A deep sea mining in-situ trial mining system ship deviation early warning method

Abstract

The present application relates to the technical field of ship deviation early warning, and provides a deep-sea mining in-situ test mining system ship deviation early warning method, which can solve the problem of the simple monitoring mode of the existing mother ship monitoring deviation, improve the accuracy of the ship body position judgment, and effectively warn. The method comprises the following steps: S100: building an information transmission network and collecting data; S200: converting the collected real-time latitude and longitude information of the ship and the vehicle into coordinates, and calculating the relative distance between the ship and the vehicle; S300: calculating the mining system ship deviation area, calculating the allowed deviation of the mining ship relative to the mining vehicle, dividing the working state according to the deviation, and determining the reasonable ship deviation area diagram; S400: embedding the ship deviation safety early warning area into the system early warning program, regularly reading the monitoring data, reading the environmental monitoring information, the ship-vehicle distance monitoring information and the umbilical cable length monitoring information in real time, and judging the ship deviation state in real time according to the ship deviation safety area.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ship deviation early warning, in particular to a ship deviation early warning method for a deep-sea mining in-situ trial mining system. BACKGROUND

[0002] With the increasing global attention to deep-sea resources, deep-sea mining has become an important field and research hotspot of marine resource development. The mine car of the deep-sea mining in-situ trial mining system is a kind of equipment specially developed for deep-sea mineral resources (such as polymetallic nodules, sulfides, and cobalt crusts). The core goal is to realize the in-situ collection, preliminary processing, and transportation of ores in an extreme seabed environment thousands of meters deep, while also considering environmental friendliness and operational efficiency.

[0003] In deep-sea mining operations, the mine car is dynamically connected to the mother ship through the umbilical cable. The mother ship floating on the water surface will be affected by the displacement of the sea waves. In order to avoid the pulling force of the umbilical cable caused by the displacement of the mother ship, it is necessary to monitor the displacement of the mother ship.

[0004] The current technology mainly relies on a single GNSS (Global Navigation Satellite System) or acoustic positioning system to monitor the position of the underwater mine car, which is easily affected by signal attenuation and multipath effect interference, resulting in large positioning errors. At the same time, due to the lack of dynamic collaborative solving mechanism between the ship body and the mine car, it is difficult to realize real-time accurate tracking of relative displacement in deep-sea complex environment. In addition, the existing method sets a safety threshold based on single indicators such as umbilical cable length or tension, and fails to consider the coupling effects of multiple parameters such as mine car overturning moment and cable curvature, making the system unable to effectively warn against bottom friction or sudden overturning risks. SUMMARY

[0005] One of the purposes of the present application is to provide a ship deviation early warning method for a deep-sea mining in-situ trial mining system, which can solve the problem of the existing mother ship monitoring displacement monitoring method being too simple, improve the accuracy of ship body position judgment, and effectively warn.

[0006] The technical solution of the present application is as follows:

[0007] A ship deviation early warning method for a deep-sea mining in-situ trial mining system, comprising the following steps:

[0008] S100: Build an information transmission network and collect data;

[0009] S200: Coordinate conversion of collected real-time latitude and longitude information of the ship and the car, from the geodetic coordinate system to the ship and car coordinate system, to calculate the relative distance between the ship and the car;

[0010] S300: Perform mining system ship offset area calculation, calculate the allowed offset of the mining ship relative to the mining car, and divide the working state according to the offset to determine a reasonable ship offset area map;

[0011] S400: Embed the ship offset safety warning area into the system warning program, read the monitoring data regularly, read the environmental monitoring information, ship-car distance monitoring information and umbilical cable length monitoring information in real time, and judge the ship offset state in real time according to the ship offset safety area.

[0012] Further, step S100 includes:

[0013] S110: Install an ultra-short baseline beacon on the mining car to monitor the real-time position of the mining car through acoustic signal ranging and direction finding;

[0014] S120: Install a GNSS antenna on the mining ship to determine the real-time position of the ship by receiving satellite signals;

[0015] S130: Install an ADCP Doppler acoustic current meter on the installation support in the moon pool of the ship, and realize accurate measurement of the flow rate in a specific area through the sound waves emitted by the transducer;

[0016] S140: Read the number of turns and direction of the winch rotation through the encoder installed on the winch rotation shaft to calculate the length of the cable paid out or retracted, and obtain the real-time cable length;

[0017] S150: Build a small local area network through the GNSS antenna, ultra-short baseline beacon, ADCP flow meter, cable length monitor and computer terminal to realize stable data transmission.

[0018] Further, step S200 includes:

[0019] S210: Establish a ship-car coordinate system, define the position of the ship GNSS antenna as the coordinate origin, the bow direction of the ship as the X-axis of the ship-car coordinate system, and the Y-axis as the direction perpendicular to the X-axis counterclockwise;

[0020] S220: Real-time conversion of latitude and longitude data of the ship and mining car into data in meters;

[0021] S230: Calculate the distance d3 between the point B of the mining car and the point A of the top suspension point of the umbilical cable in the xoy plane.

[0022] Further, the conversion formula in step S220 is:

[0023] 1. Longitude difference to meters:

[0024] Formula: ;

[0025] Wherein, R is the earth radius, π is the circular constant, △ is the difference of longitude.

[0026] 2, latitude difference into meters:

[0027] Formula: ;

[0028] Wherein, R is the earth radius, π is the circular constant, △ is the difference of longitude, is the cosine value corresponding to the latitude.

[0029] Further, step S300 comprises:

[0030] S310: According to the offset warning area division principle, the offset safety warning of the mining ship after losing power is divided into three areas;

[0031] S320: According to the offset warning area division principle, the ship offset safety warning zoning method based on flow rate dynamic monitoring is determined;

[0032] S330: Based on the above steps, the ship offset area graph of the mining system is obtained.

[0033] Further, step S400 comprises:

[0034] S410: The calculated ship offset safety warning area is embedded into the Python main program. In the Python program, the monitoring data is read every 10s to obtain the flow rate, cable length and position information of the ship and mining car;

[0035] S420: According to step S200, the straight-line distance from the ship to the suspension point , combined with the embedded ship offset safety area, the warning judgment is carried out, and the ship offset state is output.

[0036] Further, the three areas in step S310 are:

[0037] Green area: representing the normal mining stage, the position offset of the ship and the mining car is within the allowed range;

[0038] Yellow area: representing the stop mining stage, when the position offset of the ship or the mining car exceeds the safety range of normal operation, the mining operation needs to be paused, the operator needs to adjust the positioning of the ship, collect the cable and lift the mining car, wait for the environmental factors to change, etc. It should be noted that this stage divides two areas, the safety adjustment area and the preparation separation area;

[0039] Red area: representing the mining car separation stage, at this time, the position offset of the ship and the mining car has exceeded the maximum allowed safety range, which may cause umbilical cable failure, mining car overturning, etc.

[0040] Further, the calculation step in step S320 includes:

[0041] S321: estimate the drift speed of the ship under the condition of losing dynamic positioning by combining the wind speed and the current speed;

[0042] S322: after determining the flow speed range, assuming that the mine car is stationary, by adjusting the relative offset between the ship and the mine car, calculate whether the control condition is met under different flow speeds to determine the maximum allowed value of the ship offset under different flow speeds;

[0043] S323: To ensure safety, select the most conservative critical offset as the standard for yellow and red zones, and use the safety margin method to deduce the safe operation range of the green zone.

[0044] The beneficial effects of the present application are:

[0045] 1. The present application constructs a heterogeneous data acquisition network composed of an ultra-short baseline, GNSS, a gyrocompass, an ADCP current meter and a cable length encoder, realizes real-time interaction of multiple devices by combining multiple communication protocols, and ensures transmission stability through a small local area network. Make use of the strong penetration of acoustic signals to make up for the positioning limitations of GNSS in water, realize the accurate relative positioning of deep-sea mine cars and ships, and cooperate with dynamic calculation of the position relationship between the car and the car to significantly reduce the positioning error. At the same time, through protocol optimization, ensure the transmission quality of key instructions, effectively control the delay and packet loss problem, and improve the data reliability in complex environments.

[0046] 2. The present application establishes a ship-car coordinate system based on the ship, calculates the plane distance by using an accurate geographic coordinate conversion method, and the coordinate system directly reflects the offset of the mine car relative to the ship and simplifies the safety judgment logic. Combined with real-time distance calculation and coordinate correction algorithm, the dynamic monitoring accuracy of the local coordinate system is significantly improved, and the error accumulation problem existing in the traditional geodetic coordinate system is effectively avoided.

[0047] 3. The present application establishes a multi-parameter coupling model to optimize the safety domain boundary, analyzes the environmental load influence combined with numerical simulation technology, and divides multiple levels of warning areas. A multi-dimensional constraint mechanism is used to avoid the risk of single threshold misjudgment, and a monitoring sector that meets the actual operation requirements is designed, and the scientificity and engineering applicability of the safety boundary are ensured by combining experimental data with industry specifications.

[0048] 4. The present application integrates multiple source data in the main program and updates environmental parameters regularly, outputs graded warning signals and operation instructions. The visual interface adopts a design combining three-color state identification and historical trend analysis, and is equipped with automatic alarm and emergency response mechanism at the same time, which significantly improves the decision-making efficiency of non-professionals and reduces the risk of human operation.

[0049] 5. This invention constructs a drift prediction model using dynamic monitoring data, and performs coupled calculations based on the assumption of a stationary equipment state and preset safety parameters to determine the critical thresholds for multi-level early warning zones. A safety margin method is employed to provide a buffer for extreme operating conditions, and simulations have verified its high early warning accuracy under severe sea conditions.

[0050] 6. This invention outputs concise status judgments and operation guidelines through an intelligent early warning system, reduces operational complexity by using a visual interface, and effectively controls the risk of human error by combining a graded early warning and emergency response mechanism, thereby comprehensively improving the safety of deep-sea operations. Attached Figure Description

[0051] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0052] Figure 1 This is a schematic diagram of the hardware system transmission architecture of the present invention;

[0053] Figure 2 This is a definition diagram of the ship-vehicle coordinate system of the present invention;

[0054] Figure 3 This is a variable transformation diagram within the ship-vehicle coordinate system of the present invention;

[0055] Figure 4 This is a schematic diagram illustrating the division of the ship deviation early warning area according to the present invention. Detailed Implementation

[0056] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0057] Example 1

[0058] like Figure 1 As shown in the figure, this embodiment provides a method for early warning of ship deviation in a deep-sea mining in-situ trial production system, including the following steps:

[0059] S100: Establish an information transmission network and collect data; use hardware monitoring equipment to collect flow velocity information, real-time location information of ships and vehicles, and real-time cable length information of umbilical cables, and obtain the collected relevant information in real time by establishing an information transmission network.

[0060] Specifically, step S100 includes:

[0061] S110: Install the ultra-short baseline beacon on the mining truck, and monitor the real-time position of the mining truck through the direction finding of the ranging of acoustic signals; the ultra-short baseline beacon system exchanges information with the mining truck ultra-border early warning system through the API protocol, and receives the real-time latitude and longitude information of the mining truck, which is in degrees (°).

[0062] S120: Install the GNSS antenna on the mining ship, and determine the real-time position of the ship by receiving satellite signals; receive the GNSS antenna signal by using the TCP protocol, and obtain the real-time latitude and longitude information of the ship, which is in degrees (°).

[0063] S130: Install the ADCP Doppler acoustic current meter on the installation support in the moon pool of the ship, and realize accurate measurement of the flow rate in a specific area through the sound waves emitted by the transducer; receive the flow rate information by using the UDP protocol, which is in degrees m / s.

[0064] S140: Calculate the length of the cable released or retracted by reading the number of turns and direction of the winch rotation through the encoder installed on the rotation shaft of the winch, and obtain the real-time cable length, which is in meters (m);

[0065] S150: Build a small local area network through the GNSS antenna, ultra-short baseline beacon, ADCP flow meter, cable length monitor, and computer terminal, and realize stable data transmission.

[0066] S200: Convert the collected real-time latitude and longitude information of the ship and truck into the ship and truck coordinate system from the geodetic coordinate system, and calculate the relative distance between the ship and the truck;

[0067] The conversion formula in step S220 is:

[0068] 1. Latitude difference to meters:

[0069] Formula: ;

[0070] Where R is the radius of the earth (about 6371 kilometers or 6371000 meters), π is the circular constant, and △ is the difference in longitude.

[0071] 2. Latitude difference to meters:

[0072] Formula: ;

[0073] Where R is the radius of the earth, π is the circular constant, △ is the difference in latitude, is the cosine value corresponding to the latitude.

[0074] Specifically, step S200 includes:

[0075] S210: Establish a ship-car coordinate system, define the ship GNSS antenna position as the coordinate origin, the bow direction of the ship as the X axis of the ship-car coordinate system, and the Y axis as the direction perpendicular to the X axis in a counterclockwise direction;

[0076] S220: Real-time conversion of the latitude and longitude data of the ship and the mining car into data in meters;

[0077] S230: Calculate the distance between the mining car point B and the umbilical cable top suspension point A in the xoy plane .

[0078] The specific calculation steps are as follows:

[0079] As shown in Figure 3 , the coordinate origin O is the position of the ship GNSS antenna, point A is the suspension point of the umbilical cable at the stern, and point B is the position of the mining car.

[0080] 1, define as the distance from the GNSS antenna to the umbilical cable suspension point A, in meters (m), which is obtained directly by measurement and can be considered as a constant.

[0081] Define as the ship-car distance, i.e. the distance from point B to the origin, which can be obtained after converting the collected ship-car latitude and longitude data into data in meters by formula , .

[0082] The relative distance of the mining car relative to the ship is the difference between the coordinate values of B and O , represented as , then .

[0083] 2, according to the known , the heading of the mining ship , the coordinate value of the suspension point A in the geodetic coordinate system can be obtained as ;

[0084] ;

[0085] ;

[0086] can be obtained .

[0087] S300: Calculate the allowed offset of the mining ship relative to the mining car, and divide the working state according to the offset to determine a reasonable ship offset area map.

[0088] If the unexpected situation of the failure of the dynamic positioning of the mining ship occurs after the mining vehicle touches the bottom, the mining ship will deviate due to the action of the wave flow. The transverse distance between the ship and the mining vehicle is very important for the safety of the umbilical cable and the mining vehicle. If the mining ship continuously deviates, the transverse distance between the mining ship and the mining vehicle continuously expands, which may cause dangerous accidents such as the overturning of the mining vehicle, the breaking of the umbilical cable and the dragging of the mining vehicle.

[0089] To solve the above problems, design analysis is carried out under the unexpected situation of the loss of power of the ship, the allowable deviation of the mining ship relative to the mining vehicle is calculated based on various control conditions such as system mechanics indicators, and the operation state is divided according to the deviation, a reasonable relative deviation envelope is set, and early warning is carried out in stages.

[0090] Specifically, step S300 includes:

[0091] S310: According to the deviation early warning region division principle. By referring to the description of the safety early warning zoning of the upper floating platform in the oil and gas exploitation field specifications ABS, Guidance Notes On Drilling Riser Analysis and DNVGL-ST-F201 Dynamic risers, the deviation safety early warning of the mining ship after losing power is divided into three regions;

[0092] S320: According to the deviation early warning region division principle, the ship deviation safety early warning zoning method based on flow rate dynamic monitoring is determined;

[0093] S330: Based on the above steps, the mining system ship deviation region diagram is obtained. The horizontal coordinate represents the relative deviation of the mining ship and the mining vehicle, and the vertical coordinate is the different flow rates.

[0094] The three regions in step S310 are:

[0095] Green region: represents the normal mining stage, the position deviation of the ship and the mining vehicle is within the allowable range; in this stage, the mining operation can be carried out normally, and no special adjustment or intervention is needed;

[0096] Yellow region: represents the stop mining stage, when the position deviation of the ship or the mining vehicle exceeds the safety range of normal operation, the mining operation needs to be stopped, the operator needs to adjust the positioning of the ship, collect the cable and lift the mining vehicle, wait for the change of environmental factors, etc. It should be noted that this stage is divided into two regions, the safety adjustment region and the preliminary separation region;

[0097] The safety adjustment region refers to the region where there is enough time to take effective measures, and the preliminary separation region refers to the region where it is not possible to complete all the scheduled measures in time, and emergency operation needs to be carried out in this region;

[0098] Red zone: represents the stage of the mine car disengagement, at this time the position offset between the ship and the mine car has exceeded the maximum allowable safety range, and the umbilical cable failure, mine car overturning, etc. may occur;

[0099] At this stage, immediate measures must be taken, such as mine car disengagement, and emergency procedures are used to prevent accidents.

[0100] Further, the calculation step in step S320 includes:

[0101] S321: estimate the drift speed of the ship under the condition of losing dynamic positioning (DP) by combining the wind speed and the current speed;

[0102] S322: After determining the flow rate range, assuming the mine car is stationary, by adjusting the relative offset between the ship and the mine car, calculate whether the control conditions such as umbilical cable tension, mine car overturning moment, etc. are met under different flow rates. Through this process, determine the maximum allowable value of the ship offset under different flow rates (the critical offset of the yellow and red zones);

[0103] S323: To ensure the safety of the operation, select the most conservative critical offset as the standard for the yellow and red zones, and use the safety margin method to deduce the safe operation range of the green zone.

[0104] S400: embed the ship offset safety warning area into the system warning program, read the monitoring data at regular intervals, read in the environmental monitoring information such as waves and currents, monitoring information such as ship and car distance, and umbilical cable length monitoring information in real time, and judge the ship offset state according to the ship offset safety area in real time.

[0105] Step S400 includes:

[0106] S410: embed the calculated ship offset safety warning area into the Python main program, in the Python program, read the monitoring data every 10s, get the flow rate, cable length and position information of the ship and the mining car;

[0107] S420: obtain the straight-line distance from the ship to the suspension point according to step S200 , combined with the embedded ship offset safety area for warning judgment, and output the ship offset state (safe or dangerous).

[0108] The embodiment realizes the whole-process closed-loop management and control of the deviation risk of the deep-sea operation ship through the cooperation of multi-source data fusion and dynamic model. The heterogeneous positioning network constructed based on the ultra-short baseline, GNSS and electric compass, combined with the complementary advantages of acoustic signals and satellite positioning, realizes the real-time synchronous positioning of the mine car and the ship, and significantly reduces the positioning error; by establishing a local coordinate system centered on the ship, a high-precision geographic coordinate conversion algorithm is used to directly reflect the relative deviation of the mine car, avoiding the accumulation of global coordinate updating error, and synchronously improving the dynamic monitoring efficiency. A multi-parameter coupling model is established for the umbilical cable mechanical state and the stability of the mine car, combined with numerical simulation technology to analyze the influence of complex environmental load, and three-level progressive warning areas are divided: safe operation area, hierarchical response area and emergency separation area, and the monitoring range is optimized through the design of directional operation sector, and the system response speed is improved. The integrated program reads the environmental data regularly and triggers the warning, combined with the dynamic drift prediction and safety margin control strategy, to realize the accurate trend prediction under extreme working conditions. The visual interface adopts multi-level state identification and operation guidance linkage design, reduces the risk of human operation through automatic alarm and emergency response mechanism, and finally forms a warning system of multi-technology cooperation, hierarchical control and real-time feedback, effectively prevents key operation accidents, and provides systematic safety protection for deep-sea mining.

[0109] The above is only a preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for deep sea mining in-situ trial production system vessel deviation early warning, characterized in that, It comprises the following steps: S100: build an information transmission network and collect data; Step S100 includes: S110: install an ultra-short baseline beacon on the mining vehicle to monitor the real-time position of the mining vehicle through acoustic signal ranging and direction finding; S120: install a GNSS antenna on the mining ship to determine the real-time position of the ship by receiving satellite signals; S130: install an ADCP Doppler acoustic current meter on the installation support in the moon pool of the ship to accurately measure the flow rate in a specific area through the sound waves emitted by the transducer; S140: read the number of turns and direction of the winch rotation through the encoder installed on the rotating shaft of the winch to calculate the length of the cable paid out or taken up, and obtain the real-time cable length; S150: build a small local area network through the GNSS antenna, ultra-short baseline beacon, ADCP flow meter, cable length monitor, and computer terminal to achieve stable data transmission; S200: convert the collected real-time latitude and longitude information of the ship and vehicle into coordinates, from the geodetic coordinate system to the ship and vehicle coordinate system, and calculate the relative distance between the ship and the vehicle; Step S200 includes: S210: establish a ship and vehicle coordinate system, define the position of the ship's GNSS antenna as the coordinate origin, and the bow direction of the ship as the X-axis of the ship and vehicle coordinate system, and the Y-axis as the direction perpendicular to the X-axis counterclockwise; S220: convert the latitude and longitude data of the ship and mining vehicle into data in meters in real time; S230: calculate the distance between the mining vehicle point B and the top hanging point of the umbilical cable point A in the xoy plane; S300: calculate the offset area of the mining system ship, calculate the allowed offset of the mining ship relative to the mining vehicle, and divide the working state according to the offset, and determine the reasonable ship offset area map; Step S300 includes: S310: According to the offset warning area division principle, the offset safety warning division of the mining ship after losing power is divided into three areas; S320: According to the offset warning area division principle, determine the ship offset safety warning zoning method based on flow rate dynamic monitoring calculation steps; S330: Based on the above steps, the mining system ship offset area map is obtained; S400: Embed the ship offset safety warning area into the system warning program, read the monitoring data at regular intervals, read the environmental monitoring information, ship and vehicle distance monitoring information, and umbilical cable length monitoring information in real time, and judge the ship offset state in real time according to the ship offset safety area; Step S400 includes: S410: Embed the calculated ship offset safety warning area into the Python main program, and in the Python program, read the monitoring data every 10s, obtain the flow rate, cable length, and position information of the ship and mining vehicle; S420: According to step S200, obtain the straight-line distance from the ship to the hanging point, combine the embedded ship offset safety area for warning judgment, and output the ship offset state.

2. The method of claim 1, wherein the method further comprises: The conversion formula in step S220 is:

1. Longitude difference to meters: Equation: ; Where R is the radius of the earth, π is the circular constant, and △ is the difference in longitude; 2. Latitude difference to meters: Equation: ; wherein R is the radius of the earth, is the ratio of the circumference to the diameter, is the difference between the longitude and the latitude, is the cosine value corresponding to the latitude.

3. A method of alerting of vessel deviation for an in-situ test mining system of deep sea mining according to claim 2, characterized in that, The three areas in step S310 are: A region: represents the normal mining stage, the position of the ship and the mine car deviates within the allowable range; B region: represents the stop mining stage, when the position of the ship or the mine car deviates beyond the safety range of normal operation, the mining operation needs to be suspended, the operator needs to adjust the positioning of the ship, collect the cable and lift the mine car, and wait for the change of environmental factors; it needs to be noted that this stage is divided into two regions, the safety adjustment region and the preliminary separation region; C region: represents the mine car separation stage, at this time the position of the ship and the mine car has deviated beyond the maximum allowable safety range, the umbilical cable may fail and the mine car may overturn.

4. The method of claim 3, wherein the method further comprises: The calculation step in step S320 includes: S321: estimate the drift speed of the ship under the condition of losing dynamic positioning by combining wind speed and current speed; S322: after determining the flow rate range, assuming that the mine car is stationary, by adjusting the relative deviation between the ship and the mine car, calculate whether the control condition is met under different flow rates to determine the maximum allowable value of the ship deviation under different flow rates; S323: to ensure the safety of the operation, select the most conservative critical deviation as the standard of the yellow region and the red region, and use the safety margin method to deduce the safe operation range of the green region.

Images