WO2018014398A1

WO2018014398A1 - Operation method for lifting and lowering device of underwater pressure tapping system used by unmanned vessel

Info

Publication number: WO2018014398A1
Application number: PCT/CN2016/095120
Authority: WO
Inventors: 杨越
Original assignee: 杨越
Priority date: 2016-07-17
Filing date: 2016-08-14
Publication date: 2018-01-25
Also published as: CN106081022A

Abstract

An operation method for a lifting and lowering device of an underwater pressure tapping system used by an unmanned vessel, comprising the following steps: S1: using a pipeline (12) for positioning, identifying an area of interest, then using an underwater camera to perform a preliminary observation of the external appearance and an actual condition; S2: inspecting the pipeline (12) in the area of interest, and marking a pipeline section between cylindrical welds (16), and if a grinding tool or other similar mechanism is available, then operating the grinding tool or other similar mechanism by means of an unmanned vessel (18) to remove the marking afterwards; S3: positioning the cylindrical weld (16), then positioning to a location along the pipeline (12) near a circumferential weld (16) to install a non-pressurized tapping fitting on the cylindrical weld (16) or a nearby location; and S6: lowering a measuring or quantification tool from the water surface to the pipeline (12) at a specified area to inspect an external circumference and roundness of the pipeline (12) and to inspect, at the same time, an axial alignment and straightness of the pipeline (12). The invention improves the efficiency for placing and lifting the pipeline (12) and achieves greater accuracy for a placement location. The operation is also made intelligent to greatly reduce personnel and equipment costs.

Description

Working method of lifting and lowering device for unmanned ship submarine belt pressure opening system

Technical field

The invention relates to an unmanned marine vehicle accessory, in particular to an unmanned ship subsea bottom pressure opening system lifting and lowering device.

Background technique

The technology with pressure opening is a kind of operation technology that is processed and repaired on the running pipeline by mechanical cutting in a closed state, and is mainly used in petroleum, chemical, pipeline and other industries. When the in-service pipeline needs to be installed with a branch pipe, or when the corrosion is caused by corrosion and perforation, the pipeline can be lifted and lowered, so that the pipeline can be upgraded and lowered, thereby completing the subsequent installation and maintenance of high-energy work, and combining With the pressure opening technology, it will not affect the normal transportation of the pipeline, and at the same time ensure the safe, efficient and environmentally friendly blasting work. Therefore, there is a need to design a kind of unmanned under certain pressure opening conditions. The lifting and lowering device during the operation of the ship makes the pipeline placement and lifting more efficient, the position is more accurate, and the cost of personnel and the cost of the equipment are greatly reduced through intelligent operation.

Summary of the invention

The object of the present invention is to provide an unmanned ship subsea bottom pressure opening system lifting and lowering device, comprising: a measuring tool, including a submarine camera, a side scanning sonar, placed on an unmanned ship, used to locate and identify a concern Area; marking tool, detecting the pipeline in the area of interest, and marking the pipe section between the welding of the cylindrical pipe; excavating tools for excavating soil, sand or silt from below the pipe, and the unmanned ship using a water pump to form a seawater jet to wash away Sand or silt underneath the pipeline, creating excavated or exposed areas below the pipeline, or unmanned vessels using pumping to create the required excavation; cleaning tools, unmanned boat operated brushes or low pressure water jets to clean the pipes in the selected area, Remove the protective coating from the outside of the pipe; lower the tool to reduce the roundness of the outer circumference of the pipe by lowering the measuring or measuring tool from the surface to the pipe in the selected area At the same time, check the axial alignment and straightness of the pipe, and determine the appropriate drop position; the pipe lifting frame, which descends from the water surface and straddles the pipe, is used to lift the pipe.

Preferably, at least a pair of pipe lifting frames are used, each lifting frame comprising a pair of opposed structural guiding members and a cross frame, arranging an unmanned ship control panel on the lifting frame, and further comprising a rotary extension to provide a sea bottom Supported extendable mud pads, which are mounted on either side of the lifting frame.

Preferably, the mud pad is fixed to the hydraulic cylinder.

Preferably, the beam is mounted between the vertical structural guides and protrudes from above a pipe clamping device, the pipe clamping device is moved laterally or lowered around the pipe, and is reduced by remotely maneuvering the unmanned ship to provide a hydraulic system Above the pipe and controlled by the unmanned ship control panel.

Preferably, the mud pad is firmly fixed to the sea floor by hydraulic lowering before the pipe is lifted.

Preferably, the pipe clamping device comprises a pair of claws that are rotated to open or close, the pipe clamping device is opened and lowered to cooperate with the pipe, and after the initial contact, the pipe clamping device is closed around the pipe and mechanically locked After that, raise the pipe to the required height.

Another object of the present invention is to provide a working method for an unmanned ship subsea pressure opening system to lift and lower the device, comprising the following steps:

(1) Positioning the pipeline and performing a series of complex processes, submarine camera, side scan sonar, placed on the unmanned ship, used to locate and identify a region of interest, preliminary observation by underwater camera, report bottom Conditions, water flow conditions, visibility around the pipeline, soil type of the seabed, depth of the pipeline and, under certain conditions, the location of the circumferential joints and welds of the pipe and the natural and covering conditions outside the pipe;

(2) Detecting the pipe in the area of interest and marking the pipe section between the welding of the cylindrical pipe. The preferred position on the pipe is where there is no longitudinal welding, if any, the grinding tool that can be operated by the unmanned ship later. Or other similar institutions removed;

(3) positioning the cylindrical welding, and then positioning a position along the pipe from the circumferential welding, so that the cylindrical welding or the immediate vicinity is not arranged with the pressure opening;

(4) excavating soil, sand or silt from below the pipeline;

(5) Unmanned ships use water pumps to form seawater jets to wash away sand or silt under the pipeline or to use pumping devices to establish excavated or exposed areas under the pipeline;

(6) The measuring or measuring tool descends from the water surface to the pipe in the selected area to check the roundness of the outer circumference of the pipe and at the same time check the axial alignment and straightness of the pipe. The measuring tool is guided by the unmanned ship to the position and passes through the water surface. The operator drives and controls the unmanned ship's system. The measuring tool moves a tester and the camera moves back and forth axially around the cylindrical pipe surface to measure the ellipticity and check the surface flaw if the pipe is detected in the allowed roundness. And within straightness, the measuring tool can be removed and sent to the surface of the water, or the measuring tool can be left in the pipeline or adjacent location for use in the late steps of the operation;

(7) If the pipe fails the roundness and straightness test at one location, the measuring tool will move axially to another position of the pipe and the measurement test will be performed again until a satisfactory position is found;

(8) A pair of pipe lifting frames are lowered from the water surface and straddle the pipe at a suitable location along the pipe;

(9) laterally moving or descending the pipe clamping device around the pipe, and reducing the pipe to the pipe by remotely maneuvering the unmanned ship to provide hydraulic system, and controlling the hydraulic system through the unmanned ship to the hydraulic system Other extensions between the cylinder or vertical structure guides to raise the pipe clamp to a desired height in a smooth and increasing sequence;

(10) Secure the mud pad to the sea floor by hydraulic pressure reduction before lifting the pipe;

(11) The pipe clamping device is opened and lowered to cooperate with the pipe. After the initial contact, the pipe clamping device is closed around the pipe and mechanically locked, and then the pipe is raised to the required height;

(12) repeating the same sequence of operations on each of the other lifting frames or frame groups;

(13) Install the pipe lifting frame and raise the pipe to the required height, and use the measuring tool again to check the circumferential roundness and straightness of the pipe;

(14) If the measuring tool is not left on the pipe, install the measuring tool again between the pipe lifting frames, remotely operate the unmanned ship, thereby driving and operating the measuring tool;

(15) Verify the roundness and straightness of the pipe again to determine the effect of the pipe being lifted. If the pipe is within the required tolerance, the measuring tool will be removed and retrieved back to the surface. If the pipe fails the test, The pipe lifting frame will be repositioned and a new location will be selected for the upcoming zone press opening.

Through the arrangement of the unloading subsea belt pressure opening system and the arrangement of the use method, the invention achieves the following beneficial effects: the pipeline placement and lifting are more efficient, the position is more accurate, and the personnel are intelligently operated. Cost and equipment costs are greatly reduced.

The above as well as other objects, advantages and features of the present invention will become apparent to those skilled in the <

DRAWINGS

Some specific embodiments of the present invention are described in detail below by way of example, and not limitation. The same reference numbers in the drawings identify the same or similar parts. Those skilled in the art should understand that the drawings are not necessarily drawn to scale. The objects and features of the present invention will become more apparent in consideration of the following description in conjunction with the accompanying drawings.

Figure 1 shows an underwater deep sea pipeline applied in the embodiment of the present invention resting on the seabed;

2 shows an example of remotely maneuvering an unmanned ship in accordance with an embodiment of the present invention;

Figure 3 shows a measurement tool used in the practice of an embodiment of the invention;

Figure 4 shows a part of the process of the unmanned ship without diver pressing the opening system of the present invention, installing a pair of pipe lifting frames;

Figure 5 shows that the associated mud pad retraction causes the pipe lifting frame to be lowered;

Figure 6 shows a pipe lifting frame landing above the pipeline on the seabed in accordance with an embodiment of the present invention;

Figure 7 shows a pipe lifting frame clamped onto a pipe and lifting the pipe away from the sea floor in accordance with an embodiment of the present invention.

detailed description

While the invention has been described with a particular embodiment of the invention, it is to be understood that many modifications of the details of the construction of the invention and its parts arrangements can be made without departing from the spirit and scope of the disclosure. Need to understand The invention is not limited to the embodiments used herein.

Referring specifically to the drawings, Figure 1 shows a section of underwater deep sea pipeline 12 that is stationary on the seabed 14 and supported by it. Figure 1 shows a conduit 12 to which the present invention is applied. The pipe 12 will be composed of a plurality of sections joined together with a plurality of annular welds 16. Depending on the size of the pipe and other factors, longitudinal welding (not shown) may also be used. Deep water locations, such as at 6000 feet and below, are known to create high pressure outside the pipeline relative to the internal pressure of the pipeline. The present invention can be used with pipes of different diameters but is particularly suitable for pipes of 10 inch to 20 inch diameter.

An unmanned vessel 18, shown in Figure 2, will be used to perform many of the steps or operations that will be described herein. The unmanned boat 18 will control or supply power from the water.

In the initial step of the invention, the conduit 12 will be positioned and a series of complex processes will be performed. Submarine cameras, side scan sonars, placed on unmanned vessels, are used to locate and identify an area of interest. A preliminary look will be made through the underwater camera. The bottom condition will be reported, the water flow will be reported, the visibility around the pipeline will be reported, the soil type of the seabed will be reported, and the depth of the final pipeline will be reported. It may be necessary to investigate and perform other information. In addition, if there are, the location of the circumferential pipe joints and welds needs to be reported. Natural and covering conditions outside the pipe, such as concrete or other materials, will also be reported.

The pipe 12 will be inspected in the region of interest and marked in the pipe section between the cylindrical pipe welds 16. The preferred location on the pipe is where there is no longitudinal weld, if any, which can later be removed by an unmanned boat operated abrasive tool or other similar mechanism. The cylindrical weld 16 will be positioned and then positioned along the pipe from a circumferential weld 16 a position so that it is mounted in a cylindrical weld or in the immediate vicinity without a pressurized opening configuration.

First, excavating soil, sand or silt from below the pipe 12 is an unrestricted installation of the tools to be described herein. In one operation, the unmanned vessel 18 will use a water pump to form a seawater jet that washes away sand or sludge beneath the pipeline to create an excavated or exposed area beneath the pipeline. Alternatively, the unmanned boat 18 may employ a pumping device to establish the desired digging.

Thus, the conduit 12 of the selected area will be cleaned by a brush or low pressure water jet operated by the unmanned ship. In some instances, a protective coating outside the pipe, such as a molten bond resin, concrete or cement, and the like, will be removed prior to the next step. Many tools have been developed to remove these coatings and are also useful, their application being possible in the field of the invention.

Once the ongoing preparatory process is completed, the measurement or metrology tool shown in Figure 3 will be lowered from the water surface to the pipe 12 in the selected area to check the outer circumference of the pipe and to check the axial alignment and straightness of the pipe. The measuring tool is guided by the unmanned ship to the position and driven by the operator of the surface and controls the unmanned ship's system. The measuring tool moves a tester and the camera moves back and forth axially around the cylindrical pipe surface to measure the ellipticity and check the surface flaws. If the pipe is detected within the allowed roundness and straightness, the measuring tool can be removed and sent to the surface. Alternatively, the measurement tool 30 can be left in the conduit 12 or adjacent location for use in a late step of operation.

If the pipe fails the roundness and straightness test at one location, the measuring tool 30 will move axially to another location of the pipe 12 and the measurement test will be performed again until a satisfactory position is found.

As shown in Figure 4, a pair of pipe lift frames 36 and 38 will descend from the surface of the water and straddle the pipe 12 at a suitable location along the conduit 12. Figure 5 shows an enlarged view of a lifting

frame

36 or 38 as it has been lowered into place.

At least one pair of pipes will be used to lift the frame. In some applications, four lifting frames (two are shown) are needed to achieve the desired result. Each of the lift frames 36 and 38 will include a pair of opposed structural guides 40 and 42 and a cross frame 44 over which an unmanned boat control panel 46 is mounted.

Extensible mud pads

48 and 50 that can be rotated to provide subsea support are mounted on either side of the lifting frame. In this embodiment, the mud pad is fixed to the hydraulic cylinder. Figure 5 shows the position of the mud pad in the retracted movement. A beam 52 is mounted between the vertical structural guides 40 and 42 and projects a pipe clamp 54 from above.

The pipe clamp 54 can be moved laterally or lowered about the pipe 12 and lowered onto the pipe 12 and controlled by the unmanned ship control panel 46 by remotely maneuvering the unmanned vessel 18 to provide a hydraulic system. The pipe clamps 54 can be raised to a desired height in a smooth and increasing sequence, with the unmanned ship controlled hydraulic system 46 acting on the hydraulic cylinders or other extensions between the vertical structure guides 40 and 42 (not shown) ).

Prior to lifting the pipe 12, the

mud pads

48 and 50 are hydraulically lowered into position to securely secure to the sea floor as shown in FIG. In this embodiment, the mud pad is positioned by a hydraulic cylinder.

The pipe clamp includes a pair of claws that are rotated to open or close. The pipe clamp 54 opens and lowers the engagement with the conduit 12. After the initial contact, the pipe clamp 54 is closed around the pipe 12 and mechanically locked. The pipe 12 is then raised to the desired height, as shown in Figure 7.

The same sequence of operations is then repeated on each of the other lifting frames or groups of frames.

After the pipe lifting frames 36 and 38 have been installed as described and the pipe 12 has been raised to the desired height, the measuring tool 30 will be used again to check the circumferential roundness and straightness of the pipe 12.

If the measuring tool is not left on the pipe 12, it will be installed again between the pipe lifting frames 36 and 38. The unmanned vessel 18 is remotely operated to drive and operate the measurement tool 30. The roundness and straightness of the pipe will be tested again to determine the impact of the previously mentioned pipe being upgraded. If the conduit 12 is within the required tolerance, the measurement tool 30 will be removed and retrieved back to the surface. If the pipe fails the test, the pipe lift frame will be repositioned and a new location will be selected for the upcoming zone press hole.

The present invention has been described with reference to the specific illustrative embodiments, and is not limited by the scope of the appended claims. It will be appreciated by those skilled in the art that the embodiments of the invention can be modified and modified without departing from the scope and spirit of the invention.

Claims

The working method of the unloading subsea bottom pressure opening system for lifting and lowering device is characterized in that the following steps are included:

S1 locates the pipeline (12) and will perform a series of complex processes, submarine cameras, side scan sonars, placed on unmanned vessels, used to locate and identify a region of interest, and preliminary observations and reports through underwater cameras Bottom condition, water flow conditions, visibility around the pipeline, soil type of the seabed, depth of the pipeline and conditions, circumferential seams and weld locations and natural and covering conditions outside the pipeline;

S2 detects the pipe (12) in the region of interest and marks the pipe section between the cylindrical pipe welds (16). The preferred location on the pipe is where there is no longitudinal weld, if any, can be later by the unmanned ship The operating abrasive tool or other similar mechanism is removed;

S3 positions the cylindrical weld (16) and then positions a position not far from the circumferential weld (16) along the pipe so that it is installed in the cylindrical weld or in the immediate vicinity without the pressure opening arrangement;

The S6 measurement or metrology tool is lowered from the water surface to the pipe (12) in the selected area to check the roundness of the outer circumference of the pipe and to check the axial alignment and straightness of the pipe. The measuring tool is guided by the unmanned ship to the position and through the water surface. The operator drives and controls the unmanned ship's system, the measuring tool moves a tester and the camera moves back and forth axially around the cylindrical pipe surface to measure the ellipticity and check the surface flaw if the pipe is detected in the allowed circle Within degrees and straightness, the measurement tool can be removed and sent to the surface of the water, or the measurement tool (30) can be left in the pipe (12) or adjacent location for use in the later steps of the operation.
The method for operating the lifting and lowering device of the unmanned seabed bottom pressure opening system according to claim 1, wherein the step S3 comprises:

S4 excavates soil, sand or silt from below the pipe (12);

The S5 unmanned vessel (18) uses a water pump to form a seawater jet that washes away sand or silt beneath the pipeline or uses a pumping device to create an excavated or exposed area beneath the pipeline.
The working method of the lifting and lowering device of the unmanned ship submarine belt pressing opening system according to claim 2 The method is characterized in that it further comprises the following steps:

S7 If the pipe fails the roundness and straightness test at one location, the measuring tool (30) will move axially to another position of the pipe (12) and the measurement test will be performed again until a satisfactory position is found;

S8 is positioned at a suitable location along the conduit (12) and a pair of conduit lifting frames (36, 38) are lowered from the surface of the water and straddle the conduit (12).
The working method of the lifting and lowering device for the unmanned seabed bottom belt pressing opening system according to claim 3, characterized in that the method further comprises the following steps:

The S9 moves laterally or descends the pipe clamp (54) around the pipe (12) and is lowered onto the pipe (12) and passed through the unmanned ship control panel (46) by remotely maneuvering the unmanned ship (18) to provide the hydraulic system. Controlling, through the unmanned ship controlled hydraulic system (46) acting on the hydraulic cylinder or other extension mechanism between the vertical structure guides (40, 42), raising the pipe clamp (54) to a smooth and increasing sequence A required height.
The method for operating a lifting and lowering device for an unmanned subsea bottom belt pressing opening system according to claim 4, further comprising the steps of:

Before the lifting pipe (12), the S10 firmly fixes the mud pad (48, 50) to the sea floor by hydraulic pressure reduction.
The working method of the lifting and lowering device for the unmanned seabed bottom belt pressing opening system according to claim 5, characterized in that the method further comprises the following steps:

The S11 pipe clamping device (54) is opened and lowered to cooperate with the pipe (12). After initial contact, the pipe clamping device (54) is closed around the pipe (12) and mechanically locked, after which the pipe (12) ) rise to the required height.
The method for operating a lifting and lowering device for an unmanned subsea bottom belt pressing opening system according to claim 6, further comprising the steps of:

S12 repeats the same sequence of operations on each of the other lifting frames or frame groups;

S13 installs the pipe lifting frame (36, 38) and lifts the pipe (12) to the desired height, again using the measuring tool (30) to check the circumferential roundness and straightness of the pipe (12).
The working method of the lifting and lowering device of the unmanned ship submarine belt pressing opening system according to claim 7 The method is characterized in that it further comprises the following steps:

S14 If the measuring tool is not left on the pipe (12), install the measuring tool again between the pipe lifting frames (36, 38), remotely operate the unmanned ship (18), thereby driving and operating the measuring tool (30) .
The working method of the lifting and lowering device for the unmanned seabed bottom belt pressing opening system according to claim 8, characterized in that the method further comprises the following steps:

S15 again checks the roundness and straightness of the pipe to determine the effect of the pipe being lifted. If the pipe (12) is within the required tolerance, the measuring tool (30) will be removed and retrieved back to the surface if the pipe fails Upon inspection, the pipe lifting frame will be repositioned and a new location will be selected for the upcoming zone press opening.