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CN-122014261-A - Crawler-type deep sea mining vehicle overturning risk monitoring and inhibiting device

CN122014261ACN 122014261 ACN122014261 ACN 122014261ACN-122014261-A

Abstract

The invention provides a crawler-type deep sea mining vehicle overturning risk monitoring and inhibiting device, which belongs to the technical field of safety monitoring and control of deep sea mining equipment, and is arranged on a crawler-type deep sea mining vehicle and comprises a gesture measuring unit, a monitoring unit and a control unit, wherein the gesture measuring unit is used for acquiring vehicle body rolling, pitching and angular velocity information; the device comprises a ground load measuring unit, a hose external load measuring unit, a control unit and a suppression executing unit, wherein the ground load measuring unit is used for acquiring ground load information of left and right tracks, the hose external load measuring unit is used for acquiring tension and moment information applied to a vehicle body by a lifting hose, the control unit is used for carrying out risk analysis by combining multiple information data, and the suppression executing unit is used for executing active suppression when risk is triggered. According to the invention, through fusion of multiple information, a static critical overturning angle, a posture margin, an unloading coefficient and a hose constraint moment fluctuation rate are calculated, so that grading identification of overturning risks of the crawler-type deep sea mining vehicle is realized, and overturning is actively restrained through measures such as connection point adjustment and anti-overturning support expansion, and stability and continuity of deep sea mining operation are improved.

Inventors

  • KANG JICHUAN
  • QU YIMING
  • Guo Yingnuo
  • SUN YU

Assignees

  • 哈尔滨工程大学三亚南海创新发展基地
  • 哈尔滨工程大学

Dates

Publication Date
20260512
Application Date
20260413

Claims (10)

  1. 1. The crawler-type deep sea mining vehicle overturning risk monitoring and restraining device is arranged on a crawler-type deep sea mining vehicle and is characterized by comprising a gesture measuring unit (6), a grounding load measuring unit (7), a hose external load measuring unit (8), a control unit (9) and a restraining executing unit (10); The device comprises a vehicle body (1), a ground load measuring unit (7), a hose external load measuring unit (8), a control unit (9) and a control unit (9), wherein the gesture measuring unit (6) is arranged on the vehicle body (1) and is used for detecting gesture parameters of the vehicle body, the ground load measuring unit (7) is arranged at a left crawler travelling mechanism (2) and a right crawler travelling mechanism (3) and is used for detecting ground load distribution states of left crawler and right crawler, the hose external load measuring unit (8) is arranged at a connecting part of a lifting hose (4) and the vehicle body (1) and is used for detecting external load information applied to the vehicle body (1) by the lifting hose (4), the control unit (9) is respectively electrically connected with the gesture measuring unit (6), the ground load measuring unit (7) and the hose external load measuring unit (8) and is used for receiving detection signals of the measuring units and combining geometric parameters and centroid parameters of a mining vehicle to judge the risk of overturning, and the control unit (10) is electrically connected with the control unit (9) and is respectively connected with the connecting part of the lifting hose (4) and a supporting part of the vehicle body (1) and is used for executing corresponding overturning inhibition actions when the control unit (9) outputs control instructions. The hose external load measuring unit (8) comprises a six-dimensional force and moment sensor (81), one end of the six-dimensional force and moment sensor (81) is connected with the lifting hose end connector (82), the other end of the six-dimensional force and moment sensor is connected with the vehicle body mounting seat (83), the six-dimensional force and moment sensor (81) is electrically connected with the control unit (9) and is used for outputting three-dimensional force and three-dimensional moment information applied to the vehicle body (1) by the lifting hose (4), and the control unit (9) calculates hose constraint moment fluctuation rate based on the moment information so as to identify dynamic overturning risks caused by external load change at the end of the lifting hose (4); The restraint execution unit (10) comprises a hose connection point adjusting mechanism (101) and a deployable anti-overturning supporting assembly (102), and the control unit (9) outputs a hierarchical control instruction to the restraint execution unit (10) according to the overturning risk level so as to implement corresponding overturning restraint actions.
  2. 2. Crawler-type deep sea mining vehicle overturning risk monitoring and restraining device according to claim 1, characterized in that the attitude measurement unit (6) comprises a dual redundant inertial measurement assembly installed in a vehicle body pressure-resistant cabin (11), the dual redundant inertial measurement assembly comprises a first inertial measurement unit (61) and a second inertial measurement unit (62), the first inertial measurement unit (61) and the second inertial measurement unit (62) are respectively and electrically connected with the control unit (9), two paths of attitude measurement signals of the vehicle body (1) are output in parallel, the attitude measurement signals comprise rolling angle, pitch angle and angular velocity information, and the control unit (9) performs consistency verification, anomaly identification and switching treatment on the two paths of attitude measurement signals.
  3. 3. The crawler-type deep sea mining vehicle overturning risk monitoring and restraining device according to claim 1, wherein the ground load measuring unit (7) comprises a left front load measuring point (71) arranged at the front part of a left crawler, a left rear load measuring point (72) arranged at the rear part of the left crawler, a right front load measuring point (73) arranged at the front part of the right crawler and a right rear load measuring point (74) arranged at the rear part of the right crawler, the left front load measuring point (71), the left rear load measuring point (72), the right front load measuring point (73) and the right rear load measuring point (74) are respectively electrically connected with the control unit (9), and the control unit (9) obtains diagonal counter-force according to measured values of the left front load measuring point (71), the left rear load measuring point (72), the right front load measuring point (73) and the right rear load measuring point (74) in a conversion mode, and further calculates an unloading coefficient to represent the crawler unloading degree and the local suspension trend of the mining vehicle.
  4. 4. Crawler-type deep sea mining vehicle overturning risk monitoring and restraining device according to claim 1, characterized in that the hose connection point adjusting mechanism (101) comprises a vertical guide rail (1011), a sliding block seat (1012) and a hydraulic cylinder (1013), the vertical guide rail (1011) is installed on the mining vehicle body (1), the sliding block seat (1012) is fixedly connected with the hose connection seat (5), the sliding block seat (1012) is installed on the vertical guide rail (1011), and the hydraulic cylinder (1013) is used for driving the sliding block seat (1012) to lift along the vertical guide rail (1011) so as to adjust the height of a hose connection point and change the towing force of a lifting hose (4) on the vehicle body (1) and the overturning arm formed by the towing force.
  5. 5. The crawler-type deep sea mining vehicle overturning risk monitoring and restraining device according to claim 1, wherein the expandable anti-overturning supporting assemblies (102) are arranged on the left side and the right side of the vehicle body (1) and comprise folding supporting arms (1021) and ground contact cushion blocks (1022), the folding supporting arms (1021) are hinged with the side portions of the vehicle body (1) and are driven to expand or retract by an actuating mechanism, and the ground contact cushion blocks (1022) are mounted at the outer ends of the folding supporting arms (1021) and used for being in contact with a seabed after the expandable anti-overturning supporting assemblies (102) are expanded to form auxiliary supporting points.
  6. 6. A crawler-type deep sea mining vehicle overturning risk monitoring and suppressing device according to any one of claims 1-5, characterized in that the control unit (9) is arranged in the vehicle body pressure cabin, in which control unit the geometrical parameters and the centroid parameters of the crawler-type deep sea mining vehicle are pre-stored.
  7. 7. The crawler-type deep sea mining vehicle overturning risk monitoring and suppression device of claim 6, wherein the geometric parameters include at least vehicle body width, crawler center-to-center distance, crawler ground length, and hose connection point location parameters including at least vehicle center-of-mass location and center-of-mass height.
  8. 8. The crawler-type deep sea mining vehicle overturning risk monitoring and restraining device according to claim 6, wherein the control unit (9) receives signals output by the attitude measuring unit (6), the grounding load measuring unit (7) and the hose external load measuring unit (8), performs time synchronization, filtering and outlier rejection processing on each channel data, and calculates a static critical overturning angle, a vehicle body attitude margin, an unloading coefficient and a hose constraint torque fluctuation rate to determine an overturning risk level.
  9. 9. Crawler-type deep sea mining vehicle overturning risk monitoring and suppression device according to claim 8, characterized in that the control unit (9) performs status recording and risk prompting when the overturning risk is at a lower level; when the overturning risk reaches a preset medium level, the control unit (9) drives the hose connection point adjusting mechanism (101) to act so as to reduce the height of the hose connection point and reduce the overturning moment arm; When the overturning risk further increases and the vehicle body attitude margin continues to decrease and the one-side track ground contact load drops significantly, the control unit (9) further controls the deployment of the deployable anti-overturning support assembly (102) to form an auxiliary support and inhibit continued overturning of the mining vehicle; when the control unit (9) decides that the risk of overturning falls within a safe range, a reset phase is entered.
  10. 10. The crawler-type deep sea mining vehicle overturning risk monitoring and restraining device according to claim 9, wherein the control unit (9) drives the hose connection point adjusting mechanism (101) to act, the control unit (9) outputs a control instruction to the hydraulic cylinder (1013), so that the hydraulic cylinder (1013) drives the sliding block seat (1012) to move downwards along the vertical guide rail (1011) to further drive the hose connection seat (5) to descend, along with the descending of the hose connection seat (5), the lateral overturning moment arm formed by the external load of the lifting hose (4) to the vehicle body (1) is reduced, and therefore the overturning trend caused by the coupling external load of the lifting hose (4) is reduced, and during the action of the hose connection point adjusting mechanism (101), the control unit (9) continuously acquires the attitude parameter, the grounding load parameter and the hose external load parameter, and judges whether to keep the current adjusting position or enter the next restraining stage according to a real-time calculation result; The control unit (9) further controls the unfolding of the unfolding anti-overturning supporting component (102) to output an unfolding instruction to the execution mechanism by the control unit (9) so that the folding supporting arm (1021) swings outwards around a hinging point between the folding supporting arm and the vehicle body (1) until the ground contact cushion block (1022) is contacted with the seabed to achieve a supporting effect; The hose attachment point adjustment mechanism (101) maintains the lowered position during actuation of the deployable anti-roll support assembly (102) to simultaneously maintain a dual dampening effect of reducing the hose out-load arm and expanding the body support polygon.

Description

Crawler-type deep sea mining vehicle overturning risk monitoring and inhibiting device Technical Field The invention belongs to the technical field of safety monitoring and control of deep sea mining equipment, and particularly relates to a crawler-type deep sea mining vehicle overturning risk monitoring and inhibiting device. Background Deep sea mining operations typically employ tracked subsea mining vehicles that travel over the seafloor of weak sediment and collect subsea minerals, the collected minerals being transported to an upper system via lifting hoses. The crawler-type deep sea mining vehicle needs to go through various complex working conditions such as straight running, slope running, turning, obstacle crossing, trench passing and the like in the working process, and the coupling effect exists between the vehicle body and the lifting hose all the time. Due to the fluctuation of submarine topography, limited soft seabed bearing capacity and fluctuation of tension and moment of the end part of a lifting hose along with the change of working conditions, the mining vehicle is easy to have risks of subsidence, rolling, local unloading, even overturning and the like, and the continuity and the safety of mining operation are further affected. In the prior art, aiming at monitoring a deep sea mining system, environmental and system state information is acquired through a plurality of sensors, and the overall dynamic response and the spatial configuration of a ship-pipe-vehicle system are analyzed and early-warned by combining a dynamics model, and meanwhile, the parameters such as a static critical overturning angle, a gesture margin, an unloading coefficient, a hose constraint moment fluctuation rate and the like are also researched and proposed to identify and evaluate the overturning danger degree of the mining vehicle. The scheme can reflect the running state of the deep sea mining system to a certain extent, provides references for operation parameter optimization and safety plan formulation, but the key point is mainly focused on system-level response analysis, simulation evaluation or risk early warning. However, in the prior art, for the overturning risk of the crawler-type deep sea mining vehicle body under the combined actions of a weak seabed, complex terrain and coupling external load of a lifting hose, a special device capable of being directly installed on a vehicle body, performing real-time sensing and risk grading according to the vehicle body and implementing active inhibition is not yet available. In particular, the prior art has not formed a closed loop technical scheme of combining vehicle body attitude measurement, track ground load measurement and hose end external load measurement and linking with execution mechanisms such as connection point adjustment, auxiliary support and the like, so that it is difficult to take targeted inhibition measures in time when overturning occurs. Based on this, it is necessary to provide a crawler-type deep sea mining vehicle overturning risk monitoring and suppressing device to realize real-time monitoring, grading judgment and active suppression of overturning risk. Disclosure of Invention The invention aims to provide a crawler-type deep sea mining vehicle overturning risk monitoring and restraining device, which aims at solving the problem that a special device capable of simultaneously acquiring vehicle body posture, crawler ground load and hose external load information and further judging and actively restraining overturning risk is lacking in the prior art under the conditions of weak seabed, complex terrain and lifting hose coupling action of the crawler-type deep sea mining vehicle. The aim of the invention is realized by the following technical scheme: The crawler-type deep sea mining vehicle overturning risk monitoring and inhibiting device is arranged on a crawler-type deep sea mining vehicle and comprises a gesture measuring unit, a grounding load measuring unit, a hose external load measuring unit, a control unit and an inhibiting executing unit; The control unit is electrically connected with the attitude measuring unit, the grounding load measuring unit and the hose external load measuring unit respectively, is used for receiving detection signals of the measuring units and carrying out overturning risk judgment by combining geometric parameters and mass center parameters of the mining vehicle, and is electrically connected with the control unit and is respectively connected with the lifting hose connecting part and the vehicle body supporting part and is used for executing corresponding overturning inhibition actions when the control unit outputs control instructions; The hose external load measuring unit comprises a six-dimensional force and moment sensor, one end of the six-dimensional force and moment sensor is connected with the lifting hose end connector, the other end of the six-dimensional force and moment sensor is connec