A cultivation system based on offshore wind power single pile foundation and a control method

Abstract

This invention relates to the field of marine ranching engineering technology, and discloses an aquaculture system and control method based on an offshore wind turbine monopile foundation. The system, installed on the monopile foundation, includes: a lifting assembly, a traction assembly, an aquaculture device, a detection assembly, and a control assembly. The lifting assembly is mounted on the cage of the monopile foundation; the traction assembly is mounted on the edge of the outer platform of the monopile foundation; a first connecting end of the aquaculture device near the monopile foundation is connected to the moving end of the lifting assembly, and a second connecting end of the aquaculture device is connected to the traction end of the traction assembly; the detection assembly is mounted on the aquaculture device; and the control assembly is mounted on the outer platform and electrically connected to the lifting assembly, traction assembly, and detection assembly. This invention can reduce the displacement, movement, or tilting of the aquaculture device under the influence of wind, waves, tides, and ocean currents, improving the operational stability and safety of the aquaculture system.

Description

Technical Field

[0001] This invention relates to the field of marine ranching engineering technology, specifically to an aquaculture system and control method based on an offshore wind turbine monopile foundation. Background Technology

[0002] With the rapid development of the offshore wind power industry, the sea area occupied by offshore wind farms is constantly increasing. How to improve the efficiency of sea area utilization while ensuring the safe operation of wind power equipment has become an important issue to consider in the development of offshore wind power. Offshore wind turbine monopile foundations have the characteristics of structural stability, wide distribution, and relatively abundant surrounding sea space, which can provide a certain foundation and operating space for the deployment of marine aquaculture facilities. Based on this, in recent years, a development model combining offshore wind power facilities with mariculture has gradually emerged. This involves setting up aquaculture devices based on offshore wind turbine monopile foundations and their surrounding sea area, and carrying out mariculture without affecting the normal operation and maintenance of wind power equipment. This achieves the coordinated development of wind power energy development and marine fishery production, and improves the comprehensive utilization level of marine resources.

[0003] In existing technologies, offshore wind turbine monopile foundation aquaculture devices include aquaculture net bags, connecting cables, and anchors. One side of the aquaculture net bag is fixed to the sidewall of the monopile foundation via the connecting cables, and the other side is fixed to the seabed via anchors. The aquaculture net bags are then deployed around the monopile foundation. However, the connection positions and tension of the aquaculture net bags are usually relatively fixed, and they are subject to long-term influences from wind, waves, tides, and ocean currents. This can cause the aquaculture net bags to shift horizontally, move vertically, or tilt, potentially leading to collisions or entanglement with the monopile foundation, maintenance platform, or other auxiliary structures. This can result in damage to the aquaculture device and escape of aquaculture organisms, and may also affect the normal maintenance and operation of the wind turbine equipment. Summary of the Invention

[0004] This invention provides an aquaculture system and control method based on offshore wind turbine monopile foundations to solve the problem that aquaculture devices are prone to displacement, shifting, or tilting in complex marine environments.

[0005] In a first aspect, the present invention provides an aquaculture system based on an offshore wind turbine monopile foundation, which is set on the monopile foundation and includes: A lifting assembly is disposed on the side wall of the monopile foundation, and the movable end of the lifting assembly is adapted to move along the height direction of the monopile foundation. A traction assembly is disposed at the edge of the outer platform of the monopile foundation; A breeding device, wherein the first connecting end of the breeding device near the monopile foundation is connected to the moving end of the lifting assembly, and the second connecting end of the breeding device is connected to the traction end of the traction assembly; A detection component is disposed on the aquaculture device, and the detection component is adapted to detect the height, tilt angle and connection tension at the first connection end and the second connection end of the aquaculture device. A control component is disposed on the outer platform and electrically connected to the lifting component, the traction component and the detection component respectively. The control component is adapted to control the moving end of the lifting component to move along the height direction of the monopile foundation and / or control the traction component to extend and retract its traction end according to the detection signal of the detection component.

[0006] Beneficial effects The aquaculture device is installed around the monopile foundation, with the first and second connecting ends connected to the lifting and traction components, respectively. This allows the aquaculture device to adjust its position and attitude under the combined action of the lifting and traction components. The detection component can detect the height, tilt angle, and connection tension at the two connecting ends of the aquaculture device in real time. The control component controls the lifting and / or traction components based on the detection signals to dynamically adjust the position, attitude, and stress state of the aquaculture device. This prevents the aquaculture device from shifting horizontally, moving vertically, or tilting under the influence of wind, waves, tides, and ocean currents. It also reduces the risk of the aquaculture device getting entangled in the monopile foundation, colliding with the monopile foundation's auxiliary structures, or being damaged. This improves the stability and safety of the aquaculture system in complex marine environments and helps ensure the normal operation and maintenance of aquaculture operations and wind power equipment.

[0007] In one optional embodiment, the detection component includes: multiple position detection elements, multiple posture detection elements, and two tension detection elements. The multiple position detection elements and the multiple posture detection elements are all spaced apart on the aquaculture device, and the two tension detection elements are respectively located at the connection between the aquaculture device and the lifting component and at the connection between the aquaculture device and the traction component.

[0008] In one optional embodiment, one position detection device and one posture detection device are installed in every 4m² area of ​​the aquaculture device.

[0009] In one optional embodiment, the lifting assembly includes a cage and a lifting mechanism. The cage is enclosed on the steel pipe pile of the monopile foundation, and the lifting mechanism is disposed on the cage. The lifting mechanism includes a rotation drive, a rotation screw, and a lifting seat. The rotation drive is disposed on the cage, and the rotation screw is rotatably disposed on the cage along the height direction of the monopile foundation. The output end of the rotation drive is connected to the rotation screw. The lifting seat is sleeved on the rotation screw and threadedly connected to the rotation screw. The lifting seat is connected to the first connection end of the aquaculture device.

[0010] In one optional embodiment, the lifting mechanism further includes: a sealed guide rail, which is disposed on the cage along the height direction of the monopile foundation; a rotating screw is disposed inside the sealed guide rail; and the lifting seat is slidably disposed on the sealed guide rail.

[0011] In one optional embodiment, the traction assembly includes a traction mechanism, which includes a traction drive, a winding member, and a traction rope. The traction drive is disposed on the outer platform, the winding member is rotatably disposed on the outer platform and is connected to the output end of the traction drive, and one end of the traction rope is wound on the winding member, and the other end is connected to the second connection end of the aquaculture device.

[0012] In one alternative embodiment, the aquaculture device includes: an aquaculture net bag, the surface of which is coated with an anti-biofouling coating.

[0013] In one optional implementation, the control component includes: a data processing module, a lifting control module, a traction control module, and an early warning module. The data processing module is electrically connected to the detection component, the lifting control module, the traction control module, and the early warning module, respectively. The lifting control module is electrically connected to the lifting component, and the traction control module is electrically connected to the traction component.

[0014] Secondly, the present invention also provides a control method for an aquaculture system based on an offshore wind turbine monopile foundation, applicable to the aforementioned aquaculture system based on an offshore wind turbine monopile foundation, comprising: The detection component detects the actual height, actual tilt angle, and actual connection tension at the first and second connecting ends of the aquaculture device. The actual height is compared with a preset height range, the actual tilt angle is compared with a preset tilt angle range, and the actual connection tension at the first connection end and the second connection end is compared with a preset connection tension range. When at least one of the actual height, the actual tilt angle, and the actual connection tension at the first connection end and the second connection end is not within the corresponding preset range, the control component controls the moving end of the lifting component to move along the height direction of the monopile foundation according to the comparison result, and / or controls the traction component to retract its traction end, so that the parameters are restored to the corresponding preset range.

[0015] Beneficial effects By detecting the actual height, actual tilt angle, and actual connection tension at the first and second connection ends of the aquaculture device, and comparing each actual value with the corresponding preset value range, when the actual value is not within the preset value range, the lifting component and / or traction component are controlled to restore the height, posture, and connection force of the aquaculture device to the normal state. This enables real-time monitoring and dynamic adjustment of the aquaculture device's operating status, preventing the aquaculture device from shifting, tilting, or experiencing abnormal force under the influence of wind, waves, tides, and ocean currents, thereby improving the operational stability and safety of the aquaculture system.

[0016] In one optional implementation, the preset safety range includes a preset safety height range, a preset safety tilt angle range, and a preset safety connection tension range; when at least one of the actual height, the actual tilt angle, and the actual connection tension at the first connection end and the second connection end is not within the corresponding preset safety range, the control component outputs a warning message. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of an aquaculture system based on an offshore wind power monopile foundation, according to an embodiment of the present invention. Figure 2 for Figure 1 A magnified view of part A in the diagram; Figure 3 for Figure 1 A magnified view of part B in the diagram.

[0019] Explanation of reference numerals in the attached figures: 11. Cage; 12. Lifting mechanism; 2. Traction components; 3. External platforms; 41. Aquaculture net bags; 5. Detection components; 6. Control components; 7. Single pile foundation. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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] The following is combined Figures 1 to 3 The following describes embodiments of the present invention.

[0022] According to an embodiment of the present invention, in one aspect, an aquaculture system based on an offshore wind power monopile foundation is provided, which is disposed on a monopile foundation 7 and includes: a lifting assembly, a traction assembly 2, an aquaculture device, a detection assembly 5, and a control assembly 6. The lifting assembly is disposed on the side wall of the monopile foundation 7, and the movable end of the lifting assembly is adapted to move along the height direction of the monopile foundation 7. The traction assembly 2 is disposed on the edge of the outer platform 3 of the monopile foundation 7. The first connecting end of the aquaculture device near the monopile foundation 7 is connected to the movable end of the lifting assembly, and the second connecting end of the aquaculture device is connected to the traction end of the traction assembly 2. The detection assembly 5 is disposed on the aquaculture device and is adapted to detect the height, tilt angle, and connection tension at the first and second connecting ends of the aquaculture device. The control assembly 6 is disposed on the outer platform 3 and is electrically connected to the lifting assembly, the traction assembly 2, and the detection assembly 5 respectively. The control assembly 6 is adapted to control the movable end of the lifting assembly to move along the height direction of the monopile foundation 7 and / or control the traction assembly 2 to extend and retract its traction end according to the detection signal of the detection assembly 5.

[0023] A lifting assembly is mounted on the cage 11 of the monopile foundation 7. The end of the aquaculture device closest to the monopile foundation 7 forms a first connecting end, which is connected to the moving end of the lifting assembly. When the lifting assembly drives its moving end to move up or down, the first connecting end moves synchronously with the moving end, thereby adjusting the height of the aquaculture device on the side closest to the monopile foundation 7 and creating a vertical constraint on the aquaculture device. An annular outer platform 3 is provided on the monopile foundation 7, and a traction assembly 2 is located at the edge of the outer platform 3. The traction assembly 2 has a retractable traction end, and the second connecting end of the aquaculture device is connected to the traction end of the traction assembly 2. By retracting and extending its traction end, the traction assembly 2 changes the connection length and tension between the second connecting end and the outer platform 3, thereby tractioning and tensioning the side of the aquaculture device away from the monopile foundation 7. Thus, the lifting assembly and the traction assembly 2 respectively constrain the first and second connecting ends of the aquaculture device, enabling the aquaculture device to remain within the predetermined aquaculture area.

[0024] The detection component 5 is mounted on the aquaculture device and can detect the height, tilt angle, and connection tension at the first and second connecting ends of the aquaculture device. The height of the aquaculture device is relative to a preset reference position; the tilt angle reflects the degree of tilt of the aquaculture device relative to a preset posture; and the connection tension at the first and second connecting ends reflects the force state at both ends of the aquaculture device. The detection component 5 transmits the detected signals to the control component 6. The control component 6 is mounted on the outer platform 3 and installed in a control cabin with waterproof and corrosion-resistant functions. The control component 6 is electrically connected to the lifting component, the traction component 2, and the detection component 5, and can receive the detection signals output by the detection component 5. Based on the height, tilt angle, and connection tension at the two connecting ends of the aquaculture device, the control component 6 controls the operation of the lifting component and / or the traction component 2. In other embodiments, multiple aquaculture devices can be installed, spaced circumferentially around the monopile foundation 7.

[0025] The lifting and traction components 2 can adjust the position, posture and stress state of the aquaculture device from both ends. The detection component 5 and the control component 6 can detect and dynamically control the operation status of the aquaculture device in real time, thereby preventing the aquaculture device from horizontally shifting, vertically moving or tilting under the action of wind, waves, tides and ocean currents, and reducing the risk of collision and entanglement between the aquaculture device and the monopile foundation 7.

[0026] In one embodiment, the lifting assembly includes a cage 11 and a lifting mechanism 12. The cage 11 is enclosed on the steel pipe piles of the monopile foundation 7. The lifting mechanism 12 is disposed on the cage 11. The lifting mechanism 12 includes a rotating drive, a rotating screw, and a lifting seat. The rotating drive is disposed on the cage 11. The rotating screw is rotatably disposed on the cage 11 along the height direction of the monopile foundation 7. The output end of the rotating drive is connected to the rotating screw. The lifting seat is sleeved on the rotating screw and threadedly connected to the rotating screw. The lifting seat is connected to the first connection end of the aquaculture device.

[0027] Specifically, the cage 11 can be a ring frame, enclosing the steel pipe piles of the monopile foundation 7 to provide an installation foundation for the lifting mechanism 12, with the outer platform 3 located at the top of the cage 11. Alternatively, the cage 11 can be formed by splicing multiple arc-shaped frames along the circumference of the monopile foundation 7. The arc-shaped frames can be detachably connected by bolts, connecting plates, or clamps, facilitating on-site installation and maintenance after the monopile foundation 7 is constructed. The cage 11 can be made of stainless steel, galvanized steel, or a metal material with a marine anti-corrosion coating to improve its corrosion resistance in marine environments.

[0028] The lifting mechanism 12 can adjust the height of the first connecting end of the breeding device, allowing the breeding device to be independently raised and lowered. The rotating drive component uses a geared motor with a waterproof housing. The output shaft of the geared motor is connected to the rotating screw via a coupling to drive the rotating screw to rotate around its axis. The upper and lower ends of the rotating screw can be rotatably mounted on the cage 11 via bearing seats to improve the stability of the rotating screw during rotation. The rotating screw can be a trapezoidal screw or a ball screw. The lifting seat is provided with threaded holes or screw nuts that are compatible with the rotating screw. When the rotating drive component drives the rotating screw to rotate, the lifting seat moves along the axial direction of the rotating screw under the action of threaded transmission. By changing the rotation direction of the rotating drive component, the lifting seat can be moved up or down along the height direction of the monopile foundation 7, forming the moving end of the lifting assembly. When multiple breeding devices are set, multiple lifting mechanisms 12 are also set accordingly. Multiple lifting mechanisms 12 are set at intervals along the circumference of the cage 11 and correspond to multiple breeding devices respectively.

[0029] The lifting platform is equipped with connecting lugs, lifting rings, or connecting seats. The first connecting end of the aquaculture device is connected to the lifting platform via a connecting rope, shackle, or universal connector. In this embodiment, a universal connector is preferred, which allows the aquaculture device to swing at a certain angle under the action of wind, waves, and ocean currents, reducing local stress concentration at the connection between the aquaculture device and the lifting platform.

[0030] When the control component 6 needs to adjust the height of the aquaculture device near the monopile foundation 7, it activates the corresponding rotary drive component. The rotary drive component drives the rotary screw to rotate forward or backward, causing the lifting seat to move up or down, and simultaneously raising and lowering the first connecting end of the aquaculture device. The lifting component can change the overall height of the aquaculture device or the height of the side near the monopile foundation 7, and, in conjunction with the traction component 2, adjust the tilt angle and connection stress state of the aquaculture device. Multiple lifting mechanisms 12 can adjust their respective aquaculture devices, allowing each aquaculture device to independently adjust its position under different water flow conditions or stress states.

[0031] In one embodiment, the lifting mechanism 12 further includes: a sealed guide rail, which is disposed on the cage 11 along the height direction of the monopile foundation 7, a rotating screw is disposed inside the sealed guide rail, and a lifting seat is slidably disposed on the sealed guide rail.

[0032] Specifically, the sealed guide rail is a hollow shell extending along the height of the monopile foundation 7. Its upper and lower ends are connected to the cage 11, respectively. The rotating screw is located inside the sealed guide rail and is rotatably mounted through bearing seats located at the upper and lower ends of the sealed guide rail to improve the stability of the rotating screw during rotation. The side of the sealed guide rail facing the breeding device has a sliding opening extending along its length. The lifting seat is located inside the sealed guide rail and sleeved on the rotating screw, and is threadedly connected to the rotating screw. One end of the lifting seat extends out of the sealed guide rail through the sliding opening and is connected to the first connecting end of the breeding device.

[0033] To reduce the entry of seawater, silt, and marine organisms into the sealed guide rail through the sliding opening, a sealing structure is installed at the sliding opening. The sealing structure includes elastic sealing strips on both sides of the sliding opening, which abut or overlap each other. One end of the lifting seat extends through the space between the elastic sealing strips. When the lifting seat moves, the elastic sealing strips expand to both sides; after the lifting seat passes, the elastic sealing strips re-adhere under their own elasticity, thus dynamically sealing the sliding opening. In other embodiments, a telescopic sealing cover or a folding protective cover can also be installed between the lifting seat and the sealed guide rail. A drainage hole or drain outlet can be provided at the bottom of the sealed guide rail to drain any small amounts of seawater and impurities that enter the sealed guide rail, facilitating subsequent cleaning and maintenance.

[0034] The sealing guide rail and lifting seat are also made of stainless steel, seawater corrosion resistant alloy or metal material with anti-corrosion coating. The rotating screw surface can be provided with an anti-corrosion layer, and water-resistant lubricating medium is filled at the threaded engagement position between the rotating screw and the lifting seat to reduce wear and corrosion during the thread transmission process.

[0035] In one embodiment, the traction assembly 2 includes a traction mechanism, which includes a traction drive, a winding component, and a traction rope. The traction drive is disposed on the outer platform 3, the winding component is rotatably disposed on the outer platform 3 and is connected to the output end of the traction drive. One end of the traction rope is wound on the winding component, and the other end is connected to the second connection end of the aquaculture device.

[0036] Specifically, the traction mechanism is installed near the edge of the outer platform 3 so that the traction rope extends outward from the outer platform 3 and connects to the aquaculture device, preventing interference between the traction rope and the monopile foundation 7 or other structures of the outer platform 3. When multiple aquaculture devices are installed, multiple traction mechanisms are also installed accordingly, spaced circumferentially along the outer platform 3 and corresponding to each aquaculture device. The traction drive is a waterproof motor with a reduction mechanism. The output end of the waterproof motor is connected to the winding component via a coupling, gear set, or chain drive mechanism to drive the winding component to rotate forward or backward. The winding component is a drum, reel, or winch, with both ends rotatably mounted on the outer platform 3 via bearing seats. One end of the traction rope is wound on the winding component, and the other end extends outward from the outer platform 3 and connects to the second connection end of the corresponding aquaculture device. The traction rope can be made of steel wire rope, fiber rope, or composite cable, and its outer surface can be provided with an anti-corrosion layer or a wear-resistant protective layer to improve the service life of the traction rope.

[0037] Guide wheels can also be installed on the edge of the outer platform 3. The traction rope passes around the guide wheels and connects to the second connection end of the aquaculture device. The guide wheels can change the extension direction of the traction rope, allowing it to extend smoothly from the outer platform 3 to the aquaculture device and reducing friction between the traction rope and the edge of the outer platform 3. The second connection end of the aquaculture device is connected to the traction rope via a connecting ring, shackle, or universal connector to facilitate the installation, disassembly, and maintenance of the aquaculture device.

[0038] When the traction drive drives the winding component to rotate in the rope winding direction, the traction rope gradually winds around the winding component, causing the second connection end of the breeding device to be pulled and increasing the tension of the breeding device; when the traction drive drives the winding component to rotate in the rope releasing direction, the winding component releases the traction rope, and the second connection end can move away from the outer platform 3, reducing the connection tension of the breeding device.

[0039] The traction mechanism is equipped with a braking or self-locking structure to restrict the rotation of the winding component after the traction drive stops working, thus maintaining the current winding and unwinding length of the traction rope and preventing the aquaculture device from being driven to rotate in the opposite direction by ocean currents or waves. The braking structure can be an electromagnetic brake or a mechanical brake.

[0040] In one embodiment, the aquaculture device includes: an aquaculture net bag 41, the surface of which is coated with an anti-biofouling coating.

[0041] Specifically, the aquaculture net bag 41 is rectangular or cylindrical in shape, depending on the species, size, and stocking density of the cultured organisms. The mesh size is determined by the size of the cultured organisms, ensuring normal seawater flow while preventing escape. The aquaculture net bag 41 can be woven from high-strength polyethylene fiber, polyester fiber, nylon fiber, or other flexible materials resistant to seawater corrosion. Reinforcing ropes, straps, or frames can be added to the edges of the aquaculture net bag 41 to improve its overall load-bearing capacity under the influence of wind, waves, tides, and ocean currents. A first connecting end is formed on the side of the aquaculture net bag 41 closest to the monopile foundation 7. This first connecting end can be equipped with a connecting ring or connecting lug, and connected to the lifting seat via shackles or universal connectors. A second connecting end is formed on the side of the aquaculture net bag 41 furthest from the monopile foundation 7. This second connecting end can also be connected to the traction rope via a connecting ring or connecting rope.

[0042] An anti-biofouling coating is applied to the surface of the mesh of the aquaculture net bag 41, covering the outer perimeter of the mesh. The anti-biofouling coating can be a low surface energy antifouling coating or a silicone-based antifouling coating suitable for marine environments. The coating can be applied by dip coating, spraying, or brushing, and then cured after application to ensure a stable bond between the anti-biofouling coating and the mesh of the aquaculture net bag 41. By applying an anti-biofouling coating to the surface of the aquaculture net bag 41, the attachment and growth of marine organisms such as algae, barnacles, and shellfish on the surface of the aquaculture net bag 41 can be reduced, preventing mesh blockage, increased weight of the aquaculture net bag 41, and increased water flow resistance caused by the accumulation of these organisms. This maintains the water permeability of the aquaculture net bag 41 and reduces the additional load on the aquaculture net bag 41.

[0043] In one embodiment, the detection component 5 includes: multiple position detection elements, multiple posture detection elements, and two tension detection elements. The multiple position detection elements and multiple posture detection elements are all spaced apart on the aquaculture device, and the two tension detection elements are respectively located at the connection between the aquaculture device and the lifting component and at the connection between the aquaculture device and the traction component 2.

[0044] Specifically, the position detection devices are underwater depth sensors or underwater positioning sensors, which can be installed on the edge of the aquaculture net bag 41, reinforcing ropes, or reinforcing belts to detect the height of the corresponding position relative to a preset reference position. The control component 6 receives position signals output from multiple position detection devices and determines the actual height of the aquaculture device based on the detection results at multiple positions. In specific implementation, the average value of the detection values ​​from multiple position detection devices can be used as the actual height of the aquaculture device; alternatively, the highest position, lowest position, or overall height distribution of the aquaculture device can be determined based on multiple detection values. The attitude detection devices are tilt sensors, with multiple attitude detection devices spaced apart in different areas of the aquaculture net bag 41 to detect the tilt angle of each area of ​​the aquaculture device relative to a preset attitude. The control component 6 can determine the overall tilt direction and actual tilt angle of the aquaculture device based on the attitude signals output from multiple attitude detection devices. When the tilt angles at different positions differ significantly, it can also be used to determine whether the aquaculture device has experienced local twisting, folding, or uneven stress.

[0045] The aquaculture device is equipped with two tension detection devices. One tension detection device is located at the connection between the aquaculture device and the lifting assembly, i.e., the first connection end; the other tension detection device is located at the connection between the aquaculture device and the traction assembly 2, i.e., the second connection end. The tension detection devices are tension sensors, connected in series between the aquaculture device and the lifting assembly or traction assembly 2, to detect the connection tension at the corresponding connection point. The tension detection device at the first connection end detects the constraint force exerted by the lifting assembly on the side of the aquaculture device closer to the monopile foundation 7; the tension detection device at the second connection end detects the traction force exerted by the traction assembly 2 on the side of the aquaculture device away from the monopile foundation 7. By simultaneously detecting the connection tension at both connection ends, it is possible to determine whether there is uneven force distribution, slack, or excessive tension at both ends of the aquaculture device. The position detection device, attitude detection device, and tension detection device are all equipped with waterproof housings and connected to the control assembly 6 via waterproof cables.

[0046] In one embodiment, a position detection device and an attitude detection device are installed within every 4m² area of ​​the aquaculture device.

[0047] Specifically, the unfolded area of ​​the aquaculture net bag 41 is divided into multiple detection zones of 4m², and a position detection device and an attitude detection device are set in each detection zone. When the remaining area at the edge of the aquaculture device is less than 4m², a position detection device and an attitude detection device can also be set in this remaining area to ensure that all areas of the aquaculture device can be detected. The position detection device and the attitude detection device are set in the middle of the corresponding detection zone.

[0048] Each position and attitude detection component has a corresponding number. The control component 6 determines the installation area of ​​each detection component on the aquaculture net bag 41 based on its number, and summarizes and processes the position and attitude signals from different detection areas. The control component 6 determines the overall height of the aquaculture device and the height difference between different areas based on the detection results of multiple position detection components, and determines the overall tilt angle and tilt direction of the aquaculture device based on the detection results of multiple attitude detection components. When the height difference or tilt angle difference between adjacent detection areas exceeds a preset value, the control component 6 can also determine that the aquaculture device may have local subsidence, local bulging, or uneven stress. By setting position and attitude detection components every 4m², a regional detection network is formed, which improves the detection coverage of the overall position and attitude of the aquaculture device, reduces the detection deviation caused by local disturbances when only a single detection component is set, and provides a more accurate detection basis for the adjustment of the lifting component and the traction component 2.

[0049] In one embodiment, the control component 6 includes: a data processing module, a lifting control module, a traction control module, and an early warning module. The data processing module is electrically connected to the detection component 5, the lifting control module, the traction control module, and the early warning module, respectively. The lifting control module is electrically connected to the lifting component, and the traction control module is electrically connected to the traction component 2.

[0050] Specifically, the data processing module pre-stores preset upper and lower threshold values ​​for each state parameter. The module compares the actual height, actual tilt angle, and actual connection tension with their respective preset state thresholds, and generates lifting control commands and / or traction control commands based on the comparison results. Specifically, when the actual height deviates from the normal state, the data processing module generates a lifting control command; when the actual tilt angle deviates from the normal state, the data processing module can generate both lifting control and traction control commands simultaneously; when the actual connection tension at the first or second connection end deviates from the normal state, the data processing module generates a traction control command.

[0051] The lifting control module receives lifting control commands from the data processing module and controls the rotation drive of the corresponding lifting mechanism 12 to start, stop, or change the direction of rotation according to the lifting control commands. The rotation drive drives the rotating screw to rotate forward or backward, causing the lifting seat to move upward or downward along the height direction of the monopile foundation 7, thereby adjusting the height of the first connecting end of the corresponding aquaculture device. The lifting control module can also control the rotation speed or running time of the rotation drive according to the lifting control commands to adjust the moving distance of the lifting seat.

[0052] The traction control module receives traction control commands from the data processing module and controls the traction drive component of the corresponding traction mechanism according to the commands. The traction drive component drives the winding component to rotate in the rope winding or releasing direction to retract or release the traction rope, thereby adjusting the position and connection tension of the second connection end of the aquaculture device. The traction control module controls the amount of rope winding and releasing based on the actual tilt angle and actual connection tension, restoring the aquaculture device to the preset posture and tension state.

[0053] The early warning module receives early warning commands from the data processing module. When the actual height, actual tilt angle, actual connection tension at the first connection end, or actual connection tension at the second connection end exceeds the corresponding upper safety threshold or falls below the corresponding lower safety threshold, the data processing module generates an early warning command, and the early warning module outputs early warning information based on the command. The early warning module outputs early warning information via remote communication equipment to prompt maintenance personnel to promptly check the operating status of the aquaculture device, lifting assembly, and traction assembly 2.

[0054] According to an embodiment of the present invention, in another aspect, a control method for an aquaculture system based on an offshore wind turbine monopile foundation is also provided, applicable to an aquaculture system based on an offshore wind turbine monopile foundation, comprising: Detection component 5 detects the actual height, actual tilt angle, and actual connection tension at the first and second connecting ends of the aquaculture device. The actual height is compared with the preset height range, the actual tilt angle is compared with the preset tilt angle range, and the actual connection tension at the first connection end and the second connection end is compared with the preset connection tension range. When at least one of the actual height, actual tilt angle, and actual connection tension at the first and second connection ends is not within the corresponding preset range, the control component 6 controls the moving end of the lifting component to move along the height direction of the monopile foundation 7 according to the comparison result, and / or controls the traction component 2 to extend and retract its traction end so that the parameters are restored to the corresponding preset range.

[0055] Specifically, control component 6 reads pre-stored preset ranges. These preset ranges include preset upper and lower threshold values ​​corresponding to various actual state parameters. Different aquaculture devices can have their own preset ranges set, and the connection tension at the first and second connection ends can also have different preset upper and lower threshold values ​​set. Each preset range can be predetermined based on the aquaculture device's location, structural dimensions, aquaculture depth, bearing capacity, and the water flow conditions of the surrounding sea area. Detection component 5 detects the status of each aquaculture device according to a preset acquisition cycle. Multiple position detectors detect the position information of different areas of the aquaculture device, multiple attitude detectors detect the attitude information of different areas of the aquaculture device, and tension detectors located at the first and second connection ends detect the connection tension at the corresponding connection points. Detection component 5 transmits the detection signals to control component 6.

[0056] The data processing module of control component 6 filters, converts, and summarizes the detection signals to obtain the actual height, actual tilt angle, and actual connection tension at the first and second connecting ends of the aquaculture device. The actual height is determined based on the detection results of multiple position sensors, such as using the average of multiple height detection values ​​as the actual height of the aquaculture device. The actual tilt angle is determined by combining the detection results of multiple posture sensors; the actual tilt angle is a directional angle value, with the direction of the aquaculture device tilting towards the monopile foundation 7 as the positive direction and the direction of tilting away from the monopile foundation 7 as the negative direction. The actual connection tension at the first and second connecting ends is determined using the detection results of the corresponding tension sensors. The data processing module compares each detected actual state parameter with its corresponding preset upper and lower threshold values. When all actual state parameters are within the preset upper and lower threshold values, control component 6 determines that the aquaculture device is in a normal state, and the lifting component and traction component 2 maintain their current operating state.

[0057] When the actual height is higher than the preset upper height threshold or lower than the preset lower height threshold, the data processing module generates a lifting control command based on the direction and amount of deviation of the actual height relative to the preset height range. The lifting control module then controls the corresponding lifting mechanism 12 to move, causing the moving end of the lifting component to move upwards or downwards along the height direction of the monopile foundation 7, thereby adjusting the height of the first connecting end of the aquaculture device. In this embodiment, the preset upper height threshold is preferably -6m, and the preset lower height threshold is preferably -12m.

[0058] When the actual tilt angle is higher than the preset upper limit threshold or lower than the preset lower limit threshold, the data processing module generates lifting control commands and / or traction control commands based on the tilt direction and degree of the aquaculture device. The lifting control module controls the movement of the moving end of the corresponding lifting component to adjust the position of the first connecting end; the traction control module controls the corresponding traction component 2 to retract or extend its traction end to adjust the position of the second connecting end. Through the individual or coordinated actions of the lifting component and the traction component 2, the aquaculture device gradually returns to the preset posture. In this embodiment, the preset upper limit threshold for the tilt angle is preferably 30°, and the preset lower limit threshold for the tilt angle is preferably -30°.

[0059] When the actual connection tension at the first or second connection end is higher than the preset upper limit threshold, the control component 6 controls the lifting component and / or the traction component 2 to release the force on the corresponding connection end and reduce the connection tension; when the actual connection tension is lower than the preset lower limit threshold, the control component 6 controls the traction component 2 to tighten the corresponding connection end to increase the tension of the aquaculture device. In this embodiment, the preset upper limit threshold is preferably 60kN, and the preset lower limit threshold is preferably 20kN.

[0060] In one embodiment, the preset safety range includes a preset safety height range, a preset safety tilt angle range, and a preset safety connection tension range; when at least one of the actual height, the actual tilt angle, and the actual connection tension at the first connection end and the second connection end is not within the corresponding preset safety range, the control component 6 outputs a warning message.

[0061] The preset safety range is mainly used to determine whether the aquaculture net bag 41 is damaged, or whether the aquaculture net bag 41 is loose or disconnected from the lifting component and the traction component 2. Specifically, when the aquaculture net bag 41 is in a normal connection state, the height, tilt angle, and connection tension at the two connection ends of the aquaculture net bag 41 are usually within a relatively stable range. When the aquaculture net bag 41 is damaged, partially torn, or the connection ends are disconnected, the stress state of the aquaculture net bag 41 will change significantly, manifested as a sudden decrease in connection tension, partial sinking of the aquaculture net bag 41, an increase in the overall tilt angle, or abnormal floating of some structures. Therefore, the data processing module compares the detected actual state parameters with each preset safety range to determine whether the aquaculture net bag 41 is abnormal.

[0062] When the actual connection tension at the first or second connection end is lower than the preset lower safety tension threshold, it indicates that the corresponding connection end may become loose, the connecting rope may break, or the aquaculture net bag 41 may be partially damaged. When the actual connection tension is higher than the preset upper safety tension threshold, it indicates that the corresponding connection end may be subjected to abnormal tension, and the aquaculture net bag 41 or the connection structure may be at risk of tearing or breaking. When the actual height or actual tilt angle of the aquaculture net bag 41 is higher than its corresponding preset upper safety threshold or lower than its corresponding preset lower safety threshold, it indicates that the aquaculture net bag 41 may undergo abnormal deformation or positional change due to partial damage, disconnection of the connection end, or abnormal aggregation of aquaculture organisms inside. When any actual state parameter exceeds its corresponding preset safety range, the data processing module determines that the aquaculture net bag 41 may be damaged or disconnected, and sends an early warning command to the early warning module, which then sends an early warning message to the remote monitoring terminal. The early warning message may include the number of the abnormal aquaculture net bag 41, the type of abnormal parameter, the location of the corresponding connection end, and the detection time, to prompt maintenance personnel to promptly inspect and handle the aquaculture net bag 41 and its connection location.

[0063] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. An aquaculture system based on an offshore wind turbine monopile foundation, characterized in that, include: A lifting assembly is provided on the side wall of the monopile foundation (7), and the movable end of the lifting assembly is adapted to move along the height direction of the monopile foundation (7). A traction assembly (2) is disposed at the edge of the outer platform (3) of the monopile foundation (7); The aquaculture device has a first connecting end near the monopile foundation (7) connected to the moving end of the lifting assembly, and a second connecting end connected to the traction end of the traction assembly (2). The detection component (5) is disposed on the aquaculture device and is adapted to detect the height, tilt angle and connection tension at the first connection end and the second connection end of the aquaculture device. The control component (6) is disposed on the outer platform (3) and electrically connected to the lifting component, the traction component (2) and the detection component (5) respectively. The control component (6) is adapted to control the moving end of the lifting component to move along the height direction of the monopile foundation (7) according to the detection signal of the detection component (5), and / or control the traction component (2) to extend and retract its traction end.

2. The aquaculture system based on an offshore wind turbine monopile foundation as described in claim 1, characterized in that, The detection component (5) includes: multiple position detection components, multiple posture detection components and two tension detection components. The multiple position detection components and multiple posture detection components are all spaced apart on the breeding device. The two tension detection components are respectively located at the connection between the breeding device and the lifting component and at the connection between the breeding device and the traction component (2).

3. The aquaculture system based on an offshore wind turbine monopile foundation according to claim 2, characterized in that, One position detection device and one posture detection device are installed in every 4m² area of ​​the breeding device.

4. The aquaculture system based on an offshore wind turbine monopile foundation according to claim 1, characterized in that, The lifting assembly includes a cage (11) and a lifting mechanism (12). The cage (11) is enclosed on the steel pipe pile of the monopile foundation (7). The lifting mechanism (12) is set on the cage (11). The lifting mechanism (12) includes a rotating drive, a rotating screw and a lifting seat. The rotating drive is set on the cage (11). The rotating screw is rotatably set on the cage (11) along the height direction of the monopile foundation (7). The output end of the rotating drive is connected to the rotating screw. The lifting seat is sleeved on the rotating screw and threadedly connected to the rotating screw. The lifting seat is connected to the first connection end of the aquaculture device.

5. The aquaculture system based on an offshore wind turbine monopile foundation according to claim 4, characterized in that, The lifting mechanism (12) further includes: a sealed guide rail, which is arranged on the cage (11) along the height direction of the single pile foundation (7), the rotating screw is arranged inside the sealed guide rail, and the lifting seat is slidably arranged on the sealed guide rail.

6. The aquaculture system based on an offshore wind turbine monopile foundation according to claim 1, characterized in that, The traction assembly (2) includes a traction mechanism, which includes a traction drive, a winding component, and a traction rope. The traction drive is mounted on the outer platform (3), the winding component is rotatably mounted on the outer platform (3), and is connected to the output end of the traction drive. One end of the traction rope is wound around the winding component, and the other end is connected to the second connection end of the aquaculture device.

7. The aquaculture system based on an offshore wind turbine monopile foundation according to claim 1, characterized in that, The aquaculture device includes: an aquaculture net bag (41), the surface of which is coated with an anti-biofouling coating.

8. The aquaculture system based on an offshore wind turbine monopile foundation according to claim 1, characterized in that, The control component (6) includes: a data processing module, a lifting control module, a traction control module and an early warning module. The data processing module is electrically connected to the detection component (5), the lifting control module, the traction control module and the early warning module respectively. The lifting control module is electrically connected to the lifting component and the traction control module is electrically connected to the traction component (2).

9. A control method for an aquaculture system based on an offshore wind turbine monopile foundation, applied to the aquaculture system based on an offshore wind turbine monopile foundation as described in any one of claims 1-8, characterized in that, include: The detection component (5) detects the actual height, actual tilt angle, and actual connection tension at the first and second connecting ends of the aquaculture device. The actual height is compared with a preset height range, the actual tilt angle is compared with a preset tilt angle range, and the actual connection tension at the first connection end and the second connection end is compared with a preset connection tension range. When at least one of the actual height, the actual tilt angle, and the actual connection tension at the first connection end and the second connection end is not within the corresponding preset range, the control component (6) controls the moving end of the lifting component to move along the height direction of the monopile foundation (7) according to the comparison result, and / or controls the traction component (2) to retract and extend its traction end so that the parameters are restored to the corresponding preset range.

10. The control method for an aquaculture system based on an offshore wind turbine monopile foundation according to claim 9, characterized in that, The preset safety range includes a preset safety height range, a preset safety tilt angle range, and a preset safety connection tension range; when at least one of the actual height, the actual tilt angle, and the actual connection tension at the first connection end and the second connection end is not within the corresponding preset safety range, the control component (6) outputs a warning message.

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