CN102832574B - Method for dynamically monitoring power cable in real time by three-synchronization underwater robot - Google Patents
Method for dynamically monitoring power cable in real time by three-synchronization underwater robot Download PDFInfo
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- CN102832574B CN102832574B CN201210301279.8A CN201210301279A CN102832574B CN 102832574 B CN102832574 B CN 102832574B CN 201210301279 A CN201210301279 A CN 201210301279A CN 102832574 B CN102832574 B CN 102832574B
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Abstract
The invention relates to a method for dynamically monitoring a power cable in real time by a three-synchronization underwater robot. The method comprises the step of laying a power cable led out of a cable bin of a cable workboat on the seabed controllably. The method is characterized in that an underwater robot is released undersea from the side of the cable workboat, and forms synchronous tracking detection in a process of laying the power cable. The invention has the advantages that the method can be suitable for any sea area below 300m, and completely meets the requirement that the underwater robot tracks the dynamically laid power cable; and all works of laying the power cable and post-detecting the power cable by one cable workboat are completed, the requirement on an operation weather window is same as the traditional construction, no additional requirements exist, and the requirement of dynamically monitoring the laying of the power cable is completely and effectively completed.
Description
Technical field
The present invention relates to the method for a kind of three synchronous underwater robot dynamic real-time monitor power cables, belong to subsea power cable and lay method for supervising technical field.
Background technology
Traditional power cable laying state and position detection method are generally arrangement two cable construction ships.A leader cable workboat, carries out scene by power cable on ship and lays, and organizes the inspection cable construction ship of an other outfit underwater robot ROV to follow leader cable workboat closely more simultaneously.After power cable is placed seabed by leader cable workboat, check power cable that cable construction ship is followed leader cable workboat and provided lay route power cable is detected or after bury operation underground.
Along with rapid development of economy, the great demand of the mankind to the energy makes marine oil produce and obtains huge progress.Increasing oil production platforms is stood in ocean, and it is on-the-spot that increasing cable starts to appear at ripe oil gas field, and cable laying operation and day increase progressively.New cable lays constantly to be increased with geometry level with existing cable crossover point.For guaranteeing that cable hands over more place interference-free, previous construction technology generally adds extra protective casing Split Protection Tubing System (SPTS) outward at new cable, and its overlay length is that crossover point both sides are respectively 50 meters.But along with the increase of quantity, it presents day by day on the impact of engineering cost, for the consideration reduced costs, investor wishes original cable protecting sleeve 50 meters of length to be reduced to 15 meters.In this case, if still adopt traditional power cable laying state and position detection method, cannot ensure the accuracy of the calculating of cable protecting sleeve installation length, and eliminate the requirement of cumulative errors, its construction quality will be difficult to be effectively controlled.
Summary of the invention
The object of this invention is to provide a kind of detection method improving cable laying construction quality.
In order to achieve the above object, technical scheme of the present invention provides a kind of three synchronous underwater robot dynamic real-time monitor power cable methods, the steps include:
The first step, the power cable that the cable bin by cable construction ship is drawn controlledly to be applied on sea bed,
Second step, by underwater robot from the side of cable construction ship is released into sea;
3rd step, send signal by signal cable to underwater robot by the acoustic receiver transmitter high precision sound positioning system of cable construction ship, thus trigger the beacon system of underwater robot;
4th step, after beacon system starts, by the detection of underwater robot or high definition video recording, the relative position of the power cable be laid on sea bed and underwater robot is formed reflected sonic signals, by signal cable to acoustic receiver transmitter high precision sound positioning system passback reflected sonic signals, the reflected sonic signals received is imported into the dynamic positioning system of cable construction ship by acoustic receiver transmitter high precision sound positioning system, by dynamic positioning system, analyzing and processing is carried out to reflected sonic signals, after the design paving location of the detection position and power cable that calculate power cable contrasts, analyzing and processing judges that underwater robot is relative to the relative position of power cable under water, and this relative position is fed back to the underwater robot operating personnel of operation underwater robot,
5th step, cable construction ship navigate by water according to the power cable route of plan configuration, lay power cable, in laid processes, underwater robot and cable construction ship are synchronized with the movement, and constantly reflected sonic signals is fed back to acoustic receiver transmitter high precision sound positioning system, make dynamic positioning system can calculate the relative position of underwater robot relative to power cable in time, ensure that underwater robot is effectively followed cable construction ship and advanced;
6th step, under water robot are followed in the process of cable construction ship advance, under visibility good state, by high-definition camera equipment, the image of reaction seabed situation is fed back to the Ji Kong command post of cable construction ship by underwater robot, and in visibility in poor or zero visibility situation, by underwater robot by multi-beam echo sounding system by the Ji Kong command post of the signal feedback of reaction seabed situation to cable construction ship;
7th step, operating personnel monitor the laying speed of image or signal and the power cable fed back in Ji Kong command post, unified interchange, reach cable construction ship leading according to setting route, dynamically lay power cable, underwater robot dynamic following is monitored, and accomplishes that cable construction ship, power cable, underwater robot three are synchronous;
8th step, when being about to reach cross-over cable point, according to planned position installing cables sheath on power cable;
9th step, the power cable of installing cables sheath is laid on sea bed;
Tenth step, observe cable cover(ing) by underwater robot and cover the position of crossover point;
11 step, the error arrived according to the observation, the in time position of adjustment crossover point.
While the present invention adopts cable construction ship dynamically to lay power cable according to design route, release underwater robot carries out the situation of dynamic monitoring subsea power cable and protective casing.In operational process, cable construction ship dynamically lays power cable, telegram in reply cable workboat is reflected by signal reflex in the position of self by underwater robot, make the position of the clear and definite underwater robot of cable construction ship, the dynamic tracking of underwater robot is adjusted, makes underwater robot can follow the operation of cable construction ship better, accomplish that the speed of underwater robot and cable construction ship are consistent, reach the trinity, three synchronous work pattern methods.
Advantage of the present invention is: any marine site that can be applicable to less than 300 meters, meet underwater robot completely and follow the tracks of the power cable dynamically laid, only need a cable construction ship to complete power cable and lay the whole work with rear detection, require the same with traditional construction to operation weather window, without extra demand, complete power cable completely effectively and lay dynamic monitoring requirement.
Accompanying drawing explanation
Fig. 1 is that power cable lays first step schematic diagram;
Fig. 2 is release underwater robot ROV second step schematic diagram;
Fig. 3 be underwater robot ROV follow cable construction ship synchronous operation third and fourth, five steps always scheme;
Fig. 4 be underwater robot ROV follow cable construction ship synchronous operation third and fourth, five step particular flow sheets.
Fig. 5 is cable construction ship, underwater robot ROV, power cable three synchronous construction the 8th, nine, ten step schematic diagram.
Embodiment
For making the present invention become apparent, hereby with preferred embodiment, and accompanying drawing is coordinated to be described in detail below.
The invention provides a kind of three synchronous underwater robot dynamic real-time monitor power cable methods, the steps include:
The first step, composition graphs 1, offshore platform is ready, power cable termination on cable construction ship 1 gets out dilatory head, install the connector such as shackle, swivel adapter head, notice that whole sharp edges all needs with after adhesive tape wrapping protection, after temporary fixed on power cable pull to platform, cable construction ship 1 begins through cable cable laying machine 3 and two active force rotating disk 4 controls to lay power cable, speed is 0.3-0.5 kilometer/hour, maximum target speed 1.0 kilometers/hour, notices that motivation of adjustment cable laying margin target is 0.3% simultaneously.When laying, guarantee that power cable is placed on sea bed.When cable construction ship 1 often advance 5 meters time, cable cable laying machine 3 will release synchronous 5 kilometers of power cables.The tension force of cable stretch device remains on 5-15 thousand Ns of scopes.
Second step, composition graphs 2, by the side release of underwater robot ROV2 from cable construction ship 1, during release, note the umbilical cord signal cable on underwater robot ROV2, near the free screw propeller avoiding cable construction ship 1.
3rd step, composition graphs 3, underwater robot ROV2 utilizes sonar detection or Visual Observations Observations to find the power cable in laying, and power cable keeps a segment distance.At this moment, the sound wave of cable construction ship 1 accepts transmitter high precision sound positioning system (High Precision Acoustic Position System, English abbreviation is HiPAP), send signal, this signal is transferred to underwater robot ROV2 by signal cable, triggers beacon (Beacon) system of underwater robot ROV2.
4th step, composition graphs 4, after beacon system starts, by the detection of underwater robot ROV2 or high definition video recording, the relative position of the power cable be laid on sea bed and underwater robot ROV2 is formed reflected sonic signals, by signal cable to acoustic receiver transmitter high precision sound positioning system passback reflected sonic signals, the reflected sonic signals received is imported into the dynamic positioning system of cable construction ship 1 by acoustic receiver transmitter high precision sound positioning system, by dynamic positioning system DP, analyzing and processing is carried out to reflected sonic signals, after the design paving location of the detection position and power cable that calculate power cable contrasts, analyzing and processing judges the relative position of underwater robot ROV2 relative to power cable, and this relative position is fed back to the underwater robot operating personnel of operation underwater robot ROV2.
5th step, composition graphs 5, after analyzing and processing judges the relative position of underwater robot ROV2, vertical direction angle between power cable trend and stern observed by cable construction ship 1, keeps between 10-15 degree, guarantees do not have unnecessary cable to release.Meanwhile, the relative position of underwater robot ROV2 can be informed the underwater robot operating personnel of operation underwater robot ROV2 by ship operation personnel, is convenient to follow cable construction ship 1 better.
6th step, cable construction ship 1 are according to the power cable route of plan configuration, and commander's ship power system operates, and transfer thruster and screw propeller carry out corresponding action, lay power cable.
After 7th step, cable construction ship 1 lay power cable motion, the continuous reflected sonic signals of underwater robot ROV2, makes the position of underwater robot ROV2 feed back to HiPAP in time, makes underwater robot ROV2 effectively follow the advance of cable construction ship.
8th step, under visibility good state, adopt the high-definition camera equipment of underwater robot ROV2, by power cable at seabed conditions by the clear Ji Kong command post feeding back to boats and ships of video recording form.Poor with in zero visibility situation in visibility, adopt multi-beam echo sounding system TSS340 to follow the tracks of power cable.
9th step, cable portion, subsea equipment portion and Deck Drain monitor the laying speed of the video recording that this department feeds back to and signal and power cable respectively in Ji Kong command post; unified interchange; reach cable in advance, underwater robot ROV2 follows the tracks of; ship tracking; then cable laying speeds control and boats and ships synchronous; accomplish that three is synchronous, the position laid of dynamic realtime monitoring cable and cable protecting sleeve can be placed on the position of crossover point.Dynamic positioning system DP operator, pilothouse, cable stretch device pulpit, afterdeck, all needs the ship's staff paying close attention to boats and ships integrated computer cable laying system (Navslack) whole like this can observe the excessive deviation of tension force consciously to notify the situation that other staff change.
Tenth step, be about to reach cross-over cable point, cable construction ship 1 slows down release power cable speed, according to the size marked on power cable, calculate the position of crossover point, according on calculated position, organize one group, deck hand both sides, start installing cables sheath with each 15 meters of, central point both sides.
11 step, on one side installing cables sheath, power cable slowly lays by cable construction ship 1, attention power cable angle direction, is slowly laid on sea bed by the power cable of installing cables sheath.
Whether the 12 step, to be operated underwater robot ROV2 is moved about by the operating personnel of underwater robot ROV2, close-ups hands over the coverage condition at more place with the power cable of cable cover(ing) and original cable, symmetrically cover on the position of crossover point.
13 step, to be investigated behind crossover point position by underwater robot ROV2, situation is aggregated into centralized control room, the error arrived according to the observation, by cable portion personnel adjustment calculated value, input computer system, carry out the position of crossover point in the route list in timely adjustment System, reinform deck commanding, be convenient to prepare installing cables sheath in next crossover point position.
Claims (1)
1. three synchronous underwater robot dynamic real-time monitor power cable methods, the steps include:
The first step, the power cable that the cable bin by cable construction ship (1) is drawn controlledly to be applied on sea bed, to it is characterized in that:
Second step, by underwater robot (2) from the side of cable construction ship (1) is released into sea;
3rd step, send signal by signal cable to underwater robot (2) by the acoustic receiver transmitter high precision sound positioning system of cable construction ship (1), thus trigger the beacon system of underwater robot (2);
4th step, after beacon system starts, by the detection of underwater robot (2) or high definition video recording, the relative position of the power cable be laid on sea bed and underwater robot (2) is formed reflected sonic signals, by signal cable to acoustic receiver transmitter high precision sound positioning system passback reflected sonic signals, the reflected sonic signals received is imported into the dynamic positioning system of cable construction ship (1) by acoustic receiver transmitter high precision sound positioning system, by dynamic positioning system, analyzing and processing is carried out to reflected sonic signals, calculate the detection position of power cable, after the detection position of power cable and the design paving location of power cable are contrasted, analyzing and processing judges the relative position of underwater robot (2) relative to power cable, and this relative position is fed back to the underwater robot operating personnel of operation underwater robot (2),
5th step, cable construction ship (1) navigate by water according to the power cable route of plan configuration, lay power cable, in laid processes, underwater robot (2) and cable construction ship (1) are synchronized with the movement, and constantly reflected sonic signals is fed back to acoustic receiver transmitter high precision sound positioning system, make dynamic positioning system can calculate the relative position of underwater robot (2) relative to power cable in time, ensure that underwater robot (2) is effectively followed cable construction ship (1) and advanced;
6th step, under water robot (2) are followed in the process that cable construction ship (1) advances, under visibility good state, by high-definition camera equipment, the image of reaction seabed situation is fed back to the Ji Kong command post of cable construction ship (1) by underwater robot (2), and in visibility in poor or zero visibility situation, by underwater robot (2) by multi-beam echo sounding system by the Ji Kong command post of the signal feedback of reaction seabed situation to cable construction ship (1);
7th step, operating personnel monitor the laying speed of image or signal and the power cable fed back in Ji Kong command post, unified interchange, reach cable construction ship (1) leading according to setting route, dynamically lay power cable, underwater robot (2) dynamic following is monitored, and accomplishes that cable construction ship (1), power cable, underwater robot (2) three are synchronous;
8th step, when being about to reach cross-over cable point, according to planned position installing cables sheath on power cable;
9th step, the power cable of installing cables sheath is laid on sea bed;
Tenth step, observe cable cover(ing) by underwater robot (2) and cover the position of crossover point;
11 step, the error arrived according to the observation, the in time position of adjustment crossover point.
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| CN201210301279.8A CN102832574B (en) | 2012-08-22 | 2012-08-22 | Method for dynamically monitoring power cable in real time by three-synchronization underwater robot |
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| CN201210301279.8A CN102832574B (en) | 2012-08-22 | 2012-08-22 | Method for dynamically monitoring power cable in real time by three-synchronization underwater robot |
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| CN102832574B true CN102832574B (en) | 2015-04-29 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103926587B (en) * | 2014-04-15 | 2017-02-01 | 哈尔滨工程大学 | Sonar device for measuring pipe router of seabed oil and gas pipeline |
| CN105655928B (en) * | 2016-03-18 | 2017-07-14 | 江苏华西村海洋工程服务有限公司 | Double cables bury technique with ditch |
| CN106842469A (en) * | 2017-04-05 | 2017-06-13 | 合肥酷睿网络科技有限公司 | A kind of submarine optical fiber cable laying method |
| CN107123952A (en) * | 2017-05-24 | 2017-09-01 | 国网辽宁省电力有限公司葫芦岛供电公司 | A kind of Submarine Cable Laying method |
| CN107344607A (en) * | 2017-05-25 | 2017-11-14 | 国网辽宁省电力有限公司葫芦岛供电公司 | A kind of amphibious robot applied in submarine cable operation maintenance |
| CN108020815A (en) * | 2017-12-12 | 2018-05-11 | 中国地质大学（武汉） | A kind of method, equipment and storage device for positioning underwater robot |
| GB2569533B (en) * | 2017-12-15 | 2021-01-27 | Trelleborg Offshore Uk Ltd | Protection assembly for an elongate member deployed underwater |
| CN109616956A (en) * | 2018-11-01 | 2019-04-12 | 国网浙江省电力有限公司 | There is cable remote underwater robot to the cruising inspection system and its operational method of submarine cable |
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| JP2001080574A (en) * | 1999-09-17 | 2001-03-27 | Fujikura Ltd | Method of guiding and installing burying machine to subaqueous cable |
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| CN101807786A (en) * | 2010-04-12 | 2010-08-18 | 中英海底系统有限公司 | Method for mounting power cable repairing final elbow |
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