CN111749700A

CN111749700A - System for monitoring water laying and recovery of deep-sea ore collecting machine

Info

Publication number: CN111749700A
Application number: CN202010376208.9A
Authority: CN
Inventors: 唐军; 胡雄龙; 谢远辉
Original assignee: Jiangxi University of Science and Technology
Current assignee: Jiangxi University of Science and Technology
Priority date: 2020-05-07
Filing date: 2020-05-07
Publication date: 2020-10-09
Also published as: AU2021102163A4

Abstract

The invention discloses a system for monitoring water laying and recovery of a deep-sea mining machine, which comprises an integrated monitoring subsystem and a control subsystem, wherein the integrated monitoring subsystem comprises a multi-screen monitoring station, a sensor and a subsystem monitoring station; the control subsystem comprises a main console, a core control stage and a field control stage; the main console realizes the operation, control and display of control information, the core control stage realizes the control of the motor and the hydraulic equipment, and the field control stage receives the control information and completes the control of other equipment except the motor and the hydraulic equipment. The invention provides a laying and recovering operation scheme of an ocean mining system, which better solves the practical offshore laying and recovering operation problem of long pipeline systems such as ocean mining.

Description

System for monitoring water laying and recovery of deep-sea ore collecting machine

Technical Field

The invention relates to a monitoring system suitable for laying and recycling in ocean mining operation, and belongs to the technical field of ocean engineering communication and information integration.

Background

Aiming at the development of marine mineral resources, the research of technical foundation and the research of a mining and ore-raising equipment prototype are developed in China at present, and the research of actual shipment and mining operation of the whole system is just started. In practical offshore mining operation, the deployment and recovery system is used as a key component of a water surface support subsystem of a mining ship, and is related to whether a mining collector and a lifting mine subsystem which are normally stored in a cabin can be safely deployed to a reserved operation position and smoothly recovered. In addition, the deployment and recovery process of the offshore operation system involves coordination of a plurality of deployment devices, linkage with other subsystems, monitoring of videos, device parameters and positions at a plurality of places above and below water, and the like, and is a very complex process, and the whole process needs to be monitored and controlled by a plurality of objects.

The key of monitoring and controlling in the process of laying and recovering the ocean mining system is that the detailed scheme of laying and recovering operations at sea is provided, and what is done is clear; by combining the operation scheme, risk factors in the operation process are analyzed clearly, the monitored object is extracted, and the problems of 'monitoring and controlling' in the process of cloth recycling are solved; on the basis, a general centralized monitoring and control technology is combined, and then the actual distribution and recovery system can be developed.

Aiming at the offshore deployment and recovery operation scheme of the mining system, the existing basic technical research determines a basic hydraulic suspension scheme (clear in '1000 m ocean pilot mining system water surface support system scheme design description' formulated by a master group of China ocean Association), and carries out hydrodynamic calculation and analysis on a mine collector, a hose and a mine raising pipe in the deployment process based on a virtual simulation technology so as to provide a basis for the design of the deployment and recovery system after actual shipment. However, no detailed scheme for actual offshore deployment and recovery operation is available at present.

Disclosure of Invention

The invention aims to realize the centralized monitoring and control of the whole laying and recovery process so as to finish the offshore laying and recovery of a mining system and ensure the operation safety, and key technical problems to be solved can be summarized into the following aspects:

and (3) laying and recycling detailed operation flow analysis and monitoring information selection: although a basic deployment and recovery scheme is determined at present, a detailed deployment and recovery operation flow is not available, actions to be completed in each operation stage and possible risks cannot be determined, detailed analysis needs to be carried out on the actions and the possible risks, and information needing centralized monitoring and control is extracted on the basis.

Integrated monitoring: in the process of laying and recycling operation, required videos need to be acquired from a monitoring camera, an equipment sensor and other subsystems, equipment parameters, position parameters and the like, the required videos comprise various types such as videos, texts, analog quantity and switching value and relate to a plurality of position equipment on water and under water.

Remote centralized control: the laying of the offshore mining operation is a long pipeline system formed by combining an ore collector, a hose, a lifting subsystem and a combined cable, is more complicated than the laying of an ROV and a submersible, and the laying and recovery process needs to be coordinated and controlled by a plurality of devices, so that the safety of the whole system is guaranteed. It is obvious that local control over the various devices is difficult to coordinate with each other. Therefore, a remote centralized control is required to perform cooperative operation of a plurality of devices on one console.

In order to solve the problems, the invention adopts the following technical scheme:

the invention provides a water laying and recovery monitoring system for a deep-sea mining machine, which comprises an integrated monitoring subsystem and a control subsystem, wherein the integrated monitoring subsystem comprises a multi-screen monitoring console, an integrated sensor and a subsystem monitoring station, and data collected and monitored by the sensor and the subsystem monitoring station is transmitted to the multi-screen monitoring console.

The sensor comprises a camera, the camera can adopt a wireless network high-definition camera or a simulation high-definition camera, and a wireless digital communication or simulation transmission mode is adopted respectively.

And the subsystem measurement and control station transmits the parameters of the subsystem equipment to the multi-screen monitoring station in a mode of RS-422A serial ports and network messages.

The further scheme is as follows: the cameras comprise 320KN crane upper cameras, 50KN crane upper cameras, moon pool upper derrick inner cameras and moon pool inner cameras.

The further scheme is as follows: the subsystem measurement and control station comprises a heave compensation device measurement and control station, a mother ship attitude comprehensive information sending unit, a lifting subsystem water monitoring station and an ore collector water monitoring station.

The further scheme is as follows: the sensor also comprises a positioning system, an aeroacoustic wavemeter, a Doppler flow velocity profiler, a weather meter, a hose winch motor PLC control box and a combined cable umbilical winch engine PLC control box.

The control subsystem comprises a main console stage, a core control stage and a field control stage, and the three stages are communicated through a PROFIBUS bus. The main console level mainly completes operation, control and display, the core control level mainly realizes control over the motor and the hydraulic equipment, the field control level collects equipment parameters and information of each sensor and transmits the equipment parameters and the information to the main console level, and meanwhile, control signals are output to the main console level.

Main control stage: the multi-screen monitoring system is arranged on a multi-screen monitoring station and consists of an industrial control computer, a PLC (programmable logic controller), a rocker, a control button, a touch control panel, a keyboard, a mouse and an indicator light.

A core control stage: the device is arranged in a generator room and comprises a winch motor control part, a crane motor control part and a hydraulic equipment control part. The crane and winch motor control part is composed of a frequency conversion control PLC main station and frequency converters, the frequency conversion control PLC main station mainly comprises a CPU, a power supply, a switching value output module and the like, the frequency converters mainly comprise a rectifying unit, an inverting unit and a control unit, and each frequency converter corresponds to one motor. The hydraulic equipment control part consists of a PLC (programmable logic controller) main station, a power supply control cabinet, an electronic switch control cabinet and a frequency converter cabinet, wherein the power supply control cabinet receives a control instruction of the PLC main station and remotely realizes high-precision remote control of a hydraulic equipment power supply; and the electronic switch control cabinet and the frequency converter cabinet receive the instruction to complete the operation control of the hydraulic equipment.

And (3) field control stage: the device is arranged beside each device, and a CPU, a switching value input and output module, an analog input and output module, a power supply and other modules are arranged in the control box and mainly used for finishing information acquisition input and control signal output.

In actual work, the invention innovatively provides an integrated monitoring subsystem scheme capable of realizing heterogeneous information acquisition and integrated transmission and a centralized control subsystem scheme capable of carrying out remote centralized control on a plurality of devices on the basis of a three-stage layout and recovery detailed operation process and a key monitoring parameter selection scheme, and the two subsystem schemes jointly realize the centralized monitoring on the marine mining layout and recovery process. Of course, the technical scheme of the invention can still be used for other ocean mining laying and recovering operations.

The invention provides a laying and recovery operation scheme of an ocean mining system, which better solves the practical offshore laying and recovery operation problem of long pipeline systems such as ocean mining; the method analyzes the risks in the operation, designs a centralized monitoring system in the operation process, lays the foundation for developing the actual marine mining laying and recovering system, and provides a powerful reference and a feasible technical approach for the actual marine laying and recovering operation of the marine mining system which is not related at present.

Drawings

FIG. 1 is a flow chart of a detailed three-stage deployment protocol of the system of the present invention;

FIG. 2 is a schematic diagram of the system-integrated monitoring subsystem of the present invention;

FIG. 3 is a schematic diagram of a remote centralized control subsystem of the system of the present invention.

In the figure, 1-a multi-screen monitoring console, 2-a network switch, 3-320KN crane upper camera, 4-50KN crane upper camera, 5-moon pool upper derrick inner camera, 6-moon pool inner camera, 7-hose winch motor PLC control box, 8-combination cable umbilical winch motor PLC control box, 9-weather instrument, 10-Doppler current profiler, 11-aeroacoustic wavemeter, 12-positioning system, 13-concentrator water measurement and control station, 14-lifting subsystem water measurement and control station, 15-mother ship attitude comprehensive information sending unit, 16-heave compensation device measurement and control station, 17-wireless access point, 18-Ethernet interface, 19-analog interface, 20-serial port, 21-PROFIBUS bus, 22-winch electric control cabinet group, 23-crane electric control cabinet group, 24-hydraulic equipment electric control cabinet group, 25-frequency conversion control cabinet, 26-frequency conversion control PLC master station, 27-hydraulic equipment electronic switch control cabinet, 28-hydraulic equipment power supply control cabinet, 29-hydraulic equipment control PLC master station, 30-50KN crane PLC control box, 31-320KN crane PLC control box, 32-hydraulic upper clamp device PLC control box, 33-hydraulic suspension device PLC control box, 34-hydraulic middle clamp device PLC control box, 35-hydraulic lower clamp device PLC control box and 36-hydraulic movable door PLC control box.

Detailed Description

In the following, the mining system deployment and recovery are described in inverse order with reference to the accompanying drawings, and only the detailed operation scheme of the deployment process is described in detail herein.

(1) Detailed laying operation scheme of three-stage ocean mining system

As shown in the attached figure 1, the whole operation scheme can be divided into three major stages according to the position of the mining machine:

the first stage is as follows: hoisting the ore collector: the concentrator is hoisted out of the storage bay by a 320KN crane which then moves along the double track overhead crane span to above the moonpool, closes the fly, and hoists the concentrator onto the fly.

And a second stage: before the bottom of the ore collector is attached: the process from the beginning of laying the ore collector, the hose and the ore raising subsystem to the bottom landing of the ore collector can be divided into three sections, wherein the front two sections adopt whether the ore raising subsystem is laid as a watershed or not, and enter the third section when the ore collector quickly touches the bottom, until the ore collector stably lands the bottom. A first section of laying mining machine, a hose and a combined cable umbilical cord; the second section is that after the hose is completely lowered into the water, the ore collecting machine, the hose, the ore raising subsystem and the combined cable umbilical cord are continuously laid downwards; the third section is required to adjust the posture of the ore collector except for the lower ore collector, the hose, the ore lifting subsystem and the combined cable umbilical cord, so that the ore collector is guaranteed to be smoothly bottomed.

And a third stage: after the bottom of the ore collector is attached: the process from the bottom landing of the ore collector to the end of the whole distribution is that the ore collector needs to continuously distribute the hard pipe for ore lifting and correspondingly moves on the seabed, so that the hose forms a saddle shape.

(2) Centralized monitoring system for laying and recycling ocean mining

For each step shown in fig. 1, the security risks are as follows:

step 1 and step 2: the ship is likely to cause collision risks between the mining machine and the bulkhead, the portal frame and the wall of the moon pool due to heave, pitch and roll of the ship, and the mining machine needs to be monitored in a video mode and the hoisting speed is controlled.

And step 3: the laying process needs to ensure that the lowering speed of the hose and the combined cable is synchronous, the lowering speed is moderate, the lowering speed can cause low efficiency at overhigh speed and overlow speed, and the lowered part shows irregular change relative to the displacement, speed and acceleration of surrounding seawater under the combined action of the hull heaving, sea waves and ocean currents, the lowering speed is controlled, and the lowering is slow and stable. This step requires the operation of the suspension device, the umbilical winch, the hose winch, the movable door, and the hydraulic clamp apparatus.

Step 4, step 5: the speed of hoisting the ore pipe should be matched with the lowering speed of the combined cable, a 50KN crane and a combined cable winch are required to be synchronous, and the risk of speed mismatch exists; the guide frame is required to be operated cooperatively, the movable door, the hydraulic suspension device, the stop hoop and the combined cable umbilical cable car are required to be operated cooperatively.

Step 6: this process requires the operation of a stop collar and the simultaneous lowering of the hydraulic suspension device and umbilical winch. In addition to the possible risk of velocity mismatch, the centre bay position can shift due to ocean currents and the hard pipe can "buckle" to some extent without deep heave compensation, requiring monitoring of the form of the lifting sub-system.

And 7: the attitude of the mining machine, the height from the bottom in the process of landing and the video of the sea bottom need to be monitored.

Step 8, step 9: the position of the ore collector is monitored, the ore collector is ensured to be in a reasonable safe area, and the phenomenon that the running distance is too long and the tensile force of a hose is too large is avoided; or the running distance is too short, the hose is not wound on the floating ball.

For the above safety risks, the objects to be monitored and controlled during deployment of the marine mining system are shown in table 1:

TABLE 1 monitoring object table

In table 1, it is specifically noted that:

parameters of the hydraulic suspension equipment are provided by the heave compensation monitoring system, and the double-oil-cylinder hydraulic suspension equipment can be switched into a heave compensation state after the distribution and recovery are finished, so that the heave compensation monitoring system can be used for collecting key information of the equipment in the distribution stage and transmitting the key information to the distribution and recovery monitoring system.

Although each device can realize stepless speed change, the arrangement is carried out at a low speed, and for convenience of operation, a plurality of speed gears are fixedly arranged for speed adjustment, for example, four gears are arranged from 0-2 m/s.

Each device has two modes of coordination control and independent control, when a coordination control switch is turned on, one device is operated, and the devices participating in coordination can be synchronously distributed, so that the situation that one person cannot completely operate when too many coordination devices are available is avoided, and the coordination precision can be improved.

Although the position and trajectory of the mother ship can be obtained by DGPS, mining is more concerned with the relative position of the mother ship and the concentrator, where the position information of the concentrator and the mother ship are both obtained from a positioning system, so that the measurements of both are based on the same measurement system, in order to minimize errors.

Based on the above analysis, the structural diagrams of the monitoring subsystem and the control system of the centralized monitoring system of the ocean mining deployment and recovery system proposed by the technical result are respectively shown in fig. 2 and fig. 3.

As shown in fig. 2, the integrated monitoring subsystem in the system for monitoring water laying, reclaiming and discharging of the deep-sea mining machine provided by the invention comprises a multi-screen monitoring station 1, an integrated sensor and a subsystem monitoring station, wherein the sensor and the subsystem monitoring station collect and transmit monitored data to the multi-screen monitoring station 1. Wherein, the sensor comprises a 320KN crane upper camera 3, a 50KN crane upper camera 4, a moon pool upper derrick inner camera 5 and a moon pool inner camera 6. In the invention, a 320KN crane upper camera 3 and a 50KN crane upper camera 4 are wireless network high-definition cameras, monitoring signals are transmitted to a multi-screen monitoring station 1 through a wireless access point 17 and an Ethernet interface 18 through a network switch 2, a derrick inner camera 5 on the upper part of a moon pool and a moon pool inner camera 6 are analog high-definition cameras, and signals are transmitted to the multi-screen monitoring station 1 mainly through an analog interface 19.

The subsystem measurement and control station transmits the parameters of the subsystem equipment to the multi-screen monitoring station 1 in a mode of RS-422A serial port 20 and network messages. The subsystem measurement and control station comprises a heave compensation device measurement and control station 16, a mother ship attitude comprehensive information sending unit 15, a lifting subsystem water monitoring station 14 and a mining machine water monitoring station 13.

The sensor also comprises a positioning system 12, an aeroacoustic wavemeter 11, a Doppler current profiler 10, a weather meter 9, a hose winch motor PLC control box 7 and a combined cable umbilical winch motor PLC control box 8.

The integrated monitoring subsystem realizes the acquisition of the information shown in the table 1 by integrating various sensors and communicating with other subsystem monitoring stations, and then selects a proper transmission mode to transmit the information to a multi-screen monitoring station for displaying. The wireless network high-definition video camera system is limited by the installation conditions of the video cameras, some video cameras adopt wireless network high-definition video cameras, some video cameras adopt analog high-definition video cameras, and correspondingly, the information transmission mode is also divided into analog transmission and wireless digital communication. Other subsystem equipment parameters are obtained through communication with corresponding subsystem measurement and control stations, and the communication mode is an RS-422A serial port and a network message. The voltage, the current, the power and the frequency of the motor of the distribution and recovery equipment are obtained by calculating relevant parameters in a frequency converter, the temperature of a gear box of the motor is measured by a Pt100 sensor, and the information is uniformly connected to a PLC module in a field control box of the motor and then transmitted to a multi-screen monitoring console through a PROFIBUS bus. The attitude information of the mother ship is sent by the attitude information comprehensive sending unit in a network message form, and if the equipment is not available, the equipment can be adapted according to the interfaces of all the attitude measurement equipment.

As shown in fig. 3, the control subsystem is divided into three stages: a main console level, a core control level, and a field control level. The three stages are constantly communicating via the PROFIBUS bus 21. The main console level mainly completes operation, control and display, the core control level mainly realizes control of the motor and the hydraulic equipment, the field control level collects equipment parameters and information of each sensor and transmits the equipment parameters and the information to the main console level, and meanwhile, control signals are output to the central control level.

Main control stage: the multi-screen monitoring platform is arranged on a multi-screen monitoring platform 1 and comprises an industrial control computer, a PLC (programmable logic controller), a rocker, a control button, a touch control panel, a keyboard, a mouse and an indicator light.

As shown in fig. 3, the core control stage includes an electric control cabinet set 22 for winch, an electric control cabinet set 23 for crane, and an electric control cabinet set 24 for hydraulic equipment, wherein the electric control cabinet set 22 for winch and the electric control cabinet set 23 for crane respectively include a frequency conversion control cabinet 25 and a frequency conversion control PLC master station 26, and the electric control cabinet set 24 for hydraulic equipment includes a frequency conversion control cabinet 25, an electronic switch control cabinet 27 for hydraulic equipment, a power control cabinet 28 for hydraulic equipment, and a PLC master station 29 for hydraulic equipment control.

As shown in fig. 3, the field control stage comprises a 50KN crane PLC control box 30, a 320KN crane PLC control box 31, a hydraulic upper clamp device PLC control box 32, a hydraulic suspension device PLC control box 33, a hydraulic middle clamp device PLC control box 34, a hydraulic lower clamp device PLC control box 35, a hydraulic movable door PLC control box 36, a hose winch motor PLC control box 7 and a combination cable umbilical winch motor PLC control box 8.

Claims

1. The utility model provides a deep sea collection machine is laid on water and is retrieved monitored control system, includes that the integration keeps watch on subsystem and control subsystem, its characterized in that:

the integrated monitoring subsystem comprises a multi-screen monitoring console, a sensor and a subsystem monitoring station, wherein the sensor and the subsystem monitoring station acquire monitored data and acquire monitoring information and transmit the monitoring information to the multi-screen monitoring console, and the multi-screen monitoring console receives and displays the data and the monitoring information;

the control subsystem comprises a main console level, a core control level and a field control level; the main console level realizes the operation, control and display of control information, the core control level realizes the control of the motor and the hydraulic equipment, and the field control level receives the control information and completes the control of other equipment except the motor and the hydraulic equipment.

2. The marine mining system deployment recovery monitoring system of claim 1, wherein:

the sensor comprises a camera, the camera adopts a wireless network high-definition camera or a simulation high-definition camera, and respectively adopts a wireless digital communication or simulation transmission mode.

3. The marine mining system deployment recovery monitoring system of claim 2, wherein:

the cameras comprise 320KN crane upper cameras, 50KN crane upper cameras, moon pool upper derrick inner cameras and moon pool inner cameras.

4. The marine mining system deployment recovery monitoring system of claim 1, wherein:

5. The marine mining system deployment recovery monitoring system of claim 4, wherein:

the subsystem measurement and control station comprises a heave compensation device measurement and control station, a mother ship attitude comprehensive information sending unit, a lifting subsystem water monitoring station and an ore collector water monitoring station.

6. The deployment and recovery monitoring system of a marine mining system as claimed in claim 1 or 2, wherein:

the sensor also comprises a positioning system, an aeroacoustic wavemeter, a Doppler flow velocity profiler, a weather meter, a hose winch motor PLC control box and a combined cable umbilical winch engine PLC control box.

7. The marine mining system deployment recovery monitoring system of claim 1, wherein:

the main console level, the core control level and the field control level of the control subsystem are communicated through a PROFIBUS bus.

8. The marine mining system deployment recovery monitoring system of claim 7, wherein:

the main console level is arranged on a multi-screen monitoring console and consists of an industrial control computer, a PLC (programmable logic controller), a rocker, a control button, a touch control panel, a keyboard, a mouse and an indicator light.

9. The marine mining system deployment recovery monitoring system of claim 7, wherein:

the core control level is arranged in the generator room and comprises three parts, namely winch motor control, crane motor control and hydraulic equipment control; the crane and winch motor control part consists of a frequency conversion control PLC main station and frequency converters, the frequency conversion control PLC main station mainly comprises a CPU, a power supply and a switching value output module, the frequency converters mainly comprise a rectifying unit, an inverting unit and a control unit, and each frequency converter corresponds to one motor; the hydraulic equipment control part consists of a PLC (programmable logic controller) main station, a power supply control cabinet, an electronic switch control cabinet and a frequency converter cabinet, wherein the power supply control cabinet receives a control instruction of the PLC main station and remotely realizes high-precision remote control of a hydraulic equipment power supply; and the electronic switch control cabinet and the frequency converter cabinet receive the instruction to complete the operation control of the hydraulic equipment.

10. The marine mining system deployment recovery monitoring system of claim 7, wherein:

the field control stage is arranged beside each device, and a CPU, a switching value input and output module, an analog input and output module and a power supply module are arranged in the control box and mainly used for finishing information acquisition input and control signal output.