Deep sea unmanned visual pile sinking positioning system

Abstract

The utility model discloses a deep sea unmanned visual pile sinking positioning system which comprises a suction bucket type pile sinking guide frame and a pile sinking positioning monitoring system. The suction bucket type pile sinking guide frame comprises a vertical frame body with a truss structure, and a suction bucket group is arranged at the bottom of the vertical frame body; a top layer platform and a plurality of middle platforms are horizontally arranged on the top of the self-standing frame body from top to bottom in sequence at intervals, a plurality of guide mechanisms are evenly distributed on the top layer platform in the circumferential direction, each guide mechanism comprises a limiting frame and a guide limiting cylinder which are coaxially arranged, and guide extending frames of the limiting frames and the guide limiting cylinders are connected with the platforms. The pile sinking positioning monitoring system comprises a plurality of GNSS receivers, a plurality of distance measuring scanners, at least one clinometer and a plurality of underwater altimeters. The system is reasonable in structural design, low in cost and convenient and safe to operate, in the whole pile sinking positioning process, visual construction of the guide frame and the steel pipe pile and monitoring and adjustment of the construction process are achieved through real-time monitoring data, and the high-quality construction requirement is met.

Description

Technical Field

[0001] This utility model relates to the technical field of offshore wind power foundation pile driving positioning and monitoring system, and in particular to a deep-sea unmanned visual pile driving positioning system. Background Technology

[0002] With the steady expansion of the development and construction scale of new energy sources such as offshore wind power, near-shore offshore wind farm projects are nearing saturation. Therefore, the development of deep-sea offshore wind farms has become an important strategic direction for global energy transition and sustainable development. To meet the needs of deep-sea piling construction, various countries are investing heavily in deep-sea piling and positioning technology, vying for technological dominance.

[0003] Currently, the mainstream approach in deep-sea pile driving positioning system research is "combined navigation and dynamic compensation". However, this method still has several problems, including: 1) it relies on high-cost lidar and satellite communication, resulting in high costs for deep-sea operations; 2) it is not adaptable to complex sea conditions, the system positioning error is difficult to meet the requirements of complex sea conditions, and it is easily affected by seawater turbidity during pile driving, which greatly reduces construction efficiency; 3) it is difficult to balance the latency and stability of deep-sea communication networks; 4) manual intervention is still required during construction, which poses great safety risks.

[0004] Based on this, it is necessary to develop a deep-sea unmanned visual pile driving positioning system, establish a real-time monitoring platform for deep-sea operations, support multi-device collaborative control, meet the unmanned construction requirements in pile driving operations, enable the system to maintain stable operation in complex sea conditions and turbid water environments, achieve centimeter-level positioning and real-time precise control of ship-machine pile driving construction under complex deep-sea conditions, significantly improve construction efficiency, reduce safety risks, and save ship, machine, and labor costs. Utility Model Content

[0005] The purpose of this invention is to provide a deep-sea unmanned visual pile driving and positioning system that solves the above-mentioned technical problems.

[0006] Therefore, the technical solution of this utility model is as follows:

[0007] A deep-sea unmanned visual pile driving positioning system includes a suction-type pile driving guide frame and a pile driving positioning monitoring system; wherein,

[0008] The suction bucket type pile driving guide frame includes a vertical frame with a truss structure, and a suction bucket assembly at the bottom of the vertical frame; a top platform and multiple intermediate platforms are arranged horizontally and at intervals from top to bottom from the top of the vertical frame; multiple guide mechanisms are evenly distributed around the circumference of the vertical frame, each guide mechanism including a limiting frame and a guide limiting cylinder arranged coaxially, which are respectively fixed from top to bottom on the guide extension frame that extends horizontally from the edge of each intermediate platform to the outside.

[0009] The pile driving positioning monitoring system includes multiple GNSS receivers, multiple range scanners, at least one inclinometer, and multiple underwater altimeters. The multiple GNSS receivers are evenly distributed around the top platform, the multiple range scanners are evenly distributed around the top platform, the at least one inclinometer is located at the edge of different sides of the top platform, and the multiple underwater altimeters are evenly distributed around the top platform via four lifting devices.

[0010] Furthermore, the suction bucket assembly includes multiple suction buckets, the number of which is the same as the number of support columns at the bottom of the vertical frame, so that each support column at the bottom of the vertical frame is fixed in the center on the top surface of each suction bucket.

[0011] Furthermore, multiple lifting points are evenly distributed along the circumferential edge of the top platform.

[0012] Furthermore, the guide extension frame is an H-shaped frame, with one end fixedly connected to the intermediate platform and the other end extending to the outside of the platform. It is reinforced and connected to the vertical frame by multiple reinforcing rods. The intermediate platform has three layers. The limiting frame is fixed to the intermediate platform located on the top side by the guide extension frame, and the upper and lower sides of the guide limiting cylinder are fixed to the other two intermediate platforms by a guide extension frame.

[0013] Furthermore, the limiting frame is a semi-circular structure and is fixed to the guide extension frame with its concave surface facing outward; the guide limiting cylinder is a cylindrical body with a trumpet-shaped opening at the top, and its inner diameter is adapted to the outer diameter of the pile to be driven.

[0014] Furthermore, four GNSS receivers, two rangefinders, one inclinometer, and four underwater altimeters are installed.

[0015] Furthermore, the lifting device uses hydraulic jacks.

[0016] Compared with existing technologies, this deep-sea unmanned visual pile driving and positioning system has a reasonable structural design, low cost, and is easy and safe to operate. In actual operation, the system uses a GNSS receiver to achieve precise orientation and positioning of the guide frame, and works with an inclinometer to ensure the horizontality of the guide frame during sinking and in its fixed state. A distance measuring scanner determines the center position of the steel pipe pile, and a limiting frame and guide limiting cylinder ensure that the position and verticality of the steel pipe pile entering the mud meet the requirements. During the pile driving process, an underwater altimeter measures the current water depth and adjusts the altimeter's probe position to the design elevation of the steel pipe pile to accurately determine whether the steel pipe pile has reached the design elevation. Ultimately, without personnel on the underwater pile driving operation system, real-time monitoring data enables visualization of the guide frame and steel pipe pile throughout the entire pile driving and positioning process, allowing for effective monitoring and adjustment of the construction process and meeting high-quality construction requirements. Attached Figure Description

[0017] Figure 1 This is a side view structural diagram of the deep-sea unmanned visual pile driving positioning system in an embodiment of this utility model;

[0018] Figure 2 This is a schematic diagram of the first platform structure of the deep-sea unmanned visual pile driving positioning system in an embodiment of this utility model;

[0019] Figure 3 This is a schematic diagram of the second platform structure of the deep-sea unmanned visual pile driving positioning system in an embodiment of this utility model;

[0020] Figure 4 This is a schematic diagram of the third platform of the deep-sea unmanned visual pile driving positioning system in an embodiment of this utility model. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the following embodiments are by no means intended to limit the present invention.

[0022] See Figures 1-3 The deep-sea unmanned visual pile driving positioning system includes a suction bucket-type pile driving guide frame and a pile driving positioning monitoring system.

[0023] See Figure 1The suction bucket type pile driving guide frame includes a vertical frame with a truss structure. At the bottom of the vertical frame, there is a suction bucket assembly, which consists of multiple suction buckets 7. The number of suction buckets 7 is the same as the number of support columns at the bottom of the vertical frame, so that each support column at the bottom of the vertical frame is fixed in the center on the top surface of each suction bucket 7. Specifically, each suction bucket 7 includes a bucket body and a matching pumping mechanism. The bucket body is connected to the support column of the vertical frame, and the pumping mechanism is correspondingly set in the inner cavity of the hollow support column connected to the bucket body. By connecting the pumping mechanism with the pumping pipeline built into each suction bucket 7, water can be drained outward or water can be introduced inward into the bucket body, thereby driving the suction bucket type pile driving guide frame to float or sink.

[0024] The top of the self-supporting frame is provided with a first platform 1, a second platform 2, a third platform 3 and a fourth platform 4 arranged horizontally and at intervals from top to bottom; in this embodiment, each platform is a rectangular platform, and each rectangular platform is fixed to the vertical frame by welding along its circumferential edge.

[0025] Platform 1 is the top platform, with a lifting point at each of its four corners to facilitate connection with the hooks of lifting equipment and achieve overall hoisting of the system.

[0026] The second platform 2, the third platform 3, and the fourth platform 4 are used together as a guide platform group set in the middle of the vertical frame; specifically, four guide mechanisms are evenly distributed in the circumferential direction of the guide platform group, and each guide mechanism is centrally located on each side of the guide platform group.

[0027] See Figure 3 and Figure 4 The guiding mechanism includes a limiting frame 5 and a guiding limiting cylinder 6; specifically, a guiding extension frame is centrally located at the same side edge of the second platform 2, the third platform 3 and the fourth platform 4, and each guiding extension frame is horizontally arranged, with one end fixedly connected to the platform and the other end extending to the outside of the platform.

[0028] In this embodiment, the guide extension frame is an H-shaped frame, which is connected to the vertical frame by multiple reinforcing rods to improve the connection stability of the guide extension frame; the limiting frame 5 is fixed to the outer end of the guide extension frame on the second platform 2. It is a semi-circular frame with a semi-enclosed steel structure and is fixed to the guide extension frame with the concave surface facing outward. Correspondingly, the outer end opening of the guide extension frame that fixes the limiting frame 5 is machined with a V-shaped opening; the guide limiting cylinder 6 is a cylindrical cylinder with a trumpet-shaped opening at the top. It is vertically arranged and its upper and lower sides are fixed to the outer ends of the guide extension frames on the third platform 3 and the fourth platform 4, respectively; the inner diameter of the guide limiting cylinder 6 is adapted to the outer diameter of the pile to be driven and is coaxially arranged with the limiting frame 5.

[0029] In this embodiment, the inner diameter of the limiting frame 5 is adapted to that of the guide limiting cylinder 6, so that when the steel pipe pile is in the hoisting state and moves to the point where the pile body abuts against the arc-shaped inner wall of the limiting frame 5, the steel pipe pile is coaxially set with the guide limiting cylinder 6 below. Then, by gradually lowering the steel pipe pile, it can be inserted into the guide limiting cylinder 6.

[0030] See Figure 2 The pile driving positioning monitoring system is installed on the suction bucket type pile driving guide frame, which includes four GNSS receivers 9, two range scanners 10, one inclinometer 11 and four underwater altimeters 12.

[0031] Four GNSS receivers 9 are arranged symmetrically at the four corners on the first platform 2 to receive satellite coordinate data, achieve precise orientation and positioning of the guide frame, and slowly place the guide frame on the seabed at the designed location.

[0032] Two distance measuring scanners 10 are arranged diagonally on the first platform 1 to measure the distance between them and the steel pipe pile. In this embodiment, the distance measuring scanner 10 adopts a SICK-LMS511 type outdoor laser scanning measuring instrument, which uses laser light emitted towards the steel pipe pile to obtain the laser light distance from the distance measuring scanner to multiple points on the outer wall of the steel pipe pile, thereby calculating the coordinates of the center position of the steel pipe pile on the measuring plane.

[0033] Inclinometer 11 is set at any apex of the first platform 1 to monitor the pitch angle of the guide frame. In this embodiment, inclinometer 11 is an SHDL type inclinometer produced by Shanghai Aiye Company. By monitoring the attitude of the guide frame in real time, the pitch angle of the suction bucket pile driving guide frame at the current operation moment is measured.

[0034] Four underwater altimeters 12 are fixed to the second platform 2 by four lifting devices 8, so that the four can move vertically up and down with the lifting devices 8. In this embodiment, since it is used for deep-sea operations, the suction bucket-type pile driving guide frame is located underwater except for the first platform 1 which is exposed above the water surface. The underwater altimeter 12 is a VA500 underwater altimeter manufactured by Teledyne Valeport in the UK. It has a pressure sensor and a sonar system, which can measure the water depth at the current position of the instrument and the distance between the instrument and the steel pipe pile in real time. The lifting device 8 is a hydraulic jack, which is set with the movable rod pointing vertically upward. A mounting base is fixed at the end of the movable rod, so that the underwater altimeter 12 is fixed to the end of the movable rod of the hydraulic jack through the mounting base.

[0035] The specific implementation steps of this deep-sea unmanned visual pile driving positioning system are as follows:

[0036] S1. Activate the pile driving positioning monitoring system and lift the suction bucket pile driving guide frame. Use the coordinate data and relative position relationship of four GNSS receivers 12 to achieve precise orientation and positioning of the guide frame, so as to slowly place the guide frame on the seabed at the designed position and use the guide frame's own weight to sink into the seabed.

[0037] S2. The seawater in each suction tank 7 is discharged through the pumping mechanism of the suction tank 7 to form a negative pressure, so that the suction tank 7 continues to sink on the seabed, thus firmly fixing the guide frame to the seabed.

[0038] S3. During the sinking process of the suction bucket type pile driving guide frame, the pitch angle of the guide frame is monitored in real time by the inclinometer 11. Based on this data, the drainage volume of the suction buckets 7 of the four legs is controlled to adjust the guide frame to be horizontal. Since the limit frame 5 and the guide limit cylinder 6 are vertically fixed on the guide frame, when the data of the inclinometer 11 shows that the guide frame is horizontal, the limit frame 5 and the guide limit cylinder 6 are simultaneously adjusted to the vertical state with a verticality ≤2‰.

[0039] S4. Lift the steel pipe pile and let it sink naturally into the water. Observe the center position coordinates of the steel pipe pile through the distance measuring scanner 10. Move the steel pipe pile slowly horizontally according to the coordinate data until it is embedded in the limiting frame 5 to complete the initial limiting of the steel pipe pile.

[0040] S5. Continue to slowly sink the steel pipe pile until it is inserted into the guide limiting cylinder 6. At this point, the steel pipe pile is precisely positioned but has not yet entered the mud. The planar position and verticality of the steel pipe pile meet the requirements. At this time, the crane begins to slowly lower the hook, allowing the pile body to sink into the mud. During the self-sinking process of the steel pipe pile, the system maintains real-time measurement to ensure that the verticality of the steel pipe pile always meets the construction requirements during the pile sinking process.

[0041] S6. The current water depth is measured by the pressure sensor of the underwater altimeter 12, and the elevation of the current position of the underwater altimeter 12 is calculated by combining it with the elevation of the top platform 1; the underwater altimeter 12 is raised and lowered by the hydraulic rod 8 of the measuring equipment to adjust the elevation of the underwater altimeter 12 to the designed pile top elevation (that is, the elevation after deducting the length of the pile driver); at the same time, the distance between the altimeter and the steel pipe pile is measured in real time by the sonar system of the underwater altimeter 12.

[0042] S7. After the steel pipe piles have settled on their own, the crane lifts the pile hammer and begins the formal pile driving operation. In the initial sinking stage, low-energy hammering is used, and the system works in real time so that if the verticality exceeds the allowable range (>5‰), the hammer is stopped and the pile verticality is adjusted until the intermediate sinking stage is entered. Since the verticality no longer changes because the pile body is driven into the mud too deeply in the intermediate sinking stage, the hammering energy can be increased.

[0043] S8. Until the final sinking stage, keep the distance data between the underwater altimeter 12 and the steel pipe pile in real time. When the distance decreases significantly, the underwater altimeter 12 will detect the hammer head, indicating that the steel pipe pile has been driven to the top elevation. Stop hammering immediately and the steel pipe pile will sink to the design elevation.

[0044] S9. After stopping the hammer, read the data from the pile driving positioning monitoring system and record the final steel pipe pile plane coordinates, verticality, pile top elevation, and other data. At this point, the deep-sea unmanned visual pile driving positioning system has completed its work.

Claims

1. A deep sea unmanned visual pile positioning system, characterized in that, This includes a suction bucket-type pile driving guide frame and a pile driving positioning monitoring system; among which, The suction bucket type pile driving guide frame includes a vertical frame with a truss structure, and a suction bucket assembly at the bottom of the vertical frame; a top platform and multiple intermediate platforms are arranged horizontally and at intervals from top to bottom from the top of the vertical frame; multiple guide mechanisms are evenly distributed around the circumference of the vertical frame, each guide mechanism including a limiting frame (5) and a guide limiting cylinder (6) arranged coaxially, which are respectively fixed from top to bottom on the guide extension frame that extends horizontally from the edge of each intermediate platform to the outside. The pile driving positioning monitoring system includes multiple GNSS receivers (9), multiple range scanners (10), at least one inclinometer (11), and multiple underwater altimeters (12). The multiple GNSS receivers (9) are evenly distributed around the top platform, the multiple range scanners (10) are evenly distributed around the top platform, the inclinometer (11) is located at the edge of the top platform, and the multiple underwater altimeters (12) are evenly distributed around the top platform via four lifting devices (8).

2. The deep offshore unmanned visual pile driving positioning system according to claim 1, characterized in that, The suction bucket assembly includes multiple suction buckets (7), the number of which is the same as the number of support columns at the bottom of the vertical frame, so that each support column at the bottom of the vertical frame is fixed in the center on the top surface of each suction bucket (7).

3. The deep offshore unmanned visual pile driving positioning system according to claim 1, wherein, Multiple lifting points are evenly distributed along the circumference of the edge and side of the top platform.

4. The deep offshore unmanned visual pile driving positioning system according to claim 1, wherein, The guide extension frame is an H-shaped frame, with one end fixedly connected to the middle platform and the other end extending to the outside of the platform. It is reinforced and connected to the vertical frame by multiple reinforcing rods. The middle platform has three layers. The limit frame (5) is fixed to the middle platform located on the top side by the guide extension frame. The upper and lower sides of the guide limit cylinder (6) are fixed to the other two middle platforms by a guide extension frame.

5. The deep offshore unmanned visual pile driving positioning system according to claim 1, wherein, The limiting frame (5) is a semi-circular frame and is fixed on the guide extension frame with the concave surface facing outward; the guide limiting cylinder (6) is a cylindrical cylinder with a horn-shaped opening at the top, and its inner diameter is adapted to the outer diameter of the pile to be driven.

6. The deep offshore unmanned visual pile driving positioning system of claim 1, wherein, Four GNSS receivers (9) are installed, two range scanners (10) are installed, one inclinometer (11) is installed, and four underwater altimeters (12) are installed.

7. The deep offshore unmanned visual pile driving positioning system of claim 1, wherein, The lifting device (8) uses a hydraulic jack.

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