplitude and swing direction angle of the offshore wind turbine, and at the same time, acquisition of real-time ocean current data of the water area where the offshore wind turbine is located.

[0022] According to one embodiment of the present invention, step S1 is achieved by fixing a spatial displacement sensor at the top of the offshore wind turbine tower and establishing a horizontal reference coordinate system with the center of the bottom of the wind turbine tower as the origin.

[0023] Fixed spatial displacement sensors mounted on the top of the offshore wind turbine tower can directly capture the movement of the topmost part of the turbine structure. This location has the largest displacement and is most sensitive to wind loads and structural responses, thus providing the most representative observation data for overall sway analysis.

[0024] The steps for establishing a horizontal reference coordinate system are as follows: taking the projection point of the bottom center of the wind turbine tower onto the horizontal plane as the origin, a horizontal reference coordinate system is established, in which the X-axis points due east and the Y-axis points due north, thereby providing a unified spatial benchmark bound to geographical location, making all subsequent displacement and direction calculations comparable, eliminating measurement errors caused by changes in the reference point, and laying the foundation for long-term monitoring and data comparison analysis.

[0025] The displacement vector of the spatial displacement sensor relative to the initial calibration position in the horizontal plane is acquired in real time, and the modulus of the displacement vector is calculated as the real-time swing amplitude of the offshore wind turbine, which is used to characterize the overall offset of the wind turbine tower in the horizontal plane.

[0026] Specifically, firstly, with the wind turbine stationary or in a windless or light-wind-free baseline state, the initial position coordinates (x0, y0) of the spatial displacement sensor are recorded. This position corresponds to the vertically stationary state designed for the wind turbine. Then, during system operation, the sensor continuously collects its current position coordinates (x0, y0). t y t If ), then the real-time horizontal displacement vector at time t can be expressed as .

[0027] Calculate the angle between the displacement vector and the due north direction of the horizontal reference coordinate system, and use it as the real-time swing direction angle of the offshore wind turbine.

[0028] Furthermore, based on the geometric relationship between the displacement vector and the positive Y-axis direction in the horizontal reference coordinate system, the direction angle is calculated using the formula... , where arctan2 is the arctangent function in the four quadrants, which calculates the real-time oscillation direction angle of the offshore wind turbine and is used to indicate the azimuth trend of the tower oscillation.

[0029] A current meter is deployed on the support structure of the offshore wind turbine to collect the speed and direction of the water flow.

[0030] Deploy current meters on the supporting structures of offshore wind turbines, such as the lower part of the tower, transition section, or near the pile foundation. The current meters should be installed at key water depths that may have an impact on the wind turbine foundation and the surrounding seabed. They should be installed on underwater mounting brackets or directly fixed to the structure to ensure that their position is stable and can accurately sense the water flow. The current meters continuously measure and collect the flow velocity and direction of the water at their installation location through underwater cables or wireless transmission, where the flow direction indicates the direction from which the water flows.

[0031] S2. Taking the center of the bottom of the wind turbine tower as the origin, calculate the dynamic envelope of the wind turbine as it changes over time based on the real-time swing amplitude and direction angle of the wind turbine.

[0032] By mapping real-time oscillation data into a three-dimensional space, and using the wind turbine structural design parameters as the dynamic central axis as the reference, a dynamic envelope is generated and continuously updated to accurately depict the real motion boundary of the wind turbine under the coupling effect of wind and waves. The calculation of the wind turbine dynamic envelope includes: taking the center of the bottom of the wind turbine tower as the origin of the three-dimensional coordinate system, and taking the origin as the starting point in the horizontal plane, determining the spatial ray along the real-time oscillation direction angle of the wind turbine. The direction of this ray is used as the instantaneous main direction of the wind turbine oscillation.

[0033] Using the center of the bottom of the wind turbine tower as the origin of the three-dimensional spatial coordinate system includes: extending the horizontal plane reference coordinate system in step S1, and establishing a three-dimensional rectangular spatial coordinate system with the same center point of the bottom of the wind turbine tower as the origin, wherein the X-axis points due east, the Y-axis points due north and is defined in the horizontal plane, and the Z-axis is perpendicular to the horizontal plane and upwards.

[0034] Using the real-time swing amplitude as the distance, the wind turbine tower moves this distance in the horizontal plane along the direction of the spatial ray, and the horizontal plane position reached is the instantaneous projection position of the center point of the top of the wind turbine tower.

[0035] Obtain the structural design parameters of the wind turbine tower, and generate a dynamic three-dimensional space that completely surrounds the wind turbine structure, with the dynamic central axis formed by connecting the origin and the instantaneous projection position as the center. The spatial orientation of this three-dimensional space is consistent with the direction of the dynamic central axis, and its size is proportional to the real-time swing amplitude.

[0036] The specific implementation is as follows: First, based on the structural design parameters of the wind turbine, the three-dimensional outline of the wind turbine in a static vertical state is obtained. The structural design parameters of the wind turbine include, but are not limited to, the bottom diameter of the tower, the top diameter, the total height, and the maximum dimensions of the nacelle. Using these structural design parameters, the smallest circumscribed three-dimensional geometry that completely surrounds the stationary wind turbine is constructed, called the reference envelope. The central axis of this reference envelope is then aligned with the vertical axis in the static state.

[0037] Then, the dynamic envelope is generated by applying a spatial transformation to the aforementioned reference envelope, rotating it by an angle α around an axis in the horizontal plane, such as an axis passing through the origin and perpendicular to the instantaneous principal direction. This angle can be calculated from the real-time swing amplitude L and the fan height H. This reflects the tilt angle of the dynamic center axis relative to the Z-axis. The goal of this transformation is to make its center axis coincide with the dynamic center axis at the current moment.

[0038] Next, after rotation, the reference envelope is translated appropriately to ensure that its bottom center is aligned with the origin and its central axis is completely coincident with the dynamic central axis at the current moment. A typical implementation is to place the transformed envelope in a position where its bottom center is at the origin and its central line is along the direction of the dynamic central axis at the current moment.

[0039] Secondly, to ensure the envelope completely covers all possible locations, one or more dimensions of the generated dynamic 3D volume can be moderately scaled up proportionally to the real-time swing amplitude. For example, along the main swing direction, the length of the envelope can be increased from the baseline value by a margin proportional to the real-time swing amplitude. Where k is the safety factor, the value of which is determined by statistical analysis of the actual oscillation data of the wind turbine, such as 0.1 or 0.2, to cover the uncertainty of the oscillation dynamic response.

[0040] Finally, after the above rotation, translation, and possible scaling, the resulting three-dimensional space volume is the dynamic envelope of the wind turbine at the current moment, and the tilt direction and angle of the envelope are completely consistent with the dynamic central axis.

[0041] As the real-time oscillation amplitude and real-time oscillation direction angle are continuously updated, the above steps are repeated to generate a continuously changing dynamic envelope of the wind turbine.

[0042] S3. Based on the swing direction angle of the offshore wind turbine and real-time ocean current data, a dynamic environmental disturbance domain is generated in the downstream direction of the wind turbine.

[0043] The specific implementation steps of the dynamic environmental disturbance domain and the wind turbine dynamic envelope are as follows: the direction pointed to by the real-time swing direction angle of the offshore wind turbine is determined as the downstream main direction of the wind turbine at the current moment, and the ocean current direction in the ocean current data is taken as the dominant ocean current direction.

[0044] Using the center of the bottom of the wind turbine tower as the reference point of the disturbance domain, a weighted vector synthesis is performed on the downstream main direction of the wind turbine and the dominant direction of environmental disturbance, and the synthesized direction is taken as the direction of the central axis of the disturbance domain.

[0045] The purpose of weighted vector synthesis of the downstream main direction of the wind turbine and the dominant direction of the environmental disturbance is to determine the actual propagation axis direction of the environmental disturbance that comprehensively reflects the combined effect of the wind turbine wake effect and the ocean current. The specific implementation process is as follows: First, obtain the downstream main direction of the wind turbine and the dominant direction of the environmental disturbance, denoted as vector D respectively. w and D c， The magnitude of ocean current velocity in real-time ocean current data is obtained and denoted as scalar v. The magnitude of ocean current velocity is a key physical quantity for measuring the ability of ocean current to influence the direction of disturbance domain. Generally speaking, the larger the value of v, the greater the ocean current, the greater the weight that the dominant direction of environmental disturbance should occupy in the synthesis, and the stronger the influence on the final central axis direction.

[0046] The composite weight is dynamically determined based on the following factors: the angle between the main downstream direction of the wind turbine and the dominant direction of environmental disturbance is calculated, denoted as θ. This angle reflects the degree of coordination or conflict between the mainstream direction of the wind turbine wake and the ocean current direction. When θ is small, the two directions are basically consistent, and the composite direction tends to be a common direction; when θ is large, the dominant trend needs to be determined based on the velocity weight.

[0047] Based on the above factors, a weighting function is constructed. For example, a weight coefficient β is assigned to the ocean current direction, 0 ≤ β ≤ 1, and a weight 1-β is assigned to the downstream main direction of the wind turbine. Here, β is a function of the ocean current velocity and the included angle θ, i.e. The specific form of this function can be configured in the actual system, but the logic of its judgment rule is: the larger v is, the more β tends to 1, and the smaller v is, the more β tends to 0.

[0048] Weighted vectors are synthesized using predetermined weights. One basic method of synthesis is to calculate the weighted sum vector: ,in, Normalizing the synthesized direction vector yields the unit vector along the central axis of the perturbation domain.

[0049] By using the weighted vector synthesis described above, the influence of both the wind turbine's own oscillation wake and the external ocean current on the dominant direction of the environmental disturbance domain can be dynamically harmonized. When the ocean current is strong, the synthesized direction is more biased towards the ocean current direction; when the ocean current is weak, the synthesized direction depends more on the downstream direction generated by the wind turbine's oscillation, thereby ensuring that the generated dynamic environmental disturbance domain can reflect the time-varying hydrodynamic environment around the offshore wind turbine.

[0050] Based on the ocean current velocity in real-time ocean current data, the longitudinal influence range of the disturbance domain along the central axis and the lateral influence range perpendicular to the axis are calculated using a fluid dynamics model.

[0051] Specifically, the characteristic dimension D of the wind turbine foundation is obtained, and the projected characteristic length of the wind turbine support structure perpendicular to the water flow direction is taken. Then, the equivalent jet velocity of the wind turbine oscillation is calculated. Based on the real-time oscillation amplitude L and oscillation period T of the wind turbine, according to the formula Calculate, where 'a' is the jet velocity conversion coefficient, typically ranging from 0.5 to 1.0. Calculate the longitudinal influence range A, according to the wake influence length model. The calculation is performed, where C1 is a dimensionless wake influence constant, which can be calibrated through computational fluid dynamics simulation or field measurement, and is usually taken as 2.0 to 10.0. The specific value should be determined according to the wind turbine model and ocean current conditions; n is the velocity ratio exponent, and n≥1. When n=1, it indicates linearity, and when n>1, it indicates nonlinearity.

[0052] Calculate the lateral influence range W according to the turbulent diffusion model. The calculation is performed, where C2 is the turbulent diffusion coefficient. In the early stage of the target wind turbine deployment, multiple sets of acoustic Doppler velocity profilers are used to measure the wake disturbance range under different operating conditions, and the model parameters are inverted and calibrated. The value is usually taken as 0.1 to 0.3; m is the diffusion index, and 0.4≤m≤0.6.

[0053] Based on the disturbance domain reference point, the direction of the disturbance domain central axis, the longitudinal influence range, and the lateral influence range, a dynamically changing region is generated in the downstream direction of the wind turbine, which serves as the dynamic environmental disturbance domain.

[0054] S4. Spatially superimpose the dynamic envelope of the wind turbine and the dynamic environmental disturbance domain, and classify the dynamic risk levels, including restricted areas, high-risk areas and medium-risk areas, based on the spatial relationship between the ship and the dynamic envelope of the wind turbine and the range of the dynamic environmental disturbance domain.

[0055] To achieve spatial integration of the wind turbine dynamic envelope and the dynamic environmental disturbance domain to determine the combined risk space region, the steps of spatially superimposing the wind turbine dynamic envelope and the dynamic environmental disturbance domain are as follows: unify the wind turbine dynamic envelope and the dynamic environmental disturbance domain into the same three-dimensional coordinate system with the center of the bottom of the wind turbine tower as the origin.

[0056] The spatial range of the wind turbine's dynamic envelope and the dynamic environmental disturbance domain is subjected to a union operation, and the resulting union region is used as the combined risk spatial region output after superposition.

[0057] The union operation is performed by conducting a three-dimensional Boolean union operation on the dynamic envelope of the wind turbine and the dynamic environmental disturbance domain. Specifically, this can be implemented in a computer using a three-dimensional computational geometry library. For example, if the dynamic envelope of the wind turbine and the dynamic environmental disturbance domain are represented by a polygonal mesh, their union mesh can be directly calculated using a mesh Boolean operation algorithm; if the dynamic envelope of the wind turbine and the dynamic environmental disturbance domain are represented by an implicit surface or a space-occupying mesh, a logical OR operation can be performed on each voxel or sampling point to generate the union.

[0058] The steps for dividing the dynamic risk level into restricted areas, high-risk areas, and medium-risk areas are as follows: The three-dimensional spatial range occupied by the dynamic envelope of the wind turbine is defined as the restricted area.

[0059] It should be noted that the restricted area is directly defined as the three-dimensional space occupied by the dynamic envelope of the wind turbine at the current moment. This area is the space occupied by the wind turbine structure in a swinging state. Any other facility or object entering this area will face the risk of unavoidable physical collision. Therefore, it is defined as the highest risk level that prohibits any ship from entering.

[0060] Starting from the outer boundary of the restricted area, the area extending outward at a predetermined distance and located within the dynamic environmental disturbance domain is designated as a high-risk zone.

[0061] The steps for determining the preset distance are as follows: First, based on the type of wind turbine foundation and the characteristics of the surrounding seabed soil, the theoretical calculation value of the potential slip surface of the foundation is determined with reference to industry standards; second, based on numerical simulation of ocean current scouring and wave dynamic loads, the spatial range in which the seabed topography may undergo significant deformation is predicted; next, the above calculation and simulation results are calibrated by combining the disturbance range observed in historical monitoring data; finally, the calibrated maximum value is set as the preset distance.

[0062] High-risk areas refer to high-risk transitional zones adjacent to restricted zones and located within dynamic environmental disturbance domains. Although these areas are not directly occupied by the wind turbine structure, they are within the direct influence range of environmental disturbances such as seabed erosion and soil instability, resulting in significantly altered or highly unstable geological conditions. While facilities located in these areas do not face immediate collision risks, they face a high probability of structural damage or safety accidents due to seabed deformation, reduced bearing capacity, and anchoring failure.

[0063] The remaining area within the dynamic environmental disturbance domain, excluding the high-risk area, is defined as the medium-risk area.

[0064] The medium-risk zone encompasses all remaining areas within the dynamic environmental disturbance domain, excluding the high-risk zone. This area has been affected by monitorable environmental disturbances, such as weak water erosion and early soil stress adjustments, but the impact is not yet sufficient to pose an immediate risk of instability. Therefore, facilities located in this zone require continuous monitoring and assessment to prevent the situation from worsening.

[0065] S5. Real-time location of vessels around offshore wind turbines is obtained and spatially matched with the dynamic risk field at the current moment to determine the risk level area of ​​each vessel.

[0066] The specific steps for obtaining the real-time location of ships around the offshore wind turbine and spatially matching it with the dynamic risk field at the current moment are as follows: Real-time receiving of the real-time latitude and longitude coordinates, speed to ground, and heading to ground of each ship around the offshore wind turbine from the radar monitoring system.

[0067] A temporary horizontal projection coordinate system is established with the current location of the center of the bottom of the wind turbine tower as the origin.

[0068] Transforming the global geographic coordinates to a local planar coordinate system centered on the wind turbine simplifies subsequent distance and projection calculations, avoiding the computational burden caused by complex operations in the spherical geodetic coordinate system.

[0069] The real-time latitude and longitude coordinates of each ship are converted into a temporary horizontal projection coordinate system to obtain the two-dimensional planar position coordinates of each ship with the center of the bottom of the wind turbine tower as the origin, thereby achieving the positional uniformity of all objects under the same reference frame.

[0070] Based on the direction of the central axis of the dynamic environmental disturbance domain at the current moment, a virtual baseline is defined in the temporary horizontal projection coordinate system, starting from the origin and extending along the direction of the central axis.

[0071] The virtual baseline is defined as a ray originating from the origin (0, 0) and extending along the central axis of the dynamic environmental disturbance domain. Let δ be the angle between this central axis and the positive X-axis in the temporary horizontal projection coordinate system, and let a counterclockwise rotation from the positive X-axis to the central axis be positive, with units in radians. Then the unit direction vector of the baseline is: .

[0072] Calculate the vertical projection point of each ship's two-dimensional planar position coordinates onto the virtual baseline, and calculate the directed distance of this projection point from the origin along the virtual baseline. Use this directed distance as the main longitudinal quantity of the ship relative to the current dynamic risk field.

[0073] The steps for calculating the vertical projection point of the ship's position point P onto the virtual baseline are as follows: Let the vertical projection point of the ship's position point P onto the virtual baseline be... According to the principle of vector projection, the parameter t corresponding to the projection point... p It can be obtained from the following formula: Then the projection point The coordinates are: .

[0074] When the principal longitudinal quantity is greater than 0, it means that the projection point of the ship on the virtual baseline is located downstream of the origin along the baseline direction; when the principal longitudinal quantity is equal to 0, it means that the projection point coincides with the origin; when the principal longitudinal quantity is less than 0, it means that the projection point is located upstream of the origin along the baseline direction.

[0075] See Figure 2 As shown, the determination of the risk level zone of each vessel includes: based on the two-dimensional plane position coordinates of each vessel with the center of the bottom of the wind turbine tower as the origin, if the two-dimensional plane position coordinates of the vessel are within the projection boundary of the dynamic envelope of the wind turbine on the horizontal plane, then the vessel is determined to be in a restricted area.

[0076] The projection boundary of the wind turbine's dynamic envelope on the horizontal plane refers to the closed plane figure formed by the intersection of the three-dimensional dynamic envelope and the horizontal plane that passes through the origin of the bottom of the wind turbine tower and is parallel to the still water surface. This closed plane figure changes dynamically with the envelope.

[0077] If the two-dimensional planar position coordinates of the vessel are outside the boundary of the wind turbine's dynamic envelope, and satisfy the longitudinal position of the high-risk zone within the dynamic environmental disturbance domain, then the vessel is determined to be in the high-risk zone.

[0078] The dynamic environmental disturbance domain refers to the two-dimensional planar area defined by the central axis of the disturbance domain, the longitudinal influence range, and the lateral influence range.

[0079] The longitudinal location of the high-risk zone specifically refers to the longitudinal coordinate range along the central axis of the disturbance domain, starting from the outer edge of the restricted zone projection boundary and ending at a predetermined downstream distance.

[0080] If the ship's two-dimensional planar position coordinates are within the dynamic environmental disturbance domain, but do not meet the longitudinal position requirements of the high-risk zone, then the ship is determined to be in the medium-risk zone.

[0081] If the spatial location corresponding to the main longitudinal quantity is outside the dynamic environmental disturbance domain, the vessel is determined to be in a safe area.

[0082] By reducing the dynamic three-dimensional risk field to a horizontal plane for projection processing and using progressive logic for region matching, the complexity of real-time calculation is reduced, ensuring the system's efficiency in processing data from multiple ships.

[0083] S6. Based on the risk level zone where each vessel is located, and in conjunction with the vessel's speed and course, implement graded early warnings and adjust the vessel's speed and course.

[0084] See Figure 3 As shown, the steps for implementing graded early warning are as follows: if the risk level zone of a ship at the current moment has increased compared to the previous moment, then a warning message corresponding to the risk level increase event is generated.

[0085] The risk level of a vessel at a given moment has increased compared to the previous moment, meaning it has moved from a safe zone to a medium-risk zone, from a medium-risk zone to a high-risk zone, or directly from any zone into a restricted zone. The generated warning information must include at least: vessel identification, event time, vessel's current location, and current risk level. This warning information is recorded in the system log and pushed to the monitoring center's manual monitoring interface for visual and auditory alerts. This enables real-time recording and notification of changes in risk status, allowing maintenance personnel to monitor the dynamic interaction between the vessel and the risk field.

[0086] Warning and instruction information is sent to the target vessel's bridge display terminal via the Automatic Identification System (AIS) text messaging function and VHF data exchange system or a dedicated maritime IoT communication module. After receiving the instruction, the system can receive a confirmation signal or information on changes in the vessel's maneuvering status. If there is no confirmation feedback and the vessel continues to move towards a higher risk area, the system will upgrade the warning level.

[0087] Based on a vessel's current ground speed, heading, and position, its navigation trajectory is predicted. If the navigation trajectory indicates that the vessel will enter a restricted or high-risk area within a preset time threshold, an emergency warning message containing the avoidance direction is generated.

[0088] It should be noted that the steps for determining the preset time threshold are as follows: First, based on the differences in the urgency of emergency response required by different risk levels, basic time thresholds are set for restricted areas and high-risk areas respectively. For example, the threshold for restricted areas can be set to 30 seconds, and the threshold for high-risk areas can be set to 60 seconds. Then, the basic thresholds are dynamically corrected according to the ship type and its corresponding maneuvering performance parameters. For example, a correction factor of 1.2 to 1.5 is applied to large cargo ships, and a correction factor of 0.8 to 1.0 is applied to small vessels. Furthermore, environmental compensation is performed by combining real-time sea state and visibility data. In severe sea states, such as when the wave height is greater than 2 meters, the time threshold is increased by 20% to 30%. In poor visibility, such as when the visibility distance is less than 1 nautical mile, the time threshold is increased by 10% to 20%. Finally, a time threshold for a specific ship and the current environmental conditions is generated.

[0089] The steps for predicting a ship's trajectory based on its current ground speed, heading, and position are as follows: A short-time prediction is performed using a uniform linear motion model. Specifically, based on the ship's current ground speed... and ground heading And its current position P(x) in the local projective coordinate system. p y p The predicted position P(x′, y′) of the object in the next b-th second can be calculated as follows: , .

[0090] The steps for calculating the avoidance direction are as follows: Calculate the direction from the ship's current position to the nearest safe point outside the risk zone boundary; or, based on the shape of the risk field, suggest that the ship move away in the direction that reduces its directional distance or move to the side.

[0091] If a vessel is about to enter a restricted area, the direction vector from its current position to the nearest safe point on the outer boundary of the dynamic environmental disturbance domain is calculated. This direction vector is then output as an absolute heading suggestion after coordinate transformation. If a vessel is located in or is expected to enter a high-risk area, the main longitudinal dimension is reduced, i.e., it moves upstream, or its lateral distance is increased, i.e., it moves laterally away from the central axis.

[0092] If the real-time oscillation amplitude of an offshore wind turbine exceeds the amplitude threshold, a periodic regional broadcast warning will be issued for the entire dynamic risk field generated by that wind turbine.

[0093] It should be noted that the amplitude threshold is taken as 60% to 80% of the maximum allowable sway amplitude of the tower top as specified in the wind turbine design specifications; for example, if the maximum allowable sway amplitude of a certain type of offshore wind turbine is 3.0 meters, the amplitude threshold can be set to a value between 1.8 meters and 2.4 meters, preferably 2.0 meters.

[0094] The adjustment of ship speed and course includes: if a ship is currently in a restricted area, sending a highest priority avoidance command to the ship, forcing the ship to immediately perform a turning maneuver; if turning is not feasible, stopping the ship is required.

[0095] When a vessel is within a restricted area, it indicates that it has entered the direct physical collision risk zone characterized by the wind turbine's dynamic envelope, posing an immediate risk of collision. In this situation, the highest priority avoidance command is sent to initiate the most effective emergency escape maneuvers with minimal time delay.

[0096] The priority command for steering is based on the fact that steering can achieve rapid lateral displacement under continuous sailing power, thereby enabling the vessel to move out of the risk area via the shortest path; if the real-time situation determines that steering is not feasible, then a stop operation is commanded. This tiered emergency response logic ensures absolute priority for collision avoidance actions while also taking into account the reliability of actual maneuvering at sea.

[0097] If a vessel is in a high-risk area, a speed reduction instruction will be sent to that vessel.

[0098] If a vessel is in a medium-risk area, and its course points to a higher-risk area, a course adjustment warning will be issued; otherwise, only a caution warning will be issued.

[0099] For vessels that have entered high-risk areas, speed reduction commands are sent to weaken their inertia and extend their reaction time, thereby reducing the likelihood and impact of their intrusion into the restricted area. For vessels in medium-risk areas, risk trends are predicted based on their course, and active course adjustment commands are triggered only when their course points to a higher-risk area to correct the increasing risk trend; otherwise, only a risk status warning is given.

[0100] Preferably, when multiple offshore wind turbines are arranged adjacently, their risk fields may overlap. The following method is used for comprehensive processing: First, the real-time dynamic envelopes and dynamic environmental disturbance domains of all adjacent wind turbines are uniformly converted to the same regional geographic coordinate system or grid system; then, the risk level of the overlapping area is processed by taking the highest value. For example, if a location is simultaneously in the medium-risk zone of wind turbine 1 and the high-risk zone of wind turbine 2, then that location is ultimately determined to be a high-risk zone; finally, the generated warning information must clearly associate one or more wind turbine numbers involved and provide comprehensive avoidance suggestions for ships, such as suggesting passage through the common safety gap between the risk fields of multiple wind turbines.

[0101] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product.

[0102] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0103] In addition, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.

[0104] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0105] Finally, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An online analysis method for the safety risks of tall offshore structures to surrounding facilities, characterized by: include: S1. Real-time acquisition of the swing amplitude and swing direction angle of the offshore wind turbine, and real-time ocean current data of the water area where the offshore wind turbine is located; S2. Taking the center of the bottom of the wind turbine tower as the origin, calculate the dynamic envelope of the wind turbine as it changes over time based on the real-time swing amplitude and directional angle of the wind turbine. S3. Based on the sway direction angle of the offshore wind turbine and real-time ocean current data, a dynamic environmental disturbance domain is generated in the downstream direction of the wind turbine. S4. Spatially superimpose the dynamic envelope of the wind turbine and the dynamic environmental disturbance domain, and classify the dynamic risk levels, including restricted areas, high-risk areas and medium-risk areas, based on the spatial relationship between the ship and the dynamic envelope of the wind turbine and the range of the dynamic environmental disturbance domain. S5. Real-time location of vessels around offshore wind turbines is obtained and spatially matched with the dynamic risk field at the current moment to determine the risk level area of ​​each vessel. S6. Based on the risk level zone where each vessel is located, and in conjunction with the vessel's speed and course, implement graded early warnings and adjust the vessel's speed and course.

2. The method for online analysis of safety risks to surrounding facilities based on tall offshore structures according to claim 1, characterized in that: The specific implementation steps of S1 include: A spatial displacement sensor is fixed at the top of the offshore wind turbine tower, and a horizontal reference coordinate system is established with the center of the bottom of the wind turbine tower as the origin. The displacement vector of the spatial displacement sensor relative to the initial calibration position in the horizontal plane is acquired in real time, and the magnitude of the displacement vector is calculated as the real-time swing amplitude of the offshore wind turbine. Calculate the angle between the displacement vector and the due north direction of the horizontal reference coordinate system, and use it as the real-time swing direction angle of the offshore wind turbine; A current meter is deployed on the support structure of the offshore wind turbine to collect the speed and direction of the water flow.

3. The method for online analysis of safety risks to surrounding facilities based on tall offshore structures according to claim 1, characterized in that: The calculation of the dynamic envelope of the wind turbine includes: With the center of the bottom of the wind turbine tower as the origin of the three-dimensional coordinate system, a spatial ray is determined in the horizontal plane with the origin as the starting point and along the real-time swing direction angle of the wind turbine. The direction of this ray is taken as the instantaneous principal direction of the wind turbine's swing. Using the real-time swing amplitude as the distance, the wind turbine tower moves that distance in the horizontal plane along the direction of the spatial ray, and the horizontal plane position reached is the instantaneous projection position of the center point of the top of the wind turbine tower. Obtain the structural design parameters of the wind turbine tower, and generate a dynamic three-dimensional space that completely surrounds the wind turbine structure, with the dynamic central axis formed by connecting the origin and the instantaneous projection position as the center. The spatial orientation of the three-dimensional space is consistent with the direction of the dynamic central axis, and its size is proportional to the real-time swing amplitude. As the real-time oscillation amplitude and real-time oscillation direction angle are continuously updated, the above steps are repeated to generate a continuously changing dynamic envelope of the wind turbine.

4. The method for online analysis of safety risks to surrounding facilities based on tall offshore structures according to claim 1, characterized in that: The specific implementation steps of S3 include: The direction pointed to by the real-time swing direction angle of the offshore wind turbine is determined as the main downstream direction of the wind turbine at the current moment, and the ocean current direction in the ocean current data is taken as the dominant ocean current direction. Using the center of the bottom of the wind turbine tower as the reference point of the disturbance domain, a weighted vector synthesis is performed on the main downstream direction of the wind turbine and the dominant direction of environmental disturbance, and the synthesized direction is taken as the direction of the central axis of the disturbance domain. Based on the ocean current velocity in real-time ocean current data, the longitudinal influence range of the disturbance domain along the central axis and the lateral influence range perpendicular to the axis are calculated using a fluid dynamics model. Based on the disturbance domain reference point, the direction of the disturbance domain central axis, the longitudinal influence range, and the lateral influence range, a dynamically changing region is generated in the downstream direction of the wind turbine, which serves as the dynamic environmental disturbance domain.

5. The method for online analysis of safety risks to surrounding facilities based on tall offshore structures according to claim 1, characterized in that: The steps for spatially superimposing the wind turbine's dynamic envelope and the dynamic environmental disturbance domain are as follows: The dynamic envelope of the wind turbine and the dynamic environmental disturbance domain are unified into the same three-dimensional coordinate system with the center of the bottom of the wind turbine tower as the origin; The spatial range of the wind turbine's dynamic envelope and the dynamic environmental disturbance domain is subjected to a union operation, and the resulting union region is used as the combined risk spatial region output after superposition.

6. The method for online analysis of safety risks to surrounding facilities based on tall offshore structures according to claim 1, characterized in that: The specific steps for classifying the dynamic risk level are as follows: The three-dimensional space occupied by the dynamic envelope of the wind turbine is defined as a restricted area; Starting from the outer boundary of the restricted area, the area extending outward at a predetermined distance and located within the dynamic environmental disturbance domain is designated as a high-risk zone. The remaining area within the dynamic environmental disturbance domain, excluding the high-risk area, is defined as the medium-risk area.

7. The method for online analysis of safety risks to surrounding facilities based on tall offshore structures according to claim 1, characterized in that: The specific steps for obtaining the real-time location of vessels around the offshore wind turbine and spatially matching it with the dynamic risk field at the current moment are as follows: The system receives real-time latitude and longitude coordinates, speed to ground, and heading to ground of every vessel around the offshore wind turbine from the radar monitoring system. A temporary horizontal projection coordinate system is established with the current location of the center of the bottom of the wind turbine tower as the origin; The real-time latitude and longitude coordinates of each ship are converted into a temporary horizontal projection coordinate system to obtain the two-dimensional plane position coordinates of each ship with the center of the bottom of the wind turbine tower as the origin. Based on the direction of the central axis of the dynamic environmental disturbance domain at the current moment, a virtual baseline is defined in the temporary horizontal projection coordinate system, starting from the origin and extending along the direction of the central axis. Calculate the vertical projection point of each ship's two-dimensional planar position coordinates onto the virtual baseline, and calculate the directed distance of this projection point from the origin along the virtual baseline. Use this directed distance as the main longitudinal quantity of the ship relative to the current dynamic risk field.

8. The method for online analysis of safety risks to surrounding facilities based on tall offshore structures according to claim 7, characterized in that: The risk level zones for each vessel include: Based on the two-dimensional plane position coordinates of each vessel with the center of the bottom of the wind turbine tower as the origin, if the two-dimensional plane position coordinates of the vessel are within the projection boundary of the wind turbine's dynamic envelope on the horizontal plane, then the vessel is determined to be in a restricted area. If the two-dimensional planar position coordinates of the ship are outside the boundary of the wind turbine's dynamic envelope, and the longitudinal position of the ship meets the requirements of the high-risk zone within the dynamic environmental disturbance domain, then the ship is determined to be in the high-risk zone. If the two-dimensional planar position coordinates of a ship are within the dynamic environmental disturbance domain, but do not meet the longitudinal position requirements of a high-risk zone, then the ship is determined to be in a medium-risk zone. If the spatial location corresponding to the main longitudinal quantity is outside the dynamic environmental disturbance domain, the vessel is determined to be in a safe area.

9. The method for online analysis of safety risks to surrounding facilities based on tall offshore structures according to claim 1, characterized in that: The steps for implementing tiered early warning are as follows: If the risk level zone in which a vessel is currently located increases compared to the previous time, a warning message corresponding to the risk level increase event will be generated. Based on a vessel’s current ground speed, heading and position, its navigation trajectory is predicted. If the navigation trajectory indicates that the vessel will enter a restricted area or high-risk area within a preset time threshold, an emergency warning message containing the avoidance direction is generated. If the real-time oscillation amplitude of an offshore wind turbine exceeds the amplitude threshold, a periodic regional broadcast warning will be issued for the entire dynamic risk field generated by that wind turbine.

10. The method for online analysis of safety risks to surrounding facilities based on tall offshore structures according to claim 1, characterized in that: The adjustment of ship speed and course includes: If a vessel is currently in a restricted area, a highest priority avoidance order will be sent to the vessel, forcing it to immediately perform a turning maneuver. If turning is not feasible, the vessel will be stopped. If a vessel is in a high-risk area, a speed reduction instruction will be sent to that vessel. If a vessel is in a medium-risk area, and its course points to a higher-risk area, a course adjustment warning will be issued; otherwise, only a caution warning will be issued.

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