CN113529092A - Autonomous inspection method and system for submarine pipeline cathodic protection potential detection - Google Patents

Autonomous inspection method and system for submarine pipeline cathodic protection potential detection Download PDF

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CN113529092A
CN113529092A CN202110841024.XA CN202110841024A CN113529092A CN 113529092 A CN113529092 A CN 113529092A CN 202110841024 A CN202110841024 A CN 202110841024A CN 113529092 A CN113529092 A CN 113529092A
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submarine pipeline
underwater robot
potential
detection
reference electrode
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CN113529092B (en
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常炜
宋世德
胡丽华
黄一
贾旭
李大朋
李慧心
余晓毅
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Beijing Research Center of CNOOC China Ltd
CNOOC China Ltd
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Beijing Research Center of CNOOC China Ltd
CNOOC China Ltd
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    • C—CHEMISTRY; METALLURGY
    • C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
    • C23F—NON-MECHANICAL REMOVAL OF METALLIC MATERIAL FROM SURFACE; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL; MULTI-STEP PROCESSES FOR SURFACE TREATMENT OF METALLIC MATERIAL INVOLVING AT LEAST ONE PROCESS PROVIDED FOR IN CLASS C23 AND AT LEAST ONE PROCESS COVERED BY SUBCLASS C21D OR C22F OR CLASS C25
    • C23F13/00—Inhibiting corrosion of metals by anodic or cathodic protection
    • C23F13/02—Inhibiting corrosion of metals by anodic or cathodic protection cathodic; Selection of conditions, parameters or procedures for cathodic protection, e.g. of electrical conditions
    • C—CHEMISTRY; METALLURGY
    • C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
    • C23F—NON-MECHANICAL REMOVAL OF METALLIC MATERIAL FROM SURFACE; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL; MULTI-STEP PROCESSES FOR SURFACE TREATMENT OF METALLIC MATERIAL INVOLVING AT LEAST ONE PROCESS PROVIDED FOR IN CLASS C23 AND AT LEAST ONE PROCESS COVERED BY SUBCLASS C21D OR C22F OR CLASS C25
    • C23F13/00—Inhibiting corrosion of metals by anodic or cathodic protection
    • C23F13/02—Inhibiting corrosion of metals by anodic or cathodic protection cathodic; Selection of conditions, parameters or procedures for cathodic protection, e.g. of electrical conditions
    • C23F13/06—Constructional parts, or assemblies of cathodic-protection apparatus
    • C23F13/08—Electrodes specially adapted for inhibiting corrosion by cathodic protection; Manufacture thereof; Conducting electric current thereto
    • C23F13/22—Monitoring arrangements therefor
    • C—CHEMISTRY; METALLURGY
    • C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
    • C23F—NON-MECHANICAL REMOVAL OF METALLIC MATERIAL FROM SURFACE; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL; MULTI-STEP PROCESSES FOR SURFACE TREATMENT OF METALLIC MATERIAL INVOLVING AT LEAST ONE PROCESS PROVIDED FOR IN CLASS C23 AND AT LEAST ONE PROCESS COVERED BY SUBCLASS C21D OR C22F OR CLASS C25
    • C23F2213/00—Aspects of inhibiting corrosion of metals by anodic or cathodic protection
    • C23F2213/30—Anodic or cathodic protection specially adapted for a specific object
    • C23F2213/31—Immersed structures, e.g. submarine structures
    • C—CHEMISTRY; METALLURGY
    • C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
    • C23F—NON-MECHANICAL REMOVAL OF METALLIC MATERIAL FROM SURFACE; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL; MULTI-STEP PROCESSES FOR SURFACE TREATMENT OF METALLIC MATERIAL INVOLVING AT LEAST ONE PROCESS PROVIDED FOR IN CLASS C23 AND AT LEAST ONE PROCESS COVERED BY SUBCLASS C21D OR C22F OR CLASS C25
    • C23F2213/00—Aspects of inhibiting corrosion of metals by anodic or cathodic protection
    • C23F2213/30—Anodic or cathodic protection specially adapted for a specific object
    • C23F2213/32—Pipes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/30—Assessment of water resources

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Materials Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Metallurgy (AREA)
  • Organic Chemistry (AREA)
  • Prevention Of Electric Corrosion (AREA)

Abstract

The invention relates to an autonomous inspection method and system for detecting the cathodic protection potential of a submarine pipeline, which are characterized by comprising the following steps: determining the lowering position of the submarine pipeline according to a construction drawing of the submarine pipeline, arranging a working platform on the sea surface above the submarine pipeline, and lowering the underwater robot to a certain detection section of the submarine pipeline; controlling the underwater robot to autonomously search the detection section of the submarine pipeline, controlling the underwater robot to be positioned right above the submarine pipeline in real time according to the magnetic detection number of magnetic detection equipment on the underwater robot, and setting the advancing direction of the underwater robot according to the construction drawing of the submarine pipeline; the potential of the detection section of the submarine pipeline is determined, the position of the sacrificial anode on the detection section of the submarine pipeline is further determined, and autonomous inspection of submarine pipeline cathode protection potential detection is completed.

Description

Autonomous inspection method and system for submarine pipeline cathodic protection potential detection
Technical Field
The invention relates to an autonomous inspection method and an autonomous inspection system for detecting the cathodic protection potential of a submarine pipeline, belonging to the field of ocean engineering.
Background
The submarine pipeline is used as a main artery for offshore oil and gas exploitation, and has important influence on development and use of marine oil and gas resources, but the seawater environment is extremely harsh, the submarine pipeline is extremely easy to corrode in the marine environment for a long time, meanwhile, the submarine environment is complex and easily causes damage to the surface coating of the submarine pipeline, excessive consumption of sacrificial anodes is caused, the cathode protection system of the submarine pipeline can be out of work, and once the anodes are out of work, the submarine pipeline correspondingly protected can generate potential corrosion perforation risk due to insufficient corrosion protection. With the increase of the operation time of the submarine pipeline, the corrosion protection system of the submarine pipeline is gradually eroded and damaged, for example, the corrosion protection layer is aged and damaged and the sacrificial anode is excessively worn, which can cause that the submarine pipeline cannot be sufficiently protected and is directly corroded by seawater, the original design life of the submarine pipeline is influenced, even the normal oil-gas-water conveying function of the submarine pipeline is influenced, serious accidents such as leakage of crude oil and natural gas are generated, and the marine environment is polluted.
Therefore, the cathode protection state detection of the submarine pipeline can prevent the submarine pipeline from failing due to the excessive consumption of the sacrificial anode, and has important significance in the aspects of preventing accidents and economic loss. The cathode protection state of the submarine pipeline is not easy to directly detect, but the environment potential generated around the submarine pipeline is easy to detect, so the cathode protection state of the submarine pipeline can be evaluated by detecting the environment potential around the submarine pipeline, generally, a manually operated underwater Robot (ROV) is used for carrying a reference electrode to perform inspection along the pipeline in the potential detection, but the actual submarine pipeline is generally in the kilometer level, the submarine environment has the characteristics of low visibility, submarine undercurrent, uneven seabed and the like, the manually operated underwater robot is used for inspecting the submarine pipeline, the position of the pipeline cannot be determined for a long time through underwater images, and the difficulty is high.
Disclosure of Invention
In view of the above problems, the present invention aims to provide an autonomous inspection method and system for detecting the cathodic protection potential of a submarine pipeline, which can solve the problem that the position of the submarine pipeline cannot be determined for a long time through an underwater image when an underwater robot is manually operated to inspect the submarine pipeline.
In order to achieve the purpose, the invention adopts the following technical scheme: an autonomous inspection method for detecting the cathodic protection potential of a submarine pipeline comprises the following steps:
determining the lowering position of the submarine pipeline according to a construction drawing of the submarine pipeline, arranging a working platform on the sea surface above the submarine pipeline, and lowering the underwater robot to a certain detection section of the submarine pipeline;
controlling the underwater robot to autonomously search the detection section of the submarine pipeline, controlling the underwater robot to be positioned right above the submarine pipeline in real time according to the magnetic detection number of magnetic detection equipment on the underwater robot, and setting the advancing direction of the underwater robot according to the construction drawing of the submarine pipeline;
and determining the potential of the detection section of the submarine pipeline, further determining the position of a sacrificial anode on the detection section of the submarine pipeline, and completing autonomous inspection of the submarine pipeline cathode protection potential detection.
Further, the determining a lowering position of the submarine pipeline according to a construction drawing of the submarine pipeline, setting the working platform on a sea surface above the submarine pipeline, and lowering the underwater robot to a certain detection section of the submarine pipeline includes:
determining the lowering position of the submarine pipeline according to the construction drawing of the submarine pipeline, and arranging the working platform on the sea surface above the submarine pipeline;
placing the transmitting end of the ultra-short baseline positioning system and the far reference electrode under the sea surface;
the potential detection probe calibrates the potential of the far reference electrode through the exposed position of the submarine pipeline;
based on the transmitting end and the receiving end of the ultra-short baseline positioning system, an underwater robot provided with a potential detection probe, a magnetic probe device, a near reference electrode and the receiving end of the ultra-short baseline positioning system is put down to a certain detection section of the submarine pipeline or is buried above the mud surface of the certain detection section of the submarine pipeline.
Further, the controlling the underwater robot to autonomously search the detection section of the submarine pipeline, controlling the underwater robot to be located right above the submarine pipeline in real time according to the magnetic detection index of the magnetic detection device on the underwater robot, and setting the advancing direction of the underwater robot according to the construction drawing of the submarine pipeline includes:
controlling the underwater robot to move according to the shape of the opening, automatically searching the detection section of the submarine pipeline, and determining a routing inspection starting point of the detection section of the submarine pipeline;
controlling the underwater robot to be positioned right above the submarine pipeline in real time according to the magnetic detection number of the magnetic detection equipment;
and setting the advancing direction of the underwater robot according to the construction drawing of the submarine pipeline.
Further, the controlling the underwater robot right above the submarine pipeline in real time according to the magnetic detection number of the magnetic detection device includes:
when T isL>TM>TRWhen the underwater robot moves forwards, the submarine pipeline is positioned on the left side of the underwater robot, and the underwater robot is controlled to move forwards to TM>TL>TRWhen the underwater robot moves forwards, the underwater robot stops moving forwards and is controlled to rotate right until TM>TL＝TRWherein, TL、TMAnd TRThe magnetic field intensity detected by three probes arranged from left to right on the magnetic detection equipment is respectively;
when T isL<TM<TRWhile the submarine pipeline is locatedControlling the underwater robot to move forwards to T at the right side of the underwater robotM>TR>TLWhen the underwater robot moves forwards, the underwater robot stops moving forwards and is controlled to rotate left until TM>TR＝TL；
When T isM>TL>TRWhen the underwater robot is in a state that the submarine pipeline is positioned on the left below the underwater robot, the underwater robot is controlled to turn left until TM>TL＝TR；
When T isM>TR>TLWhen the underwater robot is in a state that the submarine pipeline is positioned below the underwater robot to the right, the underwater robot is controlled to rotate to the right until TM>TR＝TL。
Further, the determining the potential of the detection section of the submarine pipeline, and further determining the position of the sacrificial anode on the detection section of the submarine pipeline, so as to complete autonomous inspection of the cathode protection potential detection of the submarine pipeline, includes:
the potential detection probe measures the potential difference between a near reference electrode positioned on the underwater robot and a far reference electrode positioned at the bottom of the working platform;
determining the potential of the detection section of the submarine pipeline according to the potential difference and the potential of the far reference electrode;
and determining the position of the sacrificial anode on the detection section of the submarine pipeline according to the potential of the submarine pipeline.
Further, when the measured potential difference exceeds a preset threshold value, the position of the underwater robot is the position of the sacrificial anode on the detection section of the submarine pipeline, and the underwater robot is controlled to stop moving.
An autonomous inspection system for cathode protection potential detection of a submarine pipeline comprises a potential detection device, a controller and a working platform;
the potential detection device is used for positioning the submarine pipeline and the working platform and determining the potential difference between the working platform and the submarine pipeline;
the controller is used for controlling the movement of the potential detection device, determining the potential of the submarine pipeline according to the potential difference between the working platform and the submarine pipeline, and further determining the position of a sacrificial anode on the submarine pipeline;
the working platform is used for supplying power to all parts of the system.
Furthermore, the potential detection device comprises an underwater robot, magnetic detection equipment, a near reference electrode, a far reference electrode, a potential detection probe and an ultra-short baseline positioning system;
one side of the underwater robot is provided with the magnetic detection equipment for determining the position and the direction of the underwater robot, and one side of the magnetic detection equipment is provided with the near reference electrode; the underwater robot is also provided with a receiving end of the potential detection probe and the ultra-short baseline positioning system;
the top of underwater robot passes through cable junction work platform, work platform's bottom is provided with ultrashort baseline positioning system's transmitting terminal with far reference electrode, ultrashort baseline positioning system is used for right work platform and underwater robot advance line location, electric potential test probe is used for measuring nearly reference electrode with electric potential difference between the reference electrode far.
Furthermore, three probes are arranged on the magnetic detection equipment at intervals.
Further, the transmitting end of the ultra-short baseline positioning system and the far reference electrode are both located under the sea surface.
Due to the adoption of the technical scheme, the invention has the following advantages:
1. from the perspective of safety, the method can replace the traditional diver launching to determine the position of the sacrificial anode, because the diver launching can be influenced by factors such as low visibility of the sea bottom, bad environment and the like, and the diver launching has higher requirements on the physical quality and the operation experience of the diver, and in addition, compared with the diver, the method can work underwater for a long time.
2. From the economic point of view, the invention can replace the manual mode, and reduce the cost.
3. Because the invention is not limited by cables, the invention can be suitable for large-span submarine pipeline potential detection and sacrificial anode position determination, and can be widely applied to the field of ocean engineering.
Drawings
Fig. 1 is a schematic diagram of a potential detection inspection according to an embodiment of the present invention;
fig. 2 is a schematic view of a square-shaped search pipe of the electric potential detecting device according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "upper", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.
The autonomous inspection method and the autonomous inspection system for the cathodic protection potential detection of the submarine pipeline provided by the embodiment of the invention can realize the autonomous inspection of the potential detection device along the pipeline and judge the position of the sacrificial anode according to the potential value, and the potential detection is based on a far reference electrode potential detection method
Figure BDA0003178091960000051
Before potential detection, the potential of the far reference electrode is measured, then the near reference electrode is moved along the submarine pipeline, and the potential difference delta E between the far reference electrode and the near reference electrode is measuredczThen the pipeline potential can be obtained (Yuan Shen Bi method)
Figure BDA0003178091960000052
In addition, the submarine pipelines in the embodiment of the invention are kilometer-scale, and sacrificial anodes are uniformly distributed among all sections of submarine pipelines.
Example 1
As shown in fig. 1, the present embodiment provides an autonomous inspection system for submarine pipeline cathodic protection potential detection, including a potential detection device 1, a main cable 2, a working platform 3 and a controller, wherein the potential detection device 1 includes an underwater robot 11, a magnetic probe device 12, a near reference electrode 13, a far reference electrode 14, a potential detection probe and an ultra-short baseline positioning system (USBL), the ultra-short baseline positioning system includes a receiving end 15 and a transmitting end 16, and three probes are arranged on the magnetic probe device 12 at intervals.
One side of the underwater robot 11 is provided with a magnetic detection device 12, the magnetic detection device 12 is used for determining the position and the direction of the underwater robot 11, and one side of the magnetic detection device 12 is provided with a near reference electrode 13. The front lower end of the underwater robot 11 is provided with a potential detection probe which is close to the submarine pipeline 4 and the seabed as much as possible during detection. The top of the underwater robot 11 is provided with a receiving end 15 of the ultra-short baseline positioning system, the top of the underwater robot 11 is further connected with the working platform 3 through the main cable 2, one side of the bottom of the working platform 3 is provided with an emitting end 16 of the ultra-short baseline positioning system, the other side of the bottom of the working platform 3 is provided with a far reference electrode 14, the emitting end 16 of the ultra-short baseline positioning system and the far reference electrode 14 are both located under the sea surface, the ultra-short baseline positioning system is used for positioning the working platform 3 and the underwater robot 11, and the potential detection probe is used for measuring the potential difference between the near reference electrode 13 and the far reference electrode 14.
The controller is connected with the potential detection device 1 and used for determining the motion of the underwater robot 11 according to the magnetic detection number of the magnetic detection equipment 12 and the construction drawing of the submarine pipeline 4, determining the potential of the submarine pipeline 4 according to the potential difference between the near reference electrode 13 and the far reference electrode 14, and further determining the position of the sacrificial anode 5 on the submarine pipeline 4.
The work platform 3 is used to supply power to the various electrical components of the present invention.
In a preferred embodiment, the work platform 3 may be a powerable vessel.
Example 2
The embodiment provides an autonomous inspection method for detecting the cathodic protection potential of a submarine pipeline, which comprises the following steps:
1) according to the construction drawing of submarine pipeline 4, confirm the position of transferring of submarine pipeline 4, can drive the power supply boats and ships into the sea surface of submarine pipeline 4 top, set up potential detection device 1 in corresponding position, and transfer underwater robot 11 to a certain detection segment department of submarine pipeline 4, wherein, potential detection device 1 includes underwater robot 11, magnetism detection equipment 12, nearly reference electrode 13, far reference electrode 14, potential detection probe and ultrashort positioning system, specifically is:
1.1) determining the lowering position of the submarine pipeline 4 according to the construction drawing of the submarine pipeline 4, and driving the ship capable of supplying power to the sea surface above the submarine pipeline 4.
1.2) place both the transmitting end 16 of the ultra short baseline positioning system and the far reference electrode 14 under the sea surface.
1.3) the potential detection probe calibrates the potential of the far reference electrode 14 through the exposed position of the submarine pipeline 4
Figure BDA0003178091960000061
1.4) based on the transmitting end 16 and the receiving end 15 of the ultra-short baseline positioning system, the underwater robot 11 provided with the potential detection probe, the magnetic probe device 12, the near reference electrode 13 and the receiving end 15 of the ultra-short baseline positioning system is lowered to a certain detection section of the submarine pipeline 4 through the main cable 2 or is buried above the mud surface of the certain detection section of the submarine pipeline 4.
2) Controlling the underwater robot 11 to move according to the mouth shape, automatically searching a patrol starting point of the detection section of the submarine pipeline 4, controlling the underwater robot 11 to be positioned right above the submarine pipeline 4 in real time according to the magnetic detection number of the magnetic detection equipment 12, and setting the advancing direction of the underwater robot 11 according to the construction drawing of the submarine pipeline 4, wherein the patrol starting point is specifically as follows:
2.1) as shown in fig. 2, controlling the underwater robot 11 to move according to the shape of the mouth, and automatically searching the detected section of the submarine pipeline 4 to determine a patrol starting point of the detected section of the submarine pipeline 4, wherein the patrol starting point is a point preset according to actual conditions.
2.2) controlling the underwater robot 11 to be positioned right above the submarine pipeline 4 in real time according to the magnetic detection number of the magnetic detection equipment 12, wherein:
when TL>TM>TRWhen the submarine pipeline 4 is positioned in the underwater robot11, at which time the underwater robot 11 is controlled to advance to TM>TL>TRWhen the underwater robot moves forwards, the underwater robot 11 is controlled to rotate right until TM>TL＝TRWherein, TL、TMAnd TRThe magnetic field intensity detected by three probes arranged from left to right on the magnetic detection device 12.
When TL<TM<TRThe submarine pipeline 4 is positioned at the right side of the underwater robot 11, and the underwater robot 11 is controlled to move forwards to TM>TR>TLWhen the underwater robot moves forwards, the underwater robot 11 is controlled to rotate left until TM>TR＝TL。
(III) when TM>TL>TRWhen the submarine pipeline 4 is positioned below the underwater robot 11 to the left, the underwater robot 11 is controlled to turn left until TM>TL＝TR。
When TM>TR>TLWhen the submarine pipeline 4 is positioned below the underwater robot 11 to the right, the underwater robot 11 is controlled to rotate to the right until TM>TR＝TL。
2.3) setting the advancing direction of the underwater robot 11 according to the construction drawing of the submarine pipeline 4.
3) According to the potential difference between the near reference electrode 13 and the far reference electrode 14, the potential of the detection section of the submarine pipeline 4 is determined, the position of the sacrificial anode 5 on the detection section of the submarine pipeline 4 is further determined, and autonomous inspection of cathode protection potential detection of the submarine pipeline 4 is completed, and the method specifically comprises the following steps:
3.1) potential measuring Probe measures the potential difference Δ E between the near reference electrode 13 on the Underwater robot 11 and the far reference electrode 14 on the bottom of the powerable vesselcz。
3.2) potentiometric detection with remote reference electrode 14 according to the potential difference Δ EczAnd the potential of the far reference electrode 14
Figure BDA0003178091960000071
Determination of a subsea pipeline 4The potential of the detection section
Figure BDA0003178091960000072
Figure BDA0003178091960000073
3.3) according to the potential of the subsea pipeline 4
Figure BDA0003178091960000074
Determining the position of the sacrificial anode 5 on the detected section of the subsea pipeline 4, i.e. when the potential difference deltaEczWhen the average value of the potential exceeds the average value of other detection sections of the submarine pipeline 4 by more than 10mV, the position of the underwater robot 11 is the position of the sacrificial anode 5 on the detection section of the submarine pipeline 4, the underwater robot 11 is controlled to stop moving, and the potential above the sacrificial anode 5 can be further detected.
The above embodiments are only used for illustrating the present invention, and the structure, connection mode, manufacturing process, etc. of the components may be changed, and all equivalent changes and modifications performed on the basis of the technical solution of the present invention should not be excluded from the protection scope of the present invention.

Claims (10)

1. An autonomous inspection method for detecting the cathodic protection potential of a submarine pipeline is characterized by comprising the following steps:
determining the lowering position of the submarine pipeline according to a construction drawing of the submarine pipeline, arranging a working platform on the sea surface above the submarine pipeline, and lowering the underwater robot to a certain detection section of the submarine pipeline;
controlling the underwater robot to autonomously search the detection section of the submarine pipeline, controlling the underwater robot to be positioned right above the submarine pipeline in real time according to the magnetic detection number of magnetic detection equipment on the underwater robot, and setting the advancing direction of the underwater robot according to the construction drawing of the submarine pipeline;
and determining the potential of the detection section of the submarine pipeline, further determining the position of a sacrificial anode on the detection section of the submarine pipeline, and completing autonomous inspection of the submarine pipeline cathode protection potential detection.
2. The autonomous inspection method for the cathodic protection potential detection of the submarine pipeline according to claim 1, wherein the determining of the lowering position of the submarine pipeline according to the construction drawing of the submarine pipeline, the placing of the working platform on the sea surface above the submarine pipeline, and the lowering of the underwater robot to a certain inspection section of the submarine pipeline comprises:
determining the lowering position of the submarine pipeline according to the construction drawing of the submarine pipeline, and arranging the working platform on the sea surface above the submarine pipeline;
placing the transmitting end of the ultra-short baseline positioning system and the far reference electrode under the sea surface;
the potential detection probe calibrates the potential of the far reference electrode through the exposed position of the submarine pipeline;
based on the transmitting end and the receiving end of the ultra-short baseline positioning system, an underwater robot provided with a potential detection probe, a magnetic probe device, a near reference electrode and the receiving end of the ultra-short baseline positioning system is put down to a certain detection section of the submarine pipeline or is buried above the mud surface of the certain detection section of the submarine pipeline.
3. The autonomous inspection method for the cathodic protection potential detection of submarine pipelines according to claim 2, wherein the controlling of the underwater robot autonomously manages the inspection section of the submarine pipeline, controlling the underwater robot to be positioned right above the submarine pipeline in real time according to the magnetic detection number of the magnetic detection device on the underwater robot, and setting the advancing direction of the underwater robot according to the construction drawing of the submarine pipeline comprises:
controlling the underwater robot to move according to the shape of the opening, automatically searching the detection section of the submarine pipeline, and determining a routing inspection starting point of the detection section of the submarine pipeline;
controlling the underwater robot to be positioned right above the submarine pipeline in real time according to the magnetic detection number of the magnetic detection equipment;
and setting the advancing direction of the underwater robot according to the construction drawing of the submarine pipeline.
4. The autonomous inspection method for the cathodic protection potential detection of the submarine pipeline according to claim 3, wherein the real-time control of the underwater robot right above the submarine pipeline according to the magnetic detection number of the magnetic detection equipment comprises:
when T isL>TM>TRWhen the underwater robot moves forwards, the submarine pipeline is positioned on the left side of the underwater robot, and the underwater robot is controlled to move forwards to TM>TL>TRWhen the underwater robot moves forwards, the underwater robot stops moving forwards and is controlled to rotate right until TM>TL＝TRWherein, TL、TMAnd TRThe magnetic field intensity detected by three probes arranged from left to right on the magnetic detection equipment is respectively;
when T isL<TM<TRWhen the underwater robot moves forwards, the submarine pipeline is positioned on the right side of the underwater robot, and the underwater robot is controlled to move forwards to TM>TR>TLWhen the underwater robot moves forwards, the underwater robot stops moving forwards and is controlled to rotate left until TM>TR＝TL；
When T isM>TL>TRWhen the underwater robot is in a state that the submarine pipeline is positioned on the left below the underwater robot, the underwater robot is controlled to turn left until TM>TL＝TR；
When T isM>TR>TLWhen the underwater robot is in a state that the submarine pipeline is positioned below the underwater robot to the right, the underwater robot is controlled to rotate to the right until TM>TR＝TL。
5. The autonomous underwater inspection method for detecting the cathodic protection potential of the submarine pipeline according to claim 2, wherein determining the potential of the detected section of the submarine pipeline and further determining the position of the sacrificial anode on the detected section of the submarine pipeline to perform autonomous inspection for detecting the cathodic protection potential of the submarine pipeline comprises:
the potential detection probe measures the potential difference between a near reference electrode positioned on the underwater robot and a far reference electrode positioned at the bottom of the working platform;
determining the potential of the detection section of the submarine pipeline according to the potential difference and the potential of the far reference electrode;
and determining the position of the sacrificial anode on the detection section of the submarine pipeline according to the potential of the submarine pipeline.
6. The autonomous inspection method according to claim 5, wherein when the measured potential difference exceeds a preset threshold, the position of the underwater robot is the position of the sacrificial anode on the detection section of the submarine pipeline, and the underwater robot is controlled to stop moving.
7. An autonomous inspection system for cathode protection potential detection of a submarine pipeline is characterized by comprising a potential detection device, a controller and a working platform;
the potential detection device is used for positioning the submarine pipeline and the working platform and determining the potential difference between the working platform and the submarine pipeline;
the controller is used for controlling the movement of the potential detection device, determining the potential of the submarine pipeline according to the potential difference between the working platform and the submarine pipeline, and further determining the position of a sacrificial anode on the submarine pipeline;
the working platform is used for supplying power to all parts of the system.
8. The submarine pipeline cathodic protection potential detection autonomous inspection system according to claim 7, wherein the potential detection device comprises an underwater robot, a magnetic probe device, a near reference electrode, a far reference electrode, a potential detection probe and an ultra-short baseline positioning system;
one side of the underwater robot is provided with the magnetic detection equipment for determining the position and the direction of the underwater robot, and one side of the magnetic detection equipment is provided with the near reference electrode; the underwater robot is also provided with a receiving end of the potential detection probe and the ultra-short baseline positioning system;
the top of underwater robot passes through cable junction work platform, work platform's bottom is provided with ultrashort baseline positioning system's transmitting terminal with far reference electrode, ultrashort baseline positioning system is used for right work platform and underwater robot advance line location, electric potential test probe is used for measuring nearly reference electrode with electric potential difference between the reference electrode far.
9. The submarine pipeline cathodic protection potential detection autonomous inspection system according to claim 8, wherein three probes are provided at intervals on the magnetic detection equipment.
10. The autonomous inspection system according to claim 8, wherein the emitter of the ultra-short baseline positioning system and the far reference electrode are both located under the sea surface.
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