CN117452391B

CN117452391B - Scouring monitoring method, device, equipment, system and medium for offshore wind power pile foundation

Info

Publication number: CN117452391B
Application number: CN202311786359.1A
Authority: CN
Inventors: 李兴国; 刘宇; 姜浩; 祝建军; 贾晓辉; 陈露露; 彭姝姝; 赵素芬; 王剑; 程韦豪; 唐一金
Original assignee: Yangtze Three Gorges Group Jiangsu Energy Investment Co ltd
Current assignee: Yangtze Three Gorges Group Jiangsu Energy Investment Co ltd
Priority date: 2023-12-25
Filing date: 2023-12-25
Publication date: 2024-02-23
Anticipated expiration: 2043-12-25
Also published as: CN117452391A

Abstract

The application provides a scouring monitoring method, device, equipment, system and medium of an offshore wind power pile foundation, wherein the method comprises the following steps: acquiring first seabed elevations, three-dimensional coordinate values and second seabed elevations of a plurality of measuring points acquired by a sonar ranging device of a plurality of measuring points in a region around a wind power pile foundation measured by multi-beam scanning equipment; calculating the difference value between the first sea bed elevation and the second sea bed elevation, and judging whether the difference value is smaller than a preset threshold value or not; when the difference value is determined to be smaller than or equal to a preset threshold value, a three-dimensional sweep map of a plurality of measuring points is formed by utilizing a circumferential sweep SAR imaging geometric model based on three-dimensional coordinate values, the three-dimensional sweep map is converted based on a time domain difference value algorithm to obtain a plurality of two-dimensional planes, focusing imaging is carried out on the plurality of two-dimensional planes to obtain a three-dimensional image of a region around a wind power pile foundation, and scouring monitoring is carried out on the wind power pile foundation based on the three-dimensional image; therefore, the change of the scouring depth of the wind power pile foundation can be monitored in real time, and the scouring condition can be accurately predicted.

Description

Scouring monitoring method, device, equipment, system and medium for offshore wind power pile foundation

Technical Field

The application relates to the technical field of offshore wind power structure health monitoring, in particular to a flushing monitoring method, device, equipment, system and medium of an offshore wind power pile foundation.

Background

The single pile foundation is widely applied to offshore wind power projects as a foundation form with simple structure and large bearing capacity. However, the offshore wind power pile is in long-term service in a severe marine environment, under the impact action of wave and tidal load, soil around the wind power pile foundation is gradually reduced, the pile foundation burial depth is reduced, the pile foundation bearing capacity and the structural vibration frequency are reduced, and the safety of the structure is further affected. Therefore, the method for monitoring the local scouring around the pile foundation in real time during the service period of the single-pile offshore wind power pile and predicting the bearing capacity of the pile foundation is the most effective method for reducing the collapse of the wind power pile caused by excessive scouring of the foundation.

In the prior art, the method for monitoring the scouring of the offshore wind power pile foundation based on the sonar technology can be used for monitoring the local scouring around the wind power pile foundation by using the ranging sonar technology and generating the point cloud characteristics of the wind power pile foundation.

However, the method has few point cloud characteristic points, the arrangement of the points shows the characteristic of serious irregularity, and meanwhile, for the local scouring monitoring around the pile foundation, only the elevation change of the seabed can be reflected, the real-time change of the monitored scouring depth and the maximum scouring depth are limited, and the real-time performance and the accuracy are poor.

Disclosure of Invention

The application provides a scour monitoring method, device, equipment, system and medium for an offshore wind power pile foundation, which are used for solving the problems that the existing monitoring method is used for scour monitoring of the offshore wind power pile foundation, the monitored scour depth is limited in real-time change and maximum scour depth, and the instantaneity and accuracy are poor.

In a first aspect, the present application provides a method for monitoring scour of an offshore wind pile foundation, the method comprising:

acquiring first seabed heights and three-dimensional coordinate values of a plurality of measuring points in a wind power pile foundation surrounding area measured by multi-beam scanning equipment, and acquiring second seabed heights of the plurality of measuring points by a sonar ranging device;

calculating a difference value of the first seabed height Cheng He and the second seabed height, and judging whether the difference value is smaller than a preset threshold value or not;

when the difference value is determined to be smaller than or equal to a preset threshold value, a three-dimensional sweep map of a plurality of measuring points is formed by utilizing a circumferential sweep synthetic aperture radar SAR imaging geometric model based on the three-dimensional coordinate value, the three-dimensional sweep map is converted based on a time domain difference value algorithm to obtain a plurality of two-dimensional planes, the two-dimensional planes are focused and imaged to obtain a three-dimensional image of a region around a wind power pile foundation, and scouring monitoring is carried out on the wind power pile foundation based on the three-dimensional image.

Optionally, the first seabed elevation is calculated by using a water depth measurement principle based on the time and the first azimuth angle of the plurality of measuring points, wherein the multi-beam scanning equipment adopts a multi-array antenna to emit a pulse sound wave signal, and acquires the time and the first azimuth angle of the pulse sound wave signal reaching the plurality of measuring points in the area around the wind power pile foundation; and the second seabed elevation is obtained by the sonar ranging device, coordinates of an acoustic wave transmitting point and coordinates of a plurality of measuring points are obtained, a third-element symmetrical array ranging model is used for calculating a second azimuth angle and a distance between the acoustic wave transmitting point and each measuring point based on the coordinates of the acoustic wave transmitting point and the coordinates of the measuring points, and the second azimuth angle and the distance are used for calculating.

Optionally, converting the three-dimensional scan map based on a time domain difference algorithm to obtain a plurality of two-dimensional planes, including:

acquiring time when a pulse sound wave signal of the multi-beam scanning equipment reaches a plurality of measuring points in a region around a wind power pile foundation, and converting a three-dimensional scan map of the measuring points by using a time domain difference algorithm based on the time to obtain a plurality of initial two-dimensional planes;

Performing frequency domain analysis on the plurality of initial two-dimensional planes to obtain a frequency domain analysis result, and determining a target filter based on the frequency domain analysis result;

processing the plurality of initial two-dimensional planes by using the target filter to obtain a plurality of two-dimensional planes; each two-dimensional plane includes at least one measurement point.

Optionally, focusing imaging is performed on the plurality of two-dimensional planes to obtain a three-dimensional image of a surrounding area of the wind power pile foundation, including:

focusing and two-dimensional imaging are carried out on the measuring points corresponding to each two-dimensional plane to form a two-dimensional image;

and acquiring a third sea bed elevation of an unmeasured point by using a gridding interpolation algorithm based on the three-dimensional coordinate values of the plurality of measured points, calculating the average value of the second sea bed elevation of the first sea bed height Cheng He, and superposing the two-dimensional image based on the average value and the third sea bed elevation to obtain a three-dimensional image of the area around the wind power pile foundation.

Optionally, the monitoring of the scouring of the wind power pile foundation based on the three-dimensional image includes:

identifying a flushing pit area in the three-dimensional image, and calculating the bearing capacity of the offshore wind power pile foundation based on the flushing pit area;

And generating monitoring information based on the bearing capacity so as to prompt a user about the safety condition of the wind power pile foundation.

Optionally, the method further comprises:

and when the difference value is determined to be larger than a preset threshold value, re-acquiring second seabed heights of the plurality of measuring points acquired by the sonar ranging device until the difference value is smaller than or equal to the preset threshold value.

In a second aspect, the present application further provides a scour monitoring device for an offshore wind pile foundation, the device comprising:

the acquisition module is used for acquiring first seabed elevation and three-dimensional coordinate values of a plurality of measuring points in the surrounding area of the wind power pile foundation, which are measured by the multi-beam scanning equipment, and second seabed elevation of the plurality of measuring points, which is acquired by the sonar ranging device;

the calculating module is used for calculating the difference value of the second seabed height Cheng He and judging whether the difference value is smaller than a preset threshold value or not;

and the monitoring module is used for forming a three-dimensional sweep chart of a plurality of measuring points by utilizing a circular sweep synthetic aperture radar SAR imaging geometric model based on the three-dimensional coordinate value when the difference value is determined to be smaller than or equal to a preset threshold value, converting the three-dimensional sweep chart based on a time domain difference value algorithm to obtain a plurality of two-dimensional planes, carrying out focusing imaging on the plurality of two-dimensional planes to obtain a three-dimensional image of a region around a wind power pile foundation, and carrying out scouring monitoring on the wind power pile foundation based on the three-dimensional image.

In a third aspect, the present application further provides an electronic device, including: a processor, and a memory communicatively coupled to the processor;

the memory stores computer-executable instructions;

the processor executes computer-executable instructions stored by the memory to implement the method of any one of the first aspects.

In a fourth aspect, the present application further provides a scour monitoring system for an offshore wind pile foundation, the system comprising: a multi-beam scanning device, a sonar ranging device and an electronic device as described in the third aspect; the electronic equipment is deployed in the industrial personal computer; the industrial personal computer is arranged in a flange layer of the fan;

the multi-beam scanning equipment is fixed on the wind power pile foundation through a bracket, and is positioned at a position with a predefined height from the seabed and used for measuring first seabed elevation and three-dimensional coordinate values of a plurality of measuring points in the surrounding area of the wind power pile foundation;

the sonar ranging device is used for collecting second sea bed elevations of the plurality of measuring points.

In a fifth aspect, the present application also provides a computer-readable storage medium storing computer-executable instructions for implementing the method according to any one of the first aspects when executed by a processor.

In summary, the application provides a method, a device, equipment, a system and a medium for monitoring scouring of a wind power pile foundation at sea, which can acquire seabed heights and three-dimensional coordinates of a sufficient number of measuring points by transmitting acoustic pulse signals through multi-beam scanning equipment, acquire seabed heights of measuring points around the wind power pile foundation by using a sonar ranging device, further compare the seabed heights with the acquired seabed heights of the multi-beam scanning equipment, acquire a three-dimensional scanning map of scouring pits around the single pile wind power pile foundation based on the three-dimensional coordinates by using a visual imaging technology if the altitude difference is small, convert the three-dimensional scanning map based on a time domain difference algorithm to obtain a plurality of two-dimensional planes, further respectively perform two-dimensional imaging on the three-dimensional planes of the measuring points at different positions, and realize three-dimensional imaging of scouring pits around the pile foundation after superposition, thereby mapping the scouring change of the pits in real time according to the three-dimensional images corresponding to the three-dimensional imaging; therefore, the change of the scouring depth of the wind power pile foundation can be monitored in real time, and the scouring condition can be accurately predicted.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application;

FIG. 2 is a schematic flow chart of a method for monitoring scouring of an offshore wind pile foundation according to an embodiment of the present application;

fig. 3 is a schematic diagram of an operating principle of a circumferential scan SAR imaging geometric model according to an embodiment of the present application;

fig. 4 is a schematic diagram of an operating principle of a multi-beam scanning apparatus according to an embodiment of the present application;

fig. 5 is a schematic diagram of an operating principle of a range radar device according to an embodiment of the present application;

FIG. 6 is a schematic diagram of three-dimensional imaging according to an embodiment of the present disclosure;

FIG. 7 is a three-dimensional view of a scour pit around a pile foundation according to an embodiment of the present application;

FIG. 8 is a schematic flow chart of a method for monitoring scouring of a wind power pile foundation in the sea according to an embodiment of the present application;

FIG. 9 is a schematic structural diagram of a scour monitoring device for offshore wind turbine foundations according to an embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application;

fig. 11 is a schematic structural diagram of a scour monitoring system for an offshore wind power pile foundation according to an embodiment of the present application.

Specific embodiments thereof have been shown by way of example in the drawings and will herein be described in more detail. These drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments.

Detailed Description

In order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second", etc. are used to distinguish the same item or similar items having substantially the same function and effect. For example, the first device and the second device are merely for distinguishing between different devices, and are not limited in their order of precedence. It will be appreciated by those of skill in the art that the words "first," "second," and the like do not limit the amount and order of execution, and that the words "first," "second," and the like do not necessarily differ.

In this application, the terms "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.

In the present application, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a alone, a and B together, and B alone, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b, or c may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or plural.

The offshore wind power pile is in long-term service in a severe marine environment, under the impact action of wave and tidal load, soil mass around the wind power pile foundation is gradually reduced, pile foundation burial depth is reduced, pile foundation bearing capacity and structural vibration frequency are reduced, and therefore safety of the structure is affected. Therefore, the method for monitoring the local scouring around the pile foundation in real time during the service period of the single-pile offshore wind power structure and predicting the bearing capacity of the pile foundation of the structure is the most effective method for reducing the collapse of the wind power structure caused by excessive scouring of the foundation.

Specifically, after the fan foundation is lifted, under the action of waves and ocean currents, the streamline of water flow particles near the fan foundation changes, the sudden change of the streamline leads to the rapid increase of shear stress suffered by seabed surface soil particles, so that the seabed soil around the foundation is scoured, the foundation scour reduces the depth of penetration of a pile foundation, the bearing capacity of the foundation is reduced, and the self-vibration frequency of the fan structure is reduced. Because the erosion depth prediction method has the factors of limited accuracy, river channel change caused by extreme weather and geological disasters and the like, the actual erosion depth after the fan structure is lifted is possibly far greater than the designed maximum erosion depth, and the possibility of integral overturning of the fan structure during operation is increased.

Along with the development of sonar technology, the method for monitoring the local scouring around the wind power pile foundation by using the ranging sonar technology has the advantages of high precision, all weather, simplicity in operation, strong durability and the like, and is suitable for monitoring the local scouring of the wind power pile foundation at sea.

In a possible implementation manner, the method can be used for monitoring the scouring of the offshore wind power pile foundation based on a sonar technology monitoring method, namely, the distance measurement sonar technology is used for monitoring the local scouring around the wind power pile foundation, and the point cloud characteristics of the wind power pile foundation are generated.

However, the radar system is used in the method, the monitored point cloud feature points are few, the arrangement of the points shows the feature of serious irregularity, and meanwhile, for the monitoring of local scouring around the pile foundation, only the elevation change of the seabed can be reflected, the monitored real-time change of the scouring depth and the maximum scouring depth are limited, and the real-time performance and the accuracy are poor.

Optionally, the method can also be used for flushing and monitoring the offshore wind power pile foundation based on a monitoring method of a mechanical principle, a monitoring method of a thermodynamic technology, a monitoring method of an optical technology, an electromagnetic technology monitoring method and the like.

However, the monitoring of local scour around wind power pile foundation by adopting the method mainly has the following problems: the optical technology monitoring method is sensitive to the ambient temperature and is easy to cause signal distortion; the sensor equipment based on the monitoring method of the mechanical principle needs to be in seawater for a long time, and has high requirements on the durability and the precision of the equipment; the monitoring method based on electromagnetic technology has the advantages that the magnetic induction intensity of the target magnetic field is relatively close to that of the geomagnetic field, the separation difficulty of the target magnetic field and the geomagnetic field is high, and the scouring information around the pile foundation is difficult to accurately obtain; the sonar radar can only acquire the sea bed surface elevation information of a few measuring points, and cannot acquire real-time changes of the flushing pit around the real-time mapping pile foundation and the maximum flushing depth.

Therefore, in the prior art, the scouring condition of the offshore wind power support structure in a complex service environment is difficult to accurately predict by a numerical simulation or physical model test method, and on-site monitoring is an important means for knowing the real service state of the structure.

Aiming at the problems, the application provides a scour monitoring method for a wind power pile foundation at sea, which can acquire the seabed height and three-dimensional coordinates of a sufficient number of measuring points by transmitting acoustic pulse signals through multi-beam scanning equipment, acquire the seabed height of measuring points around the wind power pile foundation by using a sonar ranging device, further compare the seabed height with the acquired seabed height of the multi-beam scanning equipment, acquire a three-dimensional scanning map of scour pits around the single pile wind power pile foundation based on the three-dimensional coordinates by using a visual imaging technology if the height difference between the seabed height and the seabed height is smaller, convert the three-dimensional scanning map based on a time domain difference algorithm to acquire a plurality of two-dimensional planes, further respectively perform two-dimensional imaging on the three-dimensional planes of measuring points at different positions, and realize three-dimensional imaging of scour pits around the pile foundation after superposition, thereby mapping the change of the scour pits in real time according to the three-dimensional images corresponding to the three-dimensional imaging; therefore, the change of the scouring depth of the wind power pile foundation can be monitored in real time, and the scouring condition can be accurately predicted.

For example, fig. 1 is a schematic diagram of an application scenario provided in the embodiment of the present application, as shown in fig. 1, where the application scenario may be applied to local scour monitoring of an offshore wind power pile foundation, and taking a multi-beam scanning device as a multi-beam scanner and a sonar ranging device as a ranging radar as an example, the application scenario includes: offshore wind power piles, multi-beam scanners, range radars and data processing systems; the data processing system is provided with visual identification software; the offshore wind power pile comprises a tower barrel and a pile foundation, namely a wind power pile foundation.

Specifically, the multi-beam scanner can utilize the transmitting transducer array to transmit sound waves to the sea bottom, and utilize the receiving transducer array to receive the sound waves in a narrow beam manner, and can acquire the sea bed heights of different measuring points of the sea bed through transmitting and receiving the sound waves; the range radar can emit continuous pulse sound waves through the transmitter, calculates the sea bed elevation of the measuring point according to the time when the sound waves reach the measuring point and return to the receiver, and compares the sea bed elevation with the three-dimensional coordinate value obtained by the multi-beam scanner by combining the monitored position coordinate information of the measuring point so as to recheck the water depth of the measuring point.

Further, in order to map the evolution of the flushing pit around the pile foundation, a three-dimensional view is obtained based on three-dimensional coordinate values, after the sea bed elevation of the measuring point around the pile foundation is obtained, according to a circumferential scanning synthetic aperture radar (Synthetic Aperture Radar, SAR) geometric model, acoustic wave echo information is converted from a three-dimensional inclined plane to a two-dimensional imaging plane where the measuring point is located in a time domain interpolation mode, three-dimensional imaging of the flushing pit around the pile foundation can be obtained after focusing the two-dimensional planes of the measuring point at different positions, further, the flushing monitoring is carried out on the wind power pile foundation based on the three-dimensional imaging image, namely the flushing pit around the pile foundation and the maximum flushing depth can be mapped, and the safety evaluation is carried out on the wind power pile foundation.

It should be noted that the sea bed elevation may refer to the water depth of a measuring point on the sea bed; the seabed in different areas corresponds to different seabed heights, and thus, different measuring points correspond to different seabed elevations; the sea bed elevation refers to the distance from a point to the horizontal plane along the plumb line, and the numerical value of each measured sea bed elevation is not particularly limited in the embodiment of the application.

The following describes the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

Fig. 2 is a flow chart of a method for monitoring the flushing of an offshore wind pile foundation according to an embodiment of the present application, as shown in fig. 2, an execution main body of the method for monitoring the flushing of an offshore wind pile foundation is a data processing system, and the method for monitoring the flushing of an offshore wind pile foundation includes the following steps:

s201, acquiring first seabed elevation and three-dimensional coordinate values of a plurality of measuring points of a wind power pile foundation surrounding area measured by multi-beam scanning equipment, and acquiring second seabed elevation of the plurality of measuring points acquired by a sonar ranging device.

In the embodiment of the application, the change of the scouring pit is mapped in real time by introducing a visual imaging technology, the visual imaging technology is different from a machine vision technology, and the imaging of the scouring pit is realized by the visual imaging technology through the sea bed elevation and coordinates around the wind power pile foundation acquired by multi-beam scanning equipment.

Specifically, in order to comprehensively reflect the change of the sea bed elevation around the wind power pile foundation, the sea bed elevation around the wind power pile foundation is swept by utilizing multi-beam scanning equipment, and the working principle of the multi-beam scanning equipment is similar to that of a sonar ranging device, and the water depth of a plurality of measuring points around the pile foundation is obtained mainly according to the product of the time of sound wave back and forth propagation under water and the propagation speed of the sound wave in water; the water depth is the sea bed elevation, and the multi-beam scanning device may also be referred to as a multi-beam scanning device, which is not particularly limited in this embodiment of the present application, and the function of the multi-beam scanning device is to be used for measuring the first sea bed elevation and the three-dimensional coordinate values of a plurality of measurement points in the area around the wind power pile foundation.

The size of the surrounding area and the three-dimensional coordinate value of each measurement point are not particularly limited, and are determined based on an actual scene.

In this step, in order to ensure the effectiveness of the multi-beam scanning device, the sonar ranging device can be used to sweep the elevation of the seabed around the pile foundation again, and the data obtained by the sonar ranging device and the data swept by the multi-beam scanning device are compared.

S202, calculating a difference value of the second sea bed elevation of the first sea bed height Cheng He, and judging whether the difference value is smaller than a preset threshold value.

In this embodiment of the present application, the preset threshold is a value preset in advance and corresponding to a smaller difference value between the first sea bed elevation and the second sea bed elevation, and the specific value corresponding to the preset threshold is not limited in this embodiment of the present application.

In the step, after the sea bed elevation of the measuring point of the area around the wind power pile foundation is obtained by using the sonar ranging device, the sea bed elevation is checked with the result of the multi-beam scanning equipment, and if the elevation difference between the sea bed elevation and the multi-beam scanning equipment is smaller, namely smaller than or equal to a preset threshold value, the average value of the sea bed elevation and the multi-beam scanning equipment can be taken as the water depth of the measuring point.

And S203, when the difference value is determined to be smaller than or equal to a preset threshold value, based on the three-dimensional coordinate value, a three-dimensional sweep map of a plurality of measuring points is formed by utilizing a circular sweep synthetic aperture radar SAR imaging geometric model, the three-dimensional sweep map is converted based on a time domain difference value algorithm, a plurality of two-dimensional planes are obtained, focusing imaging is carried out on the plurality of two-dimensional planes, a three-dimensional image of a region around a wind power pile foundation is obtained, and scouring monitoring is carried out on the wind power pile foundation based on the three-dimensional image.

In the embodiment of the present application, the time domain difference algorithm may refer to an algorithm for filling a gap between pixels in image transformation based on time, and the specific algorithm type corresponding to the time domain difference algorithm in the embodiment of the present application is not limited, and may be a trigonometric function difference algorithm or a polynomial function difference algorithm.

In this step, in order to realize three-dimensional imaging of the scour pit around the pile foundation, after the data of the multi-beam scanning device and the sonar ranging device are acquired, the pulse acoustic echo signals received by the receiver are subjected to time domain interpolation according to the circumferential scan SAR geometric model, the three-dimensional scan map of the measurement points is converted into a two-dimensional plane, the echo signals received by the receiver are subjected to frequency domain analysis in the two-dimensional plane, a filter is designed according to the frequency domain analysis result, the two-dimensional plane is filtered and focused, the three-dimensional planes of the measurement points at different positions are respectively subjected to two-dimensional imaging, three-dimensional imaging of the scour pit around the pile foundation can be realized after superposition, and a three-dimensional image of the area around the wind power pile foundation is obtained, and further, the scour monitoring can be performed on the wind power pile foundation based on the three-dimensional image.

The principle of the circumferential scan SAR geometric model is shown in fig. 3, fig. 3 is a schematic diagram of the working principle of the circumferential scan SAR imaging geometric model provided by the embodiment of the application, and specifically, S is the phase center of the multi-beam scanning device or the radar ranging device; o (O) S is a sweep radius; l is the radius of rotation; θ is the azimuth angle of the phase center; the P point is a target monitoring point, namely any one measuring point; the diagonal distance between the monitoring target point and the phase center is R _n The method comprises the steps of carrying out a first treatment on the surface of the The geometric model of the circumferential sweep SAR finishes sweep of the scouring pits around the pile foundation by taking the O point as a rotation center to do circular motion.

Let the spatial position coordinates of the phase center S be (x _s ，y _s ，z _s ) Wherein, the method comprises the steps of, wherein,

then the spatial position coordinate of the target monitoring point P is set as (x _p ，y _p ，z _p ) Diagonal distance R between target monitoring point P and phase center _n Can be expressed as:

from the above, the diagonal distance R _n The three-dimensional space coordinate information of the target measuring point P is contained, so that the circumferential scanning SAR imaging geometric model has three-dimensional imaging capability.

Therefore, the embodiment of the application scans the peripheral seabed of the wind power pile foundation and the depth of the flushing pit by using the multi-beam technology, analyzes field actual measurement data by using the visual imaging technology, namely acquires a three-dimensional view of the flushing pit around the single pile wind power pile foundation for analysis, maps the change of the flushing pit in real time, further grasps the basic flushing condition, and provides reference for monitoring the service state of the offshore wind power support structure and optimizing and researching related designs.

In the embodiment of the application, the multi-beam scanning equipment adopts a multi-array antenna system to realize 360-degree omni-directional coverage, and can completely map the outline of the scouring pit around the wind power pile foundation; fig. 4 is a schematic diagram of an operating principle of a multi-beam scanning device provided in an embodiment of the present application, as shown in fig. 4, the multi-beam scanning device transmits an acoustic wave (pulse acoustic wave signal) covered by a wide sector to the sea bottom through an array antenna S of a transmitting transducer, and uses a receiving transducer array to receive a narrow beam of the acoustic wave, further, scans the sea bed topography through orthogonalization of the transmitting and receiving sectors, and can obtain a water depth H, that is, a depth Z, of a measurement point in a plane perpendicular to a heading through processing scan data.

According to the water depth measurement principle, the first sea bed elevation H (water depth H) of the measurement point can be expressed as:

where v denotes the propagation velocity of the sound wave in the sea water, and t and θ denote the time and the first azimuth angle, respectively, at which the pulse wave reaches the seabed bottom measurement point.

In fig. 4, θ ₀ Representing the beam angle, i.e. the first azimuth angle; r represents the distance, i.e. the diagonal distance of the measurement point from the phase center.

In the embodiment of the application, in order to ensure the accuracy of the scanning result of the multi-beam scanning equipment, a sonar ranging device such as a range radar is used for measuring the water depth of a measuring point during scanning, specifically, the range radar estimates the azimuth angle and the distance of the measuring point by estimating the propagation time difference between the radiation noise of the measuring point and the array elements of the measuring array according to the geometric relationship of a three-dimensional symmetric array ranging model.

For example, fig. 5 is a schematic diagram of an operating principle of a range radar device provided in an embodiment of the present application, and as shown in fig. 5, a process for measuring a second sea bed elevation according to a ternary symmetrical array ranging model includes: acquiring coordinates of an acoustic wave emission point and coordinates of the plurality of measurement points, taking S as the acoustic wave emission point, taking three primitives of a sonar array as examples, 1, 2 and 3 as respectively, setting the distances between the three primitives as d, setting a second azimuth angle between the measurement point and the acoustic wave emission point as theta', and setting the distances from the acoustic wave emission point S to the primitives as r respectively ₁ 、r ₂ 、r ₃ Distance r between measuring point and acoustic wave emission point S ₂ I.e. the target distance r.

Further, the above-mentioned coordinate r ₁ 、r ₂ 、r ₃ Turning to a polar coordinate system, the coordinates of the acoustic wave emission point S are denoted as S (r, θ'), the polar coordinates of the three primitives are denoted as (d, pi), (0, 0) (d, 0), respectively, and the distance between the acoustic wave emission point S and the primitive can be expressed as:

when the propagation speed of sound waves in sea water is v, the time delay of pulse sound wave signals reaching different primitives is respectively as follows:

wherein t is ₁₂ Representing the time difference, t, between receipt of pulsed acoustic signals by both elements 1, 2 ₂₃ Representing the time difference, t, between receipt of pulsed acoustic signals by both elements 2, 3 ₁₃ Representing the time difference in receipt of the pulsed acoustic signal by the elements 1, 3.

Further, the distance between the measurement point and each primitive is brought into the above-described time difference expression, and it is possible to obtain:

by means of squaring, shifting, and the like, the method can be used for obtaining:

the two formulas are divided and added to obtain a second azimuth angle theta' and a distance r of the measuring point:

further, the second sea bed elevation is calculated using the formula H '=rsinθ'.

The propagation speed of the sound wave in the sea water used in calculating the first sea bed elevation and the second sea bed elevation can be determined based on the sea area characteristics, and specific values corresponding to the propagation speed in the embodiment of the present application are not limited.

Therefore, the embodiment of the application can realize 360-degree omni-directional coverage scanning by utilizing multi-beam scanning equipment, improves the accuracy of data acquisition, and acquires the sea bed elevation of the measuring point again by utilizing the sonar ranging device based on the ternary symmetrical array ranging model so as to recheck the water depth of the measuring point, thereby improving the quality of acquired data.

In this embodiment of the present application, the target filter is configured to filter interference data, that is, filter data corresponding to measurement points with other time or redundancy, and because a process of scanning the measurement points by the multi-beam scanning device is performed in real time, there may be data of the measurement points with other time, that is, for the same measurement point, data corresponding to different times.

Fig. 6 is a schematic diagram of three-dimensional imaging provided in the embodiment of the present application, where, as shown in fig. 6, time is taken as a Z axis, a time domain interpolation is performed on a pulse acoustic echo signal received by a receiver, a three-dimensional scan of a measurement point is converted into a two-dimensional plane, so as to obtain an initial two-dimensional plane, such as an imaging area in fig. 6, further, a frequency domain analysis is performed on the imaging area, so as to obtain a frequency domain analysis result, and a target filter is determined based on the frequency domain analysis result; further, the interference signals in the imaging area are filtered by using a target filter, and a two-dimensional plane is obtained.

Wherein the time domain interpolation process comprises: according to R in the above embodiment _n Taking multi-beam transmitted acoustic signals as an example, the frequency domain expression of the echo signals is:

in the above formula, τ is the scattering coefficient of the measurement point, rect is a singular time function, B _r For the bandwidth of the signal,ffor the frequency of the signal,f _c is the signal center frequency, v is the speed of sound waves in water,Lradius of rotation for phase center, j is complex, j ² =-1。

To simplify the push-to process, wavenumbers can be definedKI.e. k=4pi (f+fc)/v, willKThe wave number domain expression of the echo signal can be obtained by being brought into the frequency domain expression of the echo signal:

It should be noted that, the scattering coefficient and the singular time function may be determined based on the sea area characteristics, the signal frequency is a sampling frequency preset in advance, the signal center frequency is determined based on the multi-beam scanning device, and specific values corresponding to the parameters are not limited in the embodiment of the present application.

Therefore, the embodiment of the application can convert the three-dimensional scan map into a plurality of two-dimensional planes based on the time domain difference algorithm, so that the processing flow is simplified, and the imaging speed is further improved.

In the embodiment of the application, when the three-dimensional imaging of the scouring pit around the pile foundation is performed, the third seabed elevation of the unmeasured point can be obtained by using a gridding interpolation method based on the data measured by the multi-beam scanning equipment and the sonar ranging device, and then the three-dimensional view of the scouring pit is mapped according to the seabed elevation around the pile foundation; the sea bed elevation around the pile foundation may be determined based on the first sea bed elevation and the second sea bed elevation.

The method comprises the steps of obtaining a second seabed height of a measuring point around a wind power pile foundation by using a sonar ranging device, and checking the second seabed height with a first seabed height measured by a multi-beam scanning device, namely calculating a difference value between the first seabed height and the second seabed height, and taking an average value of the first seabed height and the second seabed height as the water depth of the measuring point if the difference value is smaller; alternatively, the weighted values of the first sea bed elevation and the second sea bed elevation may be calculated by using a weighted algorithm, as the water depth of the measuring point, which is not particularly limited in the embodiment of the present application, and various algorithms may be used to determine the water depth of the measuring point.

In this step, focusing is performed on a two-dimensional plane, two-dimensional imaging is performed on three-dimensional planes of measurement points at different positions, a third seabed elevation of an unbanned measurement point is obtained through an interpolation method, and then three-dimensional imaging of a scouring pit around a pile foundation can be achieved based on the third seabed elevation and the water depth of the measurement point after a plurality of two-dimensional images are overlapped, and fig. 7 is a three-dimensional view of the scouring pit around the pile foundation, as shown in fig. 7, of a formed wind power pile foundation surrounding area.

Therefore, the three-dimensional view of the scouring pit around the wind power pile foundation can be obtained based on the visual imaging technology, the influence of the environment is small, and the third seabed elevation data of the unmeasured points can be obtained by using the gridding interpolation algorithm, so that a large amount of seabed elevation information can be obtained, and the stability and accuracy of imaging are improved.

In this embodiment of the present application, the flushing pit area is used to indicate a condition that a surrounding area of the wind power pile foundation is flushed, including a depth of the flushing pit, a width of the flushing pit, a depth of embedding the wind power pile foundation, and the like.

In this step, the bearing capacity of the wind power pile foundation can be calculated by using a bearing capacity calculation formula based on the depth of the flushing pit, the width of the flushing pit and the embedding depth of the wind power pile foundation, and monitoring information is generated based on the bearing capacity, for example, corresponding safety grades can be searched based on the bearing capacity, the bearing capacities with different sizes correspond to the safety grades with different grades, and the monitoring information is generated based on the safety grades, so as to prompt a user about the safety condition of the wind power pile foundation.

Optionally, when the security level is higher, warning information can be generated, and a warning such as a red light warning, an acoustic warning and the like can be sent out in time; the division of security levels in the embodiments of the present application is not particularly limited.

Therefore, the embodiment of the application can map the change of the flushing pit in real time based on the three-dimensional image, and calculate the bearing capacity of the wind power pile foundation so as to remind a user of the safety condition of the wind power pile foundation, and improve the service safety of the wind power pile.

Optionally, the method further comprises:

In this step, after the second seabed height of the measuring point of the wind power pile foundation periphery is obtained by using the sonar ranging device, the second seabed height can be compared with the obtained first seabed height of the multi-beam scanning device, if the difference between the second seabed height and the first seabed height is larger, that is, the difference between the first seabed height and the second seabed height is larger than a preset threshold, the device can be checked again, the measurement is performed again, and when the difference between the second seabed height and the first seabed height is within an allowable error range, that is, the difference between the second seabed height and the first seabed height is larger than the preset threshold, the measurement is stopped.

It should be noted that, when the measurement is performed again, the second seabed elevation of the plurality of measurement points acquired by the sonar ranging device may be obtained again, and the first seabed elevation of the plurality of measurement points acquired by the multi-beam scanning device may be obtained again.

Therefore, the embodiment of the application can collect the data of the measuring points for a plurality of times so as to optimize the accuracy of the collected data, and further improve the accuracy of the three-dimensional image.

In combination with the above embodiments, fig. 8 is a flow chart of a method for monitoring the flushing of an offshore wind turbine pile foundation according to the embodiment of the present application, as shown in fig. 8, where the method for monitoring the flushing of an offshore wind turbine pile foundation includes: based on multi-beam scanning equipment, utilizing a sounding principle to sweep the sea bed elevation around the pile foundation to obtain first sea bed elevations and three-dimensional coordinate values of a plurality of measuring points; monitoring the water depth rechecking of the measuring points by using a ternary symmetrical array ranging model based on a sonar ranging device to obtain second sea bed heights of a plurality of measuring points; furthermore, based on the three-dimensional coordinate values, a circumferential sweep SAR imaging geometric model is utilized to perform three-dimensional imaging on scouring pits around the pile foundation, and based on the three-dimensional imaged images, the wind power pile foundation is scoured and monitored.

Therefore, the seabed surface elevation information of a sufficient number of measuring points can be obtained through the multi-beam scanning equipment, the seabed surface elevation information of the measuring points is rechecked based on the sonar ranging device, and further the local scouring monitoring of the offshore wind power pile foundation is carried out based on the visual imaging technology, so that the accuracy of scouring condition prediction is improved.

In the foregoing embodiments, the method for monitoring the scouring of the offshore wind turbine pile foundation provided in the embodiments of the present application is described, and in order to implement each function in the method provided in the embodiments of the present application, the electronic device as the execution body may include a hardware structure and/or a software module, and each function may be implemented in the form of a hardware structure, a software module, or a hardware structure plus a software module. Some of the functions described above are performed in a hardware configuration, a software module, or a combination of hardware and software modules, depending on the specific application of the solution and design constraints.

For example, fig. 9 is a schematic structural diagram of a scour monitoring apparatus for an offshore wind pile foundation according to an embodiment of the present application, where the apparatus 900 includes: an acquisition module 901, a calculation module 902 and a monitoring module 903; the acquiring module 901 is configured to acquire first seabed elevations and three-dimensional coordinate values of a plurality of measurement points in a region around a wind power pile foundation measured by using multi-beam scanning equipment, and second seabed elevations of the plurality of measurement points acquired by using a sonar ranging device;

the calculating module 902 is configured to calculate a difference value of the first seabed level Cheng He and the second seabed level, and determine whether the difference value is less than a preset threshold;

The monitoring module 903 is configured to, when determining that the difference value is less than or equal to a preset threshold value, form a three-dimensional scan map of a plurality of measurement points by using a circular scan synthetic aperture radar SAR imaging geometric model based on the three-dimensional coordinate value, convert the three-dimensional scan map based on a time domain difference algorithm to obtain a plurality of two-dimensional planes, perform focusing imaging on the plurality of two-dimensional planes to obtain a three-dimensional image of an area around a wind power pile foundation, and perform scour monitoring on the wind power pile foundation based on the three-dimensional image.

Optionally, the monitoring module 903 includes a conversion unit, an imaging unit, and a monitoring unit; the conversion unit is used for:

Optionally, the imaging unit is configured to:

Optionally, the monitoring unit is configured to:

Optionally, the apparatus 900 further includes a reacquiring module, where the reacquiring module is configured to:

The specific implementation principle and effect of the scouring monitoring device for the offshore wind power pile foundation provided by the embodiment of the application can be referred to the corresponding related description and effect of the embodiment, and the description is not repeated here.

The embodiment of the application further provides a schematic structural diagram of an electronic device, and fig. 10 is a schematic structural diagram of an electronic device provided in the embodiment of the application, as shown in fig. 10, the electronic device may include: a processor 1001 and a memory 1002 communicatively coupled to the processor; the memory 1002 stores a computer program; the processor 1001 executes a computer program stored in the memory 1002, so that the processor 1001 performs the method described in any of the above embodiments.

Wherein the memory 1002 and the processor 1001 may be connected by a bus 1003.

Optionally, fig. 11 is a schematic structural diagram of a scour monitoring system of an offshore wind pile foundation according to an embodiment of the present application, as shown in fig. 11, a scour monitoring system 1100 of an offshore wind pile foundation includes: multi-beam scanning device 1101, sonar ranging device 1102, and electronic device 1103; the electronic equipment is deployed in an industrial personal computer 1104; the industrial personal computer 1104 is arranged in a flange layer of the fan;

the multi-beam scanning equipment 1101 is fixed on the wind power pile foundation through a bracket, and is positioned at a position with a predefined height from the seabed and used for measuring first seabed elevation and three-dimensional coordinate values of a plurality of measuring points of the area around the wind power pile foundation;

the sonar ranging device 1102 is configured to acquire a second sea floor elevation of the plurality of measurement points.

In this embodiment of the present application, the predefined height is a distance corresponding to data preset in advance for completely collecting the measurement point, and the numerical value corresponding to the predefined height is not specifically limited in this embodiment of the present application.

In the system, a multi-beam scanning device 1101 is fixed at a position with a predefined height distance from the height of the seabed of a pile foundation through a bracket, and an electronic device 1103 is installed in an industrial personal computer 1104; the electronic device comprises a data processing system and visual imaging software; correspondingly, the industrial personal computer 1104 is arranged in the basic flange layer of the fan, so that the influence of severe marine environment can be effectively avoided.

Optionally, the industrial personal computer 1104 can transmit the data processing and visual imaging results to the offshore wind power structure health monitoring platform in real time through an offshore wireless network, so as to provide data support for structure health assessment.

Note that, the electronic device 1103 is an electronic device shown in fig. 10 in the above embodiment, and the electronic device is configured to perform the method described in any one of the above embodiments.

It can be understood that the present application provides a system for monitoring the scouring of the wind power pile foundation at sea, which is an implementation carrier of the method for monitoring the scouring of the wind power pile foundation at sea, and the specific implementation principle and effect thereof can be referred to the relevant description and effect corresponding to the above embodiment, and will not be repeated here.

Embodiments of the present application also provide a computer-readable storage medium storing computer program execution instructions that, when executed by a processor, are configured to implement a method as described in any of the foregoing embodiments of the present application.

The embodiment of the application also provides a chip for executing instructions, wherein the chip is used for executing the method in any of the previous embodiments executed by the electronic equipment in any of the previous embodiments of the application.

Embodiments of the present application also provide a computer program product comprising a computer program which, when executed by a processor, performs a method as described in any of the preceding embodiments of the present application, as performed by an electronic device.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules is merely a logical function division, and there may be additional divisions of actual implementation, e.g., multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.

The modules illustrated as separate components may or may not be physically separate, and components shown as modules may or may not be physical units, may be located in one place, or may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to implement the solution of this embodiment.

In addition, each functional module in each embodiment of the present application may be integrated in one processing unit, or each module may exist alone physically, or two or more modules may be integrated in one unit. The units formed by the modules can be realized in a form of hardware or a form of hardware and software functional units.

The integrated modules, which are implemented in the form of software functional modules, may be stored in a computer readable storage medium. The software functional modules described above are stored in a storage medium and include instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or processor to perform some of the steps of the methods described in various embodiments of the present application.

It should be appreciated that the processor may be a central processing unit (Central Processing Unit, CPU for short), other general purpose processors, digital signal processor (Digital Signal Processor, DSP for short), application specific integrated circuit (Application Specific Integrated Circuit, ASIC for short), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present application may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in a processor for execution.

The Memory may include a high-speed random access Memory (Random Access Memory, abbreviated as RAM), and may further include a Non-volatile Memory (NVM), such as at least one magnetic disk Memory, and may also be a U-disk, a removable hard disk, a read-only Memory, a magnetic disk, or an optical disk.

The bus may be an industry standard architecture (Industry Standard Architecture, ISA) bus, an external device interconnect (PeripheralComponent Interconnect, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, the buses in the drawings of the present application are not limited to only one bus or one type of bus.

The storage medium may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random-Access Memory (SRAM), electrically erasable programmable Read-Only Memory (Electrically Erasable Programmable Read Only Memory, EEPROM), erasable programmable Read-Only Memory (ErasableProgrammable Read-Only Memory, EPROM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an application specific integrated circuit (Application Specific Integrated Circuits, ASIC for short). It is also possible that the processor and the storage medium reside as discrete components in an electronic device or a master device.

It should be noted that, for simplicity of description, the foregoing method embodiments are all expressed as a series of action combinations, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all alternative embodiments, and that the acts and modules referred to are not necessarily required in the present application.

It should be further noted that, although the steps in the flowchart are sequentially shown as indicated by arrows, the steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least a portion of the steps in the flowcharts may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order in which the sub-steps or stages are performed is not necessarily sequential, and may be performed in turn or alternately with at least a portion of the sub-steps or stages of other steps or other steps.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments. The technical features of the foregoing embodiments may be arbitrarily combined, and for brevity, all of the possible combinations of the technical features of the foregoing embodiments are not described, however, all of the combinations of the technical features should be considered as being within the scope of the disclosure.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

The foregoing is merely a specific implementation of the embodiments of the present application, but the protection scope of the embodiments of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the embodiments of the present application should be covered by the protection scope of the embodiments of the present application. Therefore, the protection scope of the embodiments of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for monitoring the flushing of a wind power pile foundation at sea, the method comprising:

when the difference value is determined to be smaller than or equal to a preset threshold value, based on the three-dimensional coordinate value, a three-dimensional sweep map of a plurality of measuring points is formed by utilizing a circumferential sweep synthetic aperture radar SAR imaging geometric model, the three-dimensional sweep map is converted based on a time domain difference value algorithm to obtain a plurality of two-dimensional planes, the two-dimensional planes are focused and imaged to obtain a three-dimensional image of a region around a wind power pile foundation, and the wind power pile foundation is scoured and monitored based on the three-dimensional image;

the first seabed elevation is calculated by using a water depth measurement principle based on the time and the first azimuth angle of a plurality of measuring points in the surrounding area of the wind power pile foundation, wherein the multi-beam scanning equipment adopts a multi-array antenna to emit pulse sound wave signals and acquires the time and the first azimuth angle of the pulse sound wave signals reaching the plurality of measuring points; and the second seabed elevation is obtained by the sonar ranging device, coordinates of an acoustic wave transmitting point and coordinates of a plurality of measuring points are obtained, a third-element symmetrical array ranging model is used for calculating a second azimuth angle and a distance between the acoustic wave transmitting point and each measuring point based on the coordinates of the acoustic wave transmitting point and the coordinates of the measuring points, and the second azimuth angle and the distance are used for calculating.

2. The method of claim 1, wherein converting the three-dimensional scan map based on a time domain difference algorithm results in a plurality of two-dimensional planes, comprising:

3. The method of claim 1, wherein focusing the plurality of two-dimensional planes to obtain a three-dimensional image of an area surrounding the wind pile foundation comprises:

4. The method of claim 1, wherein scour monitoring the wind pile foundation based on the three-dimensional image comprises:

5. The method according to any one of claims 1-4, further comprising:

6. A scour monitoring device for an offshore wind pile foundation, the device comprising:

The monitoring module is used for forming a three-dimensional sweep chart of a plurality of measuring points by utilizing a circular sweep synthetic aperture radar SAR imaging geometric model based on the three-dimensional coordinate value when the difference value is determined to be smaller than or equal to a preset threshold value, converting the three-dimensional sweep chart based on a time domain difference value algorithm to obtain a plurality of two-dimensional planes, carrying out focusing imaging on the plurality of two-dimensional planes to obtain a three-dimensional image of a region around a wind power pile foundation, and carrying out scouring monitoring on the wind power pile foundation based on the three-dimensional image;

7. An electronic device, comprising: a processor, and a memory communicatively coupled to the processor;

the memory stores computer-executable instructions;

the processor executes computer-executable instructions stored in the memory to implement the method of any one of claims 1-5.

8. A scour monitoring system for an offshore wind pile foundation, the system comprising: a multi-beam scanning device, a sonar ranging device and an electronic device as recited in claim 7; the electronic equipment is deployed in the industrial personal computer; the industrial personal computer is arranged in a flange layer of the fan;

9. A computer readable storage medium storing computer executable instructions which when executed by a processor are adapted to implement the method of any one of claims 1-5.