Large deep sea work platform standby navigation and standby diving inspection system

Abstract

The invention discloses a standby navigation and standby diving inspection system for a large-scale deep-sea work platform, and relates to the technical field of large-scale deep-sea work platforms. According to the characteristics of the large-scale deep-sea work platform, regional controllers are arranged to communicate with all subordinate platform equipment; the method comprises the following steps of: accessing a central Ethernet and supporting remote unified acquisition control based on an OPC-UA protocol, reading and analyzing standby navigation and standby potential inspection files by an inspection terminal accessed to the central Ethernet, and converting each standby navigation and standby potential inspection process into an OPC-UA operation of a corresponding regional controller to automatically execute inspection; according to the system, on the basis of a unified control protocol of OPC-UA platform equipment, an arranged standby flight and standby potential inspection file is automatically executed on the inspection terminal, remote centralized automatic standby flight and standby potential inspection can be achieved, and the standby flight and standby potential inspection efficiency is improved.

Description

Technical Field

[0001] This application relates to the technical field of large deep-sea operation platforms, and in particular to a pre-sailing and pre-diving inspection system for large deep-sea operation platforms. Background Art

[0002] Deep-sea operation platforms use equipment such as remotely operated vehicles (ROVs), autonomous underwater vehicles (AUVs), and underwater cranes carried thereon to carry out underwater exploration operations in the deep sea, and can effectively exert the advantages of manned / unmanned cooperation. China is increasing the research and development and investment in large deep-sea operation platforms with a depth of more than 1000 meters.

[0003] The pre-sailing and pre-diving stage of a large deep-sea operation platform is an essential stage in its entire mission profile. The pre-sailing and pre-diving inspection of a large deep-sea operation platform refers to the inspection of the status of the platform and its equipment during the pre-sailing and pre-diving stage. This work is an important part of pre-sailing and pre-diving, and is a prerequisite for a large deep-sea operation platform to successfully complete long-term operation tasks.

[0004] Currently, the pre-sailing and pre-diving inspection of large deep-sea operation platforms is mainly carried out by manual methods. Generally, under the powered-on state, the operating status of the platform and its main equipment is inspected. During the inspection process, control commands need to be sent and inspection results need to be viewed through the local control box panel or mechanically near each device. Since there are many devices to be inspected and each device has multiple inspection steps, it needs to be completed by inspection personnel who have been specially trained in advance, and the requirements for inspection personnel are relatively high. In addition, the manual inspection method is also time-consuming, laborious and prone to omission, which affects the efficiency of pre-sailing and pre-diving inspection. Summary of the Invention

[0005] In view of the above problems and technical requirements, this application proposes a pre-sailing and pre-diving inspection system for large deep-sea operation platforms. The technical solution of this application is as follows:

[0006] A pre-sailing and pre-diving inspection system for a large deep-sea operation platform, the pre-sailing and pre-diving inspection system for a large deep-sea operation platform includes an inspection terminal and a plurality of area controllers; each area controller is respectively connected to a plurality of platform devices in the large deep-sea operation platform and has a communication connection with the connected platform devices. Each area controller is respectively connected to the central Ethernet through a switch, and the inspection terminal is also connected to the central Ethernet through a switch; each area controller supports remote unified acquisition and control based on the OPC-UA protocol, and each area controller has unique OPC-UA endpoint information;

[0007] The inspection terminal runs an inspection execution tool. The inspection terminal is used to call the running inspection execution tool to read and parse a pre - arranged pre - voyage and pre - dive inspection file to obtain multiple pre - voyage and pre - dive inspection processes. Based on the process engine, each pre - voyage and pre - dive inspection process is converted into multiple inspection tasks with a predetermined execution order. Each inspection task includes the OPC - UA endpoint information of the area controller connected to the platform device targeted by the inspection task and the task parameters of the inspection task.

[0008] The inspection terminal is used to send the inspection tasks to the corresponding area controller via the central Ethernet according to the OPC - UA endpoint information included in each inspection task, and issue the inspection tasks in sequence according to the execution order of the inspection tasks in each pre - voyage and pre - dive inspection process.

[0009] Each area controller is used to receive the inspection tasks issued by the inspection terminal via the central Ethernet, and execute the inspection tasks on the corresponding platform devices connected according to the task parameters.

[0010] A further technical solution is that an inspection orchestration tool also runs in the inspection terminal. The inspection terminal is also used to call the inspection orchestration tool to orchestrate multiple inspection tasks into a pre - voyage and pre - dive inspection process based on the process engine and compile it into a pre - voyage and pre - dive inspection file.

[0011] A further technical solution is that in a pre - voyage and pre - dive inspection process, the task type of any inspection task for a platform device is a control instruction task or a status acquisition task.

[0012] The task parameters of the inspection task belonging to the control instruction task include the platform device identifier and the control instruction. The area controller is used to send the control instruction included in the inspection task to the platform device corresponding to the platform device identifier included in the inspection task. The control instruction includes the instruction type and the input parameter value.

[0013] The task parameters of the inspection task belonging to the status acquisition task include the platform device identifier, the status variable, and the result judgment rule. The area controller is used to obtain the acquisition result of the status variable in the inspection task from the platform device corresponding to the platform device identifier included in the inspection task, judge the acquisition result according to the result judgment rule in the inspection task to generate a feedback result, and report the feedback result to the inspection terminal via the central Ethernet.

[0014] A further technical solution is that several task combinations are also formed in a pre - voyage and pre - dive inspection process. Each task combination includes a control instruction task and a status acquisition task that are executed in sequence, and the status variable adjusted by the control instruction task in the same task combination is the same as the status variable for which the status acquisition task reads the acquisition result.

[0015] A further technical solution is that after the inspection terminal issues a control instruction task in a task combination and waits for a waiting duration, it then issues a status acquisition task in the same task combination.

[0016] A further technical solution is that the control instruction task and the status acquisition task in the same task combination are for the same platform device, and different task combinations in the same pre-departure and pre-diving inspection process are for the same or different platform devices.

[0017] A further technical solution is that multiple inspection tasks in the same pre-departure and pre-diving inspection process form a directed acyclic graph, and the process control modes of the multiple inspection tasks include at least one of sequential flow, branch selection flow, and parallel flow;

[0018] The inspection terminal issues multiple inspection tasks in the execution path forming a sequential flow one by one, issues the inspection tasks in the execution path forming a parallel flow in parallel, and selects the inspection tasks in the corresponding execution path according to the branch judgment conditions in the branch selection flow satisfied by the feedback results received via the central Ethernet.

[0019] A further technical solution is that multiple area controllers are respectively arranged in different areas of the large deep-sea operation platform, and each area controller establishes a communication connection with the platform devices arranged in the same area; and / or, all the platform devices targeted by the inspection tasks in the same pre-departure and pre-diving inspection process are connected to the same area controller.

[0020] A further technical solution is that the inspection terminal includes a human-machine interaction interface. The inspection terminal is used to display the execution process of each pre-departure and pre-diving inspection process and the feedback results reported by the area controller received through the human-machine interaction interface. The inspection terminal is also used to receive control operations for the pre-departure and pre-diving inspection process through the human-machine interaction interface, and the control operations include at least one of start, pause, and restart.

[0021] A further technical solution is that the parsed pre-departure and pre-diving inspection process includes a pre-departure and pre-diving inspection process for the navigation and motion system of the large deep-sea operation platform, a pre-departure and pre-diving inspection process for the navigation and communication system of the large deep-sea operation platform, a pre-departure and pre-diving inspection process for the internal atmospheric environment of the large deep-sea operation platform, and a pre-departure and pre-diving inspection process for the underwater operation equipment carried by the large deep-sea operation platform.

[0022] The beneficial technical effects of this application are:

[0023] The present application discloses a pre-sailing and pre-diving inspection system for a large deep-sea operation platform. This system is configured according to the characteristics of the large deep-sea operation platform, with each area controller communicating with all subordinate platform devices, connecting them to the central Ethernet, and supporting remote unified acquisition and control based on the OPC-UA protocol. The inspection terminal, which is also connected to the central Ethernet, reads and parses the pre-sailing and pre-diving inspection files, converts each pre-sailing and pre-diving inspection process into OPC-UA operations of the corresponding area controller, and automatically executes the inspections. Based on the unified control protocol for platform devices on the OPC-UA platform, this system can automatically execute the pre-sailing and pre-diving inspection files arranged on the inspection terminal, enabling automated pre-sailing and pre-diving inspections, avoiding the problems of low efficiency and high dependence on human experience in manual inspections, and facilitating the improvement of the efficiency and standardization of pre-sailing and pre-diving inspections. Additionally, this system can achieve remote centralization of pre-sailing and pre-diving inspections, which is more convenient than the original inspection method near platform devices and can even be carried out through a mobile terminal outside the operation platform.

[0024] Furthermore, the inspection terminal also runs an inspection arrangement tool, which can visually arrange the pre-sailing and pre-diving inspection processes directly on the inspection terminal. Based on the visual arrangement tool and process engine technology, the flexibility of the pre-sailing and pre-diving inspection processes is enhanced. Inspection tasks can be flexibly arranged according to the needs of operation tasks and the operation equipment carried, and even inspection process templates can be prepared for various operation tasks and selected for execution according to the actual situation during pre-sailing and pre-diving. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a system architecture diagram of the pre-sailing and pre-diving inspection system for a large deep-sea operation platform according to an embodiment of the present application.

[0026] Figure 2 is a schematic flowchart of implementing the pre-sailing and pre-diving inspection of a large deep-sea operation platform using the pre-sailing and pre-diving inspection system for a large deep-sea operation platform according to an embodiment of the present application.

[0027] Figure 3 is an example diagram of a directed acyclic graph of a pre-sailing and pre-diving inspection process obtained by parsing. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] The following further describes the specific embodiments of the present application with reference to the accompanying drawings.

[0029] The present application discloses a pre-sailing and pre-diving inspection system for a large deep-sea operation platform. Please refer to Figure 1 the system architecture diagram shown. This pre-sailing and pre-diving inspection system for a large deep-sea operation platform includes an inspection terminal 110 and multiple area controllers. For example, Figure 1 it includes four area controllers, respectively denoted as area controller 120 to area controller 150.

[0030] Inside the large deep-sea operation platform, a central Ethernet is established through switches, cables or optical fibers. Each area controller is connected to the central Ethernet through a switch, and the inspection terminal is also connected to the central Ethernet through a switch, so that the inspection terminal can communicate and control each area controller via the central Ethernet.

[0031] The inspection terminal 110 is a terminal device with data signal processing capabilities. Software can run on the inspection terminal. In actual implementation, the inspection terminal can be implemented as a computer device, a mobile laptop, a tablet computer or other fixed or mobile terminal devices. For the convenience of pre-departure and pre-dive inspections, the inspection terminal also includes a human-machine interface, which can be built into the inspection terminal or an external device of the inspection terminal. The inspection terminal receives input instructions and displays the inspection process through the human-machine interface.

[0032] The inspection terminal 110 is arranged inside the manned cabin of the large deep-sea operation platform, or the inspection terminal is arranged on the support mother ship outside the large deep-sea operation platform.

[0033] Each area controller is respectively connected to multiple platform devices in the large deep-sea operation platform and has established a communication connection with the connected platform devices. The electrical interfaces and communication protocols for the area controller to communicate with the subordinate platform devices are not limited, as long as it is ensured that the area controller can send control instructions to all subordinate platform devices and obtain the status information of the platform devices. The electrical interfaces and communication protocols used by any two area controllers can be the same or different. In one embodiment, as Figure 1 shown in the system architecture diagram, the area controller 120 is connected to the propulsion device and the steering device through the CAN bus protocol. The area controller 130 is connected to the Beidou navigation device, the inertial navigation device, the depth gauge and the collision avoidance sonar device through the RS422 serial communication protocol. The area controller 140 is connected to the atmospheric environment monitor, the air conditioner, the air purification device, the oxygen supply device and the hydrogen elimination device through the CAN bus protocol. The area controller 150 is connected to the light outer shell opening and closing device, the payload storage device, the medium ROV deployment and recovery device and the medium ROV body through the RS485 serial communication protocol.

[0034] Each area controller supports the OPC-UA (Open Platform Communications Unified Architecture) protocol, and each area controller has a unique OPC-UA endpoint information, and each OPC-UA endpoint information includes the OPC-UA service address and port. One implementation method of the area controller is a PLC that supports the OPC-UA protocol, or another implementation method is to select an embedded processor and support the OPC-UA protocol based on SDK software development.

[0035] The control terminal 110 acts as an OPC-UA client, and each area controller acts as an OPC-UA server. The control terminal 110 can use the OPC-UA endpoint information of each area controller through the OPC-UA protocol to remotely and uniformly collect and control each area controller. Through the bridge of the area controller, the remote and unified collection and control can act on each platform device, providing a hardware basis for the execution of the inspection actions of the platform devices.

[0036] In one embodiment, multiple area controllers are respectively arranged in different areas of a large deep-sea operation platform. Each area controller establishes a communication connection with the platform devices arranged in the same area, thereby implementing a sub-area collection and control architecture to meet the scenario characteristics of a large deep-sea operation platform with a large space and numerous devices where centralized collection and control cannot be achieved. And / or in another embodiment, all the platform devices targeted by each inspection task in the same pre-departure and pre-dive inspection process are connected to the same area controller. That is, not only are they divided according to the area where the platform devices are located, but also the inspection requirements of each special pre-departure and pre-dive inspection process are considered. During the pre-departure and pre-dive inspection process of a large deep-sea operation platform, there are some special pre-departure and pre-dive inspection processes. Each special pre-departure and pre-dive inspection process needs to inspect several related platform devices. A certain special pre-departure and pre-dive inspection process may be carried out together with the debugging of the platform devices. Therefore, for the convenience of debugging, the platform devices targeted by each special pre-departure and pre-dive inspection process are completed through a single area controller, avoiding dependence on other area controllers.

[0037] The pre-departure and pre-dive inspection process implemented by using the pre-departure and pre-dive inspection system of the large deep-sea operation platform includes the following content. Please refer to Figure 2 the flowchart shown below:

[0038] An inspection execution tool runs in the inspection terminal 110. The inspection terminal 110 is used to call the running inspection execution tool to read and parse a pre-compiled pre-departure and pre-dive inspection file to obtain multiple pre-departure and pre-dive inspection processes. Each pre-departure and pre-dive inspection process is used to conduct a pre-departure and pre-dive inspection on a special function of the large deep-sea operation platform. Each pre-departure and pre-dive inspection process specifically includes conducting a pre-departure and pre-dive inspection on multiple platform devices carried by the large deep-sea operation platform. Then, the inspection terminal 110 calls the inspection execution tool to further convert each pre-departure and pre-dive inspection process into multiple inspection tasks with a predetermined execution order based on the process engine.

[0039] The pre-sailing and pre-diving inspection file is pre-written using an external dedicated layout tool and then loaded into the inspection terminal 110 for parsing. Alternatively, an inspection layout tool is also running in the inspection terminal 110. The pre-sailing and pre-diving inspection file is directly written in the inspection layout tool running in the inspection terminal 110 and stored in the inspection terminal 110. Then, when the inspection terminal 110 needs to conduct a pre-sailing and pre-diving inspection, it directly loads the pre-sailing and pre-diving inspection file stored internally for parsing, such as Figure 2 Take this situation as an example.

[0040] The inspection layout tool running in the inspection terminal 110 is in the form of a desktop application or a browser plugin. The inspection layout tool provides a visual editing panel and a task rule form. The user fills in the form according to the task rule form in the editing panel. The inspection layout tool generates corresponding inspection tasks based on the content filled in by the user according to the task rule form. Then, the user can arrange the execution order of each inspection task by dragging in the editing panel. The process control modes adopted by multiple inspection tasks include at least one of sequential flow, branch selection flow, and parallel flow. Then, the inspection layout tool forms a pre-sailing and pre-diving inspection process in the form of a directed acyclic graph according to the dragging actions performed by the user. After arranging each pre-sailing and pre-diving inspection process respectively according to the above method, the inspection layout tool packages and compiles all the pre-sailing and pre-diving inspection processes to obtain a pre-sailing and pre-diving inspection file and stores it.

[0041] Based on the compilation process of the above pre-sailing and pre-diving inspection file, correspondingly, each converted inspection task is used to inspect a platform device. Then, each inspection task includes the OPC-UA endpoint information of the area controller connected to the platform device targeted by the inspection task and the task parameters of the inspection task. The OPC-UA endpoint information is used to identify the area controller connected to the platform device targeted by the inspection task, and the task parameters are used to record the specific task content of the inspection task.

[0042] Moreover, the multiple inspection tasks converted from each pre-sailing and pre-diving inspection process also form a directed acyclic graph, and the process control modes of these multiple inspection tasks include at least one of sequential flow, branch selection flow, and parallel flow. Then, the inspection terminal 110 starts from the first inspection task of the pre-sailing and pre-diving inspection process and issues each inspection task in sequence according to the execution order of each inspection task. When the inspection terminal 110 issues each inspection task, it sends the inspection task to the area controller identified by the OPC-UA endpoint information via the central Ethernet according to the OPC-UA endpoint information included in each inspection task. The corresponding area controller will receive the inspection task issued by the inspection terminal via the central Ethernet and execute the inspection task on the corresponding platform device connected according to the task parameters.

[0043] In a pre-departure and pre-dive inspection process, the task type of any inspection task for a platform device is a control instruction task or a status acquisition task. The task parameters of the inspection tasks of these two task types are different, and the execution processes of the corresponding area controller inspection tasks are also different.

[0044] The task parameters of the inspection task belonging to the control instruction task include the platform device identifier and the control instruction. The platform device identifier is used to uniquely identify the platform device that executes this inspection task. The control instruction includes the instruction type and the input parameter value. Then the area controller sends the control instruction included in this inspection task to the platform device corresponding to the platform device identifier included in this inspection task, so that the corresponding platform device executes according to the instruction type and the input parameter value included in the control instruction.

[0045] The task parameters of the inspection task belonging to the status acquisition task include the platform device identifier, the status variable, and the result judgment rule. Then the area controller obtains the acquisition result of the status variable in the inspection task from the platform device corresponding to the platform device identifier included in this inspection task, judges the acquisition result according to the result judgment rule in the inspection task to generate a feedback result, and reports the feedback result to the inspection terminal via the central Ethernet.

[0046] For multiple inspection tasks in a pre-departure and pre-dive inspection process, the inspection terminal 110 issues each inspection task in sequence according to the process control mode adopted by the inspection task, including: the inspection terminal 110 issues multiple inspection tasks in sequence in the execution path forming a sequential flow, issues the inspection tasks in the execution path forming a parallel flow in parallel, and selects the inspection tasks in the corresponding execution path according to the branch judgment condition in the branch selection flow satisfied by the feedback result received via the central Ethernet.

[0047] For example, in an instance, the directed acyclic graph form of a pre-departure and pre-dive inspection process obtained by parsing is as Figure 3 shown. This pre-departure and pre-dive inspection process includes four inspection tasks, which are respectively denoted as inspection task 1, inspection task 2, inspection task 3, and inspection task 4. Among them, inspection task 1 and inspection task 2 are connected in sequence according to the sequential flow, and then the branch judgment condition "Is the propulsion device rotation speed value normal?" in the connected branch selection flow. The branches with the judgment result of yes in this branch judgment condition are sequentially connected to inspection task 3 and inspection task 4 in sequence until the end, and the branches with the judgment result of no in this branch judgment condition are directly connected to the end. Among them:

[0048] The inspection task 1 belongs to the control instruction task. The OPC-UA endpoint information of the inspection task 1 is opc.tcp: / / 192.168.1.1:8080 and corresponds to the regional controller 120. The task parameters of the inspection task 1 include the device identifier of the propulsion device, the speed control instruction, and the input parameter value of the speed value of 500 rpm.

[0049] The inspection task 2 belongs to the status acquisition task. The OPC-UA endpoint information of the inspection task 2 is opc.tcp: / / 192.168.1.1:8080 and corresponds to the regional controller 120. The task parameters of the inspection task 2 include the device identifier of the propulsion device, the status variable of the speed, and the result judgment rule of "the speed is greater than 450 rpm and less than 550 rpm".

[0050] The inspection task 3 belongs to the control instruction task. The OPC-UA endpoint information of the inspection task 3 is opc.tcp: / / 192.168.1.2:8080 and corresponds to the regional controller 150. The task parameters of the inspection task 3 include the device identifier of the light housing opening and closing device, the light housing opening and closing instruction, and the input parameter value of the opening and closing status identifier 1. Where the opening and closing status identifier of 1 means open, and the opening and closing status identifier of 0 means closed.

[0051] The inspection task 4 belongs to the status acquisition task. The OPC-UA endpoint information of the inspection task 4 is opc.tcp: / / 192.168.1.2:8080 and corresponds to the regional controller 150. The task parameters of the inspection task 4 include the device identifier of the light housing opening and closing device, the status variable of the opening and closing status identifier, and the result judgment rule of "the opening and closing status identifier = 1".

[0052] Then, the inspection terminal 110 first sends inspection task 1 to the area controller 120, and the area controller 120 sends a rotational speed control instruction and a rotational speed value of 500 rpm to the propulsion device. Then, the inspection terminal 110 sequentially sends inspection task 2 to the area controller 120. The area controller 120 reads the acquisition result of the rotational speed from the propulsion device, which is assumed to be 500 rpm. Combining the result judgment rule, if it is determined that the acquisition result satisfies that the rotational speed is greater than 450 rpm and less than 550 rpm, a feedback result indicating that the rotational speed value of the propulsion device is normal is generated and reported to the inspection terminal 110. The inspection terminal 110 selects the branch with the judgment result of yes according to the branch judgment condition in the branch selection flow satisfied by the feedback result of the normal rotational speed value of the propulsion device, and selects to send inspection task 3 to the area controller 150. The area controller 150 sends a light shell opening / closing instruction and an opening / closing status identifier 1 to the light shell opening / closing device. Then, the inspection terminal 110 sequentially sends inspection task 4 to the area controller 150. The area controller 150 reads the acquisition result of the opening / closing status identifier from the light shell opening / closing device, which is assumed to be 1. Combining the result judgment rule, if it is determined that the acquisition result satisfies that the opening / closing status identifier = 1, a feedback result indicating that the opening / closing status of the light shell is normal is generated and reported to the inspection terminal 110.

[0053] As can be seen from the above example, several task combinations are formed in a pre-navigation and pre-dive inspection process. Each task combination includes a control instruction task and a status acquisition task that are executed sequentially, and the state variable adjusted by the control instruction task in the same task combination is the same as the state variable from which the acquisition result is read by the status acquisition task. For example, in Figure 3 the example, inspection task 1 and inspection task 2 form a task combination. Inspection task 1 is used to adjust the rotational speed of the propulsion device, while inspection task 2 is used to read the rotational speed of the propulsion device. Similarly, inspection task 3 and inspection task 4 form a task combination. Inspection task 3 is used to adjust the opening / closing status of the light shell opening / closing device, while inspection task 4 is used to read the opening / closing status of the shell opening / closing device.

[0054] The control instruction task and the status acquisition task in the same task combination are for the same platform device. For example, in Figure 3 inspection task 1 and inspection task 2 are both for the propulsion device, and inspection task 3 and inspection task 4 are both for the light shell opening / closing device. However, any two different task combinations in the same pre-navigation and pre-dive inspection process can be for the same or different platform devices. For example Figure 3 in, the task combination formed by inspection task 1 and inspection task 2 and the task combination formed by inspection task 3 and inspection task 4 are for different platform devices.

[0055] Considering that various mechanical and electrical equipment on large deep-sea operation platforms have the characteristic of slow execution response, in one embodiment, after the inspection terminal 110 issues a control instruction task in a task combination and waits for a certain duration, it then issues a status acquisition task in the same task combination to ensure that the platform equipment has executed according to the control instruction task and completed the adjustment of the corresponding status variables, so as to ensure that the subsequent status acquisition task obtains accurate readings of the status variables. The waiting duration can be set customarily, and the waiting durations in different task combinations can be the same or different. For example, in Figure 3 In the example, the waiting duration between the task combination formed by inspection task 1 and inspection task 2 is 3 seconds, and the waiting duration between the task combination formed by inspection task 3 and inspection task 4 is 5 seconds.

[0056] To improve the intuitiveness of the pre-departure and pre-dive inspection, the inspection terminal 110 is also used to display, through the human-computer interaction interface, the execution process of each pre-departure and pre-dive inspection process and the feedback results reported by the area controller received. One method is to display the execution process by using different display modes for the executed and unexecuted inspection tasks in the directed acyclic graph. In addition, the pre-departure and pre-dive inspection log can be recorded for information traceability. In addition, the inspection terminal 110 is also used to receive control operations for the pre-departure and pre-dive inspection process through the human-computer interaction interface, and the control operations include at least one of start, pause, and restart.

[0057] In addition, as can be seen from the above example, any two inspection tasks in a pre-departure and pre-dive inspection process include the same or different OPC-UA endpoint information. For example, inspection task 1 and inspection task 2 include the same OPC-UA endpoint information. Another example is that inspection task 1 and inspection task 3 include different OPC-UA endpoint information. That is to say, some special pre-departure and pre-dive inspection processes will use multiple area controllers to inspect the platform equipment under their respective jurisdictions at the same time. However, as mentioned above, for the convenience of debugging, some special pre-departure and pre-dive inspection processes only use one area controller to inspect the platform equipment under its jurisdiction. For example, in combination with the actual application needs, for the pre-departure and pre-dive inspection of a large deep-sea operation platform, the special pre-departure and pre-dive inspection processes obtained by parsing include the pre-departure and pre-dive inspection process for the navigation and motion system of the large deep-sea operation platform, the pre-departure and pre-dive inspection process for the navigation and communication system of the large deep-sea operation platform, the pre-departure and pre-dive inspection process for the internal atmospheric environment of the large deep-sea operation platform, and the pre-departure and pre-dive inspection process for the underwater operation equipment carried by the large deep-sea operation platform. These special pre-departure and pre-dive inspections use one area controller to complete the entire pre-departure and pre-dive inspection process for the platform equipment under its jurisdiction, avoiding dependence on other area controllers, and are introduced as follows:

[0058] In one instance, the pre-departure and pre-dive inspection process for the internal atmospheric environment of the large deep-sea operation platform includes the following inspection tasks:

[0059] (1) Power-on inspection: Control instruction task 400 for controlling the power-on of the atmospheric environment monitor, control instruction task 401 for controlling the power-on of the air conditioner, control instruction task 402 for controlling the power-on of the hydrogen elimination device, control instruction task 403 for controlling the power-on of the oxygen supply device, and control instruction task 404 for controlling the power-on of the air purification device. Status acquisition task 405 for acquiring the power-on status of the atmospheric environment monitor, status acquisition task 406 for acquiring the power-on status of the air conditioner, status acquisition task 407 for acquiring the power-on status of the hydrogen elimination device, status acquisition task 408 for acquiring the power-on status of the oxygen supply device, and status acquisition task 409 for acquiring the power-on status of the air purification device. Among them, control instruction tasks 400 to 404 can be arranged in a parallel stream, and the control instruction task for controlling the power-on of the same platform device and the status acquisition task for acquiring the power-on status of the platform device form a task combination.

[0060] (2) Self-check: Status acquisition task 410 for acquiring the self-check status of the atmospheric environment monitor, status acquisition task 411 for acquiring the self-check status of the air conditioner, status acquisition task 412 for acquiring the self-check status of the hydrogen elimination device, status acquisition task 413 for acquiring the self-check status of the oxygen supply device, and status acquisition task 414 for acquiring the self-check status of the air purification device. Status acquisition tasks 410 to 414 can be arranged in a parallel stream.

[0061] (3) Atmospheric environment status inspection: Status acquisition task 420 for acquiring the atmospheric environment status parameters collected by the atmospheric environment monitor, including temperature, humidity, oxygen concentration, hydrogen concentration, carbon dioxide concentration, and concentrations of harmful gases such as carbon monoxide.

[0062] (4) Device function inspection: Different paths are selected according to the feedback result of status acquisition task 420 to form a branch selection flow. Different paths include control instruction task 430 for controlling the start and stop of the air conditioner, control instruction task 431 for controlling the start and stop of the hydrogen elimination device, control instruction task 432 for controlling the start and stop of the oxygen supply device, and control instruction task 433 for controlling the start and stop of the air purification device according to different actual feedback results. And status acquisition task 434 for acquiring the start and stop status of the air conditioner, status acquisition task 435 for acquiring the start and stop status of the hydrogen elimination device, status acquisition task 436 for acquiring the start and stop status of the oxygen supply device, and status acquisition task 437 for acquiring the start and stop status of the air purification device. The control instruction task for controlling the start and stop of the same platform device and the status acquisition task for acquiring the start and stop status of the platform device form a task combination.

[0063] In one example, the pre-sailing and pre-diving inspection process for the underwater operation equipment carried on a large deep-sea operation platform includes the following inspection tasks for the medium-sized ROV carried on the large deep-sea operation platform:

[0064] (1) Light outer shell opening and closing device inspection: The control instruction task 500 for controlling the power-on of the light outer shell opening and closing device and the status acquisition task 501 for obtaining the self-inspection status of the light outer shell opening and closing device form a task combination. The control instruction task 502 for controlling the opening and closing of the light outer shell opening and closing device and the status acquisition task 503 for obtaining the opening and closing status of the light outer shell opening and closing device form a task combination.

[0065] (2) Payload storage device inspection: The control instruction task 510 for controlling the power-on of the payload storage device and the status acquisition task 511 for obtaining the self-inspection status of the payload storage device form a task combination. The control instruction task 512 for controlling the lifting of the payload storage device and the status acquisition task 513 for obtaining the lifting status of the payload storage device form a task combination. The control instruction task 514 for controlling the clamping and releasing of the payload storage device and the status acquisition task 515 for obtaining the clamping and releasing status of the payload storage device form a task combination.

[0066] (3) Medium-sized ROV winch device inspection: The control instruction task 520 for controlling the power-on of the medium-sized ROV winch device and the status acquisition task 521 for obtaining the self-inspection status of the medium-sized ROV winch device form a task combination. The control instruction task 522 for controlling the start and stop of the medium-sized ROV winch device and the status acquisition task 523 for obtaining the start and stop status of the medium-sized ROV winch device form a task combination. The control instruction task 524 for controlling the cable winching speed of the medium-sized ROV winch device and the status acquisition task 525 for obtaining the cable winching speed of the medium-sized ROV winch device form a task combination.

[0067] (4) Inspection of the medium-sized ROV body: The control instruction task 530 for controlling the power on of the medium-sized ROV body, the status acquisition task 531 for obtaining the self-test status of the medium-sized ROV body, and the status acquisition task 532 for obtaining the power status (voltage, current, insulation, etc.) of the medium-sized ROV body. These two status acquisition tasks can adopt parallel streams, and the control instruction task 530 and the status acquisition tasks 531 and 532 form a task combination. The control instruction task 533 for controlling the ROV thruster speed of the medium-sized ROV body, and the status acquisition task 534 for obtaining the ROV thruster speed of the medium-sized ROV body, these two inspection tasks form a task combination. The control instruction task 535 for controlling the ROV lighting switch of the medium-sized ROV body, and the status acquisition task 536 for obtaining the ROV lighting switch status of the medium-sized ROV body, these two inspection tasks form a task combination. The two inspection tasks, a control instruction task 537 for controlling the ROV manipulator joints of the medium-sized ROV body, and a status acquisition task 538 for acquiring the status of the ROV manipulator joints of the medium-sized ROV body, form a task combination.

[0068] The above is only a preferred embodiment of the present application, and the present application is not limited to the above embodiments. It is understood that other improvements and changes directly derived or associated by those skilled in the art without departing from the spirit and concept of the present application should be considered to be included in the protection scope of the present application.

Claims

1. A pre-sailing and pre-diving inspection system for a large deep-sea operation platform, characterized in that, The pre - voyage and pre - dive inspection system of the large - scale deep - sea operation platform includes an inspection terminal and multiple area controllers; each area controller is respectively connected to multiple platform devices in the large - scale deep - sea operation platform and has established a communication connection with the connected platform devices. Each area controller accesses the central Ethernet through a switch, and the inspection terminal also accesses the central Ethernet through a switch; each area controller supports remote unified acquisition and control based on the OPC - UA protocol, and each area controller has a unique OPC - UA endpoint information. An inspection execution tool runs in the inspection terminal. The inspection terminal is used to call the running inspection execution tool to read and parse a pre - arranged pre - voyage and pre - dive inspection file to obtain multiple pre - voyage and pre - dive inspection processes. Based on the process engine, each pre - voyage and pre - dive inspection process is converted into multiple inspection tasks with a predetermined execution order. Each inspection task includes the OPC - UA endpoint information of the area controller connected to the platform device targeted by the inspection task and the task parameters of the inspection task. The inspection terminal is used to send the inspection task to the corresponding area controller via the central Ethernet according to the OPC - UA endpoint information included in each inspection task, and sequentially issue the inspection tasks in the execution order of each inspection task in each pre - voyage and pre - dive inspection process. Each area controller is used to receive the inspection task issued by the inspection terminal via the central Ethernet, and execute the inspection task on the corresponding platform device connected according to the task parameters.

2. The pre-departure and pre-dive inspection system for large deep-sea operation platforms according to claim 1, wherein An inspection arrangement tool also runs in the inspection terminal. The inspection terminal is also used to call the inspection arrangement tool to arrange multiple inspection tasks into a pre - voyage and pre - dive inspection process based on the process engine and compile it into a pre - voyage and pre - dive inspection file.

3. The pre-departure and pre-dive inspection system for a large deep-sea operation platform according to claim 1 or 2, characterized in that, In a pre - voyage and pre - dive inspection process, the task type of any inspection task for a platform device is a control instruction task or a status acquisition task. The task parameters of the inspection task belonging to the control instruction task include the platform device identifier and the control instruction. The area controller is used to send the control instruction included in the inspection task to the platform device corresponding to the platform device identifier included in the inspection task. The control instruction includes the instruction type and the input parameter value. The task parameters of the inspection task belonging to the status acquisition task include the platform device identifier, the status variable, and the result judgment rule. The area controller is used to obtain the acquisition result of the status variable in the inspection task from the platform device corresponding to the platform device identifier included in the inspection task, judge the acquisition result according to the result judgment rule in the inspection task to generate a feedback result, and report the feedback result to the inspection terminal via the central Ethernet.

4. The pre-departure and pre-dive inspection system for large deep-sea operation platforms according to claim 3, wherein, Several task combinations are also formed in a pre - voyage and pre - dive inspection process. Each task combination includes a control instruction task and a status acquisition task that are executed in sequence, and the status variable adjusted by the control instruction task in the same task combination is the same as the status variable for which the acquisition result is read by the status acquisition task.

5. The pre-sailing and pre-diving inspection system for large deep-sea operation platforms according to claim 4, wherein The inspection terminal issues the control instruction task in a task combination and waits for a waiting duration, and then issues the status acquisition task in the same task combination.

6. The pre-sailing and pre-diving inspection system for large deep-sea operation platforms according to claim 4, wherein, The control instruction task and the status acquisition task in the same task combination target the same platform device, and different task combinations in the same pre-departure and pre-dive inspection process target the same or different platform devices.

7. The pre-departure and pre-dive inspection system for large deep-sea operation platforms according to claim 3, characterized in that, Multiple inspection tasks in the same pre-departure and pre-dive inspection process form a directed acyclic graph, and the process control modes of the multiple inspection tasks include at least one of sequential flow, branch selection flow, and parallel flow; The inspection terminal sequentially issues multiple inspection tasks in the execution path forming a sequential flow, issues the inspection tasks in the execution path forming a parallel flow in parallel, and selects the inspection tasks in the corresponding execution path according to the branch judgment conditions in the branch selection flow satisfied by the feedback results received via the central Ethernet.

8. The pre-sailing and pre-diving inspection system for large deep-sea operation platforms according to claim 1, characterized in that, Multiple area controllers are respectively arranged in different areas of the large deep-sea operation platform, and each area controller establishes a communication connection with the platform devices arranged in the same area; and / or, all the platform devices targeted by the inspection tasks in the same pre-departure and pre-dive inspection process are connected to the same area controller.

9. The pre-sailing and pre-diving inspection system for large deep-sea operation platforms according to claim 3, characterized in that, The inspection terminal includes a human-computer interaction interface. The inspection terminal is used to display, through the human-computer interaction interface, the execution process of each pre-departure and pre-dive inspection process and the feedback results reported by the area controller received, and the inspection terminal is also used to receive, through the human-computer interaction interface, control operations for the pre-departure and pre-dive inspection process, and the control operations include at least one of start, pause, and restart.

10. The pre-sailing and pre-diving inspection system for large deep-sea operation platforms according to claim 1, wherein, The parsed pre-departure and pre-dive inspection process includes the pre-departure and pre-dive inspection process for the navigation and motion system of the large deep-sea operation platform, the pre-departure and pre-dive inspection process for the navigation and communication system of the large deep-sea operation platform, the pre-departure and pre-dive inspection process for the internal atmospheric environment of the large deep-sea operation platform, and the pre-departure and pre-dive inspection process for the underwater operation equipment carried by the large deep-sea operation platform.

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