CN115480031A - Deep sea mining lifting pipeline detection device based on buoyancy adjustment and control method thereof - Google Patents

Abstract

The invention discloses a deep-sea mining lifting pipeline detection device based on buoyancy adjustment and a control method thereof. The invention has simple structure and reasonable design, can realize the cooperative cooperation of a plurality of devices, autonomously controls the device to heave by adjusting buoyancy and detects the lifting pipeline in real time by the detection sensor.

Description

Deep sea mining lifting pipeline detection device based on buoyancy adjustment and control method thereof

Technical Field

The invention relates to a detection device for a deep-sea mining lifting pipeline and a control method thereof, in particular to a detection device for a deep-sea mining lifting pipeline based on buoyancy adjustment and a control method thereof.

Background

Mineral resources mined in seawater require a hoisting system to transport the minerals from the seafloor to a surface platform. Pipeline lifting is a common lifting system, and when pipeline lifting is applied, pipeline defects and deformation can be generated in the environment due to corrosion of seawater and collision of foreign matters. As these defects accumulate over time, the hoisting pipeline defects and deformations become more and more severe until damage or pipeline blockage occurs, causing leakage of minerals into the seawater, resulting in economic loss and environmental pollution. The position of the pipeline type lifting system which is damaged often cannot be directly predicted, and meanwhile, the deep sea environment cannot be monitored manually, so that a pipeline monitoring robot is required to replace human beings to complete a monitoring task.

Aiming at pipeline systems in the ocean, various pipeline system underwater monitoring robots are designed at present and used for monitoring the defects of a deep sea pipeline system. However, for a pipeline monitoring system in the vertical direction in seawater, no mature pipeline system underwater monitoring robot exists at present for monitoring defects.

Disclosure of Invention

The invention aims to: the invention aims to provide a deep-sea mining lifting pipeline detection device based on buoyancy adjustment and a control method thereof.

The technical scheme is as follows: the device comprises a peripheral frame, wherein a plurality of buoyancy adjusting structures are arranged between an upper connecting plate and a lower connecting plate of the peripheral frame, a support and a plurality of electronic sealed cabins are arranged on the lower connecting plate, a detection sensor and a water depth sensor are arranged on the support, each buoyancy adjusting structure comprises a sealed cabin, a hydraulic system is arranged in each sealed cabin, an oil bag is arranged at the top of each sealed cabin and connected with the hydraulic system to realize the lifting and sinking of the device, an underwater acoustic communicator and a control unit are arranged in each electronic sealed cabin, and the control unit is connected with the hydraulic system, the water depth sensor, the detection sensor and the underwater acoustic communicator.

The peripheral frame is formed by assembling two semi-cylindrical structures, the pipeline can be wrapped in the peripheral frame, the two semi-cylindrical structures are connected through a locking structure, the locking structure comprises a guide rail and a sliding block, the guide rail is installed on one semi-cylindrical structure, and the sliding block is correspondingly installed on the other semi-cylindrical structure.

The guide rail comprises a base and an upper guide rail, a plurality of marbles are arrayed on the upper guide rail along the length direction of the upper guide rail, the marbles penetrate through the upper guide rail, the bottom of each marbles extends out of the lower surface of the upper guide rail, and a spring is arranged between the bottom of each marbles and the base.

A plurality of grooves are formed in the surface, matched with the upper guide rail, of the sliding block at intervals.

The control unit comprises a single chip microcomputer, a driving circuit and a relay, the single chip microcomputer is connected with the water depth sensor, the power supply, the relay and the driving circuit, and the relay and the driving circuit are connected with the hydraulic system.

The top of the electronic sealed cabin is provided with a watertight joint, so that the sealing performance of the electronic sealed cabin is ensured while the power supply and the control unit are connected with other components.

A plurality of wheels are installed on the lower connecting plate at intervals, and springs are connected to the bottoms of the wheels to achieve damping of the device.

A deep sea mining lifting pipeline control method based on buoyancy adjustment comprises the following steps:

(1) Installing the detection device;

(2) The water depth sensor detects the position of the device, the water depth is fed back to the single chip microcomputer, the underwater acoustic communicator receives the expected position of the device and sends the expected position to the single chip microcomputer, the single chip microcomputer judges whether the device reaches the expected position, if the position of the device does not accord with the expected position, the hydraulic system is controlled to work through the driving circuit and the relay, the hydraulic system adjusts the oil liquid amount in the oil bag, the buoyancy of the device is changed, and the device is lifted and sunk;

(3) Repeating the step (2) until the device finally reaches the expected position;

(4) The single chip microcomputer controls the detection sensor to detect the lifting pipeline, and waits for a next expected position signal after the detection task is finished.

Has the advantages that: the invention has simple structure and reasonable design, can encircle the lifting pipeline for deep sea mining and ascend and descend along the pipeline by adjusting the buoyancy autonomous control device, and uses the detection sensor to complete the real-time detection of the lifting pipeline. Can be suitable for the pipeline of different bores, to the longer lifting pipeline of length, can use a plurality of devices to carry out the segmentation timesharing to patrol and examine, carry out the cooperation in coordination through wireless communication between the device, effectively solved among the prior art the problem that the vertical pipeline in ocean does not have the ripe underwater robot who detects the defect.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the locking mechanism of the present invention;

FIG. 3 is a cross-sectional view of the buoyancy regulating structure of the present invention;

FIG. 4 is a schematic view of an electronic capsule according to the present invention;

FIG. 5 is an electrical block diagram of the present invention;

fig. 6 is a control flow diagram of the present invention.

Detailed Description

The invention will be further explained with reference to the drawings.

As shown in fig. 1, the invention comprises a peripheral frame 1, buoyancy regulating structures 2, electronic sealed cabins 3 and supports 5, wherein a plurality of buoyancy regulating structures 2 are arranged between upper and lower connecting plates of the peripheral frame 1, the supports 5 and a plurality of electronic sealed cabins 3 are also arranged on the lower connecting plate, and the supports 5 and the peripheral frame 1 are concentrically arranged. The bracket 5 is provided with a detection sensor 6, an LED lamp 7, a water depth sensor 8 and a camera for shooting the positions of the lifting pipeline and the detection device. A plurality of wheels 4 are installed at intervals on the lower connecting plate, and through the wheels 4 and the pipeline sliding connection, the bottom of each wheel 4 is connected with a spring, so that the damping of the device is realized.

The peripheral frame 1 is formed by assembling two semi-cylindrical structures, a pipeline can be wrapped in the peripheral frame, the two semi-cylindrical structures are connected through a locking structure, each semi-cylindrical structure comprises an upper semi-circular ring connecting plate 101 and a lower semi-circular ring connecting plate 101, the two semi-circular ring connecting plates 101 located on the same plane form a connecting plate, and a semi-circular ring arc-shaped shell 102 is arranged on the outer side of each semi-circular ring connecting plate 101 and used for reducing resistance of the device during movement. A guide rail 103 is connected between the upper and lower semicircular connecting plates 101 on one side, a sliding block 104 is connected between the upper and lower semicircular connecting plates 101 on the other side, and the sliding block 104 and the guide rail 103 are matched to form a locking structure.

As shown in fig. 2, the guide rail 103 includes a base and an upper guide rail, two side surfaces of the upper guide rail are connected with two side walls of the base through a plurality of bolts, a plurality of marbles 106 are arrayed on the upper guide rail along the length direction of the upper guide rail, the marbles 106 penetrate through the upper guide rail, the bottoms of the marbles 106 extend out of the lower surface of the upper guide rail, a spring 105 is arranged between the bottom of each marbles 106 and the base, the slider 104 is connected with the upper guide rail in a matching manner, and a plurality of grooves are arranged on the surface of the slider 104 matched with the upper guide rail at intervals. After the two semi-cylindrical structures clamp the pipeline, the tight connection is realized through the sliding block 104 and the guide rail 103. When the guide rail 103 is not connected with the slider 104, the spring 105 is in an uncompressed state, the marble 106 protrudes out of the guide rail 103, when the slider 104 slides into the guide rail 103, a plane on the slider 104 firstly passes through the marble 106 and applies pressure to the spring 105, the spring 105 is compressed, the top end of the marble 106 is flush with the guide rail 103, the slider 104 slides along the guide rail 103, when a groove of the slider 104 passes through the marble 106, the marble 106 rebounds under the elastic force of the spring 105 and smoothly bounces into the groove, and the guide rail 103 and the slider 104 are locked, so that the pipeline is fixed.

The semicircular connecting plate 101 and the semicircular arc-shaped shell 102 are made of composite foam, the guide rail 103 and the sliding block 104 are made of stainless steel, and the requirements on the pressure and corrosivity of deep-sea work of the device can be met.

As shown in fig. 3, the buoyancy adjusting structure 2 includes a sealed cabin, a hydraulic system 406 is installed in the sealed cabin, the bottom of the sealed cabin is installed on the lower connecting plate, the top of the sealed cabin is connected with an oil bag protective shell 202, the upper end of the oil bag protective shell 202 is open and connected with the upper connecting plate, an oil bag 201 is arranged inside the oil bag protective shell 202, the oil bag 201 is a flexible oil bag, the flexible oil bag is connected with the hydraulic system 406, the hydraulic system 406 is connected with the control unit 303, and therefore the buoyancy of the device is adjusted through the hydraulic system, and the heave of the device is achieved. The sealed cabin comprises an upper end cover 203, a pressure bearing shell 204 and a lower end cover 205 which are sequentially arranged from top to bottom, the upper end cover 203 is connected with the oil sac protective shell 202, the lower end cover 205 is connected with a lower connecting plate, and the sealed cabin adopts an O-shaped ring to realize static sealing. The three parts of the sealed cabin are connected through a connecting ring 206. The upper end cover 203 is connected with the oil bag protective shell 202 through a pin, and the lower end cover 205 is connected with the lower connecting plate through a bolt and a nut. The material of oil pocket 201 is TPU, and the material of oil pocket protective housing 202, upper end cover 203 and lower end cover 205 is titanium alloy, and the material of pressure shell 204 is HY100, and the material of go-between 206 is ABS, the job demand in the deep sea can all be satisfied.

As shown in fig. 4, a power supply 302, an underwater acoustic communicator 301 and a control unit 303 are arranged inside the electronic sealed cabin 3, and a watertight connector 304 is arranged at the top of the electronic sealed cabin 3, so that the power supply 302 and the control unit 303 are connected with other components, and meanwhile, the sealing performance is ensured. A power supply 302 is connected to and supplies power to the buoyancy regulating structure, water depth sensor, detection sensor, underwater acoustic communicator and control unit. The control unit 303 is connected with the buoyancy adjusting structure, the water depth sensor, the detection sensor, the camera, the underwater acoustic communicator and the power supply, receives a water pressure signal of the water depth sensor, judges whether the position of the device is expected or not according to the water pressure signal, and controls the buoyancy adjusting structure to drive the device to ascend and descend to reach the expected position if the position of the device is not expected. The control unit receives pictures shot by the camera to realize real-time monitoring of the lifting pipeline, and feeds monitoring results back to workers through the underwater acoustic communicator, and the devices are communicated through the underwater acoustic communicator to realize cooperative matching.

The control unit 303 comprises a single chip microcomputer 401, a driving circuit 402 and a relay 403, the single chip microcomputer 401 is connected with the water depth sensor, a power supply, the relay and the driving circuit, the position of the device is detected, and power is supplied by the power supply. The relay and the driving circuit are connected with a hydraulic system to realize the control of the oil in the flexible oil bag. The singlechip is connected with the detection sensor and the underwater acoustic communicator, so that the real-time monitoring of the lifting pipeline detection is cooperatively matched with other devices.

As shown in fig. 5 and 6, the control method of the present invention includes:

the device is annular as a whole and surrounds the lifting pipeline to work. After the detection device is transported to the ocean lifting pipeline by an underwater robot or a worker, the peripheral frame can be divided into a semicircular left part and a semicircular right part according to the semicircular connecting plate, one part is placed on the other part, and then the other part is placed down, so that the sliding block gradually slides into the guide rail, and the installation of the detection device on the ocean lifting pipeline is completed. After the device finishes the installation of the lifting pipeline, the water depth sensor 8 detects the water depth of the position of the device and feeds the water depth back to the single chip microcomputer 401, the underwater acoustic communicator 301 receives the expected position of the device and sends the expected position to the single chip microcomputer 401, the single chip microcomputer 401 judges whether the device reaches the expected position or not, if the position of the device does not meet the expectation, the hydraulic system 406 is controlled to work through the driving circuit 402 and the relay 403, the hydraulic system 406 adjusts the oil liquid amount in the oil bag 201, the buoyancy of the device is changed, the device is lifted and sunk, the process is repeated until the device finally reaches the expected position, the single chip microcomputer 401 controls the detection sensor 6 to detect the lifting pipeline, and the next expected position signal is waited after the detection task is finished. Singlechip 401 is connected with detection sensor 6 and underwater acoustic communicator 301, realizes promoting the cooperation of real-time supervision and other devices of pipeline detection.

Claims (8)

1. The utility model provides a deep sea mining lifting pipe way detection device based on buoyancy is adjusted, a serial communication port, including peripheral frame, peripheral frame's upper junction plate is equipped with a plurality of buoyancy between the connecting plate down and adjusts the structure, install support and a plurality of electron pressurized cabin down on the connecting plate, install detection sensor and depth of water sensor on the support, buoyancy is adjusted the structure and is included the sealed cabin, installs hydraulic system in the sealed cabin, and the sealed cabin top is equipped with the oil pocket, and the oil pocket is connected with hydraulic system, realizes the device and rises and sink, be equipped with underwater sound communicator and the control unit in the electron sealed cabin, the control unit is connected with hydraulic system, depth of water sensor, detection sensor and underwater sound communicator.

2. The deep sea mining lifting pipeline detection device based on buoyancy adjustment according to claim 1, wherein the peripheral frame is formed by assembling two semi-cylindrical structures, the pipelines can be wrapped in the semi-cylindrical structures, the two semi-cylindrical structures are connected through a locking structure, the locking structure comprises a guide rail and a sliding block, the guide rail is installed on one semi-cylindrical structure, and the sliding block is correspondingly installed on the other semi-cylindrical structure.

3. The deep sea mining lifting pipe detection device based on buoyancy adjustment according to claim 2, wherein the guide rail comprises a base and an upper guide rail, a plurality of marbles are arrayed on the upper guide rail along the length direction of the upper guide rail, the marbles penetrate through the upper guide rail, the bottoms of the marbles extend out of the lower surface of the upper guide rail, and a spring is arranged between the bottom of each marbles and the base.

4. The deep sea mining lifting pipeline detection device based on buoyancy adjustment according to claim 2, wherein the surface of the sliding block matched with the upper guide rail is provided with a plurality of grooves at intervals.

5. The deep sea mining lifting pipeline detection device based on buoyancy adjustment according to claim 1, wherein the control unit comprises a single chip microcomputer, a driving circuit and a relay, the single chip microcomputer is connected with the water depth sensor, a power supply, the relay and the driving circuit, and the relay and the driving circuit are connected with a hydraulic system.

6. The deep sea mining lifting pipe detection device based on buoyancy adjustment according to claim 1, wherein a watertight joint is installed on the top of the electronic airtight cabin.

7. The deep sea mining lifting pipeline detection device based on buoyancy adjustment according to claim 1, wherein a plurality of wheels are installed on the lower connecting plate at intervals, and springs are connected to the bottoms of the wheels.

8. The method for controlling the deep-sea mining lifting pipeline based on buoyancy adjustment as claimed in any one of claims 1 to 7, is characterized by comprising the following steps:

(1) Installing the detection device;

(2) The water depth sensor detects the position of the device, the water depth is fed back to the single chip microcomputer, the underwater acoustic communicator receives the expected position of the device and sends the expected position to the single chip microcomputer, the single chip microcomputer judges whether the device reaches the expected position, if the position of the device does not accord with the expected position, the hydraulic system is controlled to work through the driving circuit and the relay, the hydraulic system adjusts the oil liquid amount in the oil bag, the buoyancy of the device is changed, and the device is lifted and sunk;

(3) Repeating the step (2) until the device finally reaches the expected position;

(4) The single chip microcomputer controls the detection sensor to detect the lifting pipeline, and waits for a next expected position signal after the detection task is completed.

Images