Method and system for continuous monitoring of the cross section of an offshore wind turbine jacket aquaculture system

Abstract

The application provides a cross-section continuous monitoring method and system for a marine wind power jacket aquaculture system. The method comprises the following steps: deploying an anti-rotation counterweight cage on a marine wind power jacket aquaculture platform through a cantilever structure, wherein the anti-rotation counterweight cage is designed in a symmetrical counterweight mode to offset the torque generated by ocean turbulence; controlling the cable winding and unwinding at a preset adjustable speed through a power drive module to drive the anti-rotation counterweight cage to perform vertical lifting motion in a target water depth range, and adjusting the cable unwinding length in real time to match the monitoring depth; synchronously collecting water quality parameter data and underwater video image data at different depths through a water quality sensor array and an underwater camera; and transmitting the collected data to a centralized control center through a communication cable to generate a continuous cross-section monitoring data set. The method can realize cross-section continuous and accurate monitoring of water quality parameters and underwater images in a deep-sea aquaculture environment, and improves the monitoring efficiency and the accuracy of the monitoring results.

Description

Technical Field

[0001] This application relates to the field of intelligent monitoring technology for offshore wind power aquaculture, and in particular to a method and system for continuous profile monitoring of an offshore wind power jacket aquaculture system. Background Technology

[0002] Currently, offshore wind turbine jacket aquaculture systems, as the core carrier for the integrated development of "offshore wind power + marine ranching," are widely used in the field of deep-sea ecological aquaculture. To ensure the aquaculture system is in normal working order, underwater data monitoring is necessary.

[0003] In related technologies, traditional monitoring systems are generally constructed by combining fixed-point monitoring equipment with manual sampling. This system includes key components such as the deployment of water quality sensor arrays, video image acquisition, and data transmission. However, as deep-sea aquaculture extends into more complex environments, the single-point fixed monitoring devices used in these technologies have limitations such as non-adjustable lifting speed and lack of anti-rotation design, making continuous profile monitoring difficult within a certain depth range.

[0004] Among the related technologies, the profile monitoring method that directly adopts a drive module and a fixed cantilever structure may lead to insufficient stability of the equipment in a wide temperature environment, or cause depth control errors due to the lack of a real-time cable length feedback mechanism. This deficiency not only limits the continuous acquisition of underwater images, but also leads to blind spots in the monitoring of key parameters such as dissolved oxygen, thereby affecting the ecological risk early warning and intelligent decision-making of deep-sea aquaculture.

[0005] Therefore, how to construct a collaborative technology system that includes anti-rotation structure, closed-loop control algorithm and multi-parameter integrated module has become an urgent problem to be solved. Summary of the Invention

[0006] This application aims to at least partially address one of the technical problems in the related art.

[0007] Therefore, the first objective of this application is to propose a method for continuous profile monitoring of offshore wind power jacket aquaculture systems.

[0008] The second objective of this application is to propose a profile continuous monitoring system for offshore wind power jacket aquaculture systems.

[0009] The third objective of this application is to propose an electronic device.

[0010] The fourth objective of this application is to provide a computer-readable storage medium.

[0011] To achieve the above objectives, the first aspect of this application is to propose a method for continuous profile monitoring of an offshore wind power jacket aquaculture system, comprising the following steps:

[0012] An anti-rotation counterweight cage integrating a water quality sensor array and an underwater camera is deployed on an offshore wind power jacket aquaculture platform via a cantilever structure. The anti-rotation counterweight cage adopts a symmetrical counterweight design to counteract the torque generated by ocean turbulence. The cable is controlled to be wound and released at a preset adjustable speed by the electric drive module, which drives the anti-rotation counterweight cage to move vertically up and down within the target water depth range, and adjusts the length of the cable in real time to match the monitoring depth. Based on the stable state of the anti-rotation counterweight cage, during the lifting and lowering process of the anti-rotation counterweight cage, water quality parameter data and underwater video image data at different depths are collected synchronously by the water quality sensor array and the underwater camera. The water quality parameter data and the underwater video image data are transmitted to the central control center via a communication cable to generate a continuous profile monitoring dataset.

[0013] Optionally, the symmetrical counterweight design of the anti-rotation counterweight cage includes counterweight blocks symmetrically distributed along the axial direction, wherein the spacing between each counterweight block satisfies the following formula:

[0014] in, The total length of the counterweight cage. This refers to the number of counterweights. The water quality sensor array includes a temperature sensor, a salinity sensor, a dissolved oxygen sensor, and a pH sensor.

[0015] Optionally, controlling the cable reeling and unloading at a preset adjustable speed via the electric drive module includes: adjusting the lifting speed using a closed-loop control algorithm and detecting whether the control accuracy of the closed-loop control algorithm meets the lifting control requirements; achieving depth matching by real-time output of the cable's unloaded length, wherein the cable's unloaded length satisfies a linear relationship expressed by the following formula:

[0016] in, For the speed of ascent and descent, This refers to the runtime.

[0017] Optionally, after synchronously acquiring water quality parameter data and underwater video image data at different depths through the water quality sensor array and the underwater camera, the method further includes: performing outlier removal processing on the water quality sensor data, wherein the outlier removal threshold is set to... , The standard deviation of historical data is used; the frame rate of the underwater video images is optimized to achieve a set frame rate. Satisfy the following formula:

[0018] in, For the speed of ascent and descent, The interval between adjacent monitoring depths.

[0019] Optionally, the communication cable adopts a tensile and torsion-resistant structure, and the tensile strength of the communication cable is... Satisfy the following formula:

[0020] in, This represents the maximum load of the winch.

[0021] Optionally, after generating the continuous profile monitoring dataset, the method further includes: automatically calibrating the anti-rotation counterweight cage and zero-point calibration of the water quality sensor using a preset calibration solution.

[0022] To achieve the above objectives, a second aspect of this application also proposes a profile continuous monitoring system for an offshore wind power jacket aquaculture system, comprising the following modules: The deployment module is used to deploy an anti-rotation counterweight cage integrating a water quality sensor array and an underwater camera on an offshore wind power jacket aquaculture platform via a cantilever structure. The anti-rotation counterweight cage adopts a symmetrical counterweight design to counteract the torque generated by ocean turbulence. The control module is used to control the cable winding and unwinding at a preset adjustable speed via the electric drive module, thereby driving the anti-rotation counterweight cage to move vertically up and down within the target water depth range, and to adjust the cable length in real time to match the monitoring depth. The acquisition module is used to synchronously acquire water quality parameter data and underwater video image data at different depths through the water quality sensor array and the underwater camera during the lifting and lowering process of the anti-rotation counterweight cage, based on the stable state of the anti-rotation counterweight cage. The transmission module is used to transmit the water quality parameter data and the underwater video image data to the central control center via a communication cable to generate a continuous profile monitoring dataset.

[0023] To achieve the above objectives, a third aspect of this application also provides an electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform a method for continuous profile monitoring of an offshore wind power jacket aquaculture system as described in any of the first aspects above.

[0024] To achieve the above objectives, the fourth aspect of this application also proposes a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method for continuous profile monitoring of an offshore wind power jacket aquaculture system as described in any one of the first aspects.

[0025] The technical solution provided by the embodiments of this application brings at least the following beneficial effects: This application improves the accuracy of monitoring data. The anti-rotation underwater counterweight cage design avoids the influence of turbulent currents, significantly reducing the error in water quality and image data acquisition. Furthermore, this application is easy to operate. Through electric drive and adjustable lifting speed design, combined with real-time cable length output, precise lowering and retrieval of the equipment can be achieved, reducing manual labor intensity. Moreover, this application has strong environmental adaptability and can be applied to complex environments such as high salt spray and strong winds and waves in deep-sea areas, which helps ensure equipment stability. Furthermore, this application integrates multiple functions such as water quality monitoring and video acquisition, eliminating the need for separate deployment of multiple sets of equipment and reducing aquaculture monitoring costs. Therefore, this application can achieve continuous and stable monitoring of water quality parameters and underwater image profiles in deep-sea aquaculture environments, significantly improving data accuracy and system operation and maintenance efficiency.

[0026] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0027] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a flowchart of a method for continuous profile monitoring of an offshore wind power jacket aquaculture system proposed in an embodiment of this application; Figure 2 This is a schematic diagram of the cross-sectional continuous monitoring system for an offshore wind power jacket aquaculture system proposed in an embodiment of this application. Detailed Implementation

[0028] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0029] The following description, with reference to the accompanying drawings, illustrates a method and system for continuous profile monitoring of an offshore wind power jacket aquaculture system.

[0030] Figure 1This is a flowchart of a method for continuous profile monitoring of an offshore wind power jacket aquaculture system proposed in an embodiment of this application, as shown below. Figure 1 As shown, the method includes the following steps: Step S101: The anti-rotation counterweight cage, which integrates a water quality sensor array and an underwater camera, is deployed on the offshore wind power jacket aquaculture platform via a cantilever structure. The anti-rotation counterweight cage adopts a symmetrical counterweight design to counteract the torque generated by ocean turbulence.

[0031] Specifically, an anti-rotation counterweight cage integrating a water quality sensor array and an underwater camera will be deployed on an offshore wind power jacket aquaculture platform via a cantilever structure. Based on the synergistic effect of the symmetrical counterweight design and the cantilever structure, the torque generated by ocean turbulence can be effectively offset, thereby ensuring the spatial stability of the underwater equipment during the lifting and lowering process.

[0032] As one possible implementation, the anti-rotation counterweight cage forms a structure with self-stabilizing hydrodynamic properties through its symmetrically distributed counterweights. This structure can maintain the axial alignment of the equipment under water flow impact, avoiding sensor data offset or camera image distortion caused by rotation. For example, the overall weight of the counterweight cage is designed to not exceed 300 kg, with a maximum load capacity of not less than 200 kg, to ensure sufficient stability and load-bearing capacity within a depth range of 50 m. During deployment, the counterweight cage is connected to the winch system via a high-strength communication cable (50 m long) and achieves 360° horizontal rotation with a rotation radius of 2 m through a cantilever structure, thereby covering multiple monitoring points of the aquaculture cage.

[0033] This step involves several key parameters, including the rotation angle range of the cantilever structure. , slewing radius 2m, weight and load capacity of the counterweight cage ( , This includes precision control of cable length deployment. Furthermore, the underwater camera's waterproof depth is... The resolution is This system can meet the high-definition image acquisition requirements in deep-sea environments. The water quality sensor array includes a temperature sensor (range...) Dissolved oxygen sensor (range) The accuracy and response time of these instruments meet the water quality monitoring standards.

[0034] In practical applications, this step, as an example, is applicable to deep-sea aquaculture environments more than 30km offshore and with a water depth of 17.5m, such as aquaculture areas near offshore wind farms. Through the flexible deployment of the cantilever structure, point-to-point or cross-sectional monitoring of the cages at different locations can be achieved. Especially in marine environments with strong winds, waves, and high salt spray, the anti-rotation counterweight cage's structural design significantly enhances the equipment's resistance to disturbance.

[0035] In one embodiment of this application, the symmetrical counterweight design of the anti-rotation counterweight cage includes counterweight blocks symmetrically distributed along the axial direction, wherein the spacing between the counterweight blocks satisfies the following formula:

[0036] in, The total length of the counterweight cage. The number of counterweights; the water quality sensor array includes a temperature sensor, a salinity sensor, a dissolved oxygen sensor, and a pH sensor.

[0037] Specifically, the symmetrical counterweight design of the anti-rotation counterweight cage is achieved through multiple counterweight blocks symmetrically distributed along the axial direction. Its core purpose is to effectively suppress equipment rotation caused by ocean currents during underwater operations, thereby ensuring the spatial stability and data acquisition accuracy of the water quality sensors and underwater cameras during profile monitoring. This design is based on a comprehensive consideration of fluid mechanics and structural mechanics, and through the rational arrangement of the counterweight blocks' positions and spacing, it ensures that the counterweight cage maintains good hydrodynamic balance characteristics during lowering and retrieval.

[0038] The above formula ensures that the counterweights are evenly distributed along the axial direction of the cage, forming a symmetrical gravity distribution structure, thereby effectively counteracting the torque exerted on the equipment by the water flow in different directions. In practical applications, the total length of the counterweight cage... The design is typically based on the maximum lowering depth (e.g., 50m) and the structural rigidity requirements of the equipment, while the number of counterweights... This requires optimized configuration considering factors such as equipment weight distribution, underwater flow velocity variation range, and structural vibration control. For example, in a typical implementation, if... ,and The spacing between the counterweights This creates three pairs of symmetrical counterweights on the cage, enhancing its overall resistance to rotation.

[0039] This design plays a crucial role in the profile monitoring winch system of offshore wind turbine jacket aquaculture platforms. In the complex flow field environment of the deep sea, water flow velocities can reach... The above-mentioned, and the variable direction, can easily cause the lowered equipment to deflect or rotate, thus affecting the measurement accuracy of the sensors and the imaging stability of the camera. Through a symmetrical counterweight design, the rotational angular velocity of the equipment in the water can be significantly reduced, improving the continuity and consistency of profile monitoring data, and providing structural support for high-precision acquisition of water quality parameters (such as temperature, salinity, dissolved oxygen) and underwater images.

[0040] Furthermore, this counterweight design is coordinated with the cable deployment and retrieval module, the cantilever structure's slewing radius (2m), and slewing angle (360°) to ensure the equipment maintains a stable posture throughout its lowering path in different orientations. In practical operation, this counterweight structure is adaptable to various underwater monitoring tasks, including but not limited to fixed-point water quality sampling, continuous profile monitoring, and underwater biological behavior observation, demonstrating excellent environmental adaptability and engineering practicality.

[0041] Furthermore, the water quality sensor array in this embodiment includes a temperature sensor, a salinity sensor, a dissolved oxygen sensor, and a pH sensor. Its core function is to achieve high-precision, real-time monitoring of key physicochemical parameters of the aquaculture water. This sensor array is integrated into an anti-rotation underwater counterweight cage and connected to the centralized control system via a high-strength communication cable, ensuring the stability and real-time performance of data transmission during profile monitoring with a maximum rope capacity of 50m.

[0042] For example, the temperature sensor's range is It is suitable for temperature variations from surface seawater to deep water layers, meeting the extreme temperature difference requirements of deep-sea aquaculture environments. The dissolved oxygen sensor has a range of [range missing]. It can cover aquatic environments ranging from low to high oxygen levels, making it suitable for monitoring the survival suitability of aquatic organisms. The sensor's sampling frequency can be configured according to actual needs, typically set between 1Hz and 10Hz to balance data accuracy and system power consumption.

[0043] Regarding parameter settings, the sensor array must meet the IP68 waterproof standard to ensure long-term stable operation at a water depth of 100m. Its operating temperature range should be consistent with the wide temperature adaptability of the protective cabinet, i.e. This sensor array is designed to cope with environmental fluctuations on offshore platforms. In practical applications, it can be used in conjunction with underwater video cameras to simultaneously acquire water quality parameters and image information, providing multi-dimensional data support for profile monitoring.

[0044] In step S102, the cable is wound and released at a preset adjustable speed by the electric drive module, which drives the anti-rotation counterweight cage to move vertically up and down within the target water depth range, and the cable release length is adjusted in real time to match the monitoring depth.

[0045] Specifically, this step is based on the closed-loop speed control principle, combining a high-precision encoder and a variable frequency speed control motor to achieve precise adjustment of the cable winding and unwinding speed. The electric drive module adopts an industrial-grade motor drive system, and its output shaft is connected to the cable drum through a reduction gearbox to ensure stable speed output under different load conditions.

[0046] As one possible implementation method, in terms of specific operation, the target water depth or lifting speed can be set through a centralized control system. The system then adjusts the motor speed using a PID control algorithm based on the set values, thereby controlling the cable winding and unwinding rate. Simultaneously, the system's built-in high-precision rotary encoder collects drum rotation information in real time, and, combined with the cable diameter and number of winding layers, calculates the current unwinding length. Its formula is:

[0047] in, For the first The diameter of the layered cable, For the first Number of turns of the layer This indicates the current number of winding layers. This length information is transmitted to the main control unit via CAN bus or RS485 for real-time matching and monitoring of the depth, ensuring that the anti-rotation counterweight cage moves vertically within the target water depth range.

[0048] In practical applications, it can be deployed on offshore wind turbine jacket aquaculture platforms, suitable for deep-sea environments with a maximum rope capacity of 50m, especially in cage aquaculture areas at a water depth of 17.5m, enabling continuous profile monitoring from the water surface to the bottom of the cage. Through adjustable speed control, the system can adapt to the collection needs of different water quality parameters, such as the response time differences of sensors for dissolved oxygen, pH, and temperature at different depths, thereby improving the synchronization and accuracy of data acquisition.

[0049] Understandably, this step provides dual assurance of monitoring accuracy and equipment stability. Precise control of the lifting speed effectively avoids the impact of water flow disturbances caused by rapid lifting on sensor readings, while also preventing mechanical damage caused by sudden changes in cable tension. Furthermore, real-time output of the cable length provides a reliable physical basis for depth positioning, ensuring the accuracy of the depth dimension of the profile data and laying the foundation for subsequent data fusion and visualization analysis.

[0050] In one embodiment of this application, the cable reeling and unloading are controlled by an electric drive module at a preset adjustable speed, including: adjusting the lifting and lowering speed using a closed-loop control algorithm and detecting whether the control accuracy of the closed-loop control algorithm meets the lifting and lowering control requirements; achieving depth matching by real-time output of the cable unloading length, wherein the cable unloading length satisfies a linear relationship expressed by the following formula:

[0051] in, For the speed of ascent and descent, This refers to the runtime.

[0052] Specifically, the control algorithm in this embodiment is based on a feedback mechanism. It collects parameters such as the speed of the winch drive motor, cable tension, and wire length in real time, compares them with the preset target lifting speed, and dynamically adjusts the motor output power to achieve speed error correction. The control precision.

[0053] The closed-loop control system consists of a speed setting module, a speed feedback module, and a PID (proportional-integral-derivative) control module. The speed setting module receives instructions from the centralized control system and sets the target acceleration / deceleration speed. ,For example The speed feedback module monitors the actual lifting speed of the winch in real time using an encoder or photoelectric sensor. This information is then fed back to the control module. The PID control module adjusts the speed based on the deviation. Calculate control output signal Its expression is:

[0054] in, , , These are the proportional, integral, and derivative gain coefficients, used to adjust the system's response speed, steady-state error, and disturbance rejection capability. In practical applications, the system optimizes the PID parameters through multiple adjustments to adapt to load variations and dynamic response characteristics under different sea conditions.

[0055] This closed-loop control algorithm plays a crucial role in the profile monitoring process of offshore wind turbine jacket aquaculture platforms. In profile monitoring mode, the winch needs to be lowered from the water surface to the maximum depth at a constant speed. During this process, water quality parameters and underwater video images are continuously collected. Excessive fluctuations in the ascent and descent speed will lead to inconsistent sensor sampling frequencies, affecting the continuity and accuracy of the profile data. This is addressed through closed-loop control. The high speed and accuracy can effectively improve the spatiotemporal resolution of data acquisition, providing a reliable basis for water quality profile analysis and aquaculture environment assessment.

[0056] Therefore, the control strategy in this embodiment also possesses excellent anti-interference capabilities, capable of handling complex operating conditions such as ocean current disturbances and equipment load changes, ensuring a smooth and controllable lifting and lowering process. In actual deployment, the system supports speed adjustment to meet the speed accuracy and response time requirements of different monitoring tasks. This step not only improves the intelligence level of the equipment but also significantly enhances the system's adaptability and stability in deep-sea environments. Furthermore, this embodiment outputs the cable release length in real time. To achieve depth matching, the cable length and time are linearly correlated during the uniform lifting and lowering process of the winch, thereby ensuring that the underwater counterweight cage and its onboard monitoring equipment can accurately reach the target depth at the preset speed.

[0057] One possible implementation is based on the coordinated operation of the winch's electric drive module and a high-precision encoder. The drive module uses a motor system, and the lifting speed is achieved through frequency conversion control. The encoder is continuously adjustable, and it collects the rotation angle and speed of the motor shaft in real time. Combined with the cable diameter and drum structure parameters, it calculates the current cable length. The information is then fed back to the central control center via an embedded control system for deep positioning and synchronization of monitoring data.

[0058] Among them, the speed of rise and fall The settings need to take into account factors such as underwater fluid resistance, equipment weight, and sensor response time. For example, under the condition of a maximum rope capacity of 50m, if the settings are... The time required to complete one profile monitoring from the water surface to the maximum depth is... Meanwhile, the system supports multi-level speed adjustment to adapt to the accuracy and efficiency requirements of different monitoring tasks.

[0059] In practical applications, the target depth or profile monitoring path is set through the centralized control system, and the system then... The winch is controlled to rise and fall at a uniform speed, ensuring that the onboard water quality sensors and high-definition cameras collect data at different depths, forming a continuous profile monitoring curve. This mechanism is particularly suitable for deep-sea aquaculture areas, such as near offshore wind farms, where the cages have a high draft and require frequent, depth-controlled environmental monitoring.

[0060] Therefore, this embodiment achieves high-precision positioning of the monitoring equipment in underwater space by controlling the cable length, thus ensuring the synchronous acquisition of water quality parameters (such as temperature, salinity, dissolved oxygen, etc.) and video image data at different depths. Its linear control model simplifies the system logic and improves response speed and control stability. Step S103: Based on the stable state of the anti-rotation counterweight cage, during the lifting and lowering process of the anti-rotation counterweight cage, water quality parameter data and underwater video image data at different depths are collected simultaneously through the water quality sensor array and underwater camera.

[0061] Specifically, this step controls the cable's raising and lowering speed through an electric drive module, enabling the counterweight cage, which integrates water quality sensors and an underwater camera, to rise and fall vertically within a set range (maximum cable capacity of 50m), thereby achieving continuous monitoring of the water profile.

[0062] As an example, water quality sensors include temperature sensors (range...) Dissolved oxygen sensor (range) The underwater camera includes a salinity sensor and a pH sensor, with sampling frequencies set from 1Hz to 10Hz to suit various monitoring needs. It is waterproof to 100m and has a resolution of [missing information]. It supports H.264 video compression format, and the image frame rate can be set from 15fps to 30fps to ensure the clarity and real-time performance of video data. All sensors and cameras are connected to the central control center via a 50m high-strength communication cable, with a data transmission rate of no less than 10Mbps to meet the requirements of multi-channel data synchronous transmission.

[0063] In practical applications, to be suitable for deep-sea aquaculture environments, such as near offshore wind farms, the system can achieve continuous profile monitoring from the water surface to a depth of 50m by setting the lifting speed and target depth. This provides high spatiotemporal resolution data support for key parameters of the aquaculture environment such as temperature, dissolved oxygen, and salinity. At the same time, it can intuitively reflect the structural status of the cages, fish activities, and the distribution of underwater organisms through video images, providing multi-dimensional decision-making basis for aquaculture management.

[0064] In one embodiment of this application, after simultaneously acquiring water quality parameter data and underwater video image data at different depths via a water quality sensor array and an underwater camera, the method further includes: Outlier removal is performed on water quality sensor data, with the outlier removal threshold set as follows: , The standard deviation of historical data; frame rate optimization of underwater video footage to achieve the set frame rate. Satisfy the following formula:

[0065] in, For the speed of ascent and descent, The interval between adjacent monitoring depths.

[0066] Specifically, in this embodiment, outlier removal is performed during the preprocessing stage of water quality sensor data to ensure data quality and the accuracy of subsequent analysis. This embodiment employs a dynamic threshold determination method based on the standard deviation of historical data, and its removal criteria are as follows: ,in This represents the sensor reading at the current moment. The value collected at the previous moment. The standard deviation is the historical data. This method, based on statistical principles, uses the ratio of the difference between adjacent data points to the standard deviation to determine whether there are abnormal fluctuations, thereby effectively filtering out abnormal data caused by instantaneous sensor failures, external interference, or sudden changes in the marine environment.

[0067] As one possible approach, historical datasets within a time window are first extracted from the raw data sequence acquired by the sensor, and their standard deviation is calculated. As a benchmark for fluctuations. Then, for the current data point... Compared with the data of the previous moment Perform a difference operation; if its absolute value exceeds... If a value is found to be outlier, it is identified and removed. This method exhibits good robustness in time series data, and is particularly suitable for non-stationary data fluctuation scenarios in offshore wind power jacket aquaculture systems caused by ocean current disturbances, equipment vibrations, or sensor drift.

[0068] Regarding parameter settings, the standard deviation window length can be adjusted according to the actual monitoring frequency, typically set to the most recent 60 data points (corresponding to 1 hour of data) to balance real-time performance and stability. The threshold coefficient of 3 is set based on the 3σ principle to ensure that outliers are removed due to extremely low probability events, avoiding the accidental removal of normal fluctuation data.

[0069] Therefore, during continuous elevation monitoring, the sensor frequently collects parameters such as temperature, salinity, and dissolved oxygen at different depths, resulting in significant data fluctuations. However, by removing outliers, the continuity and reliability of the data sequence can be significantly improved, providing high-quality input for subsequent data fusion, trend analysis, and aquaculture environment assessment.

[0070] Furthermore, the frame rate of the underwater camera's video footage is optimized to achieve efficient and accurate video acquisition. This embodiment dynamically adjusts the camera's frame rate based on the device's motion characteristics at different underwater depths. This ensures that the video data acquired during the lifting and lowering process has sufficient temporal resolution without causing data redundancy or excessive transmission pressure due to excessively high frame rates. Specifically, the frame rate... The settings follow the formula above, which reflects the physical relationship between the video capture frequency and the device's movement speed and depth resolution.

[0071] As one implementation method, the camera's frame rate control module communicates in real time with the winch's drive system to obtain the current lifting speed. and preset depth interval For example, when the lifting speed is set to... And the interval between adjacent monitoring depths is At that time, frame rate Will be calculated as This means that one frame of image is captured every 5 seconds. This setting ensures that at least one clear video frame is captured as the device passes through each depth layer, thus achieving continuity and representativeness of the profile video.

[0072] Therefore, the frame rate optimization strategy in this embodiment effectively improves the spatiotemporal consistency of video data, avoids image blurring or omission of key depth layers due to excessively fast device movement, and reduces data transmission bandwidth and storage pressure, thereby improving the overall operating efficiency and data availability of the system.

[0073] Step S104: Transmit water quality parameter data and underwater video images to the central control center via a communication cable to generate a continuous profile monitoring dataset.

[0074] Specifically, the technical implementation of this step is based on a highly reliable, low-latency data transmission mechanism to ensure data integrity and synchronization in the complex environment of the deep sea.

[0075] As one possible implementation, the underwater counterweight cage integrates multi-channel water quality sensors (such as temperature, salinity, dissolved oxygen, pH, etc.) and a high-definition underwater camera, and its data acquisition frequency can be set to... To adapt to different monitoring needs, the analog signals output by the sensors are converted into digital signals by an analog-to-digital converter (ADC), while the camera uses H.264 or H.265 encoding formats for video compression to reduce bandwidth usage and improve transmission efficiency. All data is transmitted in real time via a high-strength communication cable with a multi-layer shielding structure. The outer layer is a polyurethane sheath, and the inner layer is armored steel wire, which can withstand water depth pressure and ensure stable operation in harsh marine environments such as strong winds, waves, and salt spray corrosion.

[0076] Regarding the setting of actual parameters, the communication cable length is... Supports a maximum transmission rate of To meet the requirements of water quality data and The requirement for synchronous transmission of high-resolution video. The central control center is equipped with a dedicated data receiving and parsing module, which can perform timestamp alignment and data fusion processing on multi-channel sensor data to form a continuous profile dataset with depth as the dimension. For example, when the device... When the adjustable speed is increased or decreased, the system can record the water quality parameters and corresponding video frames at each depth point, and construct the profile monitoring curve and image sequence.

[0077] In one embodiment of this application, the communication cable adopts a tensile and torsion-resistant structure, wherein the tensile strength of the communication cable is... Satisfy the following formula:

[0078] in, This represents the maximum load of the winch.

[0079] Specifically, the high-strength communication cable in this embodiment adopts a tensile- and torsion-resistant structure. Its core design principle is to ensure that the cable maintains structural stability while withstanding significant tensile forces in complex deep-sea current environments, preventing signal transmission interruption or equipment damage due to torsion. The cable's tensile strength... satisfy ,in Maximum load of the winch That is, the tensile strength must be no less than These parameters are set based on the actual working conditions of offshore wind turbine jacket aquaculture platforms, taking into account factors such as the impact of water flow, cable tension, and the weight of the equipment when it is lowered to its maximum depth (50m), to ensure that the structural integrity of the communication cable and the stability of signal transmission can still be maintained under extreme working conditions.

[0080] Understandably, as the physical channel for data transmission, the structural performance of high-strength communication cables directly affects the reliability and continuity of the monitoring system. This embodiment, by employing a tensile and torsion-resistant structure and setting reasonable tensile strength parameters, not only improves the system's resistance to wind and waves but also reduces the equipment failure rate caused by cable breakage or signal interruption.

[0081] In one embodiment of this application, after generating the continuous profile monitoring dataset, the method further includes: automatically calibrating the anti-rotation counterweight cage and zero-point calibration of the water quality sensor using a preset calibration solution.

[0082] Specifically, this embodiment automatically calibrates the anti-rotation counterweight cage after monitoring is completed, and performs zero-point calibration on the water quality sensor using a preset calibration solution to ensure the measurement accuracy and long-term stability of the water quality sensor. This step is technically based on the use of the preset calibration solution, which corrects the sensor's zero point using a standard solution, thereby eliminating measurement deviations caused by factors such as environmental drift, electrode aging, or temperature changes.

[0083] As one possible implementation, the calibration process is automatically triggered by the centralized control system. Once the monitoring task is completed and the equipment is confirmed to have been returned to the platform, the system controls the counterweight cage to enter the preset calibration solution tank. The calibration solution tank contains a zero-point calibration solution of standard concentration, with parameters such as conductivity, pH value, and dissolved oxygen content conforming to relevant water quality monitoring standards. After the sensor comes into contact with the calibration solution, the system collects its output signal and compares it with known standard values ​​to calculate the calibration error. It is defined as the relative deviation between the sensor output value and the standard value, i.e. This ensures that the calibration accuracy meets the high requirements of marine monitoring.

[0084] Furthermore, a multi-point calibration algorithm is employed during the calibration process. Combined with the sensor's linear response characteristics, least-squares fitting is performed on the collected data to optimize the sensor's output curve. Upon completion of calibration, the system updates the sensor's calibration coefficients and records the calibration status in the data log, facilitating subsequent data traceability and quality control.

[0085] In practical applications, automated operation can be achieved within the protective cabinet of an offshore wind turbine jacket platform using a PLC or embedded control system. The calibration fluid tank can be integrated into the winch recovery path or set up as a separate calibration station for convenient periodic maintenance and calibration. In deep-sea environments, where sensors are exposed to complex conditions such as high salinity, high pressure, and low temperature for extended periods, automatic calibration significantly improves the measurement reliability and data consistency of the equipment.

[0086] Therefore, this embodiment effectively ensures the accuracy of water quality monitoring data through standardized calibration procedures and high-precision error control. In summary, the continuous profile monitoring method for the offshore wind power jacket aquaculture system of this application improves the accuracy of monitoring data. The anti-rotation underwater counterweight cage design avoids the influence of turbulent currents, significantly reducing the error in water quality and image data acquisition. Furthermore, the method is easy to operate; through electric drive and adjustable lifting speed design, combined with real-time cable length output, it enables precise lowering and retrieval of equipment, reducing manual labor intensity. Moreover, this application has strong environmental adaptability and can be applied to complex environments such as high salt spray and strong winds and waves in deep seas, which helps ensure equipment stability. In addition, the method integrates multiple functions such as water quality monitoring and video acquisition, eliminating the need for separate deployment of multiple sets of equipment and reducing aquaculture monitoring costs. Therefore, this method can achieve continuous and stable profile monitoring of water quality parameters and underwater images in deep-sea aquaculture environments, significantly improving data accuracy and system operation and maintenance efficiency.

[0087] To achieve the above embodiments, this application also proposes a continuous profile monitoring system for offshore wind power jacket aquaculture systems. Figure 2 This is a schematic diagram of the cross-sectional continuous monitoring system for an offshore wind power jacket aquaculture system proposed in an embodiment of this application, as shown below. Figure 2 As shown, the system includes: Deployment module 100 is used to deploy an anti-rotation counterweight cage integrating a water quality sensor array and an underwater camera on an offshore wind power jacket aquaculture platform via a cantilever structure. The anti-rotation counterweight cage adopts a symmetrical counterweight design to counteract the torque generated by ocean turbulence.

[0088] The control module 200 is used to control the cable winding and unwinding at a preset adjustable speed via an electric drive module, thereby driving the anti-rotation counterweight cage to move vertically up and down within the target water depth range, and to adjust the cable length in real time to match the monitoring depth.

[0089] The acquisition module 300 is used to synchronously acquire water quality parameter data and underwater video image data at different depths through the water quality sensor array and the underwater camera during the lifting and lowering process of the anti-rotation counterweight cage, based on the stable state of the anti-rotation counterweight cage.

[0090] The transmission module 400 is used to transmit the water quality parameter data and the underwater video image data to the central control center via a communication cable to generate a continuous profile monitoring dataset.

[0091] In one embodiment of this application, the system further includes: a calibration module for automatically calibrating the anti-rotation counterweight cage and zero-point calibration of the water quality sensor using a preset calibration solution.

[0092] It should be noted that the explanation of the aforementioned embodiment of the continuous profile monitoring method for offshore wind power jacket aquaculture system also applies to the system in this embodiment, and will not be repeated here.

[0093] In summary, the continuous profile monitoring system for the offshore wind power jacket aquaculture system of this application can achieve continuous and accurate profile monitoring of water quality parameters and underwater images in deep-sea aquaculture environments, thereby improving monitoring efficiency and the accuracy of monitoring results. To implement the above embodiments, this application also proposes an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the continuous profile monitoring method for offshore wind power jacket aquaculture system as described in any of the first aspect embodiments above.

[0094] To implement the above embodiments, this application also proposes a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the method for continuous profile monitoring of an offshore wind power jacket aquaculture system as described in any one of the first aspects of the embodiments above.

[0095] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0096] 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 at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0097] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0098] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0099] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0100] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0101] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0102] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for continuous profile monitoring of an offshore wind power jacket aquaculture system, characterized in that, Includes the following steps: An anti-rotation counterweight cage integrating a water quality sensor array and an underwater camera is deployed on an offshore wind power jacket aquaculture platform via a cantilever structure. The anti-rotation counterweight cage adopts a symmetrical counterweight design to counteract the torque generated by ocean turbulence. The cable is controlled to be wound and released at a preset adjustable speed by the electric drive module, which drives the anti-rotation counterweight cage to move vertically up and down within the target water depth range, and adjusts the length of the cable in real time to match the monitoring depth. Based on the stable state of the anti-rotation counterweight cage, during the lifting and lowering process of the anti-rotation counterweight cage, water quality parameter data and underwater video image data at different depths are collected synchronously by the water quality sensor array and the underwater camera. The water quality parameter data and the underwater video image data are transmitted to the central control center via a communication cable to generate a continuous profile monitoring dataset.

2. The method according to claim 1, characterized in that, The anti-rotation counterweight cage features a symmetrical counterweight design comprising counterweight blocks symmetrically distributed along the axial direction, wherein the spacing between each counterweight block satisfies the following formula: in, The total length of the counterweight cage. This refers to the number of counterweights. The water quality sensor array includes a temperature sensor, a salinity sensor, a dissolved oxygen sensor, and a pH sensor.

3. The method according to claim 1, characterized in that, The method of controlling the cable retraction and extension at a preset adjustable speed via an electric drive module includes: A closed-loop control algorithm is used to adjust the lifting speed, and the control accuracy of the closed-loop control algorithm is tested to see if it meets the lifting control requirements. Depth matching is achieved by outputting the cable's release length in real time, wherein the cable's release length satisfies a linear relationship expressed by the following formula: in, For the speed of ascent and descent, This refers to the runtime.

4. The method according to claim 1, characterized in that, After synchronously acquiring water quality parameter data and underwater video image data at different depths through the water quality sensor array and the underwater camera, the method further includes: The water quality sensor data undergoes outlier removal processing, wherein the outlier removal threshold is set to [value missing]. , The standard deviation of historical data; The underwater video footage is optimized for a set frame rate. Satisfy the following formula: in, For the speed of ascent and descent, The interval between adjacent monitoring depths.

5. The method according to claim 1, characterized in that, The communication cable adopts a tensile and torsion-resistant structure, and the tensile strength of the communication cable is... Satisfy the following formula: in, This represents the maximum load of the winch.

6. The method according to claim 1, characterized in that, Following the generation of the continuous profile monitoring dataset, the following is also included: The anti-rotation counterweight cage is automatically calibrated, and the water quality sensor is zero-point calibrated using a preset calibration solution.

7. A continuous profile monitoring system for an offshore wind power jacket aquaculture system, characterized in that, Includes the following modules: The deployment module is used to deploy an anti-rotation counterweight cage integrating a water quality sensor array and an underwater camera on an offshore wind power jacket aquaculture platform via a cantilever structure. The anti-rotation counterweight cage adopts a symmetrical counterweight design to counteract the torque generated by ocean turbulence. The control module is used to control the cable winding and unwinding at a preset adjustable speed via the electric drive module, thereby driving the anti-rotation counterweight cage to move vertically up and down within the target water depth range, and to adjust the cable length in real time to match the monitoring depth. The acquisition module is used to synchronously acquire water quality parameter data and underwater video image data at different depths through the water quality sensor array and the underwater camera during the lifting and lowering process of the anti-rotation counterweight cage, based on the stable state of the anti-rotation counterweight cage. The transmission module is used to transmit the water quality parameter data and the underwater video image data to the central control center via a communication cable to generate a continuous profile monitoring dataset.

8. The system according to claim 7, characterized in that, Also includes: The calibration module is used to automatically calibrate the anti-rotation counterweight cage and to perform zero-point calibration on the water quality sensor using a preset calibration solution.

9. An electronic device, comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the profile continuous monitoring method for offshore wind power jacket aquaculture system as described in any one of claims 1-6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method for continuous profile monitoring of the offshore wind power jacket aquaculture system as described in any one of claims 1-6.

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