CN104374802A - Submarine pipeline detection apparatus and detection method thereof - Google Patents
Submarine pipeline detection apparatus and detection method thereof Download PDFInfo
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- CN104374802A CN104374802A CN201310356358.3A CN201310356358A CN104374802A CN 104374802 A CN104374802 A CN 104374802A CN 201310356358 A CN201310356358 A CN 201310356358A CN 104374802 A CN104374802 A CN 104374802A
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Abstract
The invention relates to a submarine pipeline detection apparatus and a detection method thereof, and belongs to the technical fields of submarine pipeline routing, and external anticorrosive coating and the cathodic protection state detection. The apparatus comprises an underwater motion carrier, a perception device and a control terminal; the perception device is arranged on the underwater motion carrier; the control terminal is connected with the underwater motion carrier and the perception device; the underwater motion carrier adopts an underwater impeller propeller; the perception device comprises a pipeline routing detection probe, a potential measurement electrode, a lighting lamp, a camera, a pressure sensor and an attitude indicator; and the pipeline routing detection probe is arranged at the front end of a frame, the potential measurement electrode is arranged on the side elevation of the frame, the lamp and the camera are hoisted at the front end of the lower surface of the top plate of the frame, the pressure sensor is arranged in a sealed cabin, the probe contacts with seawater, and the attitude indicator is arranged on the flattened plane in the sealed cabin. The apparatus and the method have the advantages of no excavation in the detection process, long detection distance, accurate detection and low detection cost, and are suitable for the whole line detection of the submarine pipeline.
Description
Technical field
The present invention relates to a kind of Technique of Subsea Pipeline Inspection device and detection method, belong to the detection technique field of submarine pipeline routing, external anti-corrosion layer and cathode protecting state.
Background technology
In recent years, along with continually developing of marine oil, the submarine pipeline undertaking offshore oil and gas conveying task is on the increase, and submarine pipeline failure accidents also presents rising tendency year by year.According to statistics, in submarine pipeline failure accidents, about have 50% to be caused by corrosion, and correspondingly be the backwardness of single, the technology of submarine pipeline Corrosion monitoring-especially outer Corrosion monitoring means.
At present; the outer detection of submarine pipeline mainly concentrates on the conventional sense aspects such as pipeline, suspended span, peripheral support situation; and only rely on the detection under water of frogman to obtain to corrosion information such as submarine pipeline external anti-corrosion layer and cathode protecting states; and submarine pipeline is embedded in the pipe trench of seabed more; frogman detects all fronts not being suitable for submarine pipeline and detects, and is also limited by the condition restrictions such as sea situation, the depth of water, season simultaneously.The shortage of the outer Corrosion monitoring technological means of submarine pipeline has become the technology barrier affecting submarine pipeline safe operation.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of Technique of Subsea Pipeline Inspection device and detection method.The test and repair of submarine pipeline routing, external anti-corrosion layer and cathode protecting state can be realized, thus the operation of service conduit.
A kind of Technique of Subsea Pipeline Inspection device, is characterized in that comprising: sub aqua sport carrier, awareness apparatus and control terminal.Described awareness apparatus is installed on sub aqua sport carrier, for gathering pipeline and buried depth, underwater video and pipeline current potential along the line and electric potential gradient data message, and is uploaded to control terminal; Described control terminal controls the sub aqua sport of sub aqua sport carrier, sends acquisition instructions, the row relax and the image data receiving awareness apparatus is gone forward side by side, and obtains pipeline, under water image data and external anti-corrosion layer damaged condition and cathode protection condition information.
Preferably, described sub aqua sport carrier adopts underwater turbine thruster.
Preferably, described sub aqua sport carrier comprises framework, horizontal propeller, sink-float thruster, pressurized capsule and driver module; Described horizontal propeller group is lifted on the lower surface of framework upper plate, be respectively in framework afterbody two jiaos, described sink-float thruster is arranged on framework upper plate center, described pressurized capsule is installed on framework upper plate, described driver module is arranged on pressurized capsule inside, accept the control of controller, drive thruster work.
Preferably, described awareness apparatus comprises pipeline detection probe, potential-measuring electrode, illuminating lamp and camera, pressure transducer, attitude instrument, described pipeline detection probe is arranged on described frame front end, for receiving pipeline field signal, obtain pipeline and buried depth data, described potential-measuring electrode is installed on the side elevation of described framework, for gathering pipeline current potential along the line and electric potential gradient data, judge pipeline cathode protection and external anti-corrosion layer situation, described illuminating lamp and camera are lifted on the front end of framework upper plate lower surface, illuminating lamp is used for providing illumination for video camera, camera is for obtaining underwater video image information, described pressure transducer is installed in pressurized capsule, probe and contact with sea water, obtain bathymetric data, described attitude instrument is installed in the inner smooth plane of pressurized capsule, for the underwater attitude information of Real-time Obtaining pick-up unit.
Preferably, described controller is connected by umbilical cable with described sub aqua sport carrier and awareness apparatus.
Preferably, described controller comprises slave computer and host computer microprocessor; Described slave computer microprocessor is positioned at sub aqua sport carrier pressurized capsule, and described host computer microprocessor is positioned at boat-carrying control box.
Preferably, described slave computer microprocessor be responsible for receiving magnetic field electric signal for judging pipeline location and buried depth, for judge the pipeline of pipeline cathode protection situation and external anti-corrosion layer situation electric potential signal along the line, camera collection underwater video electric signal, for the electric pressure signal of calculation element depth under water and the electric signal for judging pick-up unit attitude under water, and after converting light signal to, upload host computer microprocessor by umbilical cable optical fiber; The above-mentioned information that described host computer microprocessor is responsible for for uploading slave computer microprocessor processes, and pipeline location, buried depth, pipe-to-soil potential curve, electric potential gradient curve, underwater video, device depth under water and attitude information are shown in terminal display, and carry out information storage simultaneously.
Preferably, described controller also comprise for the display of various information displaying and supervisory keyboard that sub aqua sport carrier is manipulated with control rocking bar.
A kind of Technique of Subsea Pipeline Inspection method, containing following steps;
Utilize sub aqua sport carrier three-dimensional space motion under water; after finding pipeline by awareness apparatus; control sub aqua sport carrier to move along the line along pipeline; the data messages such as the attitude of the current potential utilizing awareness apparatus acquisition pipeline along the line, video, bathymetric data, carrier; and processed by controller; obtain pipeline current potential along the line and electric potential gradient data and curves, thus judge pipeline external anti-corrosion layer situation and cathode protection condition.
The present invention relates to a kind of Technique of Subsea Pipeline Inspection device, it comprises sub aqua sport carrier, awareness apparatus and control terminal.Described awareness apparatus is installed on sub aqua sport carrier, for gathering pipeline and buried depth, underwater video and pipeline current potential along the line and electric potential gradient data message, and is uploaded to control terminal; Described control terminal controls the sub aqua sport of sub aqua sport carrier, sends acquisition instructions, the row relax and the data receiving awareness apparatus collection are gone forward side by side, and obtains pipeline, under water image data and pipeline external anti-corrosion layer damaged condition and cathode protection condition information.This pick-up unit has the advantage that detecting distance is far away, detection is accurate, testing cost is low.
Advantage of the present invention is above-mentioned Technique of Subsea Pipeline Inspection device; utilize sub aqua sport carrier three-dimensional space motion under water; after finding pipeline by awareness apparatus; control sub aqua sport carrier to move along the line along pipeline; the data messages such as the attitude of the current potential utilizing awareness apparatus acquisition pipeline along the line, video, bathymetric data, carrier; and processed by controller, obtain pipeline current potential along the line and electric potential gradient data and curves, thus judge pipeline external anti-corrosion layer situation and cathode protection condition.Testing process without the need to excavation, and has the advantage that detecting distance is far away, detection is accurate, testing cost is low, and all fronts being applicable to submarine pipeline are detected.
Accompanying drawing explanation
When considered in conjunction with the accompanying drawings, by referring to detailed description below, more completely can understand the present invention better and easily learn wherein many adjoint advantages, but accompanying drawing described herein is used to provide a further understanding of the present invention, form a part of the present invention, schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention, as schemed wherein:
Fig. 1 is structural representation of the present invention.
Below in conjunction with drawings and Examples, the present invention is further described.
Embodiment
Obviously, the many modifications and variations that those skilled in the art do based on aim of the present invention belong to protection scope of the present invention.
Embodiment 1: as shown in Figure 1,
A kind of Technique of Subsea Pipeline Inspection device, this Technique of Subsea Pipeline Inspection device, for detecting submarine pipeline routing, buried depth, external anti-corrosion layer situation and cathode protection condition, comprising: sub aqua sport carrier 100, awareness apparatus 200 and control terminal 300.Awareness apparatus 200 is installed on sub aqua sport carrier 100, for obtaining submarine pipeline routing and buried depth, pipe-to-soil potential, pipeline electric potential gradient along the line, underwater video data and sub aqua sport carrier 100 in the degree of depth under water and attitude information, and meet at control terminal 300.Control terminal 300 controls sub aqua sport carrier 100 in motion under water, the row relax and receiving pipeline route, buried depth, current potential, underwater video, device depth under water and attitude information are gone forward side by side, and obtains pipeline cathode protection and external anti-corrosion layer situation.
Sub aqua sport carrier 100 adopts underwater turbine thruster, can three-dimensional space motion under water.In this embodiment, sub aqua sport carrier 100 comprises framework 110, horizontal propeller 120, sink-float thruster 130, pressurized capsule 140 and driver module 150.Horizontal propeller 120 is arranged on the lower surface of framework 110 upper plate, is respectively in framework afterbody two jiaos.Sink-float thruster 130 is arranged on the center hollow part of framework 110 upper plate.Pressurized capsule 140 is arranged on the left and right sides of framework 110 upper plate.Driver module is arranged in one of them of pressurized capsule 140, accepts the control of control terminal 300, drives horizontal propeller 120 and sink-float thruster 130 to work.
Awareness apparatus 200 comprises pipeline detection probe 210, three potential-measuring electrode 220, illuminating lamp and cameras 230, pressure transducer 240, attitude instrument 250.Pipeline detection probe 210 is arranged on described frame front end, for receiving pipeline field signal, obtains pipeline and buried depth data.Potential-measuring electrode 220 is installed on three side elevations of described framework, for gathering pipeline current potential along the line and electric potential gradient data, judges pipeline cathode protection and external anti-corrosion layer situation.Described illuminating lamp and camera 230 are lifted on the front end of framework upper plate lower surface, and illuminating lamp is used for providing illumination for video camera, and camera is for obtaining underwater video image information.Pressure transducer 240 is installed in pressurized capsule, probe and contact with sea water, obtains bathymetric data.Attitude instrument 250 is installed in the inner smooth plane of pressurized capsule, for the underwater attitude information of Real-time Obtaining pick-up unit.
Control terminal 300 is connected by umbilical cable with sub aqua sport carrier 100 and awareness apparatus 200, carries out communication by wired mode, ensures the stability of signal.
Controller 300 comprise the slave computer microprocessor 320 being positioned at pressurized capsule 140 and the host computer microprocessor 330 being positioned at boat-carrying control box 310, for various information displaying display 340 and for supervisory keyboard 350 that sub aqua sport carrier 100 is manipulated with control rocking bar 360.
In this embodiment, the magnetic field electric signal that receiving pipeline route exploration probe 210 gathers is responsible for by slave computer microprocessor 320, the pipe-to-soil potential that potential-measuring electrode 220 gathers and pipeline electric potential gradient signal along the line, illuminating lamp and camera 230 gather and the underwater video electric signal changed, pressure transducer 240 gathers and the electric pressure signal changed and attitude instrument 250 gather and the device changed attitude electric signal under water, and convert above-said current signal to light signal, host computer processor 330 is uploaded by umbilical cables optical fiber, again after opto-electronic conversion, all Electric signal processings are become various parameter, information and date curve, comprise: utilize the pipeline that magnetic field electrical signal peak method judges, the buried depth of pipeline that the magnetic field electric signal gathered by two-stage magnetic coil in pipeline detection probe 210 is calculated, the pipeline pipe-to-soil potential along the line drawn and electric potential gradient curve (judge pipeline cathode protection situation with reference to related standards according to pipe-to-soil potential data and curves, and judge pipeline external anti-corrosion layer damaged condition according to the change of electric potential gradient data and curves), conversion underwater video electric signal becomes video image, conversion hydraulic pressure electric signal becomes bathymetric data, conversion equipment under water attitude electric signal becomes position angle, the angle of pitch and roll angle information.Final pipeline, buried depth, pipe-to-soil potential curve, electric potential gradient curve, underwater video, device depth under water and attitude information are shown in terminal display 340, and carry out information storage simultaneously.
Above-mentioned Technique of Subsea Pipeline Inspection device; utilize sub aqua sport carrier three-dimensional space motion under water; after finding pipeline by awareness apparatus; control sub aqua sport carrier to move along the line along pipeline; the data messages such as the attitude of the current potential utilizing awareness apparatus acquisition pipeline along the line, video, bathymetric data, carrier; and processed by controller, obtain pipeline current potential along the line and electric potential gradient data and curves, thus judge pipeline external anti-corrosion layer situation and cathode protection condition.Testing process without the need to excavation, and has the advantage that detecting distance is far away, detection is accurate, testing cost is low, and all fronts being applicable to submarine pipeline are detected.
As mentioned above, embodiments of the invention are explained, but as long as do not depart from inventive point of the present invention in fact and effect can have a lot of distortion, this will be readily apparent to persons skilled in the art.Therefore, such variation is also all included within protection scope of the present invention.
Claims (3)
1. a Technique of Subsea Pipeline Inspection device, is characterized in that comprising: sub aqua sport carrier, awareness apparatus and control terminal; Awareness apparatus is installed on sub aqua sport carrier; Control terminal connects sub aqua sport carrier, awareness apparatus;
Sub aqua sport carrier adopts underwater turbine thruster;
Sub aqua sport carrier comprises framework, horizontal propeller, sink-float thruster, pressurized capsule and driver module; Horizontal propeller group is lifted on the lower surface of framework upper plate, is respectively in framework afterbody two jiaos, and sink-float thruster is arranged on framework upper plate center, pressurized capsule is installed on framework upper plate, driver module is arranged on pressurized capsule inside, accepts the control of controller, drives thruster work;
Awareness apparatus comprises pipeline detection probe, potential-measuring electrode, illuminating lamp and camera, pressure transducer, attitude instrument; Pipeline detection probe is arranged on frame front end, potential-measuring electrode is installed on the side elevation of framework, illuminating lamp and camera are lifted on the front end of framework upper plate lower surface, pressure transducer is installed in pressurized capsule, probe and contact with sea water, attitude instrument is installed in the inner smooth plane of pressurized capsule;
Controller is connected by umbilical cable with sub aqua sport carrier and awareness apparatus;
Controller comprises slave computer and host computer microprocessor; Slave computer microprocessor is positioned at sub aqua sport carrier pressurized capsule, and host computer microprocessor is positioned at boat-carrying control box;
Slave computer microprocessor is by umbilical cable Fiber connection host computer microprocessor; Controller also comprise for the display of various information displaying and supervisory keyboard that sub aqua sport carrier is manipulated with control rocking bar.
2. a Technique of Subsea Pipeline Inspection method, containing following steps;
Utilize sub aqua sport carrier three-dimensional space motion under water; after finding pipeline by awareness apparatus; control sub aqua sport carrier to move along the line along pipeline; the data messages such as the attitude of the current potential utilizing awareness apparatus acquisition pipeline along the line, video, bathymetric data, carrier; and processed by controller; obtain pipeline current potential along the line and electric potential gradient data and curves, thus judge pipeline external anti-corrosion layer situation and cathode protection condition.
3. a kind of Technique of Subsea Pipeline Inspection method according to claim 2, is characterized in that containing following steps;
Awareness apparatus is installed on sub aqua sport carrier, for gathering pipeline and buried depth, underwater video and pipeline current potential along the line and electric potential gradient data message, and is uploaded to control terminal; Control terminal controls the sub aqua sport of sub aqua sport carrier, sends acquisition instructions, the row relax and the image data receiving awareness apparatus is gone forward side by side, and obtains pipeline, under water image data and external anti-corrosion layer damaged condition and cathode protection condition information;
Driver module accepts the control of controller, drives thruster work;
Pipeline detection probe receiving pipeline field signal, obtain pipeline and buried depth data, potential-measuring electrode gathers pipeline current potential along the line and electric potential gradient data, judge pipeline cathode protection and external anti-corrosion layer situation, camera obtains underwater video image information, probe and contact with sea water, obtain bathymetric data, the underwater attitude information of attitude instrument Real-time Obtaining pick-up unit;
The slave computer microprocessor of controller receive magnetic field electric signal for judging pipeline location and buried depth, for judge the pipeline of pipeline cathode protection situation and external anti-corrosion layer situation electric potential signal along the line, camera collection underwater video electric signal, for the electric pressure signal of calculation element depth under water and the electric signal for judging pick-up unit attitude under water, and after converting light signal to, uploaded the host computer microprocessor of controller by umbilical cable optical fiber; The above-mentioned information that host computer microprocessor is responsible for for uploading slave computer microprocessor processes, and pipeline location, buried depth, pipe-to-soil potential curve, electric potential gradient curve, underwater video, device depth under water and attitude information are shown in terminal display, and carry out information storage simultaneously.
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| CN201310356358.3A CN104374802A (en) | 2013-08-15 | 2013-08-15 | Submarine pipeline detection apparatus and detection method thereof |
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| CN201310356358.3A CN104374802A (en) | 2013-08-15 | 2013-08-15 | Submarine pipeline detection apparatus and detection method thereof |
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| CN104787274A (en) * | 2015-05-14 | 2015-07-22 | 安徽机电职业技术学院 | Submarine cable motion detector and control method thereof |
| CN106015944A (en) * | 2016-05-03 | 2016-10-12 | 深圳市发利构件机械技术服务有限公司 | Deep sea submarine pipeline inspection system and operation method thereof |
| CN107677717A (en) * | 2017-08-22 | 2018-02-09 | 哈尔滨工程大学 | A kind of outer corrosion testing device of submarine pipeline and detection method |
| JP2018514433A (en) * | 2015-03-16 | 2018-06-07 | サウジ アラビアン オイル カンパニー | Water environment mobile robot |
| CN109237312A (en) * | 2018-10-09 | 2019-01-18 | 上海城市水资源开发利用国家工程中心有限公司 | A kind of water supply network detection device, system and method |
| CN109459711A (en) * | 2018-12-26 | 2019-03-12 | 中国船舶重工集团公司第七〇九研究所 | A kind of underwater high-precision magnetic field measurement system |
| CN110186454A (en) * | 2019-06-12 | 2019-08-30 | 海南大学 | A kind of filtering method of underwater inspection device and its attitude transducer |
| CN111239035A (en) * | 2020-03-06 | 2020-06-05 | 中国船舶重工集团公司七五〇试验场 | Underwater corrosion detection device and system for structure |
| CN112230292A (en) * | 2020-11-05 | 2021-01-15 | 沈阳仪表科学研究院有限公司 | Intelligent patrol dog for detecting long-distance oil and gas buried pipeline |
| CN113529092A (en) * | 2021-07-23 | 2021-10-22 | 中海石油(中国)有限公司 | Autonomous inspection method and system for submarine pipeline cathodic protection potential detection |
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Cited By (13)
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| CN109237312A (en) * | 2018-10-09 | 2019-01-18 | 上海城市水资源开发利用国家工程中心有限公司 | A kind of water supply network detection device, system and method |
| CN109459711A (en) * | 2018-12-26 | 2019-03-12 | 中国船舶重工集团公司第七〇九研究所 | A kind of underwater high-precision magnetic field measurement system |
| CN110186454A (en) * | 2019-06-12 | 2019-08-30 | 海南大学 | A kind of filtering method of underwater inspection device and its attitude transducer |
| CN111239035A (en) * | 2020-03-06 | 2020-06-05 | 中国船舶重工集团公司七五〇试验场 | Underwater corrosion detection device and system for structure |
| CN112230292A (en) * | 2020-11-05 | 2021-01-15 | 沈阳仪表科学研究院有限公司 | Intelligent patrol dog for detecting long-distance oil and gas buried pipeline |
| CN113529092A (en) * | 2021-07-23 | 2021-10-22 | 中海石油(中国)有限公司 | Autonomous inspection method and system for submarine pipeline cathodic protection potential detection |
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Application publication date: 20150225 |