Three-dimensional sonar device for online monitoring offshore pile foundation

Abstract

The utility model discloses a three-dimensional sonar device for monitoring an offshore pile foundation on line, which is mounted on an underwater part of the offshore pile foundation and is used for solving the problem that defects of the offshore pile foundation are difficult to find in time in the prior art. The three-dimensional sonar device comprises a base, a sound transmission cover and a transducer. A connecting piece is arranged on the base and used for being connected with an offshore pile foundation. And the base is also provided with a mounting surface. The sound transmission cover covers the mounting surface of the base and is matched with the mounting surface to form a closed oil storage cabin, the oil storage cabin is filled with pressure balancing liquid, the sound transmission cover can generate elastic deformation, and the elastic deformation of the sound transmission cover is matched with the pressure balancing liquid to balance the water pressure outside the sound transmission cover. The transducer is arranged in the oil storage cabin; and a driving mechanism is also arranged in the oil storage cabin, is mounted on the base, is connected with the transducer, and is used for driving the transducer to move so as to change the measurement angle of the transducer.

Description

Technical Field

[0001] The utility model belongs to the technical field of monitoring of offshore pile foundations, and particularly relates to a three-dimensional sonar device for on-line monitoring of offshore pile foundations. Background Art

[0002] At the present stage, the wind power stations in China are basically located in the southeastern coastal areas far from cities, with strong power grid structures and energy shortages. The wind power is strong at sea and there are no obstacles such as high-rise buildings in the city. Setting up a wind power station at sea has the advantages of high conversion efficiency of wind power to electric power, no occupation of the scarce land resources in the city, and no influence by the topographic and geomorphic environment. Therefore, wind power stations are generally built in the sea.

[0003] However, since the pile foundations of the wind power stations are underwater for a long time, a series of factors such as the scouring of sea waves, the corrosion of sea water, and the large undulation of the seabed soil layer will damage the pile foundations. Therefore, regular inspection and maintenance of the offshore wind power stations are required.

[0004] However, since the wind power stations are located in the sea, the maintenance cost is high and the operation is difficult. Therefore, the maintenance period is usually long, which results in a large impact when the disadvantages are found during maintenance, thus increasing the maintenance cost. That is, it is often difficult to detect the disadvantages of offshore pile foundations in time. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a three-dimensional sonar device for on-line monitoring of offshore pile foundations to solve the problem that it is difficult to detect the disadvantages of offshore pile foundations in time in the prior art.

[0006] The technical solution of the utility model is as follows:

[0007] A three-dimensional sonar device for on-line monitoring of offshore pile foundations is installed on the underwater part of an offshore pile foundation. The three-dimensional sonar device includes:

[0008] A base, on which a connecting member is provided, and the connecting member is used for connecting with the offshore pile foundation; the base also has an installation surface;

[0009] An acoustic transparent cover, which covers the installation surface of the base and cooperates with it to form a sealed oil storage tank. The oil storage tank is filled with a pressure balancing liquid. The acoustic transparent cover can undergo elastic deformation, and the elastic deformation of the acoustic transparent cover cooperates with the pressure balancing liquid to balance the water pressure outside the acoustic transparent cover;

[0010] A transducer is arranged in the oil storage tank; a driving mechanism is also arranged in the oil storage tank. The driving mechanism is installed on the base and is connected with the transducer, and is used for driving the transducer to move to change the measuring angle of the transducer.

[0011] In a three-dimensional sonar device for online monitoring of offshore pile foundations provided in a certain preferred embodiment, the driving mechanism includes a first driver and a second driver. The first driver is installed on the base, and the output end of the first driver is connected to the second driver for driving the second driver to rotate around a first axis; the output end of the second driver is connected to the transducer for driving the transducer to rotate around a second axis, and the second axis is perpendicular to the first axis;

[0012] The transducer is a plane wave transducer, and the wave line of the plane wave emitted by the plane wave transducer is perpendicular to the second axis.

[0013] In a three-dimensional sonar device for online monitoring of offshore pile foundations provided in a certain preferred embodiment, the first driver is configured to drive the second driver to rotate 360° around the first axis. A first zero position detector is also provided in the oil storage tank, and the first zero position detector is used to detect whether the second driver is at the zero position under the drive of the first driver;

[0014] The second driver is configured to drive the transducer to reciprocate between 0° and 90° around the second axis. A second zero position detector and a second limit detector are also provided in the oil storage tank. The second zero position detector is used to detect whether the transducer is at the 0° position under the drive of the second driver, and the second limit detector is used to detect whether the transducer is at the 90° position under the drive of the second driver.

[0015] In a three-dimensional sonar device for online monitoring of offshore pile foundations provided in a certain preferred embodiment, a first mounting bracket and a second mounting bracket are provided in the oil storage tank. The first mounting bracket is fixedly connected to the base, and the first driver is installed on the first mounting bracket; the second mounting bracket is fixedly connected to the output end of the first driver, and the second driver is installed on the second mounting bracket;

[0016] An electric slip ring is provided between the first mounting bracket and the second mounting bracket, and the electric slip ring is used to provide the transmission of energy and signals for the transducer and the second driver.

[0017] In a three-dimensional sonar device for online monitoring of offshore pile foundations provided in a certain preferred embodiment, a second mounting bracket is fixedly connected to the output end of the first driver, and the second driver is fixedly connected to the second mounting bracket;

[0018] The first zero position detector includes a first optocoupler sensor and a first light-shielding plate. The first optocoupler sensor is installed on the base or a component with a fixed relative position to the base, and the first light-shielding plate is provided on the second mounting bracket.

[0019] In the three-dimensional sonar device for online monitoring of offshore pile foundations provided in a certain preferred embodiment, a second mounting bracket is fixedly connected to the output end of the first driver, and the second driver is fixedly connected to the second mounting bracket;

[0020] The transducer is installed on a third mounting bracket, and the third mounting bracket is rotatably connected to the second mounting bracket around the second axis; the output end of the second driver is connected to the third mounting bracket through a transmission mechanism for driving the third mounting bracket to rotate relative to the second mounting bracket around the second axis.

[0021] In the three-dimensional sonar device for online monitoring of offshore pile foundations provided in a certain preferred embodiment, the second zero-position detector includes a second opto-coupler sensor and a second light-shielding plate. The second opto-coupler sensor is installed on the second mounting bracket, and the second light-shielding plate is arranged on the third mounting bracket; the second limit detector includes a third opto-coupler sensor and a third light-shielding plate. The third opto-coupler sensor is installed on the second mounting bracket, and the third light-shielding plate is arranged on the third mounting bracket.

[0022] In the three-dimensional sonar device for online monitoring of offshore pile foundations provided in a certain preferred embodiment, the transmission mechanism includes a driving wheel, a driven wheel and a synchronous belt; the output end of the second driver is connected to the driving wheel for driving the driving wheel to rotate; the driven wheel is connected to the third mounting bracket, and the synchronous belt is wound around the driving wheel and the driven wheel.

[0023] In the three-dimensional sonar device for online monitoring of offshore pile foundations provided in a certain preferred embodiment, the pressure-balancing oil is mineral oil.

[0024] In the three-dimensional sonar device for online monitoring of offshore pile foundations provided in a certain preferred embodiment, the sound-transmitting cover is a component made of sound-transmitting polyurethane material.

[0025] Due to the adoption of the above technical solutions, the present invention has the following advantages and positive effects compared with the prior art:

[0026] The three-dimensional sonar device for online monitoring of offshore pile foundations provided by the present invention is installed on an offshore pile foundation and is located below the water surface. The water pressure outside the sound-transmitting cover can be balanced through the elastically deformable sound-transmitting cover and the pressure-balancing oil, so that the three-dimensional sonar device of the present invention can be applied to the high-pressure working environment under the sea. The transducer is driven by a driving mechanism to move, thereby expanding the monitoring range of the three-dimensional sonar device of the present invention.

[0027] By adopting the three-dimensional sonar device of the present utility model, the offshore pile foundation can be continuously monitored. When it is found that the offshore pile foundation needs to be repaired (i.e., the drawbacks described in the background art), a repair team can be dispatched in time to repair the offshore pile foundation, thereby preventing the expansion of the drawbacks. Description of the Drawings

[0028] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present utility model.

[0029] Figure 1 is a schematic structural diagram of a three-dimensional sonar device for on-line monitoring of offshore pile foundations of the present utility model;

[0030] Figure 2 and Figure 3 is a schematic cross-sectional structure diagram of a three-dimensional sonar device for on-line monitoring of offshore pile foundations of the present utility model;

[0031] Figure 4 is a schematic cross-sectional view of the base and its internal structure of a three-dimensional sonar device for on-line monitoring of offshore pile foundations of the present utility model;

[0032] Figure 5 is a schematic cross-sectional view of the second base, the sound-transmitting cover and their internal structures of a three-dimensional sonar device for on-line monitoring of offshore pile foundations of the present utility model;

[0033] Figure 6 is a schematic cross-sectional view at the locking ring of a three-dimensional sonar device for on-line monitoring of offshore pile foundations of the present utility model;

[0034] Figure 7 is a schematic internal structure diagram inside the sound-transmitting cover of a three-dimensional sonar device for on-line monitoring of offshore pile foundations of the present utility model.

[0035] Description of the Reference Numerals:

[0036] 1: First base; 2: Second base; 3: Connecting piece; 4: Watertight socket; 5: Control board; 6: Electronic cabin; 7: Sealing ring; 8: Sound-transmitting cover; 9: Oil storage tank; 10: Locking ring; 11: First mounting bracket; 12: Second mounting bracket; 13: Third mounting bracket; 14: First driver; 15: Second driver; 16: Electric slip ring; 17: First opto-coupler sensor; 18: First light-shielding plate; 19: Second opto-coupler sensor; 20: Second light-shielding plate; 21: Third opto-coupler sensor; 22: Third light-shielding plate; 23: Driving wheel; 24: Driven wheel; 25: Synchronous belt; 26: Oil port seal head; 27: Transducer. Detailed Embodiments

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will describe the specific embodiments of the present invention with reference to the accompanying drawings. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings, and other embodiments can also be obtained.

[0038] To simplify the drawings, only the parts related to the present invention are schematically shown in each drawing, and they do not represent the actual structure of the product. In addition, to simplify the drawings for easy understanding, in some drawings, for components with the same structure or function, only one of them is schematically shown, or only one of them is marked. In this document, "one" not only means "only this one", but also means "more than one" situation.

[0039] Refer to Figures 1 to 7 , this embodiment provides a three-dimensional sonar device for on-line monitoring of offshore piles, which is installed on the underwater part of the offshore pile. The three-dimensional sonar device includes a base, a sound-transmitting cover 8 and a transducer 27.

[0040] A connecting member 3 is provided on the base, and the connecting member 3 is used to connect with the offshore pile. An electronic cabin 6 is provided on the base, and a control board 5 is provided in the electronic cabin 6. The base has an installation surface for cooperating with the sound-transmitting cover 8 for installation.

[0041] Specifically, the base includes a first base 1 and a second base 2. The connecting member 3 can be fixed on the first side of the first base 1 by means of bolt fastening or the like. An electronic groove is provided on the second side of the first base 1. The first side of the second base 2 is fixedly connected to the second side of the first base 1, and the second side of the second base 2 seals the notch of the electronic groove so that the two cooperate to form a closed electronic cabin 6. Among them, the first base 1 and the second base 2 can be fixedly connected by means of bolt fastening or the like, and the electronic cabin 6 can be sealed by providing a sealing ring 7 at the connection between the notch of the electronic groove and the second base 2. The installation surface is provided on the second side of the second base 2.

[0042] A watertight socket 4 is also provided on the first side of the first base 1. The cables inside the three-dimensional sonar device in this embodiment extend out of the device through the watertight socket 4, so that the cables can be connected to an external power supply and a server, and the setting of the watertight socket 4 makes the electronic cabin 6 still airtight and will not let water in when the cables inside the three-dimensional sonar device extend out. Among them, the power supply and the server are generally installed on the offshore pile.

[0043] The sound-transmitting cover 8 is disposed on the mounting surface of the base and cooperates with the base to form a sealed oil storage tank 9. The oil storage tank 9 is filled with a pressure-balancing liquid. The sound-transmitting cover 8 can undergo elastic deformation, and the elastic deformation of the sound-transmitting cover 8 cooperates with the pressure-balancing liquid to balance the water pressure outside the sound-transmitting cover 8. It should be noted that the pressure-balancing liquid needs to be a liquid that does not affect the operation of the electrical components inside the three-dimensional sonar device and does not react with the components in contact with it. For example, the pressure-balancing liquid cannot affect the transmission of the sound waves emitted by the transducer 27, and the pressure-balancing liquid cannot corrode the sound-transmitting cover 8, etc.

[0044] Preferably, the sound-transmitting cover 8 can be a component made of sound-transmitting polyurethane material, and the pressure-balancing liquid can be mineral oil. The sound-transmitting cover 8 can undergo elastic deformation and will deform under water pressure. As the diving depth of the three-dimensional sonar device under the sea surface increases, the deformation amount will increase. Mineral oil is incompressible and can provide support for the sound-transmitting cover 8 to ensure the pressure balance inside and outside the sound-transmitting cover 8. Therefore, through the cooperation of the mineral oil and the sound-transmitting cover 8 made of sound-transmitting polyurethane material, the three-dimensional sonar device of this embodiment can dive to a working environment of 50 meters or even deeper under the sea.

[0045] A flanging is provided at the opening of the sound-transmitting cover 8. By providing a locking ring 10 with an annular structure and cooperating with bolts, the sound-transmitting cover 8 can be tightly fixed on the mounting surface of the second base 2. Specifically, the cross-section of the locking ring 10 is as Figure 6 shown, which is L-shaped. When the second base 2 and the locking ring 10 are locked by bolts, the flanging of the sound-transmitting cover 8 can be tightly fixed on the mounting surface of the second base 2. The connection between the mounting surface of the second base 2 and the flanging of the sound-transmitting cover 8 can be sealed by a sealing ring 7.

[0046] An oil injection hole is provided on the second base 2. The oil injection hole is communicated with the oil storage tank 9, and mineral oil can be injected into the oil storage tank 9 through the oil injection hole. An oil port seal head 26 is provided on the oil injection hole. After the oil injection is completed, the oil injection hole can be blocked by the oil port seal head 26, thereby closing the oil injection hole.

[0047] The transducer 27 is disposed in the oil storage tank 9. A driving mechanism is also provided in the oil storage tank 9. The driving mechanism is installed on the base, and the driving mechanism is connected to the transducer 27 and is used to drive the transducer 27 to move to change the measurement angle of the transducer 27.

[0048] Specifically, the driving mechanism includes a first driver 14 and a second driver 15. The first driver 14 is installed on the base, and the output end of the first driver 14 is connected to the second driver 15 for driving the second driver 15 to rotate around the first axis; the output end of the second driver 15 is connected to the transducer 27 for driving the transducer 27 to rotate around the second axis, and the second axis is perpendicular to the first axis; the transducer 27 is a plane wave transducer 27, and the wave line of the plane wave emitted by the plane wave transducer 27 is perpendicular to the second axis. Among them, the first driver 14 and the second driver 15 preferably adopt motors in this embodiment.

[0049] Preferably, the first driver 14 is configured to drive the second driver 15 to rotate 360° around the first axis, and the second driver 15 is configured to drive the transducer 27 to reciprocate between 0° and 90° around the second axis. Specifically, during monitoring, every time the second driver 15 drives the transducer 27 to rotate a certain angle (for example, 0.45°), the first driver 14 drives the second driver 15 (and the transducer 27 connected to the second driver 15) to rotate 360° to perform a 360° scan of the underwater. For example, the second driver 15 first drives the transducer 27 to rotate 0.45°, then the first driver 14 drives the second driver 15 to rotate 360°, then the second driver 15 continues to drive the transducer 27 to rotate 0.45°, and then the first driver 14 drives the second driver 15 to rotate 360°; until the second driver 15 drives the transducer 27 from the 0° position to the 90° position, and after reaching the 90° position, the first driver 14 drives the second driver 15 to rotate 360°; thus, a detection process of the three-dimensional sonar device in this embodiment is completed. In order to make the detection of the three-dimensional sonar device more comprehensive, the above-mentioned "certain angle" is generally selected as the minimum step angle of the output shaft of the motor of the second driver 15. Of course, in other embodiments, the driving rules of the driving rotation angles of the first driver 14 and the second driver 15 during a detection process can be adjusted according to actual situations, and no limitation is made here.

[0050] A first zero position detector, a second zero position detector and a second limit detector are also provided in the oil storage tank 9. The first zero position detector is used to detect whether the second driver 15 is at the zero position under the drive of the first driver 14, the second zero position detector is used to detect whether the transducer 27 is at the 0° position under the drive of the second driver 15, and the second limit detector is used to detect whether the transducer 27 is at the 90° position under the drive of the second driver 15.

[0051] The oil storage tank 9 is provided with a first mounting bracket 11 and a second mounting bracket 12. The first mounting bracket 11 is fixedly connected to the base, and the first driver 14 is mounted on the first mounting bracket 11. The second mounting bracket 12 is fixedly connected to the output end of the first driver 14, and the second driver 15 is mounted on the second mounting bracket 12. An electric slip ring 16 is provided between the first mounting bracket 11 and the second mounting bracket 12. The electric slip ring 16 is used to transmit power supply and signal supply for the transducer 27 and the second driver 15 (as well as the first opto-coupler sensor 17, the second opto-coupler sensor 19, the third opto-coupler sensor 21, etc. mentioned below). The electric slip ring, also known as a conductive slip ring, brush, carbon brush, collector ring, etc., mainly functions to transmit power supply and signal supply under the condition of unrestricted continuous rotation. The electric slip ring can transmit these signals without interference while rotating. If a cable is used instead of the electric slip ring 16, problems such as cable winding will occur during the 360-degree rotation driven by the first driver 14. However, the three-dimensional sonar device in this embodiment solves this problem by routing wires through the electric slip ring 16 and can also make the structure more compact.

[0052] The first driver 14, the second driver 15, and the transducer 27 (as well as the first opto-coupler sensor 17, the second opto-coupler sensor 19, the third opto-coupler sensor 21, etc. mentioned below) all need to be electrically connected to the control board 5. Therefore, a wire routing hole can be provided on the second base. The wires connected from the first driver 14 and the electric slip ring 16 enter the electronic cabin 6 through the wire routing hole and are electrically connected to the control board 5. It should be noted that although a wire routing hole for the cable to pass through is provided on the second base 2, the sealing performance of the electronic cabin 6 and the oil storage tank 9 still needs to be ensured, that is, the electronic cabin 6 and the oil storage tank 9 are not connected. There are various ways to ensure the sealing performance. For example, sealant can be added between the wire routing hole and the cable to block the gap between the two, which is not limited here.

[0053] Preferably, the first zero position detector includes a first opto-coupler sensor 17 and a first light-shielding plate 18. The first opto-coupler sensor 17 is mounted on the base or a component with a fixed relative position to the base (specifically, the first mounting bracket 11 in this embodiment), and the first light-shielding plate 18 is provided on the second mounting bracket 12.

[0054] The second driver 15 is mounted on a third mounting bracket 13. The third mounting bracket 13 is rotatably connected to the second mounting bracket 12 around a second axis. The output end of the second driver 15 is connected to the third mounting bracket 13 through a transmission mechanism, and is used to drive the third mounting bracket 13 to rotate relative to the second mounting bracket 12 around the second axis. The second zero position detector includes a second opto-coupler sensor 19 and a second light-shielding plate 20. The second opto-coupler sensor 19 is mounted on the second mounting bracket 12, and the second light-shielding plate 20 is provided on the third mounting bracket 13. The second limit detector includes a third opto-coupler sensor 21 and a third light-shielding plate 22. The third opto-coupler sensor 21 is mounted on the second mounting bracket 12, and the third light-shielding plate 22 is provided on the third mounting bracket 13.

[0055] Among them, the transmission mechanism includes a driving wheel 23, a driven wheel 24 and a timing belt 25; the output end of the second driver 15 is connected to the driving wheel 23 for driving the driving wheel 23 to rotate; the driven wheel 24 is connected to the third mounting bracket 13, and the timing belt 25 is wound around the driving wheel 23 and the driven wheel 24. Of course, in other embodiments, the transmission mechanism can also adopt other structures, such as gear transmission, etc., which are not limited herein.

[0056] The first driver 14 drives the second mounting bracket 12 to start from the zero position. When the first opto-coupler sensor 17 detects the occlusion of the first light-shielding plate 18 again, it indicates that the first driver 14 has driven the second mounting bracket 12 to rotate 360°, and the second driver 15 can be allowed to continue driving the transducer 27 to rotate the next "certain angle".

[0057] The second driver 15 drives the third mounting bracket 13 to start from the zero position (that is, the position detected by the second opto-coupler sensor 19). When the third opto-coupler sensor 21 detects the third light-shielding plate 22, and then the first driver 14 drives the second mounting bracket 12 to rotate one week, a detection cycle of the three-dimensional sonar device in this embodiment is completed.

[0058] The three-dimensional sonar device in this embodiment can monitor and upload relevant data every day, and maintenance personnel can judge whether maintenance is required by observing the change of the accumulated data. Among them, the time interval for monitoring and uploading data can be adjusted according to the actual situation. By adopting the three-dimensional sonar device in this embodiment, the offshore pile foundation can be continuously monitored. When it is found that the offshore pile foundation needs to be repaired, a repair team can be sent to repair the offshore pile foundation in time.

[0059] The three-dimensional sonar device in this embodiment has the function of real-time monitoring, can meet the need for regular monitoring and maintenance of the offshore pile foundation of the offshore wind power station, and can also be remotely controlled through a wireless network (the command is sent to the service station, and then transmitted to the control board 5 in the three-dimensional sonar device through a cable). The overall mechanism is firm and fixed on the offshore pile foundation and is not easily washed away by the waves.

[0060] The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, provided that these changes fall within the scope of the claims of the present invention and their equivalent technologies, they still fall within the protection scope of the present invention.

Claims

1. A three-dimensional sonar device for online monitoring of offshore pile foundations, characterized in that: Installed on the underwater part of the offshore pile foundation, the three-dimensional sonar device includes: A base, wherein a connecting piece is provided on the base, and the connecting piece is used to connect with an offshore pile foundation; the base also has a mounting surface; A sound-permeable cover, the sound-permeable cover is arranged on the mounting surface of the base and cooperates with the base to form a closed oil storage tank, the oil storage tank is filled with a pressure balancing liquid, the sound-permeable cover can be elastically deformed, and the elastic deformation of the sound-permeable cover cooperates with the pressure balancing liquid to balance the water pressure outside the sound-permeable cover; The transducer is arranged in the oil storage tank; a driving mechanism is also arranged in the oil storage tank, the driving mechanism is installed on the base, the driving mechanism is connected to the transducer, and is used to drive the transducer to move so as to change the measuring angle of the transducer.

2. The three-dimensional sonar device for online monitoring of offshore pile foundations according to claim 1 is characterized in that: The driving mechanism includes a first driver and a second driver, wherein the first driver is mounted on the base, and an output end of the first driver is connected to the second driver for driving the second driver to rotate around a first axis; an output end of the second driver is connected to the transducer for driving the transducer to rotate around a second axis, and the second axis is perpendicular to the first axis; The transducer is a plane wave transducer, and the wave line of the plane wave emitted by the plane wave transducer is perpendicular to the second axis.

3. The three-dimensional sonar device for online monitoring of offshore pile foundations according to claim 2 is characterized in that: The first driver is configured to drive the second driver to rotate 360° around the first axis, and a first zero position detector is also provided in the oil storage tank, and the first zero position detector is used to detect whether the second driver is at a zero position when driven by the first driver; The second driver is configured to drive the transducer to reciprocate between 0° and 90° around the second axis. A second zero position detector and a second limit detector are also provided in the oil storage tank. The second zero position detector is used to detect whether the transducer is located at the 0° position when driven by the second driver, and the second limit detector is used to detect whether the transducer is located at the 90° position when driven by the second driver.

4. The three-dimensional sonar device for online monitoring of offshore pile foundations according to claim 3 is characterized in that: A first mounting frame and a second mounting frame are provided in the oil storage tank, the first mounting frame is fixedly connected to the base, and the first driver is installed on the first mounting frame; the second mounting frame is fixedly connected to the output end of the first driver, and the second driver is installed on the second mounting frame; An electric slip ring is provided between the first mounting bracket and the second mounting bracket, and the electric slip ring is used to transmit power supply and signal power supply to the transducer and the second driver.

5. The three-dimensional sonar device for online monitoring of offshore pile foundations according to claim 3 is characterized in that: The output end of the first driver is fixedly connected to a second mounting frame, and the second driver is fixedly connected to the second mounting frame; The first zero position detector includes a first optical coupling sensor and a first light shielding plate. The first optical coupling sensor is mounted on the base or a component whose relative position with the base remains unchanged. The first light shielding plate is arranged on the second mounting frame.

6. The three-dimensional sonar device for online monitoring of offshore pile foundations according to claim 3 is characterized in that: The output end of the first driver is fixedly connected to a second mounting frame, and the second driver is fixedly connected to the second mounting frame; The transducer is mounted on a third mounting bracket, and the third mounting bracket is rotatably connected to the second mounting bracket around the second axis; the output end of the second driver is connected to the third mounting bracket through a transmission mechanism, and is used to drive the third mounting bracket to rotate around the second axis relative to the second mounting bracket.

7. The three-dimensional sonar device for online monitoring of offshore pile foundations according to claim 6 is characterized in that: The second zero position detector includes a second optical coupler sensor and a second light shielding plate, the second optical coupler sensor is mounted on the second mounting frame, and the second light shielding plate is arranged on the third mounting frame; the second limit detector includes a third optical coupler sensor and a third light shielding plate, the third optical coupler sensor is mounted on the second mounting frame, and the third light shielding plate is arranged on the third mounting frame.

8. The three-dimensional sonar device for online monitoring of offshore pile foundations according to claim 6, characterized in that: The transmission mechanism includes a driving wheel, a driven wheel and a synchronous belt; the output end of the second driver is connected to the driving wheel for driving the driving wheel to rotate; the driven wheel is connected to the third mounting frame, and the synchronous belt is wound around the driving wheel and the driven wheel.

9. The three-dimensional sonar device for online monitoring of offshore pile foundations according to claim 1, characterized in that: The pressure balancing oil is mineral oil.

10. The three-dimensional sonar device for online monitoring of offshore pile foundations according to claim 1, characterized in that: The sound-transmitting cover is a component made of sound-transmitting polyurethane.

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