In-situ spatial state measurement system and method for beach shallow sea wind power submarine cable

Abstract

This invention provides a system and method for measuring the in-situ spatial status of submarine wind power cables in shallow waters. The system includes: a hull with a preset volume and unmanned operation; a positioning device mounted on the top of the hull for navigation and determining its spatial position; a cable burial depth surveying device mounted on the hull to measure the seabed burial depth and spatial in-situ status of the submarine cable; a metal magnetic anomaly measuring device mounted on the hull to measure the spatial position of the submarine cable and the distribution of metal obstacles; and a control device located in the control cabin of the hull and electrically connected to the positioning device, cable burial depth surveying device, and metal magnetic anomaly measuring device to collect data on the spatial position of the hull, the seabed burial depth and spatial in-situ status of the submarine cable, and the spatial position of the submarine cable and the distribution of metal obstacles. This invention allows operation in the intertidal zone, reduces the turning radius of the survey line, and enables efficient and accurate measurement of submarine cables, achieving intelligent measurement.

Description

Technical Field

[0001] This invention relates to the field of submarine cable measurement technology, and more specifically, to a system and method for measuring the in-situ spatial status of submarine wind power cables in shallow waters. Background Technology

[0002] Submarine cables, also known as submarine communication cables, are conductors wrapped in insulating material and laid on the seabed for telecommunications transmission. In shallow waters, submarine cables are typically surveyed using survey vessels. However, the intertidal slope of the shallow waters of the Bohai Bay is relatively gentle, with a large seaward span. Survey vessels generally have a draft greater than 1.5 meters, making operations in the intertidal zone difficult. Furthermore, the length of survey vessels is generally over 20 meters, resulting in a large turning radius for the survey line and low measurement efficiency. Summary of the Invention

[0003] In view of this, the present invention proposes an in-situ spatial state measurement system for shallow-sea wind power submarine cables, aiming to solve the problems of large measurement vessels leading to measurement difficulties and low measurement efficiency in existing technologies. The present invention also proposes a measurement method using any of the above-mentioned in-situ spatial state measurement systems for shallow-sea wind power submarine cables.

[0004] In one aspect, the present invention proposes a spatial status measurement system for submarine cables used in shallow sea wind power projects. The system includes: a hull with a preset volume and unmanned operation; a positioning device, located on the top of the hull, for navigating the hull and determining its spatial position; a cable burial depth survey device, located on the hull, for measuring the seabed burial depth and spatial status of the submarine cable; a metal magnetic anomaly measurement device, located on the hull, for measuring the spatial position of the submarine cable and the distribution of metal obstacles; and a control device, located in the control cabin of the hull and electrically connected to the positioning device, the cable burial depth survey device, and the metal magnetic anomaly measurement device, for receiving and aggregating the spatial position of the hull, the seabed burial depth and spatial status of the submarine cable, and the spatial position of the submarine cable and the distribution of metal obstacles.

[0005] Furthermore, in the aforementioned shallow-sea wind power submarine cable in-situ spatial status measurement system, the cable burial depth survey device includes: a transducer, installed at the bottom of the hull, for transmitting measurement signals and receiving feedback signals; and a cable burial depth deck unit, electrically connected to both the transducer and the control device, for determining the seabed burial depth and spatial in-situ status of the submarine cable based on the feedback signals, and sending the seabed burial depth and spatial in-situ status of the submarine cable to the control device.

[0006] Furthermore, in the aforementioned in-situ spatial status measurement system for submarine cables in shallow sea wind power, the metal magnetic anomaly measurement device includes: a towed fish for measuring the position and distribution of submarine cables and metal obstacles; a launching and retrieving mechanism, installed on the hull and connected to the towed fish, for towing the towed fish to the stern of the hull; and a metal magnetic anomaly deck unit, electrically connected to both the towed fish and the control device, for determining the spatial position of the submarine cable and the distribution of the metal obstacles based on the position and distribution of the submarine cables and metal obstacles measured by the towed fish, and sending the spatial position of the submarine cable and the distribution of the metal obstacles to the control device.

[0007] Furthermore, in the aforementioned in-situ spatial status measurement system for shallow sea wind power submarine cables, the deployment and retrieval mechanism includes: two parallel lead screws located on the hull near the stern; a gantry with its two ends screwed to the two lead screws respectively, and the middle part of the gantry connected to the towed fish via a cable; and a drive motor located on the hull and connected to one of the lead screws to drive the lead screw to rotate, thereby moving the gantry and adjusting the position of the towed fish.

[0008] Furthermore, in the aforementioned in-situ spatial status measurement system for shallow sea wind power submarine cables, the position of the positioning device corresponds to the position of the transducer, and the positioning device is also used to determine the spatial position of the transducer and the towed fish.

[0009] In this invention, the preset volume of the hull can be determined according to actual draft requirements and the actual environment, enabling the hull to operate in the intertidal zone and reducing the turning radius of the survey line, thereby improving measurement efficiency. This solves the problem of large size of existing survey vessels leading to measurement difficulties and low efficiency. Furthermore, the hull is unmanned, using a positioning device to navigate and determine its spatial position. A cable burial depth survey device measures the seabed burial depth and spatial presence of the submarine cable, while a metal magnetic anomaly measurement device measures the spatial position of the submarine cable and the distribution of metal obstacles. A control device collects the above information, facilitating the determination of the spatial position, burial depth, and distribution of metal obstacles of the submarine cable. This achieves efficient and accurate measurement of submarine cables, and is simple and convenient as it requires no personnel to operate the hull. It not only improves the measurement efficiency of submarine cables but also realizes intelligent submarine cable measurement.

[0010] On the other hand, the present invention also proposes a measurement method using any of the above-mentioned shallow-sea wind power submarine cable in-situ spatial state measurement systems. This method includes the following steps: a testing step, testing the shallow-sea wind power submarine cable in-situ spatial state measurement system; a deployment step, deploying a survey line for the submarine cable when the test meets preset requirements; a measurement step, measuring the submarine cable using a positioning device, a cable burial depth survey device, and a metal magnetic anomaly measurement device to measure the submarine cable's location information and the distribution information of metal obstacles; an analysis step, processing and analyzing the submarine cable's location information and the distribution information of metal obstacles to determine the submarine cable's horizontal position, burial depth, and the distribution of metal obstacles; and a compilation step, compiling a map of the submarine cable's horizontal position, burial depth, and the distribution of metal obstacles, and a results report.

[0011] Furthermore, in the above-mentioned method for measuring the in-situ spatial state of submarine wind power cables in shallow waters, the testing steps further include: a navigation test sub-step to test the navigation of the vessel; a towed length test sub-step to test the length of the towed line in the metal magnetic anomaly measuring device; and an accuracy test sub-step to test the accuracy of the cable burial depth survey device.

[0012] Furthermore, in the above-mentioned method for measuring the in-situ spatial status of submarine wind power cables in shallow waters, in the navigation test sub-step, east-west and north-south survey lines are arranged in the work area, the hull is navigated using a positioning device, and the hull is instructed to reciprocate along the survey lines at a preset speed and while maintaining a preset yaw distance. When the deviation of each survey line meets the preset requirements, the hull navigation test is completed.

[0013] Furthermore, in the above-mentioned method for measuring the in-situ spatial state of submarine wind power cables in shallow waters, in the sub-step of towing length testing, the cable length of the towed fish is adjusted multiple times within the selected test area, and the magnetic anomaly distribution of the hull itself and the stability of the towed fish are measured by the metal magnetic anomaly measuring device after each adjustment to determine the cable length of the towed fish.

[0014] Furthermore, in the above-mentioned method for measuring the in-situ spatial status of submarine cables for shallow sea wind power, in the accuracy testing sub-step, a location free of metal obstacles is selected, and a measuring line is vertically arranged with the submarine cable as the center and the measuring line is reciprocated. The accuracy of the cable burial depth survey device is determined based on the submarine cable's seabed burial depth and spatial in-situ status measured by the cable burial depth survey device.

[0015] In this invention, the in-situ spatial state measurement system for submarine cables in shallow sea wind power is first tested. When the test meets the preset requirements, the route survey line of the submarine cable is laid out. Then, the position information of the submarine cable and the distribution information of metal obstacles are measured. In this way, the horizontal position, burial depth and distribution of metal obstacles of the submarine cable are determined, and a distribution map and a result report are compiled. In this way, the horizontal position, burial depth and distribution of metal obstacles of the submarine cable can be accurately determined, realizing efficient and accurate measurement of the submarine cable, ensuring the accuracy and reliability of the measurement results, and effectively improving the intelligence and security of the measurement information. Furthermore, the hull design of the in-situ spatial state measurement system for submarine cables in shallow sea wind power can reduce the turning radius of the survey line, improve the efficiency of the underway measurement, and has flexible operability, thus improving the measurement efficiency of the submarine cable. Attached Figure Description

[0016] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0017] Figure 1 This is a schematic diagram of the in-situ spatial status measurement system for submarine wind power cables in shallow waters provided in an embodiment of the present invention;

[0018] Figure 2 This is a structural block diagram of the in-situ spatial state measurement system for submarine wind power cables in shallow waters provided in an embodiment of the present invention;

[0019] Figure 3 A flowchart of a method for measuring the in-situ spatial state of submarine wind power cables provided in an embodiment of the present invention. Detailed Implementation

[0020] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] System Implementation Example:

[0022] See Figures 1 to 2The figure shows a preferred structure for a spatial state measurement system for submarine wind power cables in shallow waters. As shown, the system includes: a hull 1, a positioning device 2, a cable burial depth survey device 3, a metal magnetic anomaly measurement device 4, and a control device 5. The hull 1 has a preset volume, which can be determined based on actual conditions such as draft; this embodiment does not impose any limitations on this. In this embodiment, the hull 1 has a length less than 5m, a width greater than 2m, and a height greater than 1.5m. Furthermore, the hull 1 is an unmanned vessel, i.e., a digitally intelligent unmanned vessel. The hull 1 is equipped with a control cabin 10, a power supply and propulsion compartment 12, and an anchoring system, specifically an anchor chain. A propeller 11 is located at the bottom of the hull 1.

[0023] Positioning device 2 is installed on the top of hull 1. Positioning device 2 is used for navigating hull 1 and determining its spatial position. Specifically, positioning device 2 provides real-time positioning, indicating the spatial position of hull 1 in the water, and providing the location of submarine cables in shallow waters. In this embodiment, positioning device 2 uses the BeiDou Navigation Satellite System or the GPS Global Positioning System.

[0024] A data transmission antenna 7 is installed on the top of the hull 1. The data transmission antenna 7 transmits data to the monitoring computer on the shore. The data transmission antenna 7 is supported by a support rod with a length of more than 2m to avoid interference from the hull 1 and ensure that the positioning accuracy meets the measurement specifications.

[0025] The cable burial depth survey device 3 is installed on the hull 1. The cable burial depth survey device 3 is used to measure the seabed burial depth and spatial in-situ status of the submarine cable.

[0026] The metal magnetic anomaly measuring device 4 is installed on the hull 1. The metal magnetic anomaly measuring device 4 is used to measure the spatial position of the submarine cable and the distribution of metal obstacles.

[0027] The control device 5 is located in the control cabin 10 of the hull 1. The control device 5 is electrically connected to the positioning device 2, the cable burial depth survey device 3, and the metal magnetic anomaly measuring device 4. The control device 5 is used to receive the spatial position of the hull 1 sent by the positioning device 2, the seabed burial depth and spatial in-situ status of the submarine cable sent by the cable burial depth survey device 3, and the spatial position of the submarine cable and the distribution of metal obstacles sent by the metal magnetic anomaly measuring device 4. The control device 5 collects the information on the spatial position of the hull 1, the seabed burial depth and spatial in-situ status of the submarine cable, and the spatial position of the submarine cable and the distribution of metal obstacles.

[0028] In practice, the control device 5 is connected to the ground wire, which is placed in seawater and is made of copper wire with a diameter greater than 1.38 mm.

[0029] Preferably, a navigation monitoring camera 9 is also installed on the top of the hull 1. The navigation monitoring camera 9 is used to monitor the navigation of the hull 1 and the situation of nearby obstacles, and to acquire image information of the vicinity of the hull 1. An image transmission antenna 8 is installed on the top of the hull 1 via a support frame. The navigation monitoring camera 9 transmits image data to a monitoring computer on the shore via the image transmission antenna 8.

[0030] As can be seen, in this embodiment, the preset volume of the hull 1 can be determined according to the actual draft requirements and the actual environment, so that the hull 1 can operate in the intertidal zone, reduce the turning radius of the survey line, and improve measurement efficiency. This solves the problem that the large size of the survey vessel in the prior art leads to measurement difficulties and low measurement efficiency. Furthermore, the hull 1 is unmanned. The positioning device 2 is used to navigate the hull 1 and determine its spatial position. The cable burial depth survey device 3 measures the seabed burial depth and spatial position status of the submarine cable. The metal magnetic anomaly measurement device 4 measures the spatial position of the submarine cable and the distribution of metal obstacles. The control device 5 collects the above information, which facilitates the determination of the spatial position, burial depth and distribution of metal obstacles of the submarine cable based on the above information. This achieves efficient and accurate measurement of the submarine cable. Moreover, no personnel are required to operate the hull 1, which is simple and convenient. This not only improves the measurement efficiency of the submarine cable, but also realizes the intelligentization of submarine cable measurement.

[0031] See Figure 1 In the above embodiment, the cable burial depth survey device 3 includes a transducer and a cable burial depth deck unit. The transducer is located at the bottom of the hull 1, specifically connected to the bottom of the hull 1 via a flange. The transducer is used to transmit measurement signals and receive feedback signals.

[0032] The cable burial depth deck unit is located within the control compartment 10 of the hull 1. This unit is electrically connected to both the transducer and the control device 5. The cable burial depth deck unit determines the seabed burial depth and spatial presence status of the submarine cable based on feedback signals received by the transducer, and transmits these information to the control device 5. Specifically, the transducer and the cable burial depth deck unit are connected via a cable.

[0033] In this embodiment, the cable burial depth survey device 3 is the SES2000 pipeline instrument system, which is convenient for quick installation and deployment.

[0034] As can be seen, in this embodiment, the cable burial depth survey device 3 sends a measurement signal through a transducer and receives a feedback signal. The cable burial depth deck unit determines the seabed burial depth and spatial in-situ status of the submarine cable based on the feedback signal. This allows for accurate knowledge of the burial depth information and spatial in-situ status of the submarine cable. The structure is simple, convenient, and easy to implement.

[0035] See Figure 1In the above embodiments, the metal magnetic anomaly measuring device 4 includes: a towed fish, a launching and retrieving mechanism 6, and a metal magnetic anomaly deck unit. The towed fish is placed in seawater and is used to measure the location and distribution of submarine cables and metal obstacles.

[0036] The launching and retrieval mechanism 6 is installed on the hull 1 and is connected to the towed fish. The launching and retrieval mechanism 6 is used to launch and retrieve the towed fish so that it is placed in the seawater or retrieved from the seawater. When the towed fish is placed in the seawater, the launching and retrieval mechanism 6 is used to tow the towed fish to the stern of the hull 1. Specifically, the distance between the towed fish and the stern of the hull 1 is greater than 5m.

[0037] The launching and retracting mechanism 6 includes two lead screws 61, a launching gantry 62, and a drive motor 63. The two lead screws 61 are arranged side by side on the hull 1 and are positioned near the stern of the hull 1.

[0038] The launching gantry 62 is U-shaped, with each end of the gantry 62 corresponding to a lead screw 61, and each end of the gantry 62 is screwed to a corresponding lead screw 61. The middle section of the launching gantry 62 is parallel to the top of the hull 1, and there is a certain distance between the middle section of the launching gantry 62 and the top of the hull 1. The middle section of the launching gantry 62 is connected to the towed fish via a cable. Specifically, a winch is installed in the middle section of the launching gantry 62, and the towed fish is connected to the winch via a cable.

[0039] The drive motor 63 is installed on the hull 1 and is connected to one of the lead screws 61. The drive motor 63 is used to drive the lead screw 61 connected to it to rotate, so as to drive the lifting gantry 62 to move along the length direction of the lead screw 61. The movement of the lifting gantry 62 drives the movement of the towed fish, thereby realizing the adjustment of the length of the towed fish.

[0040] The metal magnetic anomaly deck unit is located in the control room 10 of the hull 1. The metal magnetic anomaly deck unit is electrically connected to the towed fish and the control device 5. The metal magnetic anomaly deck unit is used to determine the spatial position of the submarine cable and the distribution of the metal obstacles based on the position and distribution of the submarine cable and the metal obstacles measured by the towed fish, and to send the spatial position of the submarine cable and the distribution of the metal obstacles to the control device 5.

[0041] In this embodiment, the metal magnetic anomaly measuring device 4 is selected from the G-882 magnetometer system, which is convenient for quick installation and deployment.

[0042] As can be seen, in this embodiment, the structure of the metal magnetic anomaly measuring device 4 is simple and convenient, and easy to implement.

[0043] See Figure 1In the above embodiments, the position of the positioning device 2 corresponds to the position of the transducer. Specifically, the positioning device 2 is placed directly above the transducer. The positioning device 2 is also used to determine the spatial position of the transducer and the towed fish. The positioning device 2 measures the relative position of the GPS positioning antenna and the towed fish, and determines the spatial position of the hull 1, the transducer and the towed fish, providing the spatial position of the submarine cable in shallow sea.

[0044] In surveys of wind power cable routes, substations, and wind farm sites in shallow waters, the shallow waters wind power submarine cable in-situ spatial state measurement system, operating at sea state 4 and below, utilizes an intelligent, unmanned vessel system to measure the in-situ spatial state of intertidal submarine cables. This system effectively improves the intelligence and safety of data acquisition during in-situ spatial state measurement operations, reduces the turning radius of the survey line, increases the efficiency of underway measurement, and enhances the accuracy of in-situ spatial state measurement. Therefore, this system has broad application prospects in marine oil and gas site surveys, marine new energy surveys, and submarine pipeline and cable route surveys.

[0045] In summary, in this embodiment, the preset volume of hull 1 can be determined based on actual draft requirements and the actual environment, enabling hull 1 to operate in the intertidal zone, reducing the turning radius of the survey line, and improving measurement efficiency. Furthermore, hull 1 is unmanned, using positioning device 2 to navigate and determine its spatial position. Cable burial depth survey device 3 measures the seabed burial depth and spatial presence of the submarine cable. Metal magnetic anomaly measurement device 4 measures the spatial position of the submarine cable and the distribution of metal obstacles. Control device 5 collects the above information, facilitating the determination of the submarine cable's spatial position, burial depth, and metal obstacle distribution. This achieves efficient and accurate measurement of the submarine cable, improving measurement precision. Moreover, it eliminates the need for personnel to operate hull 1, making it simple and convenient. This not only improves the efficiency of submarine cable measurement but also realizes intelligent submarine cable measurement. The system is simple to install and connect, easy to use, and effectively improves the stability and reliability of data acquisition during measurement operations.

[0046] Method Implementation Examples:

[0047] This embodiment also proposes a measurement method using any of the above-mentioned shallow-sea wind power submarine cable in-situ spatial state measurement systems. (See [link to relevant documentation]) Figure 3 The method for measuring the in-situ spatial state of submarine wind power cables in this shallow sea area includes the following steps:

[0048] Test step S1: Test the in-situ spatial state measurement system of submarine wind power cables in shallow waters.

[0049] Specifically, before testing step S1, basic data such as tide level, weather, and fishery activities in the shallow sea working area are analyzed. Then, the in-situ spatial state measurement system for the shallow sea wind power submarine cable is tested. The in-situ spatial state measurement system for the shallow sea wind power submarine cable is the structure described in the above system embodiment; its specific implementation process is explained above and will not be repeated here.

[0050] Test step S1 further includes:

[0051] The navigation test sub-step S11 tests the hull's navigation.

[0052] Specifically, the hull maintains a preset yaw distance at a preset speed. The test standard is: when the hull faces different current directions, the yaw distance remains within the preset yaw distance. Both the preset speed and the preset yaw distance can be determined based on actual conditions; this embodiment does not impose any restrictions on them. In this embodiment, at a preset speed of 4 knots or less, the preset yaw distance is ±1m.

[0053] East-west and north-south survey lines are laid out in the work area. The ship is navigated using a GPS positioning device and instructed to run back and forth along the survey lines at a preset speed and a preset yaw distance. The ship's navigation test is completed when the deviation of each survey line meets the preset requirements.

[0054] In practice, the ship's hull parameters and offset are set in the navigation software of the positioning device. The positioning device is then activated to navigate the ship and record the tracking trajectory. Multiple east-west and north-south survey lines are laid out in the work area. The east-west survey lines are 100m long and spaced 20m apart, totaling three lines; the north-south survey lines are also 100m long and spaced 20m apart, totaling three lines. The navigation software directs the ship to traverse the survey lines at a speed of 2-4 knots, maintaining a deviation of ±1m. The control device analyzes the offset of each survey line and generates a comparison report. If the offset of a survey line does not meet the preset requirements, that survey line is discarded and the measurement is repeated.

[0055] The towed fish length test sub-step S12 tests the length of the towed fish line in the metal magnetic anomaly measuring device.

[0056] Specifically, the towed fish is towed to the stern of the hull, and by adjusting the length of the towed fish line, the hull is made to be unaffected by the magnetic anomaly signal.

[0057] Within the selected test area, the length of the towed fish cable was adjusted multiple times. Based on the magnetic anomaly distribution of the hull and the stability of the towed fish after each adjustment, the length of the towed fish cable was determined.

[0058] Specifically, a suitable test area is selected based on water depth, topography, and landform. The length of the towed fish cable is adjusted by controlling the winch. During adjustment, the cable length is adjusted multiple times. After each adjustment, the metal magnetic anomaly measuring device measures the distribution of magnetic anomalies on the hull itself and tests whether the towed fish is stable. Through multiple adjustments, the cable length of the towed fish without the influence of the hull's magnetic anomaly signal is determined.

[0059] The accuracy test sub-step S13 tests the accuracy of the cable burial depth survey device.

[0060] Specifically, the location and burial depth of the submarine cable are repeatedly probed using a cable burial depth survey device. The testing standards are: horizontal position accuracy within ±1m, and position and burial depth accuracy reaching 100%.

[0061] Select a location free of metal obstacles, arrange survey lines vertically with the submarine cable as the center, and perform reciprocating measurements on the survey lines. Determine the accuracy of the cable burial depth survey device based on the submarine cable's seabed burial depth and spatial in-situ status measured by the cable burial depth survey device.

[0062] Specifically, a location free of metal obstacles is selected based on water depth, topography, and geomorphology. Two survey lines are vertically arranged around the submarine cable, with a spacing of 20 meters between the lines and a length of 100 meters. The cable burial depth survey device measures the data from the survey lines in different directions, interprets the spatial in-situ status and seabed burial depth, and performs comparative analysis to determine the accuracy of the cable burial depth survey device.

[0063] Step S2 involves laying out the submarine cable survey line after the test meets the preset requirements.

[0064] Specifically, when the test of the in-situ spatial state measurement system of the shallow sea wind power submarine cable in the above test step S1 meets the design requirements, the test lines are laid out perpendicular to the cable route according to a certain test line spacing.

[0065] In this embodiment, the survey line spacing is 20m according to a 1:2000 scale.

[0066] In measurement step S3, the submarine cable is measured using a positioning device, a cable burial depth survey device, and a metal magnetic anomaly measurement device to obtain the location information of the submarine cable and the distribution information of metal obstacles.

[0067] Specifically, after the transducer in the cable burial depth survey device and the towed fish in the metal magnetic anomaly measurement device are launched into the water, the vessel maintains a preset speed to avoid stopping or reversing. The positioning device, cable burial depth survey device, and metal magnetic anomaly measurement device measure the submarine cable to determine its location and the distribution of metallic obstacles, including the cable's burial depth and spatial presence, as well as its spatial position and the distribution of metallic obstacles. After the measurement is completed, the deviation of the survey line and the data quality are checked.

[0068] In this embodiment, the SonarWiz software is used to check the yaw rate and data quality of the survey line. The SonarWiz software is integrated into the data analysis controller. The control device in the ship's control room collects the location information of the submarine cable and the distribution information of metallic obstacles, and then sends the collected information to the data analysis controller. The data analysis controller then checks the location information of the submarine cable and the distribution information of metallic obstacles. In practice, the process of transmitting the information collected by the control device to the data analysis controller can be done manually or via a communication device; this embodiment does not impose any restrictions on this.

[0069] Before measurement, the positioning device, transducer equipment, etc. are debugged, and different energy levels, excitation frequencies, and measurement ranges are selected to measure and test the spatial state of the cable in place. The TVG is adjusted to achieve the best image effect.

[0070] In analysis step S4, the location information of the submarine cable and the distribution information of metal obstacles are processed and analyzed to determine the horizontal position, burial depth and distribution of metal obstacles of the submarine cable.

[0071] Specifically, the data analysis controller processes and analyzes the location information of the submarine cable and the distribution information of metal obstacles, removes interference signals to achieve the best display effect, and thus analyzes and determines the horizontal position, burial depth and distribution of metal obstacles of the submarine cable.

[0072] Step S5 involves compiling a map showing the horizontal location, burial depth, and distribution of metallic obstacles of the submarine cable, along with a report on the results.

[0073] Specifically, the data analysis controller compiles distribution maps and results reports based on the horizontal position, burial depth, and distribution of metallic obstacles of the submarine cable.

[0074] As can be seen, in this embodiment, the in-situ spatial state measurement system for shallow-water wind power submarine cables is first tested. When the test meets the preset requirements, the route survey line of the submarine cable is laid out. Then, the position information of the submarine cable and the distribution information of metal obstacles are measured. In this way, the horizontal position, burial depth and distribution of metal obstacles of the submarine cable are determined, and a distribution map and a result report are compiled. In this way, the horizontal position, burial depth and distribution of metal obstacles of the submarine cable can be accurately determined, realizing efficient and accurate measurement of the submarine cable, ensuring the accuracy and reliability of the measurement results, and effectively improving the intelligence and security of the measurement information. Furthermore, the hull design of the in-situ spatial state measurement system for shallow-water wind power submarine cables can reduce the turning radius of the survey line, improve the efficiency of the underway measurement, and has flexible operability, thus improving the measurement efficiency of the submarine cable.

[0075] This method can effectively measure the in-situ spatial status of intertidal submarine cables, improve the quality of data from intelligent unmanned vessels such as those used in the intelligent development of shallow sea wind power, submarine cable measurement, wind turbine bottom scour measurement, and substation bottom scour measurement, and further enhance the accuracy of analysis.

[0076] It should be noted that the principle of the in-situ spatial state measurement system and measurement method for shallow sea wind power submarine cables in this invention is the same, and related parts can be referred to each other.

[0077] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate the direction or positional relationship, are based on the direction or positional relationship shown in the drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0078] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0079] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A system for measuring the in-situ spatial status of submarine wind power cables in shallow waters, characterized in that, include: A hull with a preset volume and no driver (1); A positioning device (2) is installed on the top of the hull (1) for navigating the hull (1) and determining the spatial position of the hull (1); A cable burial depth survey device (3) is installed on the hull (1) for measuring the seabed burial depth and spatial in-situ status of the submarine cable. A metal magnetic anomaly measuring device (4) is installed on the hull (1) and is used to measure the spatial position of the submarine cable and the distribution of metal obstacles; The control device (5) is located in the control cabin (10) of the hull (1) and is electrically connected to the positioning device (2), the cable burial depth survey device (3) and the metal magnetic anomaly measurement device (4). It is used to receive and collect the spatial position of the hull, the seabed burial depth and spatial position status of the submarine cable, as well as the spatial position of the submarine cable and the distribution of metal obstacles.

2. The in-situ spatial status measurement system for submarine wind power cables in shallow waters according to claim 1, characterized in that, The cable burial depth survey device (3) includes: A transducer, located at the bottom of the hull (1), is used to transmit measurement signals and receive feedback signals; The cable burial depth deck unit is electrically connected to both the transducer and the control device (5) and is used to determine the seabed burial depth and spatial in-situ status of the submarine cable based on the feedback signal, and to send the seabed burial depth and spatial in-situ status of the submarine cable to the control device (5).

3. The in-situ spatial status measurement system for submarine wind power cables in shallow waters according to claim 2, characterized in that, The metal magnetic anomaly measuring device (4) includes: A towed fish is used to measure the location and distribution of submarine cables and metal obstacles. A launching and retracting mechanism (6) is provided on the hull (1) and connected to the towed fish, for towing the towed fish to the stern of the hull; The metal magnetic anomaly deck unit is electrically connected to both the towed fish and the control device (5). It is used to determine the spatial position of the submarine cable and the distribution of the metal obstacles based on the position and distribution of the submarine cable and the metal obstacles measured by the towed fish, and to send the spatial position of the submarine cable and the distribution of the metal obstacles to the control device (5).

4. The in-situ spatial status measurement system for submarine wind power cables in shallow waters according to claim 3, characterized in that, The receiving and extending mechanism (6) includes: Two lead screws (61) are arranged side by side on the hull (1) and near the stern; The gantry (62) is screwed to the two lead screws (61) at its two ends respectively, and the middle part of the gantry (62) is connected to the towed fish by a cable; A drive motor (63) is installed on the hull (1) and connected to one of the lead screws (61) to drive the lead screw (61) to rotate, thereby moving the hoisting gantry (62) and adjusting the position of the towed fish.

5. The in-situ spatial status measurement system for submarine wind power cables in shallow waters according to claim 3, characterized in that, The position of the positioning device (2) corresponds to the position of the transducer, and the positioning device (2) is also used to determine the spatial position of the transducer and the towed fish.

6. A measurement method using the in-situ spatial state measurement system for shallow-sea wind power submarine cables as described in any one of claims 1 to 5, characterized in that, Includes the following steps: The testing procedure involves testing the in-situ spatial state measurement system for submarine wind power cables in shallow waters. The deployment steps involve laying out the submarine cable's survey line after the tests meet the preset requirements. The measurement process involves using a positioning device, a cable burial depth survey device, and a metal magnetic anomaly measurement device to measure the submarine cable, thereby determining the location information of the submarine cable and the distribution information of metal obstacles. The analysis step involves processing and analyzing the location information of the submarine cable and the distribution information of the metal obstacles to determine the horizontal position, burial depth, and distribution of the metal obstacles of the submarine cable. The compilation process includes creating a map and report showing the horizontal location, burial depth, and distribution of metallic obstacles of the submarine cable.

7. The method for measuring the in-situ spatial state of submarine wind power cables in shallow waters according to claim 6, characterized in that, The testing steps further include: The navigation test sub-step tests the ship's navigation. The towed fish length test sub-step tests the length of the towed fish in the metal magnetic anomaly measuring device. The accuracy testing sub-step tests the accuracy of the cable burial depth survey device.

8. The method for measuring the in-situ spatial state of submarine wind power cables in shallow waters according to claim 7, characterized in that, In the aforementioned flight test sub-step East-west and north-south survey lines are laid out in the work area. The positioning device is used to navigate the hull and instruct the hull to reciprocate along the survey lines at a preset speed and while maintaining a preset yaw distance. The hull navigation test is completed when the deviation of each survey line meets the preset requirements.

9. The method for measuring the in-situ spatial state of submarine wind power cables in shallow waters according to claim 7, characterized in that, In the sub-step of testing the length of the dragfish Within the selected test area, the length of the towed fish cable was adjusted multiple times. Based on the magnetic anomaly distribution of the hull and the stability of the towed fish measured by the metal magnetic anomaly measuring device after each adjustment, the length of the towed fish cable was determined.

10. The method for measuring the in-situ spatial state of submarine wind power cables in shallow waters according to claim 7, characterized in that, In the accuracy testing sub-step A location free of metal obstacles is selected, and a survey line is vertically arranged with the submarine cable as the center. The survey line is then reciprocated. The accuracy of the cable burial depth survey device is determined based on the submarine cable's seabed burial depth and spatial in-situ status as measured by the cable burial depth survey device.

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