CN116289960A - Marine wind torch type foundation penetration attitude control device and control method - Google Patents
Marine wind torch type foundation penetration attitude control device and control method Download PDFInfo
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- CN116289960A CN116289960A CN202310092550.XA CN202310092550A CN116289960A CN 116289960 A CN116289960 A CN 116289960A CN 202310092550 A CN202310092550 A CN 202310092550A CN 116289960 A CN116289960 A CN 116289960A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D15/00—Handling building or like materials for hydraulic engineering or foundations
- E02D15/08—Sinking workpieces into water or soil inasmuch as not provided for elsewhere
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
- E02D13/04—Guide devices; Guide frames
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
- E02D13/06—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers for observation while placing
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D27/00—Foundations as substructures
- E02D27/32—Foundations for special purposes
- E02D27/52—Submerged foundations, i.e. submerged in open water
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D33/00—Testing foundations or foundation structures
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/727—Offshore wind turbines
Abstract
The invention discloses a marine flashlight type foundation penetration attitude control device which comprises a construction ship, penetration equipment and underwater monitoring equipment, wherein the construction ship is mainly provided with a first control center and a first communication module, the underwater monitoring equipment is provided with a second control center, a second communication module, a positioning module, a vision module and a movement module, the penetration equipment is mainly provided with a third control center and a third communication module, and information transmission can be carried out among the first communication module, the second communication module and the third communication module. The control device is based on the control device to control the penetration attitude of the cylindrical foundation, and the underwater monitoring equipment, the construction ship and the modules of the penetration equipment are matched to control the penetration attitude of the cylindrical foundation, so that the accurate installation of the cylindrical foundation is ensured, and the stability of the cylindrical foundation is ensured.
Description
Technical Field
The invention belongs to the technical field of offshore wind power foundations, and particularly relates to a device and a method for controlling a penetration attitude of an offshore wind power barrel foundation.
Background
The offshore wind power cylinder type foundation is pressed in and fixed on the seabed by the pressure difference between the inside and the outside of the cylinder, and reliable foundation support is provided for the offshore wind turbine. Offshore wind power belongs to a high-rise structure, and in order to ensure the stability of a fan, the gradient of an offshore wind power foundation cannot exceed 0.25 degrees.
The stability of the foundation can be directly influenced by the posture during penetration, and if the cylindrical foundation is inclined after being installed, the whole gravity center of the unit can be deviated, so that the safety of the structure is influenced. In order to ensure long-term safe operation of the offshore wind turbine, the posture of the foundation needs to be controlled during installation of the cylindrical foundation, and the inclination of the foundation is ensured to be within a standard specified range.
Therefore, the invention provides a marine wind power cylindrical foundation penetration attitude control method, which is used for controlling the attitude of the cylindrical foundation in the penetration process and ensuring the accurate installation of the foundation.
Disclosure of Invention
The invention aims to provide a marine flashlight type foundation penetration attitude control device, which solves the technical problem that a barrel type foundation is easy to incline when penetrated in the prior art, and the specific technical scheme of the invention is as follows:
an offshore wind torch type foundation penetration attitude control device, the device comprising
A construction vessel equipped with a first control center and a first communication module;
the underwater monitoring equipment is provided with a second control center, a second communication module, a positioning module, a visual module and a movement module;
the penetration equipment is provided with a third control center and a third communication module;
the first communication module, the second communication module and the third communication module mutually carry out information transmission, and the first control center controls the second control center and the third control center to work.
Further, the number of the underwater monitoring devices is three, and the three underwater monitoring devices are distributed around the barrel-shaped foundation at intervals of 120 degrees.
Further, the underwater monitoring equipment comprises an arc-shaped mounting frame, a control box is arranged in the middle of the arc-shaped mounting frame, and a second control center is arranged in the control box; the arc-shaped mounting frames on two sides of the control box are provided with movement modules; the control box is also provided with a second communication module, a positioning module and a vision module; the vision module transmits the shot penetration process of the cylindrical foundation to the construction ship and penetration equipment through the second communication module.
Further, the communication module and the positioning module are integrally arranged, and the signal positioning transmitter is arranged on two sides of the control box in the direction parallel to the arc-shaped mounting frame.
Further, the vision module comprises a camera arranged on one side of the control box, which is close to the cylindrical foundation, and illumination equipment arranged on the periphery of the camera, and the camera transmits the shot penetration process of the cylindrical foundation to a construction ship and penetration equipment through a signal positioning transmitter.
Further, the motion module includes a plurality of propellers disposed on an arcuate mounting bracket.
Further, two propellers are arranged on the arc-shaped mounting frames on two sides of the control box, the two propellers on the same side are mutually perpendicular, one of the propellers longitudinally penetrates through the arc-shaped mounting frame, and the other propeller transversely penetrates through the arc-shaped mounting frame, so that self-walking posture adjustment of the monitoring module is realized in different directions.
Further, grooves or protruding blocks clamped with the grooves are arranged on the upper portions of the end faces of the two ends of the arc-shaped mounting frame.
Another object of the present invention is to provide a method for controlling a sinking and penetrating posture of a flashlight type foundation at sea, so as to solve the technical problem that the cylindrical foundation is easy to incline when sinking and penetrating in the prior art, and in order to achieve the above purpose, the specific technical scheme of the present invention is as follows:
a marine wind torch type foundation penetration attitude control method comprises the following specific operation procedures:
s1, launching underwater monitoring equipment, and leading the underwater monitoring equipment to an installation area according to a positioning module and a motion module;
s2, launching a cylindrical foundation, and realizing foundation positioning according to underwater monitoring equipment;
s3, self-sedimentation is carried out on the cylindrical foundation by means of self weight, and the sedimentation condition of the cylindrical foundation is monitored and adjusted;
s4, starting sinking and penetrating, wherein the attitude of the barrel-shaped foundation is monitored by underwater monitoring equipment and transmitted to sinking and penetrating equipment during sinking and penetrating, and the sinking and penetrating equipment adjusts the attitude of the barrel-shaped foundation according to the acquired information;
s5, after the penetration is finished, the underwater monitoring equipment is separated from the construction ship and goes to the next machine position for penetration monitoring or recovery.
Further, a vertical mark and a depth mark are arranged on the cylindrical foundation, and the underwater monitoring equipment processes and calculates according to the acquired vertical mark and depth mark image on the cylindrical foundation.
Compared with the prior art, the invention has the following advantages:
(1) The underwater monitoring equipment, the construction ship and the sinking and penetrating equipment are matched to control the sinking and penetrating posture of the cylindrical foundation, so that the accurate installation of the cylindrical foundation is ensured, and the stability of the cylindrical foundation is ensured;
(2) The underwater monitoring equipment can automatically go forward and automatically install through the moving die, so that the construction efficiency is improved;
(3) The underwater monitoring equipment is provided with the camera which can transmit signals to the construction ship, so that the installation of the cylindrical foundation is visualized, and personnel on the construction ship can better know the installation condition.
Drawings
FIG. 1 is a block diagram of a control device of the present invention;
FIG. 2 is a schematic diagram of an underwater monitoring device according to the present invention;
FIG. 3 is a second schematic view of the underwater monitoring device of the present invention;
FIG. 4 is a third schematic diagram of the underwater monitoring device of the present invention;
FIG. 5 is a flow chart illustrating the operation of the control method of the present invention;
FIG. 6 is a side view of a cartridge base of the present invention;
FIG. 7 is a schematic diagram of the underwater monitoring device of the present invention acquiring a calculated barrel-type base inclination angle;
FIG. 8 is a schematic view of the inclination angle gamma of a marker image on a cylindrical basis obtained by the underwater monitoring device of the present invention;
fig. 9 is a schematic view of the use of the underwater monitoring device and the cartridge foundation of the present invention.
In the figure: the intelligent monitoring system comprises a 1-arc-shaped mounting frame, a 2-control box, a 3-propeller, a 4-signal positioning transmitter, a 5-camera, 6-lighting equipment, 7-grooves, 8-bumps, 9-lifting lugs, 10-first monitoring modules, 20-second monitoring modules and 30-third monitoring modules.
Description of the embodiments
The invention further provides a device and a method for controlling the foundation penetration attitude of the offshore wind torch type foundation by combining the accompanying drawings.
As shown in FIG. 1, the marine flashlight type foundation submerged attitude control device comprises a construction ship, submerged equipment and underwater monitoring equipment, wherein the construction ship is mainly provided with a first control center and a first communication module, the underwater monitoring equipment is provided with a second control center, a second communication module, a positioning module, a vision module and a movement module, the submerged equipment is mainly provided with a third control center and a third communication module, and information transmission can be carried out among the first communication module, the second communication module and the third communication module.
Specifically, the penetration device is a suction device detachably installed on a cylindrical foundation, and because the penetration device needs to be synchronously penetrated, a third control center is required to control penetration (extraction) speed, the third communication module is used for receiving signals given by the underwater monitoring device, the underwater monitoring device monitors the inclination direction of the cylindrical foundation in real time, the third control center gives an adjusted penetration speed, and then the stable installation of the whole foundation is realized. The sinking principle is that the cylindrical foundation is placed on the seabed and is sunk by self weight, and then water in the cylindrical foundation is required to be pumped out through sinking equipment to form negative pressure in the cylindrical foundation, so that the cylindrical foundation is sunk.
As shown in fig. 2-3, a plurality of underwater monitoring devices can be matched with each other in structure, and the underwater monitoring devices encircle the circumference of the cylindrical foundation, so that the encircling monitoring of the circumference of the cylindrical foundation is realized. The underwater monitoring equipment comprises an arc-shaped mounting frame 1, the inner diameter of the arc-shaped mounting frame 1 is required to be larger than the outer diameter of a barrel-shaped foundation, a control box 2 is arranged in the middle of the arc-shaped mounting frame 1, a second control center is arranged in the control box 2, a moving module is arranged on the arc-shaped mounting frames 1 on two sides of the control box 2 and comprises a plurality of propellers 3 arranged on the arc-shaped mounting frame 1, a positioning module and a visual module are further arranged on the control box 2, the positioning module comprises signal positioning transmitters 4 which are arranged on two sides of the control box 2 in parallel with the direction of the arc-shaped mounting frame 1, the visual module comprises a camera 5 arranged in the middle of the inner side of the barrel-shaped foundation and a lighting device 6 arranged on the periphery of the camera 5, and the camera transmits the shot sinking process of the barrel-shaped foundation to a construction ship and other cooperative devices through the signal positioning transmitters 4.
In this embodiment, the arc-shaped mounting frames 1 on two sides of the control box 2 are respectively provided with two propellers 3 for lifting, rotating and other actions of the control equipment, the two propellers 3 on the same side are mutually perpendicular, one of the propellers is longitudinally communicated with the arc-shaped mounting frames 1, and the other is transversely communicated with the arc-shaped mounting frames 1, so that the self-running posture adjustment of the monitoring module is realized in different directions. The upper parts of the end surfaces at the two ends of the arc-shaped mounting frame 1 are provided with grooves 7 or protruding blocks 8 clamped with the grooves 7 so as to realize rapid and accurate clamping and splicing between a plurality of arc-shaped mounting frames 1 and monitoring modules. In order to facilitate the arrangement and recovery of the monitoring device, the monitoring module is further provided with a plurality of lifting lugs 9, and in this embodiment, three lifting lugs 9 are respectively arranged on the control box 2 and the arc-shaped mounting frames 1 on two sides of the control box.
It can be understood that when two propellers 3 transversely penetrating through the arc-shaped mounting frame 1 can be arranged to simultaneously rotate forward or reversely to generate the same-direction thrust, the monitoring module can be made to advance or retreat, if one of the propellers rotates forward or reversely, the equipment can be made to rotate, and the advancing or retreating direction is regulated, so that the gesture control of the monitoring module on the horizontal plane is realized; when two propellers 3 longitudinally penetrating through the arc-shaped mounting frame 1 rotate forward or reversely at the same time to generate the same-direction thrust, the monitoring module can ascend or descend, and if one rotates forward or the other rotates reversely, the monitoring module can rotate and adjust left and right balance, so that the gesture control of the monitoring module on a vertical plane is realized.
As shown in fig. 4, taking three underwater monitoring devices as an example, including a first underwater monitoring device 10, a second underwater monitoring device 20 and a third underwater monitoring device 30, the three underwater monitoring devices are distributed around a cylindrical foundation at intervals of 120 °, i.e. the arc of the arc-shaped mounting frame 1 is 120 °. In order to realize the self-installation and the self-disassembly of the monitoring device through the propeller 3, the two ends of the arc-shaped mounting frame 1 of the first monitoring module 10 are provided with grooves 7; the two ends of the arc-shaped mounting frame 1 of the third monitoring module 30 are provided with the convex blocks 8; one end of the arc-shaped mounting frame 1 of the second monitoring module 20, which is clamped with the first monitoring module, is provided with a convex block 8, and one side of the arc-shaped mounting frame, which is clamped with the third monitoring module, is provided with a groove 7. When in installation, the first monitoring module 10 is firstly installed in water; the second monitoring module 20 is installed in a water-draining mode, and the end of the protruding block 8 of the second monitoring module 20 is clamped with the first monitoring module 10; finally, the third installation module 30 is installed in a water-draining mode, and two ends of the third installation module are respectively clamped and spliced with the first monitoring module 10 and the second monitoring module 20. When the monitoring device is detached, the monitoring device can be detached by vertical sailing through the propeller 3 according to the reverse sequence. Of course, other numbers of underwater monitoring devices can be selected, if four underwater monitoring devices are arranged, the four underwater monitoring devices are distributed around the barrel-shaped foundation at intervals of 90 degrees, and the radian of the arc-shaped mounting frame 1 is 90 degrees. The four monitoring modules include a first monitoring module 10 with grooves 7 at both ends, a third monitoring module 30 with bumps 8 at both ends, and a second monitoring module 20 with grooves 7 at both ends and bumps 8 at the other end. When the monitoring system is installed, the first monitoring module 10 is firstly installed in a water-draining mode, then the two second installation modules 20 are installed in a water-draining mode in sequence, and finally the third monitoring module 30 is installed in a water-draining mode; the disassembly of the monitoring device can be realized by vertical sailing of the propeller 3 according to the reverse sequence when the monitoring device is disassembled.
As shown in fig. 5, the specific operation flow of the offshore wind power cylindrical foundation penetration attitude control method includes:
step one: and (5) launching the underwater monitoring equipment, and leading the underwater monitoring equipment to an installation area according to the positioning system and the power system. The motion module of the underwater monitoring equipment can realize the movement such as the movement and rotation of the underwater monitoring equipment and the self-posture adjustment of the underwater monitoring equipment; positioning is carried out according to the carried positioning module through an ultra-short baseline positioning mode and a construction ship; obtaining underwater images of a passing foundation through a vision module; and communicate with the construction vessel through the second communication module, transmit the current position and receive the instruction of the construction vessel, according to the settlement of the first control center of the construction vessel, go to the seabed around the installation area of the barrel foundation. Because a plurality of underwater monitoring devices are arranged on a cylindrical foundation, after the first underwater monitoring device is installed, the subsequent underwater monitoring device can communicate and position with the installed underwater monitoring device when approaching to an installation area, so that the accurate installation of the underwater monitoring device is realized, the plurality of underwater monitoring devices can be matched with each other structurally, and the surrounding of the cylindrical foundation is realized.
Step two: and the cylindrical foundation is launched, and foundation positioning is realized according to the underwater monitoring equipment. After the underwater monitoring equipment on the seabed area is installed, hoisting the cylindrical foundation, acquiring the underwater condition through a camera equipped with the underwater monitoring equipment through a second communication module in the early stage of the hoisting process, carrying out relevant hoisting operation by workers on the construction ship, acquiring the image of the cylindrical foundation through a vision module carried by the underwater monitoring equipment after the cylindrical foundation initially reaches the installation area, and carrying out distance measurement through a binocular range algorithm by a second control center to realize further positioning of the cylindrical foundation.
Step three: the barrel-shaped foundation carries out self-settlement by means of self weight, the settlement condition of the barrel-shaped foundation is monitored and adjusted, if the underwater monitoring equipment monitors that the whole barrel-shaped foundation has inclination condition, the inclination condition is fed back to the construction ship, and the self-settlement speed can be slowed down, or the settlement through equipment on part of the barrel-shaped foundation is started to adjust when the self-settlement stage is nearly finished. Specifically, after the cylindrical foundation is hoisted to a designated area, the cylindrical foundation starts to perform self-settlement, wherein the stage mainly comprises a vision module of the underwater monitoring equipment, a second control center, a second communication module and a first communication module of the construction ship and the first control center work, and the second communication module mainly transmits information between the underwater monitoring equipment and the construction ship; the vision module is used for acquiring an image of the barrel-type foundation. As shown in fig. 6, the cartridge type foundation is painted with a bright color mark according to the requirement before construction, the cartridge type foundation is provided with a vertical mark and a depth mark, and the second control center processes and calculates the paint painting image of the bright color mark on the cartridge type foundation according to the vision module, and the calculation mode is as follows:
as shown in fig. 7 to 9, the cylinder foundation is inclined, and the degree of inclination is defined by the angle θ and Φ, θ being the direction in which the cylinder foundation is inclined, and Φ being the angle at which it is inclined. Each underwater monitoring device can obtain the inclination angle gamma of the bright color mark in the image acquired by the underwater monitoring device through image processing calculation (namely, gamma is the inclination angle of the bright color mark mapped on the camera and observed by the camera), and the angles observed by the first underwater monitoring device, the second underwater monitoring device and the third underwater monitoring device are gamma 1, gamma 2 and gamma 3 respectively. Taking a first underwater monitoring device and a second underwater monitoring device:
and obtaining the mapping of gamma, theta and phi according to a calculation formula. Three underwater monitoring devices can be grouped into one group, three groups of data are obtained for averaging, and inclination angle information can be obtained more accurately; obtaining the inclination angle of the cylindrical foundation according to the field actual measurement angle gamma; the bright color mark arranged on the surface of the cylindrical foundation is provided with position information capable of performing image processing, the second control center of the underwater monitoring equipment can obtain depth information of the cylindrical foundation according to preset height information of the camera and the image processing, depth and inclination angle data are sent to the construction ship, and the construction ship adjusts the cylindrical foundation through the crane according to inclination degree.
Step four: and (3) starting penetration, and monitoring and adjusting the barrel-shaped basic posture through underwater monitoring equipment during the penetration. The method comprises the steps that after self weight settlement of a barrel-shaped foundation is finished, sinking and penetrating equipment is started to perform negative pressure settlement, the vision module, the second control center and the second communication module of the underwater monitoring equipment and the third communication module and the third control center of the sinking and penetrating equipment mainly work, the second communication module and the third communication module mainly transmit information among the underwater monitoring equipment, the sinking and penetrating equipment and the sinking and penetrating equipment, the depth and the inclination acquired by the underwater monitoring equipment are transmitted to the sinking and penetrating equipment, the sinking and penetrating equipment processes in the third control center according to the acquired information, and the sinking and penetrating equipment cooperates with other sinking and penetrating equipment to regulate the sinking and penetrating speed, so that the attitude of the barrel-shaped foundation in sinking and penetrating is kept.
Step five: and after the penetration is finished, the monitoring equipment is separated from the construction ship and goes to the next machine position for penetration monitoring. After the sinking is finished, the underwater monitoring equipment receives the instruction given by the construction ship, separates and goes to the next foundation installation position or returns to the construction ship for recycling the underwater monitoring equipment according to the requirement.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (10)
1. An offshore wind torch type foundation penetration attitude control device is characterized by comprising
A construction vessel equipped with a first control center and a first communication module;
the underwater monitoring equipment is provided with a second control center, a second communication module, a positioning module, a visual module and a movement module;
the penetration equipment is provided with a third control center and a third communication module;
the first communication module, the second communication module and the third communication module mutually carry out information transmission, and the first control center controls the second control center and the third control center to work.
2. The offshore wind power cylindrical foundation penetration attitude control device according to claim 1, wherein three underwater monitoring devices are distributed around the cylindrical foundation at intervals of 120 degrees.
3. The offshore wind power cylindrical foundation penetration attitude control device according to claim 2 is characterized in that the underwater monitoring equipment comprises an arc-shaped mounting frame (1), a control box (2) is arranged in the middle of the arc-shaped mounting frame (1), and a second control center is arranged in the control box (2); the arc-shaped mounting frames (1) on two sides of the control box (2) are provided with movement modules; the control box (2) is also provided with a second communication module, a positioning module and a vision module; the vision module transmits the shot penetration process of the cylindrical foundation to the construction ship and penetration equipment through the second communication module.
4. The offshore wind power cylinder foundation penetration attitude control device according to claim 3, wherein the communication module and the positioning module are integrally arranged and comprise signal positioning transmitters (4) arranged on two sides of the control box (2) in parallel with the direction of the arc-shaped mounting frame (1).
5. A marine wind power cylinder foundation penetration attitude control device according to claim 3, wherein the vision module comprises a camera (5) arranged on one side of the control box (2) close to the cylinder foundation and illumination equipment (6) arranged on the periphery of the camera (5), and the camera (5) transmits the penetration process of the photographed cylinder foundation to a construction ship and penetration equipment through a signal positioning transmitter (4).
6. A marine wind power cylinder foundation penetration attitude control device according to claim 3, characterized in that the motion module comprises a plurality of propellers (3) arranged on an arc-shaped mounting frame (1).
7. The offshore wind power cylinder foundation penetration attitude control device according to claim 6, wherein two propellers (3) are arranged on arc-shaped mounting frames (1) on two sides of the control box (2), the two propellers (3) on the same side are mutually perpendicular, one longitudinal penetration arc-shaped mounting frame (1) and the other transverse penetration arc-shaped mounting frame (1) are arranged, so that self-attitude adjustment of the monitoring module is realized in different directions.
8. The offshore wind power cylinder foundation penetration attitude control device according to claim 3, wherein grooves (7) or lugs (8) clamped with the grooves (7) are arranged on the upper parts of the end surfaces of the two ends of the arc-shaped mounting frame (1).
9. The marine wind flashlight type foundation penetration attitude control method is characterized by comprising the following specific operation flows:
s1, launching underwater monitoring equipment, and leading the underwater monitoring equipment to an installation area according to a positioning module and a motion module;
s2, launching a cylindrical foundation, and realizing foundation positioning according to underwater monitoring equipment;
s3, self-sedimentation is carried out on the cylindrical foundation by means of self weight, and the sedimentation condition of the cylindrical foundation is monitored and adjusted;
s4, starting sinking and penetrating, wherein the attitude of the barrel-shaped foundation is monitored by underwater monitoring equipment and transmitted to sinking and penetrating equipment during sinking and penetrating, and the sinking and penetrating equipment adjusts the attitude of the barrel-shaped foundation according to the acquired information;
s5, after the penetration is finished, the underwater monitoring equipment is separated from the construction ship and goes to the next machine position for penetration monitoring or recovery.
10. The offshore wind power cylinder foundation penetration attitude control method is characterized in that vertical marks and depth marks are arranged on the cylinder foundation, and underwater monitoring equipment processes and calculates according to the acquired vertical marks and depth mark images on the cylinder foundation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310092550.XA CN116289960A (en) | 2023-02-10 | 2023-02-10 | Marine wind torch type foundation penetration attitude control device and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310092550.XA CN116289960A (en) | 2023-02-10 | 2023-02-10 | Marine wind torch type foundation penetration attitude control device and control method |
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| CN116289960A true CN116289960A (en) | 2023-06-23 |
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| CN202310092550.XA Pending CN116289960A (en) | 2023-02-10 | 2023-02-10 | Marine wind torch type foundation penetration attitude control device and control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117404258A (en) * | 2023-12-13 | 2024-01-16 | 江苏道达风电设备科技有限公司 | Composite cylindrical foundation offshore construction cloud monitoring system |
-
2023
- 2023-02-10 CN CN202310092550.XA patent/CN116289960A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117404258A (en) * | 2023-12-13 | 2024-01-16 | 江苏道达风电设备科技有限公司 | Composite cylindrical foundation offshore construction cloud monitoring system |
| CN117404258B (en) * | 2023-12-13 | 2024-03-29 | 江苏道达风电设备科技有限公司 | Composite cylindrical foundation offshore construction cloud monitoring system |
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