CN114475985A - Bionic robot fish for daily inspection of underwater cable - Google Patents
Bionic robot fish for daily inspection of underwater cable Download PDFInfo
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- CN114475985A CN114475985A CN202111647771.6A CN202111647771A CN114475985A CN 114475985 A CN114475985 A CN 114475985A CN 202111647771 A CN202111647771 A CN 202111647771A CN 114475985 A CN114475985 A CN 114475985A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
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Abstract
The invention relates to the technical field of operation and maintenance management of wind power plants, in particular to a bionic robotic fish for daily inspection of underwater cables. The bionic robot fish comprises a bionic robot fish body, wherein a power propeller, a power supply manager, a sinking and floating air bag, a buoyancy regulator, a processor, a forward looking sonar, a multi-beam detection sonar, an acoustic velocity profiler and an underwater high-definition camera are regularly arranged in the bionic robot fish body, and a measuring ship, a matched data processing machine room of the measuring ship and a mobile satellite reference station are also arranged outside the bionic robot fish body. The design of the invention can realize the in-situ submergence and autonomous cruise, and reduce the influence of wind waves; the three-dimensional image and the high-definition image of the wind power plant can be obtained, the defect condition of the cable can be comprehensively analyzed, and the operation and maintenance management cost is reduced; the measuring ship can acquire monitoring data nearby and calculate, the working efficiency and accuracy of cable inspection are improved, the defect condition of the wind power plant is found in time, the repair scheme is quickly and accurately customized and implemented, and the power generation efficiency and safety of the wind power plant are guaranteed.
Description
Technical Field
The invention relates to the technical field of operation and maintenance management of wind power plants, in particular to a bionic robotic fish for daily inspection of underwater cables.
Background
China is rich in offshore wind energy resources, offshore wind power plants are produced at the same time in order to meet the requirement of large amount of electricity consumption in coastal areas of southeast, and offshore wind power plants mostly refer to offshore wind power with the water depth of about 10 meters. Compared with a land wind power plant, the offshore wind power plant has the advantages of no land resource occupation, basically no influence of landform and landform, higher wind speed, larger single-machine capacity of the wind turbine generator, higher annual utilization hours and the like. However, the technology required for building offshore wind farms is high, and not only the cost of building is high, but also the cost of operation and maintenance management is high. The main components such as pile foundations, cables and the like of the offshore wind power station are soaked in seawater for a long time, so that the damage or fracture of the cables are very easy to occur due to sea wave scouring and seawater corrosion, particularly the damage of the cables, the power generation efficiency is influenced, a large potential leakage safety hazard exists, if the damaged cables cannot be found and repaired in time, once the cables are completely corroded and fractured or fractured, the repair and the replacement are difficult to carry out, a large amount of financial and manpower is consumed, and a large amount of economic loss is also caused. However, the sea is high in wind waves, the cable can swing along with the wind waves, the conventional underwater detection device is easily influenced by the wind waves and deviates from a preset route, the damage and fracture condition of the cable of the wind power plant cannot be accurately and quickly monitored, the management is difficult, and the cable is very easily collided to cause secondary damage. In view of the above, the bionic robot fish for monitoring the corrosion condition of the underwater pile foundation of the offshore wind farm is provided.
Disclosure of Invention
The invention aims to provide a bionic robotic fish for daily routing inspection of an underwater cable, so as to solve the problems in the background technology.
In order to solve the technical problems, one of the purposes of the invention is to provide a bionic robotic fish for daily inspection of an underwater cable, which comprises a bionic robotic fish body, wherein the bionic robotic fish body comprises a main shell, a power propeller, a power supply manager, a controller, a floating airbag, an air compressor, a buoyancy regulator, a depth sensor and a satellite navigation device are regularly distributed in the main shell, a processor, a forward looking sonar, a multi-beam detection sonar, an acoustic velocity profiler and an underwater high-definition camera are regularly distributed in the bionic robotic fish body, a measuring ship is also matched with the bionic robotic fish body, and a data processing machine room and a flowing satellite reference station are matched with the measuring ship.
As a further improvement of the technical scheme, the top end of the main shell body is provided with a fin hollow shell, the tail part of the main shell body is hinged with a fish tail shell through a pin shaft, the power propeller is installed in the fish tail shell, and the satellite navigation device is installed in the fin hollow shell.
As a further improvement of the technical scheme, the processor is externally connected with a memory and a communication module matched with the processor through signal lines in a signal connection mode.
As a further improvement of the technical scheme, a matched computing host and a matched display terminal are arranged in the data processing machine room.
The invention also aims to provide a bionic robot fish operating system for daily inspection of underwater cables, which is loaded in the processor and comprises: the system comprises an autonomous cruise unit, a sonar scanning unit, a video recording unit, a data processing unit, an analysis and calculation unit, a repair application unit and the like.
The invention also provides a bionic robot fish running method for daily inspection of underwater cables, which carries out daily inspection underwater according to the program of the running system, and the running method comprises the following steps:
s1, driving the measuring ship carrying the bionic robot fish body to the water area where the wind power plant is located, and after the bionic robot fish body is placed into water, stopping the measuring ship on the water surface or navigating on the water surface according to a preset program;
s2, the bionic robot fish body automatically moves forward, backward, upward and downward under the driving of the controller, and autonomously cruises in the water area range of the wind power plant according to a route set by a system;
s3, in the cruising process of the bionic robot fish body, detecting three-dimensional sonar data of a seabed, a pile foundation and a cable in a wind power plant in real time through the carried multi-beam detection sonar, transmitting the data into a data processing machine room of the measuring ship for processing, and reconstructing a three-dimensional image of the wind power plant;
s4, the bionic robot fish body cruises along the distribution of the pile foundation and the direction of the cable, high-definition real-time images of the pile foundation, the seabed around the pile foundation and the cable are shot nearby through the underwater high-definition camera, and data are transmitted into the data processing machine room to be processed so as to be visually checked;
s5, according to the reconstructed three-dimensional image and the high-definition real-time image, combining original design data or past inspection data of the wind power plant, and comprehensively analyzing and calculating the situation of the defect part in the wind power plant;
s6, accurately calculating the consumable quantity required by repair according to the analyzed defect problem by technicians, customizing a corresponding repair plan for each defect part, executing the plan, tracking and recording, and finally integrating all data into a comprehensive structural report and storing the report in a wind farm data management platform.
As a further improvement of the present technical solution, in S1, the specific method for the survey vessel to stop on the water surface or to sail on the water surface according to a preset program includes the following steps:
s1.1, the measuring ship can stay at the central position of a water area of a wind power plant, so that signals and data transmitted by the bionic robot fish body in any direction can be received conveniently;
s1.2, the measuring ship can also automatically navigate along with the cruising path of the bionic robot fish body in a certain distance keeping mode under the navigation of an inertial navigation system so as to receive signals and data of the bionic robot fish body nearby;
s1.3, measuring the sound velocity of each underwater part in real time by the sound velocity profiler along with the cruising process of the bionic robot fish body and transmitting the sound velocity to a data processing machine room of the measuring ship;
s1.4, analyzing and processing the sound velocity data by the data processing machine room, and judging the underwater pressure of a water area where a wind power plant is located and the sea wave condition according to the underwater sound velocity;
s1.5, judging the environment degree of the pile foundation and the cable of the wind power plant possibly damaged according to the measured underwater pressure, and adjusting the routing inspection and repair plan according to the predicted sea wave condition.
As a further improvement of the technical solution, in S2, the specific method for the biomimetic robotic fish body to autonomously cruise in the water area of the wind farm according to the route set by the system includes the following steps:
s2.1, after the bionic robot fish body enters water, realizing in-situ submergence by releasing air in the sinking and floating air bag or under the regulation action of a buoyancy regulator, and continuously submerging to the depth of a wind power plant;
s2.2, the mobile satellite reference station receives satellite signals, and the satellite signals are guided into the satellite navigation device for position correction so as to obtain high-precision real-time three-dimensional positioning data of the bionic robot fish body;
s2.3, the bionic robot fish body moves forward, backward or turns under the driving action of the power propeller, and if the bionic robot fish body is influenced by wind waves to shift in position in the submerging process, the posture can be corrected in real time and the bionic robot fish body returns to a preset position under high-precision positioning navigation;
s2.4, managing and distributing the power consumption of each electric device in the whole robot fish by the power supply manager, and monitoring the residual power in real time;
s2.5, when the power supply manager detects that the residual electricity is insufficient, sending returned information to the data processing machine room, and respectively obtaining real-time position positioning coordinates of the bionic robot fish body and the measuring ship;
and S2.6, automatically calculating a planned shortest path according to the position coordinate between the bionic robot fish body and the measuring ship body, and returning the bionic robot fish body to the measuring ship along the planned path so as to facilitate recovery.
As a further improvement of the technical solution, in S3, the specific method for detecting three-dimensional sonar data of a wind farm in real time and reconstructing a three-dimensional image of the wind farm by using the multi-beam detection sonar includes the following steps:
s3.1, automatically avoiding obstacles through the forward-looking sonar during cruising of the bionic robotic fish body, avoiding collision to a pile foundation or a cable, and scanning three-dimensional sonar data in front of the advancing direction in real time through the forward-looking sonar;
s3.2, three-dimensional sonar data within the coverage range of the multi-beam detection sonar real-time detector;
s3.3, transmitting all data detected by the forward-looking sonar and the multi-beam detection sonar into the data processing machine room through CW pulse square waves;
s3.4, the data processing machine room carries out preprocessing such as analysis, noise reduction and slope correction on all original sonar data so as to remove interference noise such as environmental noise, self noise and reverberation;
s3.5, splicing three-dimensional sonar point clouds according to the position information and the time information, and carrying out registration treatment on the three-dimensional sonar point clouds to enable the overlapped parts of the two point clouds to be aligned as much as possible so as to ensure the registration accuracy;
s3.6, thinning point cloud data by combining a curved surface reconstruction technology, forming terrain data from the three-dimensional sonar point cloud data, importing the terrain data into drawing software, and reconstructing a three-dimensional image of the underwater wind power plant;
s3.7, grasping the overall situation of the wind power plant through the reconstructed three-dimensional image data, quantifying the scouring situation of the seabed around the pile foundation and the overall distribution and trend situation of the cable, and measuring the data such as the length and the suspended height of the cable.
As a further improvement of the technical solution, in S4, the specific method for shooting a high-definition real-time image nearby by using an underwater high-definition camera to perform visual inspection includes the following steps:
s4.1, cruising is carried out on the bionic robot fish body along the distribution of the pile foundation, and high-definition images of the pile foundation and the seabed are shot through the underwater high-definition camera;
s4.2, cruising the bionic robot fish body along the direction of the cable, and shooting a high-definition image of the cable through the underwater high-definition camera;
s4.3, transmitting all the shot image data into the data processing machine room, and manually checking the conditions of the pile foundation, the seabed and the cable in the image by technicians to judge whether the pile foundation is damaged or not and the cable is broken or not in the wind power plant;
s4.4, preprocessing such as dimensionality reduction, mean value filtering, color binarization and the like is carried out on the shot image, and the image is converted into a uniform format;
s4.5, through a mature image identification technology, identifying and marking the abnormal part in the image by an artificial intelligence technology;
and S4.6, combining and comparing the abnormal parts identified by the artificial identification and the artificial intelligence, and comprehensively checking all the parts possibly having defects in the air-out electric field.
As a further improvement of the technical solution, in S5, the specific method for comprehensively analyzing and calculating the defect position condition in the wind farm includes the following steps:
s5.1, acquiring original design data, past inspection and repair data of the wind power plant from a wind power plant data management platform, and performing combined comparative analysis on all the data;
s5.2, determining the defect type of each abnormal part according to the visual picture of the high-definition image, wherein the defect type comprises but is not limited to seabed scouring, pile foundation corrosion, massive marine organism accumulation, cable fracture, cable skin corrosion cracking, cable leakage and the like;
s5.3, quantifying the defect size of each abnormal part according to the reconstructed three-dimensional image of the wind power plant, wherein the defect size comprises but is not limited to the flushed area and depth of the seabed, the corroded area and depth of a pile foundation, the marine organism accumulation amount, the cable fracture degree, the corrosion cracking width of the cable skin, the exposed length of the cable and the like;
and S5.4, combining the reconstructed three-dimensional image of the wind power plant and the real-time positioning information of the bionic robot fish body, and accurately positioning the position coordinates of each defect part.
The fourth purpose of the invention is to provide an operation device of the bionic robot fish operation system for daily inspection of the underwater cable, which comprises a processor, a memory and a computer program stored in the memory and operated on the processor, wherein the processor is used for realizing the bionic robot fish for daily inspection of the underwater cable when executing the computer program.
The fifth purpose of the present invention is to provide a computer readable storage medium, which stores a computer program, wherein the computer program, when executed by a processor, realizes the above-mentioned bionic robot fish for daily inspection of underwater cables.
Compared with the prior art, the invention has the following beneficial effects:
1. the bionic robot fish for daily inspection of the underwater cable is provided with the two sets of sinking and floating adjusting devices, and the satellite navigation and depth sensing auxiliary functions are combined, so that the underwater cable can submerge in situ and carry out autonomous cruise detection according to a preset route, the influence of wind waves on the underwater cable is reduced, the obstacle can be automatically avoided, and the secondary damage caused by hitting the cable is avoided;
2. the bionic robotic fish for daily inspection of the underwater cable can acquire three-dimensional images of an underwater pile foundation, a surrounding seabed and the cable of a wind power plant by carrying the multi-beam sonar and the underwater high-definition camera, accurately measure data such as the number, the trend, the length, the suspension height and the like of the cable, can shoot high-definition images of the cable nearby, visually inspect the external condition of the cable, comprehensively analyze the defect condition of the cable from the directions of type qualitative analysis, defect quantitative analysis and accurate positioning, improve the inspection working effect and reduce the operation and maintenance management cost of the wind power plant;
3. this a bionical machine fish for cable daily patrols and examines measures boats and ships through supporting setting, can be used for putting in and retrieving of bionical machine fish to can acquire monitoring data and calculate nearby, improve the work efficiency and the accuracy that the cable was patrolled and examined, the operation of the bionical machine fish of management of being convenient for in time discovers the defective condition of wind-powered electricity generation field, and the repair scheme is customized and implemented fast accurately, ensures the generating efficiency and the security of wind-powered electricity generation field.
Drawings
FIG. 1 is a schematic view of the overall external structure of a biomimetic robotic fish body according to the present invention;
FIG. 2 is a schematic view of the internal structure of the biomimetic robotic fish body according to the present invention;
FIG. 3 is a diagram of the overall product architecture of the biomimetic robotic fish of the present invention;
FIG. 4 is an overall flow chart of the method of operation of the present invention;
FIG. 5 is a partial flow diagram of a method of operation of the present invention;
FIG. 6 is a second partial flow chart of the operation method of the present invention;
FIG. 7 is a third partial flow chart of the method of operation of the present invention;
FIG. 8 is a fourth partial flow chart of the method of operation of the present invention;
FIG. 9 is a schematic diagram of an exemplary electronic computing device configured to perform the method of the present invention.
The various reference numbers in the figures mean:
1. a biomimetic robotic fish body; 11. a main housing; 111. empty fish fin shells; 112. a fish tail shell; 12. a power propeller; 13. a power manager; 14. a controller; 15. sinking and floating air bags; 16. an air compressor; 17. a buoyancy regulator; 18. a depth sensor; 19. a satellite navigation device;
2. a processor; 21. a memory; 22. a communication module;
3. a forward looking sonar;
4. a multi-beam detection sonar;
5. a sound velocity profiler;
6. an underwater high-definition camera;
7. measuring the ship;
8. a data processing machine room; 81. calculating a host; 82. a display terminal;
9. a mobile satellite reference station.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1-3, the embodiment provides a bionic robot fish for daily inspection of underwater cables, including a bionic robot fish body 1, the bionic robot fish body 1 includes a main casing 11, a power propeller 12 is regularly arranged in the main casing 11, a power manager 13, a controller 14, a ups and downs airbag 15, an air compressor 16, a buoyancy regulator 17, a depth sensor 18 and a satellite navigation device 19, a processor 2, a forward looking sonar 3, a multi-beam detection sonar 4, a sound velocity profiler 5 and an underwater high definition camera 6 are regularly arranged in the bionic robot fish body 1, the bionic robot fish body 1 is also provided with a measuring ship 7, and the measuring ship 7 is provided with a data processing machine room 8 and a flowing satellite reference station 9.
In this embodiment, the top of the main housing 11 is provided with a fin hollow shell 111, and the tail of the main housing 11 is hinged to a fishtail housing 112 through a pin shaft, so that the fishtail housing 112 can support the steering process of the biomimetic robotic fish body 1 through movement.
The main housing 11 should be made of a high-pressure-resistant and corrosion-resistant material, such as titanium steel, glass, ceramic, etc., and the outer surface of the main housing may be coated with a corrosion-resistant coating, so that the biomimetic robotic fish body 1 is suitable for use in seawater with high corrosion.
Further, a power propeller 12 is installed in the fishtail housing 112, and the power propeller 12 is used for supporting the forward or backward movement of the biomimetic robotic fish body 1.
Specifically, the sinking and floating airbag 15, the air compressor 16 and the buoyancy regulator 17 can provide two sets of sinking and floating regulation systems, and can quickly and accurately regulate the submerging and rising processes of the bionic robot fish body 1, so that the influence of wind waves on the bionic robot fish body 1 can be reduced, the bionic robot fish body 1 can submerge in situ, or the bionic robot fish body can timely return to the original position through regulation when the original position deviates due to wind waves in the submerging process.
Further, the satellite navigation device 19 is installed in the fin hollow shell 111, and through the cooperation of the satellite navigation device 19 and the mobile satellite reference station 9, navigation can be accurately performed on the bionic robot fish body 1 in the cruising process through a satellite navigation system, and the three-dimensional position coordinates of the bionic robot fish body 1 can be accurately positioned.
In this embodiment, the processor 2 is externally connected to the memory 21 and the communication module 22 through signal lines.
Specifically, the processor 2 is in signal connection with the power propeller 12, the power manager 13, the controller 14, the air compressor 16, the buoyancy regulator 17, the depth sensor 18, the satellite navigation device 19, the forward-looking sonar 3, the multi-beam detection sonar 4, the sound velocity profiler 5 and the underwater high definition camera 6 through signal lines, respectively, and is used for realizing the function control of the whole bionic robot fish body 1.
Further, the power manager 13 is electrically connected with the power propeller 12, the controller 14, the air compressor 16, the buoyancy regulator 17, the depth sensor 18, the satellite navigation device 19, the processor 2, the forward-looking sonar 3, the multi-beam detection sonar 4, the sound velocity profiler 5 and the underwater high definition camera 6 through wires, respectively, and is used for providing energy for each electric device.
In this embodiment, the measurement ship 7 is internally provided with an inertial navigation system for acquiring the attitude and the heading of the ship in real time, so as to provide accurate positioning for the navigation process of the ship.
Furthermore, a computer 81 and a display terminal 82 which are matched with each other are arranged in the data processing machine room 8, and the computer 81 is used for acquiring and processing the data acquired and transmitted by the bionic robot fish body 1;
further, the computing host 81 is in wireless communication connection with the wind power plant data management platform through the cloud database, and can acquire original design data of the wind power plant and data records of past monitoring and repairing from the wind power plant data management platform.
The embodiment also provides a bionic robot fish operating system for daily routing inspection of underwater cables, which is loaded in the processor (2) and comprises: the system comprises an autonomous cruise unit, a sonar scanning unit, a video recording unit, a data processing unit, an analysis and calculation unit, a repair application unit and the like.
As shown in fig. 4-9, a bionic robot fish operation method for underwater cable daily inspection is provided, the method performs daily inspection underwater according to the program of the operation system, and the specific operation method comprises the following steps:
s1, driving the measuring ship 7 carrying the bionic robot fish body 1 to the water area where the wind power plant is located, and after putting the bionic robot fish body 1 into water, stopping the measuring ship 7 on the water surface or navigating on the water surface according to a preset program;
s2, the bionic robot fish body 1 automatically moves forward, backward, upward and downward under the driving of the controller 14, and autonomously cruises in the water area range of the wind power plant according to a route set by a system;
s3, in the cruising process of the bionic robot fish body 1, detecting three-dimensional sonar data of a seabed, a pile foundation and a cable in a wind power plant in real time through a carried multi-beam detection sonar 4, transmitting the data into a data processing machine room 8 of a measuring ship 7 for processing, and reconstructing a three-dimensional image of the wind power plant;
s4, cruising along the pile foundation distribution and the cable trend, the bionic robot fish body 1 shoots high-definition real-time images of the pile foundation, the seabed around the pile foundation and the cable nearby through the underwater high-definition camera 6, and transmits data into the data processing machine room 8 for processing so as to carry out visual inspection;
s5, according to the reconstructed three-dimensional image and the high-definition real-time image, a technician comprehensively analyzes and calculates the situation of the defect part in the wind power plant by combining the original design data or the past inspection data of the wind power plant;
s6, accurately calculating the consumable quantity required by repair according to the analyzed defect problem by technicians, customizing a corresponding repair plan for each defect part, executing the plan, tracking and recording, and finally integrating all data into a comprehensive structural report and storing the report in a wind farm data management platform.
In this embodiment, in S1, the specific method for measuring the position of the ship 7 on the water surface or for navigating on the water surface according to the preset program includes the following steps:
s1.1, a measuring ship 7 can stay at the central position of a water area of a wind power plant, so that signals and data transmitted by the bionic robot fish body 1 in any direction can be received conveniently;
s1.2, the measuring ship 7 can also automatically navigate along the cruising path of the bionic robot fish body 1 in a certain distance keeping mode under the navigation of an inertial navigation system so as to receive signals and data of the bionic robot fish body 1 nearby;
s1.3, measuring the sound velocity of each underwater part in real time by the sound velocity profiler 5 along with the cruising process of the bionic robot fish body 1 and transmitting the sound velocity to a data processing machine room 8 of a measuring ship 7;
s1.4, analyzing and processing the sound velocity data by a data processing machine room 8, and judging the underwater pressure of a water area where a wind power plant is located and the sea wave condition according to the underwater sound velocity;
s1.5, judging the environment degree of the pile foundation and the cable of the wind power plant possibly damaged according to the measured underwater pressure, and adjusting the routing inspection and repair plan according to the predicted sea wave condition.
In this embodiment, in S2, the specific method for the biomimetic robotic fish body 1 to autonomously cruise in the water area range of the wind farm according to the route set by the system includes the following steps:
s2.1, after the bionic robot fish body 1 enters water, realizing in-situ submergence by releasing air in the submerging and surfacing air bag 15 or under the adjusting action of a buoyancy adjuster 17, and continuously submerging to the depth of a wind power plant;
s2.2, the mobile satellite reference station 9 receives satellite signals, and the satellite signals are guided into the satellite navigation device 19 for position correction so as to obtain high-precision real-time three-dimensional positioning data of the bionic robot fish body 1;
s2.3, the bionic robot fish body 1 moves forward, backward or turns under the driving action of the power propeller 12, and if the bionic robot fish body 1 is influenced by wind waves to generate position deviation in the submerging process, the posture can be corrected in real time and the bionic robot fish body returns to a preset position under high-precision positioning navigation;
s2.4, managing and distributing the power consumption of each electric device in the whole robot fish by the power manager 13, and monitoring the residual power in real time;
s2.5, when the power manager 13 detects that the residual electricity is insufficient, sending returned information to the data processing machine room 8, and respectively obtaining the position positioning coordinates of the bionic robot fish body 1 and the measuring ship 7 in real time;
and S2.6, automatically calculating a planned shortest path according to the position coordinate between the bionic robot fish body 1 and the bionic robot fish body, and returning to the measuring ship 7 along the planned path so as to be recovered.
In this embodiment, in S3, the specific method for detecting three-dimensional sonar data of a wind farm in real time by using the multi-beam detection sonar 4 and reconstructing a three-dimensional image of the wind farm includes the following steps:
s3.1, automatically avoiding obstacles through a forward-looking sonar 3 in the cruising process of the bionic robot fish body 1 to avoid collision on a pile foundation or a cable, and scanning three-dimensional sonar data in front of the advancing direction in real time through the forward-looking sonar 3;
s3.2, detecting three-dimensional sonar data in the coverage range of a sonar 4 in real time by using a multi-beam detector;
s3.3, transmitting all data detected by the forward-looking sonar 3 multi-beam detection sonar 4 to a data processing machine room 8 through CW pulse square waves;
s3.4, the data processing machine room 8 carries out preprocessing such as analysis, noise reduction and slant range correction on all original sonar data so as to remove interference noise such as environmental noise, self noise and reverberation;
s3.5, splicing three-dimensional sonar point clouds according to the position information and the time information, and carrying out registration treatment on the three-dimensional sonar point clouds to enable the overlapped parts of the two point clouds to be aligned as much as possible so as to ensure the registration accuracy;
s3.6, thinning point cloud data by combining a curved surface reconstruction technology, forming terrain data from the three-dimensional sonar point cloud data, importing the terrain data into drawing software, and reconstructing a three-dimensional image of the underwater wind power plant;
s3.7, grasping the overall situation of the wind power plant through the reconstructed three-dimensional image data, quantifying the scouring situation of the seabed around the pile foundation and the overall distribution and trend situation of the cable, and measuring the data such as the length and the suspended height of the cable.
In this embodiment, in S4, the specific method for visually checking the high-definition real-time image shot by the underwater high-definition camera 6 includes the following steps:
s4.1, cruising is carried out on the bionic robot fish body 1 along the distribution of the pile foundation, and high-definition images of the pile foundation and the seabed are shot through the underwater high-definition camera 6;
s4.2, cruising the bionic robot fish body 1 along the direction of the cable, and shooting a high-definition image of the cable through the underwater high-definition camera 6;
s4.3, transmitting all the shot image data into a data processing machine room 8, and manually checking the conditions of the pile foundation, the seabed and the cable in the image by technicians to judge whether the pile foundation is damaged or not and the cable is broken or not in the wind power plant;
s4.4, preprocessing such as dimensionality reduction, mean value filtering, color binarization and the like is carried out on the shot image, and the image is converted into a uniform format;
s4.5, through a mature image identification technology, identifying and marking the abnormal part in the image by an artificial intelligence technology;
and S4.6, combining and comparing the abnormal parts identified by the artificial identification and the artificial intelligence, and comprehensively checking all the parts possibly having defects in the air-out electric field.
In this embodiment, in S5, the specific method for comprehensively analyzing and calculating the defect position condition in the wind farm includes the following steps:
s5.1, acquiring original design data, past inspection and repair data of the wind power plant from a wind power plant data management platform, and performing combined comparative analysis on all the data;
s5.2, determining the defect type of each abnormal part according to the visual picture of the high-definition image, wherein the defect type comprises but is not limited to seabed scouring, pile foundation corrosion, massive marine organism accumulation, cable fracture, cable skin corrosion cracking, cable leakage and the like;
s5.3, quantifying the defect size of each abnormal part according to the reconstructed three-dimensional image of the wind power plant, wherein the defect size comprises but is not limited to the flushed area and depth of the seabed, the corroded area and depth of a pile foundation, the marine organism accumulation amount, the cable fracture degree, the corrosion cracking width of the cable skin, the exposed length of the cable and the like;
and S5.4, combining the reconstructed three-dimensional image of the wind power plant and the real-time positioning information of the bionic robot fish body 1, and accurately positioning the position coordinates of each defect part.
The embodiment also provides an operating device of the bionic robot fish operating system for daily inspection of the underwater cable, which comprises a processor, a memory and a computer program stored in the memory and operated on the processor.
The processor comprises one or more than one processing core, the processor is connected with the memory through the bus, the memory is used for storing program instructions, and the bionic robot fish for daily inspection of the underwater cable is realized when the processor executes the program instructions in the memory.
Alternatively, the memory may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
In addition, the invention also provides a computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, and when the computer program is executed by a processor, the bionic robot fish for daily inspection of the underwater cable is realized.
Optionally, the invention also provides a computer program product containing instructions which, when run on a computer, cause the computer to perform the above aspects of the biomimetic robotic fish for routine inspection of underwater cables.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, and the program may be stored in a computer-readable storage medium, where the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A bionical machine fish for cable is patrolled and examined daily under water, its characterized in that: including bionical machine fish body (1), bionical machine fish body (1) includes main casing body (11), power propeller (12), power manager (13), controller (14), ups and downs gasbag (15), air compressor machine (16), buoyancy regulator (17), depth sensor (18) and satellite navigation device (19) have been laid to the rule in main casing body (11), still regular in bionical machine fish body (1) is laid and is equipped with treater (2), foresight sonar (3), multi-beam detection sonar (4), sound velocity profiler (5) and underwater high definition digtal camera (6), bionical machine fish body (1) still forms a complete set outward and is equipped with and measures boats and ships (7), it is equipped with data processing computer lab (8) and mobile satellite reference station (9) to measure supporting on boats and ships (7).
2. The biomimetic robotic fish for routine inspection of underwater cables according to claim 1, wherein: the top of main casing body (11) is equipped with fin ghost (111), the afterbody of main casing body (11) articulates through the round pin axle has fishtail casing (112), install power propeller (12) in fishtail casing (112), satellite navigation device (19) are installed in fin ghost (111).
3. The biomimetic robotic fish for routine inspection of underwater cables according to claim 2, wherein: the processor (2) is externally connected with a memory (21) and a communication module (22) which are matched with the processor through signal wires.
4. The biomimetic robotic fish for routine inspection of underwater cables according to claim 3, wherein: and a matched computer host (81) and a display terminal (82) are arranged in the data processing machine room (8).
5. The biomimetic robotic fish for routine inspection of underwater cables according to claim 4, wherein: the processor (2) is internally provided with a bionic robot fish running system for daily underwater cable inspection, and the specific running method of the bionic robot fish body (1) for performing daily underwater inspection according to the program of the running system comprises the following steps:
s1, driving the measuring ship (7) carrying the bionic robot fish body (1) to the water area where the wind power plant is located, and after putting the bionic robot fish body (1) into water, stopping the measuring ship (7) on the water surface or sailing on the water surface according to a preset program;
s2, the bionic robot fish body (1) automatically moves forward, backward, upward and downward under the driving of the controller (14), and autonomously cruises in the water area range of a wind power plant according to a route set by a system;
s3, in the cruising process of the bionic robot fish body (1), detecting three-dimensional sonar data of a seabed, a pile foundation and a cable in a wind power plant in real time through the carried multi-beam detection sonar (4), transmitting the data into a data processing machine room (8) of the measuring ship (7) for processing, and reconstructing a three-dimensional image of the wind power plant;
s4, the bionic robot fish body (1) cruises along the pile foundation distribution and the cable trend, high-definition real-time images of the pile foundation, the seabed around the pile foundation and the cable are shot nearby through the underwater high-definition camera (6), and data are transmitted into the data processing machine room (8) to be processed so as to be visually checked;
s5, according to the reconstructed three-dimensional image and the high-definition real-time image, combining original design data or past inspection data of the wind power plant, and comprehensively analyzing and calculating the situation of the defect part in the wind power plant;
s6, accurately calculating the consumable quantity required by repair according to the analyzed defect problem by technicians, customizing a corresponding repair plan for each defect part, executing the plan, tracking and recording, and finally integrating all data into a comprehensive structural report and storing the report in a wind power plant data management platform.
6. The biomimetic robotic fish for routine inspection of underwater cables according to claim 5, wherein: in S1, the specific method for the survey vessel (7) to stop at the water surface or to sail at the water surface according to the preset program includes the steps of:
s1.1, the measuring ship (7) can stay at the central position of a water area of a wind power plant, so that signals and data transmitted by the bionic robot fish body (1) in any direction can be received conveniently;
s1.2, the measuring ship (7) can also automatically sail along the cruising path of the bionic robot fish body (1) at a certain distance under the navigation of an inertial navigation system so as to receive signals and data of the bionic robot fish body (1) nearby;
s1.3, measuring the sound velocity of each underwater part in real time by the sound velocity profiler (5) along with the cruising process of the bionic robot fish body (1) and transmitting the sound velocity to a data processing machine room (8) of the measuring ship (7);
s1.4, the data processing machine room (8) analyzes and processes the sound velocity data, and judges the underwater pressure of a water area where the wind power plant is located and the sea wave condition according to the underwater sound velocity;
s1.5, judging the environment degree of the pile foundation and the cable of the wind power plant possibly damaged according to the measured underwater pressure, and adjusting the routing inspection and repair plan according to the predicted sea wave condition.
7. The biomimetic robotic fish for routine inspection of underwater cables according to claim 5, wherein: in S2, the specific method for the biomimetic robotic fish body (1) to autonomously cruise in the water area of the wind farm according to the route set by the system includes the following steps:
s2.1, after the bionic robot fish body (1) enters water, the bionic robot fish can submerge in situ by releasing air in the sinking and floating air bags (15) or under the regulation action of a buoyancy regulator (17), and submerge continuously to the depth of a wind power plant;
s2.2, the mobile satellite reference station (9) receives satellite signals, and the satellite signals are guided into the satellite navigation device (19) to be subjected to position correction, so that high-precision real-time three-dimensional positioning data of the bionic robot fish body (1) are obtained;
s2.3, the bionic robot fish body (1) moves forward, backward or turns under the driving action of the power propeller (12), and if the bionic robot fish body (1) is influenced by wind waves to shift in the submerging process, the posture can be corrected in real time and the bionic robot fish body returns to a preset position under high-precision positioning navigation;
s2.4, the power manager (13) manages and distributes the power consumption of each electric device in the whole robot fish, and monitors the residual power in real time;
s2.5, when the power manager (13) detects that the residual electricity is insufficient, sending returned information to the data processing machine room (8), and respectively obtaining the real-time position positioning coordinates of the bionic robot fish body (1) and the measuring ship (7);
s2.6, automatically calculating a planned shortest path by the bionic robot fish body (1) according to the position coordinate between the bionic robot fish body and the bionic robot fish body, and returning the planned shortest path to the measuring ship (7) for recycling.
8. The biomimetic robotic fish for routine inspection of underwater cables according to claim 5, wherein: in S3, the specific method for detecting three-dimensional sonar data of a wind farm in real time and reconstructing a three-dimensional image of the wind farm by the multi-beam detection sonar (4) includes the steps of:
s3.1, automatically avoiding obstacles through the forward-looking sonar (3) in the cruising process of the bionic robot fish body (1) to avoid colliding with a pile foundation or a cable, and scanning three-dimensional sonar data in front of the advancing direction in real time through the forward-looking sonar (3);
s3.2, detecting three-dimensional sonar data in the coverage range of the sonar by the multi-beam detector (4);
s3.3, transmitting all data detected by the forward looking sonar (3) and the multi-beam detection sonar (4) into the data processing machine room (8) through CW pulse square waves;
s3.4, the data processing machine room (8) carries out analysis, noise reduction, slant range correction and other preprocessing on all original sonar data so as to remove interference noise such as environmental noise, self noise, reverberation and the like;
s3.5, splicing three-dimensional sonar point clouds according to the position information and the time information, and carrying out registration treatment on the three-dimensional sonar point clouds to ensure that the overlapped parts of the two point clouds are aligned as much as possible so as to ensure the registration accuracy;
s3.6, thinning point cloud data by combining a curved surface reconstruction technology, forming terrain data from the three-dimensional sonar point cloud data, importing the terrain data into drawing software, and reconstructing a three-dimensional image of the underwater wind power plant;
s3.7, grasping the overall situation of the wind power plant through the reconstructed three-dimensional image data, quantifying the scouring situation of the seabed around the pile foundation and the overall distribution and trend situation of the cable, and measuring the data such as the length and the suspended height of the cable.
9. The biomimetic robotic fish for routine inspection of underwater cables according to claim 5, wherein: in the step S4, the specific method for visually checking the high-definition real-time image shot by the underwater high-definition camera (6) in the near field includes the following steps:
s4.1, cruising is carried out on the bionic robot fish body (1) along the distribution of the pile foundation, and high-definition images of the pile foundation and the seabed are shot through the underwater high-definition camera (6);
s4.2, cruising the bionic robot fish body (1) along the direction of the cable, and shooting a high-definition image of the cable through the underwater high-definition camera (6);
s4.3, transmitting all the shot image data into the data processing machine room (8), and manually checking the conditions of the pile foundation, the seabed and the cable in the image by technicians to judge whether the pile foundation is damaged or not and the cable is broken or not in the wind power plant;
s4.4, preprocessing such as dimensionality reduction, mean value filtering, color binarization and the like is carried out on the shot image, and the image is converted into a uniform format;
s4.5, through a mature image identification technology, identifying and marking the abnormal part in the image by an artificial intelligence technology;
and S4.6, combining and comparing the abnormal parts identified by the artificial identification and the artificial intelligence, and comprehensively checking all the parts possibly having defects in the air-out electric field.
10. The biomimetic robotic fish for routine inspection of underwater cables according to claim 5, wherein: in S5, the specific method for comprehensively analyzing and calculating the defect location condition in the wind farm includes the following steps:
s5.1, acquiring original design data, past inspection and repair data of the wind power plant from a wind power plant data management platform, and performing combined comparative analysis on all the data;
s5.2, determining the defect type of each abnormal part according to the visual picture of the high-definition image, wherein the defect type comprises but is not limited to seabed scouring, pile foundation corrosion, massive marine organism accumulation, cable fracture, cable skin corrosion cracking, cable leakage and the like;
s5.3, quantifying the defect size of each abnormal part according to the reconstructed three-dimensional image of the wind power plant, wherein the defect size comprises but is not limited to the flushed area and depth of the seabed, the corroded area and depth of a pile foundation, the marine organism accumulation amount, the cable fracture degree, the corrosion cracking width of the cable skin, the exposed length of the cable and the like;
and S5.4, combining the reconstructed three-dimensional image of the wind power plant and the real-time positioning information of the bionic robot fish body (1) to accurately position the position coordinates of each defect part.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114895313A (en) * | 2022-06-07 | 2022-08-12 | 上海市信息管线有限公司 | Detection method and device for pipeline in river channel, electronic equipment and storage medium |
| WO2024161139A1 (en) * | 2023-02-01 | 2024-08-08 | Pxgeo Uk Limited | System and method for using autonomous underwater vehicles for ocean bottom seismic nodes |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114895313A (en) * | 2022-06-07 | 2022-08-12 | 上海市信息管线有限公司 | Detection method and device for pipeline in river channel, electronic equipment and storage medium |
| CN114895313B (en) * | 2022-06-07 | 2024-09-24 | 上海市信息管线有限公司 | Method and device for detecting pipeline in river channel, electronic equipment and storage medium |
| WO2024161139A1 (en) * | 2023-02-01 | 2024-08-08 | Pxgeo Uk Limited | System and method for using autonomous underwater vehicles for ocean bottom seismic nodes |
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