Pipeline control method for crosswise controlling multi-cabin cylindrical foundation of same cabin

Abstract

The invention provides a pipeline control method for crosswise controlling a multi-cabin cylindrical foundation of the same cabin, and relates to a pipeline system for negative pressure penetration of an offshore cylindrical foundation, which comprises the following steps of: acquiring an on-shore HMI (Human Machine Interface) of the pipeline control system; generating a control instruction according to the shore HMI of the pipeline control system; receiving the control instruction, and controlling a corresponding button; wherein the shore HMI controls the underwater electronic cabin controller through wireless signal transmission; according to the operation state of the underwater electronic cabin control monitoring system, starting and stopping of the hydraulic power pump station are controlled, and working data of the pump set are read. According to the composite bucket foundation, the interior of the composite bucket foundation can be divided into a plurality of independent cabins through the partition plates, when the bucket foundation inclines in the sinking process, the flow of each cabin can be changed by controlling opening and closing of the pipelines, the water pumps and the valves in a crossed mode, and the water pumping flow of the same cabin can be controlled in a crossed mode through the two pipelines; and the levelness of the cylinder body is controlled by utilizing the internal and external pressure difference, so that the purpose of deviation correction is realized, and the leveling is quicker.

Description

Technical Field

[0001] The invention relates to a pipeline system for negative pressure penetration of an offshore barrel foundation, and in particular to a pipeline control method for cross-controlling a multi-bin barrel foundation in the same compartment. Background Art

[0002] The pipeline system of negative pressure sinking of offshore cylinder foundation is widely used as a sinking technology for offshore wind turbines. It has several main functions in the installation process of cylinder foundation: exhaust sinking, drainage sinking, sinking system, negative pressure reinforcement. During the sinking process of cylinder foundation, it is often necessary to control the opening and closing of water pumps and valves, and monitor the flow rate, inclination angle, and pressure of each bin in real time to ensure that the foundation sinking level meets the design requirements.

[0003] During the construction process, the barrel foundation initially sinks to a specific depth of the seabed by its own gravity, constructing a confined space in the barrel. Then, the water and air in the barrel are continuously pumped out to form a negative pressure environment in the barrel. Then, according to the soil conditions of the construction seabed, the pressure difference value inside and outside the foundation is continuously adjusted to enable the barrel foundation to be successfully sunk and installed at a predetermined position. However, most of them are currently concentrated on single-barrel foundations, and the pipeline system of single-barrel foundations can often only achieve single-compartment control. If some valves in the sinking process are out of control, they cannot be immediately handled in an emergency, and the need for multiple valves to cross-control the same compartment cannot be met, resulting in low pumping efficiency and slow leveling speed. Therefore, there is a need for a high-flow pumping pipeline system that can be used multiple times to control the opening and closing of pipelines, water pumps, and valves during the sinking process, and to achieve cross-control of multiple valves in the same compartment. Summary of the invention

[0004] In view of the deficiencies in the above-mentioned prior art, the technical problem to be solved by the present invention is to provide a pipeline control method for cross-controlling a multi-bin barrel-type foundation in the same compartment, which can perform emergency cross-control in the event of valve loss of control during the sinking process, and utilize the internal and external pressure difference to control the horizontality of the barrel-type foundation, so as to make it leveled more quickly.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows: the present invention provides a pipeline control method for a multi-silo type foundation that cross-controls the same cabin, including obtaining an onshore HMI of a pipeline control system; Generate control instructions based on the onshore HMI of the pipeline control system; receiving the control instruction and controlling the corresponding button; Among them, the onshore HMI controls the underwater electronic cabin control through wireless signal transmission; According to the operating status of the underwater electronic cabin control monitoring system, control the start and stop of the hydraulic power pump station and read the working data of the pump group; The underwater valves can be cross-controlled according to the buttons, and the opening and closing status of the valves can be read; According to the button, the on / off status of two sets of pipelines in the same cabin are determined by cross-control; In the same compartment, two sets of pipelines are used to cross-control the pumping flow rate and for leveling.

[0006] In the preferred solution, the on-off states of two sets of pipelines in the same cabin are cross-controlled to determine the first pipeline and the second pipeline, and the first pipeline and the second pipeline are respectively controlled by corresponding underwater valves; Determine a first underwater valve and a second underwater valve according to the first pipeline and the second pipeline, wherein the first underwater valve and the second underwater valve are controlled by underwater electronic cabin control and can be independently controlled to be fully opened or fully closed; Among them, when the number of underwater valves is 14, the 14 underwater valves and accessories have opening and closing feedback signals and control the corresponding pipelines respectively, the execution time from full opening to full closing of the underwater valves is within an adjustable range, and there are seven cabins.

[0007] In the preferred embodiment, it also includes a hydraulic control system to control the hydraulic power pump station to drive the action of the buckle cylinder and the valve; The hydraulic control system uses a switch quantity to control the valve closing and closing, and determines the necessary operating parameters according to the switch quantity control. The necessary operating parameter feedback is provided by the hydraulic power pump station; The necessary operating parameter is a 4-20mA analog signal.

[0008] In a preferred embodiment, the present invention further provides a method in which the hydraulic control system and the hydraulic power pump station are both located in an underwater dry tank; A cooling system is provided according to the underwater dry tank to ensure the normal operating temperature of the electrical connection components; Among them, the watertight part of the electrical connection parts is specially designed to prevent seawater from penetrating into the cabin; Obtain a communication interface, which is reserved by the underwater dry tank and is used for communication and data transmission with other devices.

[0009] In the preferred solution, the first pipeline and the second pipeline are determined according to the on-off state of two sets of pipelines in the same cabin by cross-controlling, including: According to the correspondence between the on-off state of the two sets of pipelines in the same cabin and the first pipeline and the second pipeline, the corresponding button is determined to cross-control the pipelines of the two cabins.

[0010] In a preferred embodiment, it is determined that the button can cross-control the pipeline, and the button is used to control the first underwater valve to be in an off state, and the second underwater valve to be in an on state; Alternatively, it is determined that the button can cross-control the pipeline, and the button is used to control the second underwater valve to be in an off state, and the first underwater valve to be in an on state; So that button No. 1 can control cabin 1 and cabin 2; button No. 2 can control cabin 2 and cabin 3; button No. 3 can control cabin 3 and cabin 4; button No. 4 can control cabin 4 and cabin 5; button No. 5 can control cabin 5 and cabin 6; button No. 6 can control cabin 6 and cabin 1; And so on, cross control is formed, and the pumping path and flow are changed.

[0011] In the preferred solution, when the underwater valve is in the on state, the inclination angle of the barrel foundation can be monitored; According to the tilt angle, a preset tilt value is determined; wherein the tilt angle is compared with a preset tilt value so that the tilt angle first becomes a first threshold value and then becomes a second threshold value; When the first threshold exceeds the preset tilt value, the underwater electronic cabin control turns off the corresponding button and reduces the water pumping of the corresponding cabin so that the second threshold reaches the preset tilt value.

[0012] In the preferred solution, when some underwater valves are out of control, the corresponding buttons are closed according to the underwater electronic cabin control to perform emergency treatment on the barrel foundation; Among them, when the cargo flow of cabin 1 is halved, or the cargo flow of cabin 1 is completely lost, leveling is performed according to the corresponding buttons of the underwater electronic cabin control, and the rest of the situations can be deduced in this way.

[0013] In a further preferred embodiment, the present invention also provides a pipeline control device, including a PLC, a hub and a control module, wherein the PLC is connected to the hub, and the hub is connected to the control module, wherein the PLC is used to input / output instructions for controlling mechanical equipment, the hub is used to expand the network transmission distance of the instructions, and the control module is used to call the instructions to execute the pipeline control method for a multi-silo type foundation that cross-controls the same compartment as described above.

[0014] The present invention provides a pipeline control method for cross-controlling a multi-bin barrel-type foundation in the same compartment. Through the cooperation between the above structures, a composite barrel foundation can be formed by dividing the barrel foundation into a plurality of independent compartments by partitions, and the composite barrel foundation can be used multiple times. In addition, each compartment can be pumped to complete negative pressure sinking. When the barrel foundation tilts during the sinking process, the flow of each compartment can be changed by opening and closing the cross-control pipelines, water pumps, and valves, so that the same compartment can be cross-controlled by two sets of pipelines to control the pumping flow, and the internal and external pressure difference can be used to control the horizontality of the barrel to achieve the purpose of correction, thereby making leveling faster. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 It is a flow chart of the control method of the present invention; Figure 2 is a schematic diagram of the pipeline control method of the present invention; Figure 3 It is a schematic diagram of the cross-control cabin of each button in the present invention; Figure 4 It is a schematic diagram of leveling each cabin in the present invention; Figure 5 This is a schematic diagram of negative pressure penetration demonstration in the present invention; Figure 6 It is a schematic diagram demonstrating the exhaust and drainage of pipelines in the present invention. DETAILED DESCRIPTION

[0016] In order to better understand the purpose, structure and function of the present invention, the following reference is made to the attached Figure 1-5 The technical solution of the present invention is described in detail in conjunction with embodiments.

[0017] Example 1 Figure 1 The pipeline control method of the embodiment of the present application is introduced, and the following will be combined with Figure 2 A control device for executing the aforementioned pipeline control method. Figure 2 is a flow chart of the pipeline control device according to an embodiment of the present application, Figure 2 The device shown includes a PLC, a hub and a control module, wherein the PLC, the hub and the control module are communicatively connected to each other via a bus.

[0018] Among them, PLC, PLC includes a processor, a bus, a memory and a power line interface.

[0019] The processor may include one or more central processing units (CPU), such as CPU0 and CPU1. The processor executes various functional applications and business processing by running software programs and modules.

[0020] The power line interface is used to access the power transmission network, and parse the voltage pulse signal and the power line carrier signal in the power transmission network, obtain the data included in the voltage pulse signal or the power line carrier signal, and send the parsed data to the processor for processing.

[0021] The memory and the power line interface are connected to the processor via buses respectively.

[0022] The memory can be used to store software programs and modules, which are executed by the processor. In addition, the memory can also store various types of business data. In the embodiment of the present application, the software programs and modules stored in the memory may include an application module required for at least one function executed by the processor, The hub is used for PLC to transmit differential signals and send control signals. The communication interface includes a wired communication interface and may also include a wireless communication interface. Among them, the wired communication interface includes a PLC interface and may also include an Ethernet interface. The wireless communication interface may be a WLAN interface, a cellular network communication interface or a combination thereof; The control module is equipped with multiple buttons and sensors for controlling and monitoring the cabin pipelines, water pumps and valves. The buttons can be used to control the start and stop of the water pump, the opening and closing of the valves and other operations. The sensors can be used to read parameters such as flow, pressure and temperature.

[0023] The control module also includes a hydraulic power pump station and an underwater valve. The hydraulic power pump station provides a power source for the submersible pump. By controlling the opening and closing of the valve, the water pumping flow rate of the cabin can be regulated.

[0024] Example 2 Obtaining the onshore HMI (Human Machine Interface) of the pipeline control system through PLC; preferably, the PLC may be a Siemens PLC; Send instructions and generate control instructions based on the onshore HMI of the pipeline control system; Receive instructions, receive control instructions, and control corresponding buttons; Among them, the onshore HMI controls the underwater electronic tank control through wireless signal transmission, and is used for communicating and controlling the underwater electronic tank control. It sends the user's instructions to the underwater electronic tank control through wireless signal transmission to achieve remote monitoring and operation of the entire system. Users can monitor the operating status of the system, control the start and stop of the pump station, and read the working data of the pump group through the onshore HMI; Furthermore, the underwater electronic cabin control is the core control unit of the entire system. It receives instructions from the surface HMI, and controls the start and stop of the pump station according to the instructions, reads the working data of the pump group (such as voltage, current, power, etc.), controls the start and stop of the water pump, and directly reads the drainage flow. In addition, the underwater electronic cabin control can also cross-control the underwater valves through buttons and read the opening and closing status of the valves. The automatic uncoupling device uses 4 cylinders for synchronous control. The underwater electronic cabin control can read the stroke value or pressure value of the cylinder to ensure the accuracy and safety of the uncoupling process. Control button, according to the button, determine the on / off state of the two sets of pipelines in the same cabin for cross control. Cross control pipelines can change the path and flow of pumping water; Control the pumping flow rate. In the same compartment, two sets of pipelines are used to cross-control the pumping flow rate and for leveling.

[0025] In the preferred embodiment, Figure 3 , 4 As shown, according to the on-off state of two sets of pipelines in the same cabin being cross-controlled, the first pipeline and the second pipeline are determined, and the first pipeline and the second pipeline are controlled by corresponding underwater valves respectively; According to the first pipeline and the second pipeline, a first underwater valve and a second underwater valve are determined. The first underwater valve and the second underwater valve are controlled by underwater electronic cabin control and can be independently controlled to be fully opened or fully closed, thereby realizing precise control of the water flow; Among them, when the number of underwater valves is 14, the 14 underwater valves and accessories have opening and closing feedback signals and control the corresponding pipelines respectively. The execution time of the underwater valve from full opening to full closing is within an adjustable range. There are seven cabins. Furthermore, the signal adopts a passive switching signal. The execution time of the butterfly valve from full opening to full closing is within 20s to ensure the rapid response of the system. Preferably, the underwater valve can be a butterfly valve, which is an important component in the system and is used to control the on and off of water flow.

[0026] The preferred solution also includes a hydraulic control system to control the hydraulic power pump station to drive the action of the snap cylinder and the valve; Furthermore, the hydraulic power pump station is located in the underwater dry tank, providing power source for the submersible pump. It is driven by an oil-cooled motor, and the motor starts in soft start mode to reduce the current shock at startup. In addition, the pump station is also equipped with an overflow device. When overloaded, the overflow valve will operate to prevent the current from exceeding the standard and protect the safety of the motor and system.

[0027] Furthermore, the hydraulic control system is located in the underwater dry tank and is used to control the closing and closing of the valve. It adopts a switch control method, provides necessary operating parameter feedback by controlling the pump station, and can use a 4-20mA analog signal. This can achieve precise control of the valve and ensure the stable operation of the system; A cooling system is provided according to the underwater dry tank to ensure the normal operating temperature of the electrical connection components; The watertight part of the electrical connection parts is specially designed to prevent seawater from penetrating into the cabin, thus ensuring that the electrical equipment in the cabin is not corroded by seawater. Obtain the communication interface, which is reserved by the underwater dry tank. Through this communication interface, it can be used to communicate and transmit data with other devices to achieve system interconnection.

[0028] In the preferred embodiment, Figure 4 As shown, according to the on-off state of two sets of pipelines in the same cabin being cross-controlled, the first pipeline and the second pipeline are determined, including: It is necessary to clarify the correspondence between the on-off status of the two sets of pipelines in the same cabin and the first pipeline and the second pipeline. Then, the corresponding buttons can be determined to cross-control the pipelines of the two cabins according to the correspondence, so as to realize precise control of the on-off status of the pipelines in the two cabins.

[0029] Furthermore, some other factors need to be considered, such as pipeline pressure, flow, etc. These factors may affect the on-off state of the pipeline, so we need to fully consider and test them during the design and operation process to ensure the stability and reliability of the system.

[0030] In the preferred embodiment, Figure 4 As shown, based on the original single compartment separate control, an improvement is made so that each button can control the pipelines of two compartments to pump water, which greatly improves the pumping efficiency. The pipelines can be cross-controlled by confirming the button. The button is used to control the first underwater valve to be in the disconnected state and the second underwater valve to be in the on state. Alternatively, the pipelines can be cross-controlled by confirming the button, which is used to control the second underwater valve to be in an off state and the first underwater valve to be in an on state; So that button 1 can control cabin 1 and cabin 2; button 2 can control cabin 2 and cabin 3; button 3 can control cabin 3 and cabin 4; button 4 can control cabin 4 and cabin 5; button 5 can control cabin 5 and cabin 6; button 6 can control cabin 6 and cabin 1; and so on, forming cross control. Since cabin 7 in the middle does not participate in leveling, it is still controlled by button 7 alone.

[0031] Furthermore, the exhaust valve of the corresponding compartment is opened, and the air in the barrel foundation is discharged by negative pressure, so that the foundation sinks, wherein negative pressure refers to a pressure state lower than atmospheric pressure. When the exhaust valve is opened, the external atmospheric pressure is higher than the pressure inside the barrel foundation, forming a negative pressure difference.

[0032] Due to the negative pressure, the air in the barrel foundation is extracted, resulting in a decrease in the pressure inside the barrel foundation. This pressure difference causes the barrel foundation to be subjected to downward pressure, causing it to sink.

[0033] Next, open the drain valve of the corresponding compartment. Similar to the exhaust sinking, opening the drain valve allows water to be discharged from the inside of the barrel foundation.

[0034] The water in the barrel foundation is discharged by using a water pump, which is used to pump water out of the barrel foundation. By activating the water pump, water is pumped out of the chamber, reducing the volume of water inside the foundation.

[0035] The foundation sinks. As the water is discharged, the weight of the barrel foundation is reduced. At the same time, the external water pressure acts on the foundation, causing it to sink.

[0036] The sinking process of the barrel foundation is monitored and controlled by controlling the underwater electronic control system, which can receive data from various sensors, such as pressure, depth, inclination, etc., and control the sinking process according to preset parameters and algorithms. It can adjust the opening and closing degree of the exhaust valve and the drain valve, control the operation of the water pump, and monitor the position and posture of the foundation to ensure the accuracy and safety of the sinking process.

[0037] When the barrel foundation reaches the predetermined sinking depth, the exhaust valve and the drain valve are closed to prevent further discharge of air and water, and the foundation is reinforced by negative pressure. Due to the closure of the exhaust valve and the drain valve, a relatively closed space is formed inside the barrel foundation. At this time, the external atmospheric pressure is still higher than the pressure inside the foundation, forming a negative pressure. This negative pressure can exert additional pressure on the foundation, which can increase the friction and adhesion between the foundation and the surrounding soil, enhance the stability and bearing capacity of the foundation, and play a role in reinforcement.

[0038] In the preferred embodiment, Figure 5 , 6 As shown, during the sinking process, when the underwater valve is in the on state, the inclination angle of the barrel foundation can be monitored in real time; and the inclination preset value can be determined according to the inclination angle; The tilt angle monitored in real time is compared with a preset tilt value, so that the tilt angle first becomes a first threshold value and then becomes a second threshold value; When the first threshold exceeds the preset tilt value, closing the corresponding button of the underwater electronic cabin control can stop or reduce the pumping of water from the cabin, avoiding abnormal conditions caused by valve loss of control, ensuring the safety and stability of the sinking process, so that the second threshold reaches the preset tilt value, allowing the barrel foundation to be quickly leveled.

[0039] When some underwater valves are out of control, the corresponding buttons are closed according to the underwater electronic cabin control to carry out emergency treatment of the barrel foundation; Among them, when the flow rate of compartment 1 is halved, or the flow rate of compartment 1 is completely lost, the corresponding button is controlled by the underwater electronic compartment control to adjust the level, and the rest of the cases can be deduced by analogy. For example, when the valve of compartment 1 under the control of button 1 cannot be opened, the flow rate of compartment 1 is halved. At this time, the cylinder body tilts toward compartment 4, and button 4 is closed for leveling. In the case of severe tilt, buttons 3 and 4 can be closed at the same time to speed up the horizontal adjustment speed. When the tilt angle exceeds the preset tilt value, the system will automatically close the corresponding button. This can be achieved through underwater electronic compartment control, which will make corresponding control actions according to the feedback signal of the sensor. Through continuous monitoring and adjustment, the balance and stability of the barrel foundation during the sinking process can be maintained.

[0040] After use, the entire system needs to be recycled for next use.

[0041] In order to make the technical personnel in the technical field better understand the scheme of the present invention, the above-mentioned embodiments are only the preferred technical schemes of the present invention and should not be regarded as limitations of the present invention. The protection scope of the present invention should be the technical schemes recorded in the claims, including the equivalent replacement schemes of the technical features in the technical schemes recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

[0042] It should also be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so as to describe the embodiments of the present invention described herein.

Claims

1. A pipeline control method for cross-controlling a multi-silo barrel-type foundation in the same compartment, characterized in that: include: Obtain the onshore HMI of the pipeline control system; Generate control instructions based on the onshore HMI of the pipeline control system; receiving the control instruction and controlling the corresponding button; Among them, the onshore HMI controls the underwater electronic cabin control through wireless signal transmission; According to the operating status of the underwater electronic cabin control monitoring system, control the start and stop of the hydraulic power pump station and read the working data of the pump group; The underwater valves can be cross-controlled according to the buttons, and the opening and closing status of the valves can be read; According to the button, the on / off status of two sets of pipelines in the same cabin are determined by cross-control; In the same compartment, two sets of pipelines are used to cross-control the pumping flow rate and for leveling.

2. The pipeline control method for multi-silo barrel-type foundations that cross-control the same compartment according to claim 1 is characterized in that: Determine the first pipeline and the second pipeline according to the on-off state of the two sets of pipelines in the same cabin by cross-control, wherein the first pipeline and the second pipeline are respectively controlled by corresponding underwater valves; Determine a first underwater valve and a second underwater valve according to the first pipeline and the second pipeline, wherein the first underwater valve and the second underwater valve are controlled by underwater electronic cabin control and can be independently controlled to be fully opened or fully closed; Among them, when the number of underwater valves is 14, the 14 underwater valves and accessories have opening and closing feedback signals and control the corresponding pipelines respectively, the execution time from full opening to full closing of the underwater valves is within an adjustable range, and there are seven cabins.

3. The pipeline control method for multi-silo barrel-type foundations that cross-control the same compartment according to claim 2 is characterized in that: Also includes: A hydraulic control system, which controls the hydraulic power pump station to drive the snap cylinder and valve; The hydraulic control system uses a switch quantity to control the valve closing and closing, and determines the necessary operating parameters according to the switch quantity control. The necessary operating parameter feedback is provided by the hydraulic power pump station; The necessary operating parameter is a 4-20mA analog signal.

4. The pipeline control method for cross-controlling a multi-silo barrel-type foundation in the same compartment according to claim 3 is characterized in that: The hydraulic control system and the hydraulic power pump station are both located in the underwater dry tank; A cooling system is provided according to the underwater dry tank to ensure the normal operating temperature of the electrical connection components; Among them, the watertight part of the electrical connection parts is specially designed to prevent seawater from penetrating into the cabin; Obtain a communication interface, which is reserved by the underwater dry tank and is used for communication and data transmission with other devices.

5. The piping control method for multi-silo barrel-type foundations for cross-controlling the same compartment according to any one of claims 1 to 4, characterized in that: According to the on-off status of two sets of pipelines in the same cabin under cross control, the first pipeline and the second pipeline are determined, including: According to the correspondence between the on-off state of the two sets of pipelines in the same cabin and the first pipeline and the second pipeline, the corresponding button is determined to cross-control the pipelines of the two cabins.

6. The piping control method for a multi-silo barrel-type foundation for cross-controlling the same compartment according to any one of claims 1 to 5, characterized in that: Determine that the button can cross-control the pipeline, and the button is used to control the first underwater valve to be in an off state, and the second underwater valve to be in an on state; Alternatively, it is determined that the button can cross-control the pipeline, and the button is used to control the second underwater valve to be in an off state, and the first underwater valve to be in an on state; So that button No. 1 can control cabin 1 and cabin 2; button No. 2 can control cabin 2 and cabin 3; button No. 3 can control cabin 3 and cabin 4; button No. 4 can control cabin 4 and cabin 5; button No. 5 can control cabin 5 and cabin 6; button No. 6 can control cabin 6 and cabin 1; And so on, cross control is formed, and the pumping path and flow are changed.

7. The pipeline control method for cross-controlling a multi-silo barrel-type foundation in the same compartment according to claim 6 is characterized in that: When the underwater valve is in the on state, the inclination angle of the barrel foundation can be monitored; According to the tilt angle, a preset tilt value is determined; wherein the tilt angle is compared with a preset tilt value so that the tilt angle first becomes a first threshold value and then becomes a second threshold value; When the first threshold exceeds the preset tilt value, the underwater electronic cabin control turns off the corresponding button and reduces the water pumping of the corresponding cabin so that the second threshold reaches the preset tilt value.

8. The piping control method for a multi-silo barrel-type foundation for cross-controlling the same compartment according to any one of claims 1 to 7, characterized in that: When some underwater valves are out of control, the corresponding buttons are closed according to the underwater electronic cabin control to carry out emergency treatment of the barrel foundation; Among them, when the cargo flow of cabin 1 is halved, or the cargo flow of cabin 1 is completely lost, leveling is performed according to the corresponding buttons of the underwater electronic cabin control, and the rest of the situations can be deduced in this way.

9. A pipeline control device, characterized in that: It includes a PLC, a hub and a control module, wherein the PLC is connected to the hub, and the hub is connected to the control module, wherein the PLC is used to input / output instructions for controlling mechanical equipment, the hub is used to expand the network transmission distance of the instructions, and the control module is used to call the instructions to execute the pipeline control method for a multi-silo type foundation that cross-controls the same compartment as described in any one of claims 1 to 8.

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