Flexible pipe attitude regulation and control method based on real-time monitoring of inclinometer and mining ship-vehicle linkage

Abstract

The invention relates to a flexible pipe posture regulation and control method based on real-time monitoring of an inclinometer and mining ship-vehicle linkage. The flexible pipe posture regulation and control method is mainly applied to precise regulation and control of the posture of a flexible mining pipe in the mining field. An inclinometer is arranged at a key part (such as a joint structure) of the flexible mining pipe for real-time monitoring, relevant monitoring data are collected, and a recursive configuration inversion method is used for inverting the spatial configuration of the flexible mining pipe according to the data. On one hand, the overall bending degree is quantitatively evaluated according to the maximum difference of the average slope of pipelines with the pipe length per kilometer, and the overall configuration is adjusted by controlling the horizontal relative position of a mining ship and a mining vehicle; on the other hand, the local abnormal bending condition of the flexible mining pipe near the relay cabin is judged by monitoring the acceleration value of the inclinometer, and then the head wave angle of the mining ship is regulated and controlled to control the local bending state. The strategy aims at achieving effective and accurate control over the posture of the flexible mining pipe, the stability and reliability of the flexible mining pipe under the complex mining working condition are improved, and it is guaranteed that mining operation is conducted smoothly.

Description

Technical Field

[0001] The present invention relates to the technical field of deep - sea mining. Specifically, it particularly relates to a flexible pipe attitude control method based on real - time monitoring of inclinometers and the linkage between the mining ship and the mining vehicle. Background Art

[0002] In complex operating environments such as deep - sea mining, flexible mining pipes, as key material - conveying components, play a crucial role. With the continuous increase in mining depth and the increasingly complex and changeable marine environment, flexible mining pipes face many severe challenges.

[0003] On the one hand, during the long - term operation of flexible mining pipes, due to the dynamic changes in the relative positions between the mining ship and the mining vehicle, such as the displacement of the mining ship caused by the impact of sea waves and ocean currents, and the movement of the mining vehicle during operation in areas with undulating seabed topography, it is extremely easy to cause the spatial configuration of the flexible mining pipe to bend. This unexpected configuration change not only affects the smooth conveyance of mining materials, resulting in a reduction in conveyance efficiency, but may even cause pipeline blockage, seriously affecting the progress of mining operations.

[0004] On the other hand, harsh climate conditions in the ocean, such as strong winds and huge waves, cause the mining ship to have violent heaving, rolling and other motions. These motions are transmitted to the flexible mining pipe through the connection structure, especially near the relay cabin, where it is easy for the flexible mining pipe to locally bear excessive bending stress. Over time, it will accelerate the fatigue damage of the pipeline material, greatly shorten the service life of the flexible mining pipe, and increase the maintenance cost and operation risk.

[0005] However, the existing control means for mining pipes are relatively crude. Most of them only rely on empirical judgment or simple mechanical fixing methods to maintain the pipeline state, lacking real - time and accurate shape monitoring of flexible mining pipes and effective control methods. It is impossible to adjust mining operation parameters in a timely manner according to the actual configuration changes of the pipeline, and it is difficult to adapt to the complex and changeable deep - sea mining working conditions, which has become a key technical bottleneck restricting the efficient and safe development of deep - sea mining. Therefore, there is an urgent need to develop an innovative method that can accurately monitor and effectively control the configuration of flexible mining pipes to meet the urgent needs of the current development of the deep - sea mining industry. Summary of the Invention

[0006] According to the above-mentioned technical problems, a flexible mining pipe attitude control method based on inclinometer monitoring data and the relative position of the mining ship and the vehicle is provided. The present invention mainly uses the recursive configuration inversion method to inversely calculate the spatial configuration of the flexible pipe in real time, evaluates the overall bending degree of the spatial configuration of the flexible mining hose based on the maximum difference of the average slopes of each section, and adjusts the spatial attitude of the flexible pipe by controlling the horizontal relative position of the mining ship and the mining vehicle, so as to realize real-time, effective and quantitative control of the spatial configuration attitude of the flexible pipe. At the same time, the present invention monitors whether there is an abnormal configuration state near the relay cabin based on the vertical acceleration monitored by the inclinometer, and realizes the abnormal attitude adjustment control near the relay cabin of the flexible pipe by controlling the wave-facing angle of the mining ship and reducing the heaving motion of the mining ship.

[0007] The technical means adopted by the present invention are as follows:

[0008] A flexible pipe attitude control method based on real-time monitoring by an inclinometer and linked with a mining ship and a vehicle, characterized by comprising the following steps:

[0009] S1: Monitoring elements are arranged at key parts of the flexible mining pipe, and the monitoring elements collect monitoring data reflecting the shape of the flexible mining pipe;

[0010] S2: Obtain the monitoring data collected by the monitoring elements, and use the configuration inversion algorithm to inversely calculate the spatial configuration of the flexible mining pipe in real time;

[0011] S3: According to the preset calculation rules, combined with the inversely calculated spatial configuration, quantitatively evaluate the bending degree of the flexible mining pipe;

[0012] S4: Based on the evaluation result of the bending degree, adjust the operating parameters of the equipment related to the mining operation to adjust the overall spatial configuration of the flexible mining pipe;

[0013] S5: Continuously monitor the dynamic parameters of the monitoring elements, and judge whether there is a local abnormal bending problem in a specific area of the flexible mining pipe based on this;

[0014] S6: According to the judgment result of the local abnormal bending, adjust another operating parameter of the equipment related to the mining operation again, and then control the local bending state of the flexible mining pipe.

[0015] Further, the monitoring element is an inclinometer, the inclinometer is arranged in the joint structure of the flexible mining pipe and the flexible mining pipe, the inclinometer collects inclinometer monitoring data, and the inclinometer monitoring data includes the inclination angle θ between the flexible riser and the horizontal plane, the heading angle α of the flexible riser, and the vertical acceleration a z , which is used as the monitoring data reflecting the shape of the flexible mining pipe for the configuration inversion algorithm in step S2.

[0016] Further, the configuration inversion algorithm is a recursive configuration inversion method. In step S2, the inclination data monitored by the inclinometer is collected, and the spatial configuration of the flexible mining pipe is inversely calculated in real time based on the recursive configuration inversion method.

[0017] Further, in step S3, the average slope of the pipeline is calculated per kilometer of pipe length, and the maximum difference of the average slopes of each section is used to evaluate the overall bending degree of the spatial configuration of the flexible mining hose.

[0018] Further, in step S4, the mining operation-related equipment is a mining ship and a mining vehicle. The horizontal relative position of the mining ship and the mining vehicle is controlled to adjust the overall spatial configuration of the flexible mining pipe.

[0019] Further, in step S5, the dynamic parameter of the monitoring element is the acceleration value of the inclinometer. The acceleration value of the inclinometer is monitored to determine whether there is a problem of excessive local bending of the flexible mining pipe near the relay cabin.

[0020] Further, in step S6, another operating parameter of the mining operation-related equipment is the wave-facing angle of the mining ship. The wave-facing angle of the mining ship is controlled to reduce the heaving motion of the mining ship, thereby controlling the local bending state of the flexible mining pipe near the relay cabin.

[0021] Compared with the prior art, the present invention has the following advantages:

[0022] 1. Precise monitoring advantage: By setting an inclinometer at the key parts of the flexible mining pipe (such as inside the joint structure), the monitoring data reflecting the pipeline shape can be collected in real time and accurately. Compared with the traditional method relying on experience judgment or rough observation, the configuration changes of the mining pipe at every moment in the complex deep-sea environment can be accurately captured, providing a reliable basis for subsequent effective control.

[0023] Configuration control advantage: The spatial configuration is inversely calculated by using the recursive configuration inversion algorithm in combination with the monitoring data, and the operating parameters of the mining ship and the mining vehicle are adjusted according to the quantitative evaluation results, realizing the flexible adjustment of the overall spatial configuration of the flexible mining pipe, effectively coping with the dynamic changes of the relative position of the ship and the vehicle and the influence brought by the harsh climate, ensuring the smooth transportation of materials, and greatly improving the continuity and stability of the mining operation.

[0024] Advantage in coping with local problems: With the help of the dynamic parameters of the monitoring element (such as the acceleration value of the inclinometer), the abnormal bending problems in local areas such as near the relay cabin can be keenly detected, and then another operating parameter such as the wave-facing angle of the mining ship is adjusted accordingly to accurately control the local bending state, avoiding the pipeline fatigue damage caused by local excessive bending, and significantly extending the service life of the flexible mining pipe.

[0025] Comprehensive benefit advantages: From the perspective of overall operation, the combination of precise monitoring and effective control not only reduces the number of shutdowns for maintenance caused by pipeline failures, lowers the maintenance cost, but also improves the ore mining efficiency, increases the economic benefits due to ensuring the efficient progress of mining operations, and at the same time reduces the operation risks, safeguards the safety of personnel and equipment, bringing about an all-round improvement in benefits. Brief Description of the Drawings

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0027] Figure 1 It is the overall equipment layout diagram of the deep-sea mining of the present invention.

[0028] Figure 2 It is the layout diagram of the inclinometer of the present invention.

[0029] Figure 3 It is the internal diagram of the inclinometer of the present invention.

[0030] Figure 4 It is the schematic diagram for calculating the maximum difference in the overall average slope of the present invention.

[0031] Figure 5 It is the overall bending state diagram of the flexible pipe at the horizontal relative positions of different mining ships and mining vehicles of the present invention.

[0032] Figure 6 It is the schematic diagram of the mining ship facing the waves transversely at 90 degrees under the sea conditions of one year of the present invention.

[0033] Figure 7 It is the schematic diagram of the mining ship facing the waves transversely at 0 degrees under the sea conditions of one year of the present invention.

[0034] Figure 8 It is the schematic diagram of the local bending occurrence position near the relay cabin of the present invention.

[0035] Figure 9 It is the local configuration diagram of the flexible mining pipe near the relay cabin under the sea conditions of one year of the present invention.

[0036] Figure 10 It is the bending radius diagram of the flexible mining pipe near the relay cabin under the sea conditions of one year of the present invention.

[0037] Figure 11 It is the inversion effect diagram of the recursive configuration using the wave parameters of the sea conditions in the CC area of the Pacific Ocean in Table 1 as the verification sea conditions.

[0038] In the figure: 101, mining ship; 102, anti-bending device; 103, flexible riser; 104, relay cabin; 105, buoyancy module; 106, mining vehicle; 201, joint structure; 202, inclinometer. Detailed implementation mode

[0039] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0040] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0041] As Figure 1 and Figure 2 shown, the present invention is implemented based on the overall deep-sea mining equipment. The overall equipment includes a mining ship 101 arranged on the sea surface. The bottom of the mining ship 101 is connected to the upper end of a flexible riser 103 through an anti-bending device 102. The lower end of the flexible riser 103 is connected to a relay cabin 104, and the relay cabin 104 is connected to a mining vehicle 106 on the seabed. A buoyancy module 105 is arranged on the long part of the anti-S-shaped pipe of the flexible riser 103, where H1 is 6000 meters.

[0042] The present invention provides a flexible pipe attitude control method based on real-time monitoring of an inclinometer and linkage between a mining ship and a vehicle, which is used to effectively control the spatial attitude of a non-metallic non-bonded flexible mixed transportation pipe in real time, and includes the following steps:

[0043] S1. An inclinometer 202 is arranged in the joint structure 201 of the flexible riser, and the inclinometer collects inclinometer monitoring inclination data;

[0044] S2. Based on the inclinometer monitoring inclination data, the spatial configuration of the mining flexible pipe is inversely calculated in real time based on the recursive configuration inversion method;

[0045] S3. Take points every kilometer, calculate the average slope between adjacent points, and calculate the maximum average slope difference to judge the overall bending degree of the flexible pipe 103;

[0046] S4. Control the overall bending configuration of the flexible mining pipe 103 in space by controlling the horizontal relative positions of the mining ship 101 and the mining vehicle 106;

[0047] S5. Install an inclinometer 202 inside the joint structure 201 of the flexible riser, and the inclinometer collects the vertical acceleration data monitored by the inclinometer;

[0048] S6. According to the vertical acceleration data monitored by the inclinometer 202, judge whether there will be a phenomenon of excessive local bending of the flexible mining pipe 103 near the relay cabin 104;

[0049] S7. If there is a phenomenon of excessive local bending, adjust the wave-facing angle of the mining ship 101 to reduce the heaving motion of the mining ship 101, thereby realizing the control of the local bending of the flexible pipe 101.

[0050] The specific implementation method of the present invention is as follows: The position of the mining ship can obtain accurate three-dimensional coordinate values by using GPS positioning. The inclinometer can monitor the inclination angle θ, the course angle α, and the vertical acceleration a. The inclination angle θ is the angle with the x-y plane, and the direction is positive around the positive direction of the z-axis; the course angle α is the angle with the x-z plane, and the direction is positive around the positive direction of the y-axis (as Figure 3 shown in the figure, P1 and P2 in the figure represent the two endpoints of any small segment in the recursive configuration inversion method, mainly used to illustrate what the inclination angle and the course angle are and to explain the positive and negative directions of their directions). For the control of the overall bending degree of the mining flexible pipe: First, based on the inclination data monitored by the inclinometer, the spatial configuration of the flexible mining pipe is inversely calculated in real time based on the recursive configuration inversion method. Then, take a point every kilometer on the inversely calculated configuration, and calculate the average slope between adjacent points to judge the overall bending degree of the spatial configuration of the flexible mining pipe. If it is judged that the overall bending degree of the spatial configuration of the flexible pipe is too large and affects the mining pulp transportation efficiency, then by controlling the horizontal relative positions of the mining ship and the mining vehicle until the overall bending degree of the flexible mining pipe in space is sufficient to meet the pulp transportation efficiency, the overall bending control of the spatial configuration of the flexible mining pipe is completed; for the control of the local bending degree of the mining flexible pipe: First, based on the inclinometer built in the pipe joint, monitor the vertical acceleration value of the flexible pipe. Based on the magnitude of the acceleration value, judge whether there is a situation of excessive local bending of the flexible mining pipe near the vertical relay cabin. If the local vertical bending of the mining flexible pipe near the vertical relay cabin is too large, then by adjusting the wave-facing angle of the mining ship, the amplitude of the heaving motion of the mining ship is reduced, and finally the problem of excessive local bending of the flexible mining pipe near the relay cabin is controlled.

[0051] Example 1

[0052] To more intuitively illustrate that the flexible mining pipe attitude control method based on the inclinometer monitoring data and the relative position of the mining ship and vehicle has a simple, real-time, reliable and effective attitude control effect.

[0053] Now, based on the surface waves and the sea current and sea state in the CC area of the Pacific Ocean for one year, the method of the present invention is verified.

[0054] Table 1 Wave parameters of the sea state in the CC area of the Pacific Ocean for one year

[0055]

[0056] Table 2 Sea current parameters under the sea state in the CC area of the Pacific Ocean for one year

[0057]

[0058] As shown in Table 1 and Table 2, the surface waves and the sea current and sea state in the CC area of the Pacific Ocean for one year are selected, and the corresponding sea state parameters are input into the general marine engineering software platform Orcaflex to simulate the influence of the sea state on the configuration of the flexible riser. For the overall bending attitude control of the spatial configuration of the mining flexible pipe: First, based on the recursive configuration inversion method, the spatial configuration of the flexible mining pipe is inversely calculated in real time. Then, as Figure 4 shown, the maximum difference in the average slope of the flexible mining pipe per kilometer is calculated. The average slope of the flexible pipe is calculated per kilometer, and the overall bending degree of the flexible pipe is judged by the maximum difference in the maximum average slope. The overall bending degree of the flexible pipe in space is controlled by controlling the horizontal relative position between the mining ship and the mining vehicle. As Figure 5 shown, when the horizontal relative position between the mining ship and the mining vehicle moves from 400 m to the horizontal relative position of 100 m, the maximum difference in the overall average slope of the flexible mining pipe changes from 0.04317 to 0.00949. As shown in Table 3, the maximum difference in the overall average slope is reduced to 4.5 times the original.

[0059] Table 3 Maximum difference in the overall average slope under different mining ship - mining vehicle position conditions

[0060]

[0061] For the local bending attitude control of the mining flexible pipe: First, based on the magnitude of the acceleration monitored by the inclinometer built into the pipe joint, it is judged whether there is a state where the local bending of the flexible mining pipe near the relay cabin is too large. As Figure 8 shown is the local bending position near the relay cabin. If the local bending of the mining flexible pipe near the relay cabin is too large, then by adjusting the wave-facing angle of the mining ship, changing the wave-facing angle of the mining ship can significantly reduce the amplitude of the heaving motion of the mining ship, and ultimately achieve the purpose of controlling the excessive local bending of the flexible mining pipe near the relay cabin. Among them, Figure 6 and Figure 7Schematic diagrams of the mining ship facing waves transversely at 90 degrees and 0 degrees. The monitored acceleration values at different wave-facing angles are shown in Tables 4 and 5. When the wave-facing angle of the mining ship is 90 degrees transversely facing the waves, the mining ship experiences significant heaving motion, and the maximum difference in the vertical acceleration values monitored by the inclinometer can reach 5.26 m / s 2 , and at this time, the minimum bending radius of the pipeline near the relay cabin is 12 m, indicating that excessive local bending occurs in the flexible mining pipe near the relay cabin. As shown in Figure 9 and Figure 10 are the local configuration near the relay cabin and the bending radius near the relay cabin of the mining ship when facing waves at 90 degrees in one-year sea conditions. When the wave-facing angle of the mining ship is adjusted to 0 degrees transversely facing the waves, the maximum difference in the acceleration values monitored by the inclinometer is 0.81 m / s 2 , and at this time, the minimum bending radius of the pipeline near the relay cabin is 190 m, thus adjusting the excessive local bending of the flexible mining pipe near the relay cabin.

[0062] Table 4 Wave-facing direction of the mining ship at 90 degrees in one-year sea conditions

[0063]

[0064] Table 5 Wave-facing direction of the mining ship at 0 degrees in one-year sea conditions

[0065]

[0066] Verification example of the recursive configuration inversion method:

[0067] Taking the wave parameters in the CC area of the Pacific Ocean in one-year sea conditions in Table 1 as the verification sea conditions, the inversion effect of the recursive configuration inversion method is as shown in Figure 10 . The recursive configuration inversion method can well invert the spatial configuration of the flexible pipe. The maximum distance from any point of the inverted configuration to the actual pipe type is 2.1148 m, and the accuracy relative to the 6000 m pipe length can reach 0.04%.

[0068] In the above embodiments of the present invention, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0069] In several embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only illustrative. For example, the division of the units can be a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the couplings or direct couplings or communication connections shown or discussed with each other can be through some interfaces. The indirect couplings or communication connections of the units or modules can be in an electrical or other form.

[0070] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or may be distributed over multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0071] In addition, each functional unit in various embodiments of the present invention may be integrated in a processing unit, may exist separately as individual physical units, or two or more units may be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0072] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs that can store program codes.

[0073] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of various embodiments of the present invention.

Claims

1. A flexible pipe attitude control method based on real-time monitoring of an inclinometer and the linkage of a mining ship and a vehicle, characterized in that, It includes the following steps: S1: Set monitoring elements at key parts of the flexible mining pipe, and the monitoring elements collect monitoring data reflecting the shape of the flexible mining pipe; S2: Obtain the monitoring data collected by the monitoring elements, and use the configuration inversion algorithm to inversely calculate the spatial configuration of the flexible mining pipe in real time; S3: According to the preset calculation rules, combined with the inversely calculated spatial configuration, quantitatively evaluate the bending degree of the flexible mining pipe; S4: Based on the evaluation result of the bending degree, adjust the operating parameters of the equipment related to the mining operation to adjust the overall spatial configuration of the flexible mining pipe; S5: Continuously monitor the dynamic parameters of the monitoring elements, and accordingly judge whether there is a problem of local abnormal bending in a specific area of the flexible mining pipe; S6: According to the judgment result of the local abnormal bending, adjust another operating parameter of the equipment related to the mining operation again, and then control the local bending state of the flexible mining pipe.

2. The flexible pipe attitude regulation method based on real-time monitoring of an inclinometer and the linkage of a mining ship and a vehicle according to claim 1, wherein: The monitoring element is an inclinometer, which is arranged inside the joint structure of the flexible mining pipe and the flexible mining pipe. The inclinometer collects inclinometer monitoring data, and the inclinometer monitoring data includes the inclination angle θ between the flexible riser and the horizontal plane, the heading angle α of the flexible riser, and the vertical acceleration a z , which is used as the monitoring data reflecting the shape of the flexible mining pipe for the configuration inversion algorithm in step S2.

3. The flexible pipe attitude control method based on real-time monitoring of the inclinometer and the linkage of the mining ship and vehicle according to claim 1, characterized in that: The configuration inversion algorithm is a recursive configuration inversion method. In step S2, the inclination data monitored by the inclinometer is collected, and the spatial configuration of the flexible mining pipe is inversely calculated in real time based on the recursive configuration inversion method.

4. The flexible pipe attitude control method based on real-time monitoring of an inclinometer and the linkage between a mining ship and a vehicle according to claim 1, wherein: In step S3, the average slope of the pipeline is calculated per kilometer of pipe length, and the maximum difference of the average slopes of each section is used to evaluate the overall bending degree of the spatial configuration of the flexible mining hose.

5. The flexible pipe attitude control method based on real-time monitoring of an inclinometer and the linkage of a mining ship and a vehicle according to claim 1, wherein: In step S4, the equipment related to the mining operation is a mining ship and a mining vehicle. Control the horizontal relative position of the mining ship and the mining vehicle to adjust the overall spatial configuration of the flexible mining pipe.

6. The flexible pipe attitude control method based on real-time monitoring with an inclinometer and the linkage of a mining ship and a vehicle according to claim 1, characterized in that: In step S5, the dynamic parameter of the monitoring element is the acceleration value of the inclinometer. Monitor the acceleration value of the inclinometer to judge whether there is a problem of excessive local bending of the flexible mining pipe near the relay cabin.

7. The flexible pipe attitude control method based on real-time monitoring of an inclinometer and linkage between a mining ship and a vehicle according to claim 1, characterized in that: In step S6, another operating parameter of the equipment related to the mining operation is the wave-facing angle of the mining ship. Control the wave-facing angle of the mining ship to reduce the heaving motion of the mining ship, thereby controlling the local bending state of the flexible mining pipe near the relay cabin.

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