阅读说明：本技术 一种海上风电场海缆监测与保护系统和方法 (Offshore wind farm submarine cable monitoring and protecting system and method ) 是由 赵鹏程 齐革军 陈晓路 杭兆峰 刘溟江 姚中原 杨立华 孙正标 刁新忠 周峰峰 于 2021-07-14 设计创作，主要内容包括：本发明公开了一种海上风电场海缆监测与保护系统和方法,方法包括以下过程,对海缆的温度、应变和扰动状态进行实时监测,通过船舶自动识别系统获取船舶信息,并在海缆外部设置电子围栏,依据船舶信息中的船舶航速对进入电子围栏的船舶发出警报；依据船舶自动识别系统获取的数据预测船舶的轨迹方向,通过雷达对船舶进行跟踪,对船舶进行视屏拍摄,并对船舶进行驱离,对海缆故障点进行定位分析。本发明实现集海缆状态监测、AIS船舶信息监测与雷达扫描、轨迹预测、视频存证于一体的海缆全方位监测与保护,从而保障了海缆的运行安全。能够从海缆运行状态及船舶危害预警等各方便对海缆实行保护。(The invention discloses a system and a method for monitoring and protecting an offshore wind farm submarine cable, wherein the method comprises the following processes of monitoring the temperature, strain and disturbance state of the submarine cable in real time, acquiring ship information through an automatic ship identification system, arranging an electronic fence outside the submarine cable, and giving an alarm to a ship entering the electronic fence according to the ship speed in the ship information; the track direction of the ship is predicted according to data acquired by the automatic ship identification system, the ship is tracked through a radar, the ship is shot in a view screen mode, the ship is driven away, and a submarine cable fault point is located and analyzed. The invention realizes the comprehensive monitoring and protection of the submarine cable by integrating the state monitoring of the submarine cable, the AIS ship information monitoring and radar scanning, the track prediction and the video evidence storage, thereby ensuring the operation safety of the submarine cable. The submarine cable can be conveniently protected from the operation state of the submarine cable, the early warning of ship damage and the like.)

1. A method for monitoring and protecting an offshore wind farm submarine cable is characterized by comprising the following processes of monitoring the temperature, strain and disturbance state of the submarine cable in real time, acquiring ship information through an automatic ship identification system, arranging an electronic fence outside the submarine cable, and giving an alarm to a ship entering the electronic fence according to the ship speed in the ship information; the track direction of the ship is predicted according to data acquired by the automatic ship identification system, the ship is tracked through a radar, the ship is shot in a view screen mode, the ship is driven away, and a submarine cable fault point is located and analyzed.

2. The method for monitoring and protecting the submarine cable of the offshore wind farm according to claim 1, comprising the following steps,

step 1, monitoring the states of temperature, strain and disturbance of a submarine cable in real time;

step 2, establishing an automatic marine ship identification system, and acquiring ship information when a ship passes through an offshore wind farm;

step 3, establishing a graded regional electronic fence outside the submarine cable, and warning when the ship enters the electronic fence region;

step 4, acquiring data in the automatic ship identification system, predicting the track direction of the ship, and performing anchor damage early warning;

step 5, tracking the ship by adopting radar scanning;

step 6, monitoring the ship through a camera device, and uploading the ship to a computer in real time;

step 7, when the ship threatens the safety of the submarine cable, the ship is shout and driven away;

and 8, positioning the damaged part by adopting a phi-OTDR technology.

3. The method for monitoring and protecting the submarine cable of the offshore wind farm according to claim 2, wherein in the step 1, the states of the temperature, strain and disturbance of the submarine cable are monitored in real time by a submarine cable monitoring sensor, and the monitoring precision is 1 m.

4. The method for monitoring and protecting the offshore wind farm submarine cable according to claim 2, wherein in step 2, the ship information comprises dynamic information and static information, and the dynamic information comprises the instant speed, the course, the changed course rate, the track and the alarm information of the ship;

the static information includes the name of the ship, call number, tonnage, draft, width of the shipyard, cargo and destination port.

5. The method according to claim 2, wherein in step 3, three-level electronic fences are respectively established at positions 500 m, 300 m and 100 m away from the submarine cable according to the distance between the ship and the submarine cable and the ship speed.

6. The method for monitoring and protecting the offshore wind farm submarine cable according to claim 2, wherein in step 4, longitude and latitude coordinate data in an automatic ship identification system are obtained, the longitude and latitude coordinates are converted into mercator coordinates, clustering analysis is carried out on the mercator coordinates, the track direction of the ship is predicted, and anchor damage early warning is carried out.

7. The method according to claim 6, wherein the conversion formula in step 4 is

In the formula, the geographic coordinates areThe rectangular coordinates of the mercator are (x, y), the ellipse length of the earth is a, and the first eccentricity of the earth is e.

8. The method for monitoring and protecting the submarine cable of the offshore wind farm according to claim 2, wherein the step 5 comprises the following steps,

step 5.1, scanning the first frame data by the radar, selecting a measured value as a track head, and establishing a track file according to the track head;

step 5.2, determining an initial wave gate according to the speed and the acceleration of the target ship scanned by the radar and the scanning period of the radar, selecting all trace point information falling into the initial wave gate from the secondary scanning data by the radar, respectively establishing transient state tracks with the track heads in the step 5.1, wherein the speed calculation formula associated with each pair of measured values is as follows;

v⁽²⁾＝(r⁽²⁾-r⁽¹⁾)/t_s

and 5.3, extrapolating each transient state track according to a target motion equation, wherein the calculation formula of the position of the extrapolated point is as follows:

r⁽³⁾＝r⁽²⁾+v⁽²⁾·t_s

step 5.4, establishing a receiving gate with the extrapolated point as the center and the radius r, and if no measured value is within the threshold value of the receiving gate in the third scanning, terminating the transient state track and not starting correctly; if a plurality of measured values are located in the threshold of the receiving door, the transient flight path can be split into a plurality of transient flight paths, and the transient flight paths are associated with the previous transient flight path to obtain the acceleration as follows:

a⁽³⁾＝(v⁽³⁾-v⁽²⁾)/t_s

predicting the central position of the fourth correlation gate as follows:

and 5.5, repeating the steps 5.2 to 5.4 until a stable track is formed, and tracking the ship.

9. The offshore wind farm submarine cable monitoring and protection system according to claim 2, wherein in step 7 the vessel is shout driven off by a very high frequency or directional horn.

10. A sea cable monitoring and protecting system for an offshore wind farm is characterized by comprising a monitoring module, an automatic ship identification system, an electronic fence module, a prediction module, a view screen shooting module and a positioning module;

the monitoring module is used for monitoring the temperature, the strain and the disturbance state of the submarine cable in real time;

the automatic ship identification system is used for acquiring ship information;

the electronic fence module is used for carrying out subarea early warning on the submarine cable;

the prediction module is used for predicting the motion trail of the ship;

the video shooting module is used for monitoring the ship;

the positioning module is used for positioning the damaged part of the submarine cable.

Technical Field

The invention belongs to the technical field of submarine cable monitoring and protection, and particularly belongs to a submarine cable monitoring and protection system and method for an offshore wind farm.

Background

The voltage grade and the insulation technology of submarine cables are continuously improved, and the on-line monitoring of high-voltage photoelectric composite submarine cables is a trend of future development. Toshio Nishimoto et al, Japan, used optical time domain reflectometer (phi OTDR) to monitor the external damage of 20km66 kV crosslinked polyethylene submarine cable on line. HirohumiTayama and Toshiaka Hara, who are Japanese scholars, respectively, monitored the temperature of 6.6kV and 500kV crosslinked polyethylene submarine cables using a distributed fiber Raman temperature sensor (ROT-DR). The on-line monitoring technology research of the cable is later developed in China, and the on-line monitoring technology research of the cable mainly aims at the land cable, and the submarine cable monitoring research is less. The R phi OTDR technology is adopted by Chen army, Yangungjie, Zhang Zhengpeng and the like to realize the on-line temperature monitoring of the land high-voltage cable. Although the above research has significantly promoted the progress of submarine cable monitoring technology, the practical requirement of real-time on-line monitoring of submarine cables still cannot be met. The R phi OTDR technology can only measure the temperature distribution condition along the submarine cable, and the measurement distance is short; the phi OTDR technology can only detect the submarine cable after the submarine cable is damaged by an invasion event and breaks, and cannot realize real-time online monitoring and early warning of the invasion event. In 2009, jiang qi, yangcong and the like propose that brillouin optical time domain reflectometer (Φ OTDR) technology is applied to submarine cable monitoring, a three-core high-voltage submarine cable is taken as a research object, a cable model is built in a laboratory, the effectiveness of the cable model is preliminarily verified, but a three-phase single-core high-voltage submarine cable is not researched, the submarine cable is not tested in a real submarine environment, and a Φ OTDR-based submarine cable online monitoring system is not realized.

In summary, the phi OTDR and R OTDR technologies adopted in the current research on the submarine cable online monitoring technology cannot meet the real-time online monitoring requirement of the submarine cable, and cannot accurately monitor and diagnose the submarine cable, and cannot accurately identify the fault of the submarine cable.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides a system and a method for monitoring and protecting an offshore wind farm submarine cable, which can conveniently protect the submarine cable from the operation state of the submarine cable, the early warning of ship hazard and the like.

In order to achieve the purpose, the invention provides the following technical scheme:

a method for monitoring and protecting an offshore wind farm submarine cable comprises the following processes of monitoring the temperature, strain and disturbance state of the submarine cable in real time, acquiring ship information through an automatic ship identification system, arranging an electronic fence outside the submarine cable, and giving an alarm to a ship entering the electronic fence according to the ship speed in the ship information; the track direction of the ship is predicted according to data acquired by the automatic ship identification system, the ship is tracked through a radar, the ship is shot in a view screen mode, the ship is driven away, and a submarine cable fault point is located and analyzed.

Preferably, the method specifically comprises the following steps,

step 1, monitoring the states of temperature, strain and disturbance of a submarine cable in real time;

step 2, establishing an automatic marine ship identification system, and acquiring ship information when a ship passes through an offshore wind farm;

step 3, establishing a graded regional electronic fence outside the submarine cable, and warning when the ship enters the electronic fence region;

step 4, acquiring data in the automatic ship identification system, predicting the track direction of the ship, and performing anchor damage early warning;

step 5, tracking the ship by adopting radar scanning;

step 6, monitoring the ship through a camera device, and uploading the ship to a computer in real time;

step 7, when the ship threatens the safety of the submarine cable, the ship is shout and driven away;

and 8, positioning the damaged part by adopting a phi-OTDR technology.

Further, in the step 1, the states of the temperature, the strain and the disturbance of the submarine cable are monitored in real time through a submarine cable monitoring sensor, and the monitoring precision is 1 m.

Further, in step 2, the ship information includes dynamic information and static information, and the dynamic information is the instant speed, course, changed course rate, track and alarm information of the ship;

the static information includes the name of the ship, call number, tonnage, draft, width of the shipyard, cargo and destination port.

Further, in step 3, according to the distance between the ship and the submarine cable and the ship speed, three-level electronic fences are respectively established at positions 500 meters, 300 meters and 100 meters away from the submarine cable.

Further, in step 4, longitude and latitude coordinate data in the automatic ship identification system are obtained, the longitude and latitude coordinates are converted into mercator coordinates, clustering analysis is carried out on the mercator coordinates, the track direction of the ship is predicted, and anchor damage early warning is carried out.

Further, the conversion formula in step 4 is

In the formula, the geographic coordinates areThe rectangular coordinates of the mercator are (x, y), the ellipse length of the earth is a, and the first eccentricity of the earth is e.

Further, step 5 specifically includes the following steps,

step 5.1, scanning the first frame data by the radar, selecting a measured value as a track head, and establishing a track file according to the track head;

step 5.2, determining an initial wave gate according to the speed and the acceleration of the target ship scanned by the radar and the scanning period of the radar, selecting all trace point information falling into the initial wave gate from the secondary scanning data by the radar, respectively establishing transient state tracks with the track heads in the step 5.1, wherein the speed calculation formula associated with each pair of measured values is as follows;

v⁽²⁾＝(r⁽²⁾-r⁽¹⁾)/t_s

and 5.3, extrapolating each transient state track according to a target motion equation, wherein the calculation formula of the position of the extrapolated point is as follows:

r⁽³⁾＝r⁽²⁾+v⁽²⁾·t_s

step 5.4, establishing a receiving gate with the extrapolated point as the center and the radius r, and if no measured value is within the threshold value of the receiving gate in the third scanning, terminating the transient state track and not starting correctly; if a plurality of measured values are located in the threshold of the receiving door, the transient flight path can be split into a plurality of transient flight paths, and the transient flight paths are associated with the previous transient flight path to obtain the acceleration as follows:

a⁽³⁾＝(v⁽³⁾-v⁽²⁾)/t_s

predicting the central position of the fourth correlation gate as follows:

and 5.5, repeating the steps 5.2 to 5.4 until a stable track is formed, and tracking the ship.

Further, in step 7, the vessel is shout and driven away through a very high frequency or directional horn.

A sea cable monitoring and protecting system for an offshore wind farm comprises a monitoring module, an automatic ship identification system, an electronic fence module, a prediction module, a video shooting module and a positioning module;

the monitoring module is used for monitoring the temperature, the strain and the disturbance state of the submarine cable in real time;

the automatic ship identification system is used for acquiring ship information;

the electronic fence module is used for carrying out subarea early warning on the submarine cable;

the prediction module is used for predicting the motion trail of the ship;

the video shooting module is used for monitoring the ship;

the positioning module is used for positioning the damaged part of the submarine cable.

Compared with the prior art, the invention has the following beneficial technical effects:

the invention provides a method for monitoring and protecting a submarine cable of an offshore wind farm, which is based on monitoring and alarming of submarine cable temperature, strain and disturbance, and dynamically adjusts an alarm threshold value according to historical data of the submarine cable; based on the AIS, the ship information monitoring is realized, and the electronic fence in the classified areas is realized according to the positions of the ship and the submarine cable and the ship speed; the AIS ship data mining and track prediction realize early warning of ship hazards; radar scanning and ship tracking; the infrared and visible video shooting and evidence storing are linked with AIS ship coordinates to realize tracking shooting; the ship is driven away by adopting a very high frequency technology and a directional tweeter; the submarine cable fault point positioning can reduce the submarine cable fault troubleshooting range and accurately take measures. The invention realizes the comprehensive monitoring and protection of the submarine cable by integrating the state monitoring of the submarine cable, the AIS ship information monitoring and radar scanning, the track prediction and the video evidence storage, thereby ensuring the operation safety of the submarine cable.

Drawings

FIG. 1 is a schematic structural view of an offshore wind farm submarine cable monitoring and protection system according to the present invention;

FIG. 2 is a process of trajectory analysis based on data mining according to the present invention.

Detailed Description

The present invention will now be described in further detail with reference to specific examples, which are intended to be illustrative, but not limiting, of the invention.

The invention relates to a method for monitoring and protecting an offshore wind plant submarine cable, which comprises the following steps of,

step 1: the method comprises the steps of realizing real-time monitoring of the state of the submarine cable based on the temperature, strain and disturbance of the submarine cable;

step 2: the method comprises the steps of obtaining real-time ship information in a submarine cable area based on an AIS main station, wherein the real-time ship information comprises dynamic information such as instant speed, course, changed course rate, flight path and alarm information of each ship, and static information such as ship name, call number, tonnage, draught, ship width of a shipyard, goods loaded in a cargo and a destination port.

And step 3: the ship and anchor damage classified regional alarm based on the submarine cable electronic fence technology;

and 4, step 4: ship early warning based on AIS ship track data mining;

and 5: aiming at the situation that some ships are not provided with AIS equipment or AIS stops running, a radar scanning technology and an AIS base station are adopted as complementary schemes;

step 6: the visible light and infrared video shooting technology is utilized to realize the storage certificate which harms the ship;

and 7: driving away the ship entering the warning area by using a very high frequency radio station and a directional loudspeaker;

and 8: and (5) realizing abnormal point positioning by analyzing the submarine cable monitoring data.

The temperature stress and disturbance data in the step 1 come from a submarine cable monitoring sensor, are transmitted to a data acquisition industrial personal computer, are processed by the industrial personal computer and are transmitted to a calculation server;

the AIS ship data in the step 2 come from a self-built offshore AIS base station, are received by an AIS receiver, are processed and are forwarded to a computing server;

and 5, the radar data in the step 5 come from a shore-based radar established on the offshore booster station, and the receipt is received by the radar processor terminal and then forwarded to the computing server.

Examples

As shown in fig. 1 and fig. 2, the system for monitoring and protecting an offshore wind farm submarine cable in the present embodiment includes a monitoring module, an automatic ship identification system, an electronic fence module, a prediction module, a video shooting module, and a positioning module;

the monitoring module is used for monitoring the temperature, the strain and the disturbance state of the submarine cable in real time; the automatic ship identification system is used for acquiring ship information; the electronic fence module is used for carrying out subarea early warning on the submarine cable; the prediction module is used for predicting the motion trail of the ship; the video shooting module is used for monitoring the ship; the positioning module is used for positioning the damaged part of the submarine cable.

The embodiment of the method for monitoring and protecting the submarine cable of the offshore wind farm comprises the following steps,

step 1: the submarine cable state real-time monitoring and alarming are achieved based on the temperature, strain and disturbance data of the submarine cable, the monitoring precision is 1m, and the submarine cable temperature and strain out-of-limit alarming is achieved.

The method comprises the steps of mining based on actual operation data of the submarine cable to obtain a submarine cable temperature and a strain reference value, calculating real-time temperature, strain and reference value of the submarine cable to obtain relative variation, and giving an alarm on the state of the submarine cable when the variation is too large.

Step 2: an Automatic Identification System (AIS) of a marine ship is established, ship information is broadcasted by adopting a self-organizing time division multiple access technology (SOTDMA) ship in a marine very high frequency band, and the system can receive dynamic information such as instant speed, course rate change, flight path, warning information and the like of each ship, and static information such as a ship name, a call sign, tonnage, draft, ship width of a shipyard, goods loaded in a cargo port, a destination port and the like.

And step 3: the method comprises the steps that a submarine cable graded regional electronic fence is realized by combining the distance between a ship and a submarine cable and the ship speed, three-level electronic fences are built at the positions 500 m, 300 m and 100 m away from the submarine cable, and the ship enters a three-level warning region at the speed of more than 5 knots and then carries out 3-level intrusion early warning, 2-level intrusion warning and 1-level intrusion warning respectively; the ship enters a 500-meter warning area, a 300-meter warning area and a 100-meter warning area at a navigational speed of less than 5 sections, and carries out 3-level anchoring warning, 2-level anchoring warning and 1-level anchoring warning; the ship enters a warning area with the length of 100 meters at the navigational speed of less than 1.2 and stays for more than 30 minutes, and is driven away for warning;

and 4, step 4: the track analysis realizes the space mining analysis of mass data, and the position point coordinates in the AIS are stored in a longitude and latitude mode, so that the requirements of track similarity measurement and visual reality are met, and the geographical coordinates are converted into the coordinates of the mercator. The method comprises the steps of assigning a spatial similarity measurement standard to geographic spatial data converted from AIS data, applying cluster analysis in a data mining theory, selecting an iterative self-organizing data analysis algorithm (ISODATA) according to track data characteristics, changing a large amount of disordered track information in a defined protection area into regular information, finding a ship motion rule and a characteristic mode in the area, extracting and generating a track characteristic mode library, predicting the ship track direction in the area, and carrying out anchor hazard early warning in advance.

Let the geographic coordinates beThe rectangular coordinates of the mercator are (x, y), the ellipse length of the earth is a, the first eccentricity of the earth is e, and the conversion formula is as follows:

and 5: based on radar scanning result, the ship tracking is realized by firstly calculating track initiation, acquiring potential targets in a monitored area according to scanning data of radar for multiple times, establishing the track initiation by adopting a logic method, and performingTarget ship trajectory discrimination In addition, the method comprises the following steps of,the method specifically comprises the following steps:

step 5.1, scanning the first frame data by the radar, selecting a measured value as a track head, and establishing a track file by the track head;

step 5.2, determining an initial wave gate according to the speed and the acceleration of the scanned target ship, the scanning period of the radar and other parameters, selecting all trace point information falling into the initial wave gate from the data of the second scanning by the radar, respectively establishing transient state tracks with the track heads in the step (1), wherein the velocity calculation formula is that each pair of measured values are associated;

v⁽²⁾＝(r⁽²⁾-r⁽¹⁾)/t_s

and 5.3, extrapolating each transient state track according to a target motion equation, wherein the calculation formula of the position of the extrapolated point is as follows:

r⁽³⁾＝r⁽²⁾+v⁽²⁾·t_s

step 5.4, establishing a receiving gate with the extrapolated point as the center and the radius as r, and if no measured value is within the threshold value in the third scanning, terminating the transient trajectory and considering that the transient trajectory does not start correctly; if a plurality of measured values are located in the threshold, the transient flight path can be split into a plurality of branches, and the branches are associated with the previous transient flight path to obtain the acceleration as follows:

a⁽³⁾＝(v⁽³⁾-v⁽²⁾)/t_s

predicting the central position of the fourth correlation gate as follows:

and 5.5, repeating the step 5.2 until a stable flight path is formed.

Step 6: and calculating the angle of the cradle head required to rotate according to the longitude and latitude data in the AIS information, automatically sending a control command to the cradle head, rotating the camera to the angle of the ship, and recording the video. Powerful evidence is provided for submarine cable accident claim settlement, and therefore safe operation of submarine cables is guaranteed in all directions.

Reading a database of the AIS system, extracting AIS data in the time period, checking detailed navigation tracks of all ships and historical time and longitude and latitude information of each key point on the track line, analyzing and investigating a ship causing a trouble according to the historical tracks of the ships, realizing track playback, and providing real and powerful evidence for investigation and analysis of anchoring accidents. Meanwhile, relevant videos stored in the video monitoring system are called by utilizing longitude and latitude information provided by the AIS, and video images are provided for determining a troubling ship.

And 7: when ships entering a protected area illegally threaten the safety of a submarine cable, the ships are shout and driven away through very high frequency; meanwhile, the ship which cannot receive the very high frequency signal is driven away by adopting a directional loudspeaker, so that the safety of the area near the submarine cable is guaranteed.

And 8: firstly, measuring a vibration signal generated when an optical fiber inside a submarine cable is disturbed by the outside by using a vibration sensor based on a phi-OTDR technology, carrying out disturbance tests of different positions, types and distances on the submarine cable, carrying out comparative study on a measured waterfall diagram, and finding that the positioning disturbance distance of a vibration monitoring system is within a range of 10 m; the frequency and the duration of vibration signals generated by different types of disturbance are different, and the reflected waterfall graphs are different; the disturbance signals within 4m and 4m from the submarine cable can be measured. The result shows that the positioning precision of the monitoring system is 5m, the positioning range of the disturbance point is reduced, and the time and the energy can be saved; the disturbance type can be distinguished according to the frequency and the duration of the signal, so that the disturbance can be removed more pertinently; not only can detect the disturbance that submarine cable self received, can also be to peripheral disturbance early warning, its sensitivity is high, has strengthened the security of submarine cable. The phi-OTDR technology can give out early warning before the submarine cable is subjected to possible external force, so that the probability of damaging the submarine cable is reduced.

In the invention, the phi OTDR technology is applied to real submarine cable on-line monitoring, and a ship Automatic Identification System (AIS) and a Video Monitoring System (VMS) are combined to realize a 110kV three-phase single-core high-voltage photoelectric composite submarine cable three-dimensional on-line monitoring system, and the design and the realization of the system are deeply and systematically analyzed. The phi OTDR technology can realize real-time on-line monitoring of the single-mode optical fiber, and strain/temperature information of each point of the optical fiber is obtained, so that submarine cable running state information is obtained. The AIS can record information such as the ship number, the position and the navigational speed of passing ships in the submarine cable anchorage prohibition area in real time, extract information of possible accident ships around the alarm point and link with the VMS, so that submarine cable fault hidden danger monitoring and positioning and video recording are realized, powerful evidence is provided for submarine cable accident claim settlement, and safe operation of submarine cables is guaranteed in all directions. Meanwhile, the realization and long-term stable operation of the system also verify the effectiveness of the phi OTDR technology in the online monitoring application of the submarine cable.