CN106081022A - The method of work of unmanned boat seabed press and open holes system improving lowering means - Google Patents
The method of work of unmanned boat seabed press and open holes system improving lowering means Download PDFInfo
- Publication number
- CN106081022A CN106081022A CN201610561810.3A CN201610561810A CN106081022A CN 106081022 A CN106081022 A CN 106081022A CN 201610561810 A CN201610561810 A CN 201610561810A CN 106081022 A CN106081022 A CN 106081022A
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- China
- Prior art keywords
- pipeline
- unmanned boat
- press
- seabed
- open holes
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Earth Drilling (AREA)
Abstract
The present invention provides the method for work of unmanned boat seabed press and open holes system improving lowering means, comprise the steps: S1 by pipeline for position and identify one pay close attention to region, carry out preliminary visual inspection actual conditions by Underwater Camera；S2 detects pipeline at area-of-interest, and is marked at the duct section between cylindrical tube welding, if it has, the milling tool that can be operated by unmanned boat after a while or other similar means are got rid of；S3 positioning cylindrical welds, and nearby positions a position then along pipeline from circle-shaped welding, thus does not has press and open holes configuration to be arranged on cylindric welding or close vicinity；S6 measures or measurement facility drops to pipeline at selection area from the water surface, checks the excircle circularity of pipeline and checks axially aligning and directly spending of pipeline simultaneously.Inventive pipeline is placed and promotes more efficient, and position is more accurate, and by intelligentized operation so that the cost of personnel and the cost of equipment are substantially reduced.
Description
Technical field
The present invention relates to a kind of unmanned boat accessory, especially a kind of unmanned boat seabed press and open holes system improving declines dress
Put.
Background technology
Press and open holes technology refers under air-tight state, the one processed on in-service pipeline in machine cut mode and keep in repair
Operation technique, is mainly used in the industries such as oil, chemical industry, pipeline.When working pipeline needs to install additional arm, or because of corrosion failure
When evaporating, emitting, dripping or leaking of liquid or gas artificial damage causes revealing, the lifting using drilling under pressure of pipeline systems technology can complete pipeline declines, from
And complete follow-up installation and maintenance high energy work, and combine press and open holes technology, the normal conveying of pipeline would not be affected,
Ensure safe efficient, environmental protection completes blasting work simultaneously, accordingly, there are a kind of demand, i.e. design a kind of the most with pressure
Lifting lowering means in unmanned boat operation process under the conditions of perforate so that pipeline is placed and promote more efficient, and position is more
Accurately, and by intelligentized operation so that the cost of personnel and the cost of equipment are substantially reduced.
Summary of the invention
It is an object of the invention to provide a kind of unmanned boat seabed press and open holes system improving lowering means, including: measure
Instrument, including submarine camera, side scanning sonar, is placed on unmanned boat, is used to location and identifies a region paid close attention to；
Marking tool, detects pipeline at area-of-interest, and is marked at the duct section between cylindrical tube welding；Digging tool, uses
In excavating soil, sand or mud below pipeline, unmanned boat water pump forms sea water jet and washes away the sand below pipeline or silt
Mud, sets up and excavates or exposed region below pipeline, or unmanned boat uses the device taken out to set up required excavation；Cleaning means,
The brush of unmanned boat operation or the clean pipeline selecting region of low-pressure water jet cleaning, remove the protective coating outside pipeline；Under
Fall instrument, for measurement or measurement facility are dropped to pipeline at selection area from the water surface, checks the excircle circularity of pipeline also
Check axially aligning and directly spending of pipeline simultaneously, and determine suitable down position；Pipeline lift framework, lowers from the water surface
On pipeline, for riser tubing.
Preferably, at least using a pair Pipeline lift framework, each lift frame includes a pair opposed configuration guides
And a cross frame, one unmanned boat control panel of straddle mounting on lift frame, also include that can rotate extension provides sea
The extendible mud pad that the end supports, mud pad is arranged on the both sides of lift frame.
Preferably, mud pad is fixed on hydraulic cylinder.
Preferably, crossbeam is arranged between vertical configuration guides, and extends from above a pipe Clamp, piping clip
Tight device is moved transversely or declines around pipeline, and provides the method for hydraulic system to be reduced to pipe by remote control unmanned boat
Control above road and by unmanned boat control panel.
Preferably, before riser tubing, put in place by the reduction of hydraulic pressure and mud pad is fixedly secured in seabed.
Preferably, pipe Clamp includes the claw that a pair rotation opens or closes, and pipe Clamp is opened also
Reduce thus and tube fit, after initial contact, pipe Clamp is closed at pipeline and is locked mechanically
After Zhuing, pipeline is risen to desired height.
The present invention also aims to provide the work side of a kind of unmanned boat seabed press and open holes system improving lowering means
Method, comprises the steps:
(1) by pipeline location and series of complex process will be performed, submarine camera, side scanning sonar, it is placed on nothing
On people's ship, it is used for positioning and identify a region paid close attention to, carries out preliminary visual inspection by Underwater Camera, bottom report
Situation, current conditions, around the visuality of pipeline, the soil types in seabed, under the degree of depth of pipeline and certain condition, circle-shaped
Pipeline joint-seam and the position of welding and the nature of pipeline external and coverage condition；
(2) detect pipeline at area-of-interest, and be marked at the duct section between cylindrical tube welding, excellent on pipeline
Bit selecting puts the place being do not have any longitudinal measure, if it has, the milling tool that can be operated by unmanned boat after a while or other class
Get rid of like mechanism；
(3) positioning cylindrical welding, nearby positions a position then along pipeline from circle-shaped welding, thus does not has
Press and open holes configuration is arranged on cylindric welding or close vicinity；
(4) below pipeline, soil, sand or mud are excavated；
(5) unmanned boat water pump forms the device that sea water jet washes away the sand below pipeline or mud or employing is taken out,
Set up and excavate or exposed region below pipeline；
(6) measure or measurement facility drops to pipeline at selection area from the water surface, check that the excircle circularity of pipeline is the most same
Time check the axially aligning and directly spend of pipeline, survey tool is directed to position by operator's driving of the water surface also by unmanned boat
Control unmanned boat system, survey tool move a tester and camera around columned pipe surface vertically before and after
Mobile measure ovality and check surface blemish, if pipeline is detected in the circularity allowed and straight degree, survey tool
Can be removed and deliver to the water surface, or survey tool be stayed pipeline or adjacent position in case the late step of operation makes
With；
(7) if pipeline does not passes through circularity and the test of straight degree a position, survey tool will move axially to pipeline
Another position, measure test and will perform once again until finding the position of a satisfaction；
(8) determining a correct position along pipeline, a pair Pipeline lift framework lowers across pipe from the water surface
On road；
(9) transverse shifting or around pipeline decline pipe Clamp, and by remote control unmanned boat provide hydraulic pressure system
The method of system is reduced to control above pipeline and by unmanned boat control panel, and the hydraulic system controlled by unmanned boat is acted on
Other extension mechanism between hydraulic cylinder or vertically structure guiding, according to order that is smooth and that be gradually increased by pipe Clamp
It is raised to a desired height；
(10) before riser tubing, by the reduction of hydraulic pressure, mud pad is fixedly secured in seabed；
(11) pipe Clamp is opened and reduces, and with tube fit, after initial contact, pipe Clamp is in pipeline week
Enclose closedown and be lockable mechanically, hereafter pipeline being risen to desired height；
(12) each other lift frame or frame set on repeat above operation in the same manner sequentially；
(13) pipe laying lift frame and by Pipeline lift to desired height, reuse survey tool to check pipe
The circumference circularity in road and straight degree；
(14) if survey tool is not retained on pipeline, again install between Pipeline lift framework and measure work
Tool, remotely operates unmanned boat, thus drives and operational measure instrument；
(15) again check the circularity of pipeline and straight degree with determine pipeline elevated after impact, if pipeline is in required mistake
In the range of difference, survey tool will be removed and get back to the water surface, if pipeline is not by detection, Pipeline lift framework will be by fixed again
Position be the new position of coming ground press and open holes selection.
By setting and the arrangement of using method of this unmanned boat seabed press and open holes system improving lowering means, this
The following beneficial effect of bright acquirement: pipeline is placed and promote more efficient, position is more accurate, and by intelligentized operation,
The cost of personnel and the cost of equipment are substantially reduced.
According to below in conjunction with the accompanying drawing detailed description to the specific embodiment of the invention, those skilled in the art will be brighter
Above-mentioned and other purposes, advantage and the feature of the present invention.
Accompanying drawing explanation
Describe some specific embodiments of the present invention the most by way of example, and not by way of limitation in detail.
Reference identical in accompanying drawing denotes same or similar parts or part.It should be appreciated by those skilled in the art that these
Accompanying drawing is not necessarily drawn to scale.The target of the present invention and feature will be apparent from view of the description below in conjunction with accompanying drawing,
In accompanying drawing:
Fig. 1 shows that in the embodiment of the present invention, a underwater deep-sea pipeline of application is still in seabed；
Fig. 2 shows the example of remote control unmanned boat according to embodiments of the present invention；
Fig. 3 shows the survey tool used in embodiment of the present invention implementation process；
Fig. 4 shows a unmanned boat of the present invention part without diver's press and open holes systematic procedure, installs a pair pipeline and carries
Rise framework；
Fig. 5 shows that attached mud pad is regained makes Pipeline lift framework just be lowered；
Fig. 6 shows that landing according to embodiments of the present invention is positioned at the Pipeline lift framework above pipeline in seabed；
Fig. 7 shows that Pipeline lift framework according to embodiments of the present invention has been clipped on pipeline and riser tubing leaves sea
The end.
Detailed description of the invention
After the present invention is already provided with the description of certain particularity, it is noted that much to construction of the present invention and it zero
The change of the details of part arrangement can be made in the spirit and scope without departing from the disclosure.Need to understand that the present invention is not only restricted to this
In be used for example embodiment.
With specific reference to accompanying drawing, Fig. 1 shows the one section of pipelines in deep sea 12 under water being still in seabed 14 and being supported by it.Figure
1, display is the pipeline 12 that the present invention is applied.Pipeline 12 with multiple by multistage ring-type will be welded 16 and links together and form.
Depend on size and other factors of pipeline, it is also possible to use longitudinal measure (not shown).Deep water position, such as at 6000 feet
With following, it it is the intrinsic pressure environment that can produce high pressure outside pipeline being known relative to pipeline.The present invention can be with different straight
The pipeline in footpath is it is particularly suited for 10 inches of pipelines to 20 inch diameters.
One unmanned boat 18, display, in Fig. 2, performs, by being used for, a lot of steps or the operation that the present invention will describe.Nothing
People's ship 18 will be from control waterborne or supply power.
In the initial step of the present invention, pipeline 12 will be positioned and will perform series of complex process.Submarine camera,
Side scanning sonar, it is placed on unmanned boat, is used to location and identifies a region paid close attention to.Will be entered by Underwater Camera
The visual inspection that row is preliminary.Bottom situation will be reported, current will be reported, the visuality around pipeline will be reported, seabed
Soil types will be reported, the degree of depth of last pipeline will be reported.Investigation may be needed and perform out of Memory.Additionally, such as
Fruit has, and the position of circle-shaped pipeline joint-seam and welding needs to be reported.The nature of pipeline external and coverage condition, such as coagulation
Soil or other materials, also will be reported.
Pipeline 12 will be detected at area-of-interest, and be marked at the duct section between cylindrical tube welding 16.On pipeline
Optimum position be the place not having any longitudinal measure, if it has, the milling tool that can be operated by unmanned boat after a while or its
Its similar means is got rid of.Cylindric welding 16 will be positioned, and nearby position one then along pipeline from circle-shaped welding 16
Individual position, thus do not have press and open holes configuration to be arranged on cylindric welding or close vicinity.
First, below pipeline 12, excavate soil, sand or mud, be that the instrument of described herein can unrestricted be pacified
Dress.In one operation, unmanned boat 18 washes away the sand below pipeline or mud by forming sea water jet with water pump, sets up pipeline
Lower section is excavated or exposed region.Optionally, unmanned boat 18 can use the device taken out to set up required excavation.
Therefore, the brush operated by unmanned boat or low-pressure water jet are cleaned clean by the pipeline 12 selecting region.One
In a little examples, the protective coating outside pipeline, the most melt bonded resin, concrete or cement and similar, will be at next step
Before be removed.A lot of instruments are developed to remove these coatings and also can use, their application in the field of the invention
It is possible.
The most ongoing preliminary procedure is done, and the measurement shown in Fig. 3 or measurement facility will be at selection area from water
Face drops to pipeline 12, checks the excircle circularity of pipeline and checks axially aligning and directly spending of pipeline simultaneously.Survey tool by
Unmanned boat is directed to position and is driven by the operator of the water surface and controlled the system of unmanned boat.Survey tool moves a test
Instrument and camera move forward and backward around columned pipe surface vertically to be measured ovality and checks surface blemish.If pipe
Road is detected in the circularity allowed and straight degree, and survey tool can be removed and deliver to the water surface.Optionally, survey tool 30
Pipeline 12 or adjacent position can be stayed use in the late step of operation.
If pipeline is not a position by circularity and the test of straight degree, survey tool 30 will move axially to pipeline 12
Another position, measure test and will perform once again until finding the position of a satisfaction.
As Fig. 4 shows, determining a correct position along pipeline 12, a pair Pipeline lift framework 36 and 38 will
Lower across pipeline 12 from the water surface.Fig. 5 shows the enlarged drawing of a lift frame 36 or 38, as it has been decreased by
Put in place.
To at least use a pair Pipeline lift framework.In some applications it is desirable to four lift frames (only display two)
Reach results needed.Each lift frame 36 and 38 will include a pair opposed configuration guides 40 and 42 and an intersection frame
Frame 44, one unmanned boat control panel 46 of straddle mounting on it.Can rotate and extend the extendible mud providing seabed to support
Pad 48 and 50 is arranged on the both sides of lift frame.In the present embodiment, mud pad is fixed on hydraulic cylinder.Fig. 5 shows that mud pad exists
Position during retraction is mobile.One crossbeam 52 is arranged on vertical structure and guides between 40 and 42, and extends from above a piping clip
Tight device 54.
Pipe Clamp 54 can be moved transversely or decline around pipeline 12, and carried by remote control unmanned boat 18
Method for hydraulic system is reduced to control above pipeline 12 and by unmanned boat control panel 46.Pipe Clamp 54 is permissible
Being raised to a desired height with order that is smooth and that be gradually increased, the hydraulic system 46 controlled by unmanned boat acts on hydraulic pressure
Cylinder or vertically structure guide other extension mechanism (not shown) between 40 and 42.
Before riser tubing 12, mud pad 48 and 50 is put in place by the reduction of hydraulic pressure and fixedly secures in seabed, as shown in Figure 6.
In the present embodiment, mud pad is positioned by hydraulic cylinder.
Pipe Clamp includes the claw that a pair rotation opens or closes.Pipe Clamp 54 open and reduce with
Pipeline 12 coordinates.After initial contact, pipe Clamp 54 is closed about at pipeline 12 and is lockable mechanically.So
Rear pipeline 12 is raised to desired height, and Fig. 7 shows this situation.
Then each other lift frame or frame set on repeat operation in the same manner order.
The most install and pipeline 12 has risen to desired height as described at Pipeline lift framework 36 and 38, will again
Secondary use survey tool 30 checks pipeline 12 ground circumference circularity and straight degree.
As survey tool is not retained on pipeline 12, it will be arranged between Pipeline lift framework 36 and 38 again.Far
Journey operation unmanned boat 18, thus drive and operational measure instrument 30.Before the circularity of pipeline and straight degree will be examined again to determine
Impact after pipeline that face is mentioned is elevated.If pipeline 12 is in required range of error, survey tool 30 will be removed and take
Return to the water surface.If pipeline is not by detection, Pipeline lift framework will be repositioned and be that coming ground press and open holes selects
New position.
Although the present invention is described by reference to specific illustrative embodiment, but will not be by these embodiments
Restriction and only limited by accessory claim.Skilled artisan would appreciate that can be without departing from the present invention's
In the case of protection domain and spirit, embodiments of the invention can be modified and revise.
Claims (9)
1. the method for work of unmanned boat seabed press and open holes system improving lowering means, it is characterised in that comprise the steps:
Pipeline (12) is positioned and will perform series of complex process by S1, submarine camera, side scanning sonar, be placed on unmanned
On ship, it is used for positioning and identify a region paid close attention to, carries out preliminary visual inspection by Underwater Camera, shape bottom report
Condition, current conditions, around the visuality of pipeline, the soil types in seabed, under the degree of depth of pipeline and certain condition, circle-shaped
Pipeline joint-seam and the position of welding and the nature of pipeline external and coverage condition；
S2 detects pipeline (12) at area-of-interest, and is marked at the duct section between cylindrical tube welding (16), on pipeline
Optimum position be the place not having any longitudinal measure, if it has, the milling tool that can be operated by unmanned boat after a while or its
Its similar means is got rid of；
S3 positioning cylindrical welding (16), nearby positions a position then along pipeline from circle-shaped welding (16), thus
Press and open holes configuration is not had to be arranged on cylindric welding or close vicinity；
S6 measures or measurement facility drops to pipeline (12) at selection area from the water surface, checks the excircle circularity of pipeline the most simultaneously
Checking axially aligning and directly spending of pipeline, survey tool is directed to position by unmanned boat and is driven by the operator of the water surface and controlled
The system of unmanned boat processed, survey tool moves a tester and camera and front and back moves vertically around columned pipe surface
Moving and measure ovality and check surface blemish, if pipeline is detected in the circularity allowed and straight degree, survey tool can
To be removed and to deliver to the water surface, or survey tool (30) is stayed pipeline (12) or adjacent position in case operation late step
Use in rapid.
The method of work of unmanned boat seabed the most according to claim 1 press and open holes system improving lowering means, its feature
It is: include also including after step S3:
S4 excavates soil, sand or mud below from pipeline (12)；
S5 unmanned boat (18) water pump forms the device that sea water jet washes away the sand below pipeline or mud or employing is taken out, and builds
Excavate or exposed region below standpipe road.
The method of work of unmanned boat seabed the most according to claim 2 press and open holes system improving lowering means, its feature
It is: also comprise the steps:
If S7 pipeline is not a position by circularity and the test of straight degree, survey tool (30) will move axially to pipeline
(12) another position, measuring test will perform once again until finding the position of a satisfaction；
S8 is determining a correct position along pipeline (12), and a pair Pipeline lift framework (36,38) lowers from the water surface
On pipeline (12).
The method of work of unmanned boat seabed the most according to claim 3 press and open holes system improving lowering means, its feature
It is: also comprise the steps:
S9 transverse shifting or around pipeline (12) decline pipe Clamp (54), and by remote control unmanned boat (18) provide
The method of hydraulic system is reduced to pipeline (12) and above and is controlled by unmanned boat control panel (46), is controlled by unmanned boat
Hydraulic system (46) act on hydraulic cylinder or vertically structure guide other extension mechanism between (40,42), according to smooth and by
Pipe Clamp (54) is raised to a desired height by the cumulative order added.
The method of work of unmanned boat seabed the most according to claim 4 press and open holes system improving lowering means, its feature
It is: also comprise the steps:
S10 is front at riser tubing (12), is fixedly secured mud pad (48,50) in seabed by the reduction of hydraulic pressure.
The method of work of unmanned boat seabed the most according to claim 5 press and open holes system improving lowering means, its feature
It is: also comprise the steps:
S11 pipe Clamp (54) is opened and reduces, and coordinates with pipeline (12), after initial contact, and pipe Clamp (54)
Closed about at pipeline (12) and be lockable mechanically, hereafter pipeline (12) is risen to desired height.
The method of work of unmanned boat seabed the most according to claim 6 press and open holes system improving lowering means, its feature
It is: also comprise the steps:
S12 each other lift frame or frame set on repeat above operation in the same manner sequentially；
S13 pipe laying lift frame (36,38) and pipeline (12) is risen to desired height, reuses survey tool
(30) the circumference circularity of pipeline (12) and straight degree are checked.
The method of work of unmanned boat seabed the most according to claim 7 press and open holes system improving lowering means, its feature
It is: also comprise the steps:
If S14 survey tool is not retained on pipeline (12), institute is installed between Pipeline lift framework (36,38) again
State survey tool, remotely operate unmanned boat (18), thus drive and operational measure instrument (30).
The method of work of unmanned boat seabed the most according to claim 8 press and open holes system improving lowering means, its feature
It is: also comprise the steps:
S15 again check the circularity of pipeline and straight degree with determine pipeline elevated after impact, if pipeline (12) is in required mistake
In the range of difference, survey tool (30) will be removed and get back to the water surface, if pipeline is by detection, Pipeline lift framework will be by
Relocate and be that coming ground press and open holes selects new position.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610561810.3A CN106081022A (en) | 2016-07-17 | 2016-07-17 | The method of work of unmanned boat seabed press and open holes system improving lowering means |
| PCT/CN2016/095120 WO2018014398A1 (en) | 2016-07-17 | 2016-08-14 | Operation method for lifting and lowering device of underwater pressure tapping system used by unmanned vessel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610561810.3A CN106081022A (en) | 2016-07-17 | 2016-07-17 | The method of work of unmanned boat seabed press and open holes system improving lowering means |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106081022A true CN106081022A (en) | 2016-11-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610561810.3A Pending CN106081022A (en) | 2016-07-17 | 2016-07-17 | The method of work of unmanned boat seabed press and open holes system improving lowering means |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106081022A (en) |
| WO (1) | WO2018014398A1 (en) |
Cited By (6)
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| CN106523787A (en) * | 2016-12-05 | 2017-03-22 | 深圳海油工程水下技术有限公司 | Trepanning and mounting system |
| WO2018014397A1 (en) * | 2016-07-17 | 2018-01-25 | 杨越 | Lifting and lowering device for underwater pressure tapping system used by unmanned vessel |
| CN109298709A (en) * | 2018-12-25 | 2019-02-01 | 哈尔滨工程大学 | A kind of unmanned surface vehicle detection and tracking for shallow water pipeline |
| CN111983717A (en) * | 2020-07-07 | 2020-11-24 | 中国海洋石油集团有限公司 | Accurate positioning method for anchoring part on in-service pipeline |
| CN112228633A (en) * | 2020-09-08 | 2021-01-15 | 深圳市杉叶实业有限公司 | Construction method for underwater installation of underwater pressurized tapping operation of submarine pipeline |
| CN116588282A (en) * | 2023-07-17 | 2023-08-15 | 青岛哈尔滨工程大学创新发展中心 | AUV intelligent operation and maintenance system and method |
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| US6290431B1 (en) * | 1999-04-06 | 2001-09-18 | Williams Field Services Gulf Coast Company, L.P. | Diverless subsea hot tap system with lateral pipe tie-in |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018014397A1 (en) * | 2016-07-17 | 2018-01-25 | 杨越 | Lifting and lowering device for underwater pressure tapping system used by unmanned vessel |
| CN106523787A (en) * | 2016-12-05 | 2017-03-22 | 深圳海油工程水下技术有限公司 | Trepanning and mounting system |
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| CN109298709A (en) * | 2018-12-25 | 2019-02-01 | 哈尔滨工程大学 | A kind of unmanned surface vehicle detection and tracking for shallow water pipeline |
| CN111983717A (en) * | 2020-07-07 | 2020-11-24 | 中国海洋石油集团有限公司 | Accurate positioning method for anchoring part on in-service pipeline |
| CN112228633A (en) * | 2020-09-08 | 2021-01-15 | 深圳市杉叶实业有限公司 | Construction method for underwater installation of underwater pressurized tapping operation of submarine pipeline |
| CN112228633B (en) * | 2020-09-08 | 2021-06-04 | 深圳市杉叶实业有限公司 | Construction method for underwater installation of underwater pressurized tapping operation of submarine pipeline |
| CN116588282A (en) * | 2023-07-17 | 2023-08-15 | 青岛哈尔滨工程大学创新发展中心 | AUV intelligent operation and maintenance system and method |
| CN116588282B (en) * | 2023-07-17 | 2023-10-13 | 青岛哈尔滨工程大学创新发展中心 | AUV intelligent operation and maintenance system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018014398A1 (en) | 2018-01-25 |
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