CN105179876B - The seabed deep water hydrocarbon pipeline inspection system of formula in pool - Google Patents
The seabed deep water hydrocarbon pipeline inspection system of formula in pool Download PDFInfo
- Publication number
- CN105179876B CN105179876B CN201510579580.9A CN201510579580A CN105179876B CN 105179876 B CN105179876 B CN 105179876B CN 201510579580 A CN201510579580 A CN 201510579580A CN 105179876 B CN105179876 B CN 105179876B
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- Prior art keywords
- stern
- bow
- detector
- butt joint
- underwater
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The present invention relates to a kind of seabed formula in pool deep water hydrocarbon pipeline inspection system, the detector under water and underwater communication charging fixed base stations including docking；Detector includes detector main body under water, electronic compartment being symmetrically installed with the middle part of which, underwater acoustic communication and position guiding device being installed in electronic compartment, its front end bow both sides is symmetrically arranged with bow side and pushes away, butt joint and illuminating lamp be installed on bow, the medium position of bow is also symmetrically installed with bow and hangs down and pushes away；The rear end stern both sides of detector main body are symmetrically arranged with stern and promote mainly, be provided with the middle part of stern positioned at two sterns promote mainly centre stern hang down push away；Underwater communication charging fixed base stations include that base station body, base station body include battery case and butt joint box, install underwater acoustic communication device, guiding display lamp and docking facilities on butt joint box.The present invention without surface mother ship real-time support, avoids the water surface and lays recovery operating mode, greatly reduce system cost, improve working performance and safety with fixed base stations under water as relying on.
Description
Technical field
The present invention relates to inspection device in submarine pipeline, more particularly to one kind can carry out self adaptation inspection in long length pipeline
The detector of survey.
Background technology
With the continuous improvement of scientific and technical progress and the mankind to offshore petroleum resources human-subject test, gas and oil in sea
Exploitation moves towards deep-sea from shallow sea, and deepwater oil-gas development has also become the focus of World Oil Industry and the forward position of scientific and technical innovation.
As the smooth operation in 2013 of Li Gulf gas field and 981 offshore platforms put into production, China is marched to South Sea oil and gas development
Paces irresistible.In the development process of deep water hydrocarbon field, subsea production tree and its periphery manifold, production pipeline, umbilicuss
Routine testing with cable is a complicated and important job task, for the early discovery of production accident solves to rise
Arrive critical effect.Conventional diver's detection in deep water long-time, heavy load operation, and cannot rely on heavy work type
Operating cost that robot ROV carries out routine testing is too high, risk is larger, affected by water conditions；And intelligent robot AUV by
Limited in endurance, need often to return to lash ship charging, equally exist and lay recovery problem.
At present deep water hydrocarbon pipe inspection is more is completed using underwater robot, puts down water from lash ship cloth, by umbilical cables from
Lash ship is powered to underwater robot, by deck control room operator's supervisory-controlled robot underwater performance.According to marine environment investigation
Data, the stormy waves stream of the water surface will be significantly under water, and the Water Exit of underwater robot is very crucial, has both needed lash ship dynamic positioning,
It is also required to hang system tension protection, safety, cost and work efficiency have considerable influence；And construct and complete, bring into operation
Deep water hydrocarbon field need regular visit according to specification, the distance of pipeline is very long, and workload is very big.By traditional under water
Robot manipulating task operating cost is very high, without FAXIA water operation under severe sea condition.
Content of the invention
The shortcoming that the applicant is present for above-mentioned prior art, is studied and is designed, there is provided a kind of seabed formula in pool
Deep water hydrocarbon pipeline inspection system, is powered and communication relaying using base station under water, for a long time in seabed operation in pool, reduces the water surface
Lash ship is supported, it is to avoid the water surface lays the operating risk of recovery, improves underwater performance efficiency, and operating cost substantially reduces.
The technical solution adopted in the present invention is as follows：
A kind of seabed formula in pool deep water hydrocarbon pipeline inspection system, including detector under water, underwater communication charging fixed base
Stand, detector is docked with underwater communication fixed base stations under water；The detector under water includes detector main body, and detector main body is whole
The elongated shape of body, is symmetrically installed with electronic compartment in the middle part of which, be provided with underwater acoustic communication and position guiding device, patrol and examine in electronic compartment
The front end bow both sides of device main body are symmetrically arranged with bow side pod apertures, be provided with bow side and push away in the pod apertures of bow side, the front end of bow
Face is provided with butt joint and the illuminating lamp positioned at butt joint both sides, and the medium position of bow is also symmetrically installed with bow and hangs down and pushes away, and bow hangs down
Push away Relative vertical is pushed away with bow side；The rear end stern both sides of detector main body are symmetrically arranged with stern pod apertures, the rear end peace of stern
Promote mainly equipped with the stern being located between two relative stern pod apertures, be provided with the stern for centre being promoted mainly positioned at two sterns in the middle part of stern and hang down
Push away, stern hangs down to pushing away and promotes mainly Relative vertical with stern；
The underwater communication charging fixed base stations include base station body, and the bottom of base station body is battery case, its top peace
Butt joint box is housed, the upper surface middle part of the butt joint box is provided with and the underwater acoustic communication underwater sound corresponding with position guiding device
Communication device and the guiding display lamp positioned at underwater acoustic communication device both sides, the side of butt joint box are provided with dock with butt joint right
Connection device.
Further improvement as above-mentioned technical proposal：
The both sides of the detector main body are side mainboard, are provided with water conservancy diversion wing flap, side mainboard between the mainboard of both sides
With installation electronic compartment in the separate space between water conservancy diversion wing flap.
The foot section brought of the side mainboard has the lobe being upturned, the lobe to form the tail flap of detector main body
The wing.
The rear and front end of the water conservancy diversion wing flap extend respectively to bow hang down spread to stern hang down push away.
Beneficial effects of the present invention are as follows：
The present invention without surface mother ship real-time support, avoids the water surface and lays recovery work with fixed base stations under water as relying on
Condition, greatly reduces system cost, improves working performance and safety, can be on duty in pool in seabed for a long time, completes deep water
The scene inspection work of oil-gas pipeline, provides first-hand science data for its safely and effectively operation and decision-making.In the present invention, patrol and examine
In device main body, the vertical side of spreading to of reasonable Arrangement pushes away, and combines with water conservancy diversion wing flap, and which is reliable using flexible, control, it is ensured that detector
Even running.
Description of the drawings
Fig. 1 is the three-dimensional structure diagram of detector in the present invention.
Fig. 2 is another three-dimensional structure diagram of detector in the present invention.
Fig. 3 is another three-dimensional structure diagram of detector in the present invention.
Fig. 4 is another three-dimensional structure diagram of detector in the present invention.
Fig. 5 is the three-dimensional structure diagram of the present invention.
In figure：1st, detector main body；2nd, electronic compartment；3rd, bow；4th, bow side pod apertures；5th, bow side pushes away；6th, illuminating lamp；7、
Bow hangs down and pushes away；8th, stern；9th, stern pod apertures；10th, stern is promoted mainly；11st, stern hangs down and pushes away；12nd, base station body；13rd, battery case；14th, dock
Case；15th, underwater acoustic communication device；16th, display lamp is guided；17th, docking facilities；18th, side mainboard；19th, water conservancy diversion wing flap；20th, tail wing flap；
21st, butt joint.
Specific embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the present invention is described.
As shown in Figures 1 to 5, the seabed deep water hydrocarbon pipeline inspection system of formula in pool of the present embodiment, including patrolling and examining under water
Device, underwater communication charging fixed base stations, under water detector dock with underwater communication fixed base stations；Detector includes detector under water
Main body 1,1 overall elongated shape of detector main body, is symmetrically installed with electronic compartment 2, is provided with the underwater sound and leads in electronic compartment 2 in the middle part of which
News and position guiding device, 3 both sides of front end bow of detector main body 1 are symmetrically arranged with bow side pod apertures 4, bow side pod apertures 4
In bow side be installed push away 5, the front end face of bow 3 is provided with butt joint 21 and the illuminating lamp 6 positioned at 21 both sides of butt joint, bow 3
Medium position be also symmetrically installed with bow and hang down and push away 7, bow hangs down and pushes away 7 and push away 5 Relative verticals with bow side；The rear end stern 8 of detector main body 1
Both sides are symmetrically arranged with stern pod apertures 9, and the rear end of stern 8 is provided with the stern master between two relative stern pod apertures 9
Push away 10, the middle part of stern 8 is provided with the stern that promotes mainly in the middle of 10 positioned at two sterns hangs down and push away 11, stern hangs down to pushing away 11 and 10 are promoted mainly with stern and relative hangs down
Directly；
As shown in figure 1, underwater communication charging fixed base stations include base station body 12, the bottom of base station body 12 is battery case
13, its top is provided with butt joint box 14, and the upper surface middle part of butt joint box 14 is provided with and underwater acoustic communication and position guiding device pair
The underwater acoustic communication device 15 that answers and the guiding display lamp 16 positioned at 15 both sides of underwater acoustic communication device, the side of butt joint box 14 is provided with
The docking facilities 17 docked with butt joint 21.
As shown in Fig. 2 the both sides of detector main body 1 are side mainboard 18, between both sides mainboard 18, it is provided with water conservancy diversion
Wing flap 19, installs electronic compartment 2 in the separate space between side mainboard 18 and water conservancy diversion wing flap 19, and the rear and front end of water conservancy diversion wing flap 19 is prolonged respectively
Extend bow hang down push away 7 and stern hang down push away 11.
The foot section brought of side mainboard 18 has the lobe being upturned, lobe to form the tail wing flap 20 of detector main body 1.
In the present invention, 3.5 meters of detector overall length, wide 0.7 meter under water, high 0.4 meter, weight 300kg in air, maximum speed
3.5kn, 3000 meters of maximum working depth, a course continuation mileage 20km/ working time 8h.Intelligent control is installed in detector under water
System processed, navigation positioning system, propulsion system, communication system, battery management and distribution system, can meet more than 6 months under water
Without the need for external maintenance task need.
Underwater communication fixed base stations of powering are fixed on seabed, built-in large-sized battery in groups with charging management system, communication with
Guiding device, docking facilities etc., at least ensure the 5 years Maintenance frees that work under water.
The present invention includes the following course of work：
(1) base station docking and charging.
Detector proceeds to closely mesh with position guiding device to fixed base stations under water after nearby by underwater acoustic communication under water
Tag splice plesiotype (in last 50 meters of distance ranges), completes the mushroom of detector bow docking under water by acoustics beacon and vision guide
Mushroom head reaches fixed (i.e. butt joint 21 is docked) in the docking bellmouth of base station under water with docking facilities 17, and base station is under water under water
Detector supplements electric power.
(2) with base station depart from, on a large scale ambient scene detect.
After fixed base stations are fully charged, the geared assembly of fixed mushroom head is disengaged detector, under water detector under water
Base station is left, direction is turned, according to preset programmed instruction, the work of relevant item scene inspection is independently completed；In the present invention, under water
Detector can pass through inertial navigation INS/ Doppler DVL integrated navigation systems and anticollision sonar is aided in, and be accurately positioned navigation by course line
While, relevant barrier and structure are independently avoided in real-time regulation attitude and direction；After the completion of inspection task, detector according to
According to carrying out journey path backtracking and complete to dock with base station under water.
(3) detector periodic data is uploaded/is downloaded.
According to job demand, surface mother ship goes to the region every half a year, passes through base station transfer, transmission to detector under water
Command request detector makes a return voyage to the water surface, completes the upload of video, sonar, sensing data, while downloading newest control journey
Sequence instruction and arrange parameter.In addition, multiple types of tools component can be advantageously integrated and dismount conversion application.
The present invention without surface mother ship real-time support, avoids the water surface and lays recovery work with fixed base stations under water as relying on
Condition, greatly reduces system cost, improves working performance and safety, can be on duty in pool in seabed for a long time, completes deep water
The scene inspection work of oil-gas pipeline, provides first-hand science data for its safely and effectively operation and decision-making.
Above description is explanation of the invention, is not the restriction to inventing, and limited range of the present invention is referring to right
Require, in the case of the spirit without prejudice to the present invention, the present invention can make any type of modification.
Claims (4)
1. a kind of seabed formula in pool deep water hydrocarbon pipeline inspection system, it is characterised in that：Fill including detector under water, underwater communication
Electric fixed base stations, under water detector dock with underwater communication fixed base stations；The detector under water includes detector main body（1）,
Detector main body（1）Overall elongated shape, is symmetrically installed with electronic compartment in the middle part of which（2）, electronic compartment（2）In be provided with the underwater sound lead to
News and position guiding device, detector main body（1）Front end bow（3）Both sides are symmetrically arranged with bow side pod apertures（4）, bow side is led
Discharge orifice（4）In bow side be installed push away（5）, bow（3）Front end face butt joint is installed（21）And it is located at butt joint（21）Both sides
Illuminating lamp（6）, bow（3）Medium position be also symmetrically installed with bow hang down push away（7）, bow is vertical to be pushed away（7）Push away with bow side（5）Hang down relatively
Directly；Detector main body（1）Rear end stern（8）Both sides are symmetrically arranged with stern pod apertures（9）, stern（8）Rear end be provided with
It is located at two relative stern pod apertures（9）Between stern promote mainly（10）, stern（8）Middle part be provided with and promote mainly positioned at two sterns（10）
Middle stern hangs down and pushes away（11）, stern is vertical to be pushed away（11）Promote mainly with stern（10）Relative vertical；
The underwater communication charging fixed base stations include base station body（12）, base station body（12）Bottom be battery case（13）,
Its top is provided with butt joint box（14）, the butt joint box（14）Upper surface middle part be provided with and draw with the underwater acoustic communication and positioning
Lead the corresponding underwater acoustic communication device of device（15）And it is located at underwater acoustic communication device（15）The guiding display lamp of both sides（16）, butt joint box
（14）Side be provided with and butt joint（21）The docking facilities of docking（17）.
2. seabed formula in pool deep water hydrocarbon pipeline inspection system as claimed in claim 1, it is characterised in that：The detector master
Body（1）Both sides be side mainboard（18）, positioned at both sides mainboard（18）Between be provided with water conservancy diversion wing flap（19）, side mainboard（18）With
Water conservancy diversion wing flap（19）Between separate space in install electronic compartment（2）.
3. seabed formula in pool deep water hydrocarbon pipeline inspection system as claimed in claim 2, it is characterised in that：The side mainboard
（18）The foot section brought have a lobe being upturned, the lobe forms detector main body（1）Tail wing flap（20）.
4. seabed formula in pool deep water hydrocarbon pipeline inspection system as claimed in claim 2, it is characterised in that：The water conservancy diversion wing flap
（19）Rear and front end extend respectively to bow hang down push away（7）And stern hangs down and pushes away（11）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510579580.9A CN105179876B (en) | 2015-05-12 | 2015-09-11 | The seabed deep water hydrocarbon pipeline inspection system of formula in pool |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2015102412547 | 2015-05-12 | ||
| CN201510241254.7A CN104787273A (en) | 2015-05-12 | 2015-05-12 | Seabed berth type deepwater oil and gas pipeline inspection system |
| CN201510579580.9A CN105179876B (en) | 2015-05-12 | 2015-09-11 | The seabed deep water hydrocarbon pipeline inspection system of formula in pool |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105179876A CN105179876A (en) | 2015-12-23 |
| CN105179876B true CN105179876B (en) | 2017-03-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510241254.7A Pending CN104787273A (en) | 2015-05-12 | 2015-05-12 | Seabed berth type deepwater oil and gas pipeline inspection system |
| CN201510579580.9A Active CN105179876B (en) | 2015-05-12 | 2015-09-11 | The seabed deep water hydrocarbon pipeline inspection system of formula in pool |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510241254.7A Pending CN104787273A (en) | 2015-05-12 | 2015-05-12 | Seabed berth type deepwater oil and gas pipeline inspection system |
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| CN (2) | CN104787273A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110094235A (en) * | 2018-01-30 | 2019-08-06 | 岭东核电有限公司 | The method of float-type tunnel shuttle platform and monitoring device and monitoring foreign bodies |
| CN108791767A (en) * | 2018-07-12 | 2018-11-13 | 广州海洋地质调查局 | It is a kind of to be used for underwater detection towed body |
| CN110017431B (en) * | 2019-04-19 | 2020-09-08 | 美钻深海能源科技研发（上海）有限公司 | Base station based on underwater inspection system and inspection method thereof |
| CN110048783B (en) * | 2019-04-19 | 2021-01-01 | 美钻深海能源科技研发（上海）有限公司 | Sound wave communication unit, system, base station, inspection device and sound wave communication method |
| CN110005961B (en) * | 2019-04-19 | 2020-09-08 | 美钻深海能源科技研发（上海）有限公司 | Underwater inspection system |
| CN109931507B (en) * | 2019-04-19 | 2020-10-16 | 美钻深海能源科技研发（上海）有限公司 | Inspection device and method based on underwater inspection system |
| CN111874195A (en) * | 2020-08-11 | 2020-11-03 | 中国科学院沈阳自动化研究所 | Full-sea-depth offshore bottom autonomous underwater robot structure |
| CN112532947A (en) * | 2020-12-04 | 2021-03-19 | 浙江理工大学 | Distributed underwater full-automatic intelligent acquisition system |
| CN113329363B (en) * | 2021-06-29 | 2023-05-16 | 武汉船舶通信研究所（中国船舶重工集团公司第七二二研究所） | Wireless expansion system applied to deep sea seabed observation |
| CN116142426B (en) * | 2023-02-28 | 2023-08-29 | 青岛海洋地质研究所 | Underwater pipeline monitoring method based on deepwater submersible vehicle |
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| CN1640765A (en) * | 2004-12-16 | 2005-07-20 | 上海交通大学 | Semi-independent submersible device |
| CN104369842A (en) * | 2014-08-12 | 2015-02-25 | 浙江大学 | Water surface auxiliary robot based on autonomous underwater vehicle and use method |
| CN205013960U (en) * | 2015-09-11 | 2016-02-03 | 徐鹏飞 | Seabed deep water of formula in pool oil -gas pipeline system of patrolling and examining |
-
2015
- 2015-05-12 CN CN201510241254.7A patent/CN104787273A/en active Pending
- 2015-09-11 CN CN201510579580.9A patent/CN105179876B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6012406A (en) * | 1998-06-08 | 2000-01-11 | Western Atlas International, Inc. | Portable seismic vessel |
| CN1640765A (en) * | 2004-12-16 | 2005-07-20 | 上海交通大学 | Semi-independent submersible device |
| CN104369842A (en) * | 2014-08-12 | 2015-02-25 | 浙江大学 | Water surface auxiliary robot based on autonomous underwater vehicle and use method |
| CN205013960U (en) * | 2015-09-11 | 2016-02-03 | 徐鹏飞 | Seabed deep water of formula in pool oil -gas pipeline system of patrolling and examining |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104787273A (en) | 2015-07-22 |
| CN105179876A (en) | 2015-12-23 |
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Effective date of registration: 20171020 Address after: Xikang Road, Gulou District of Nanjing city of Jiangsu Province, No. 1 210098 Patentee after: HOHAI University Address before: 214082 Jiangsu, Wuxi, Binhu District, Longchuan village, room 13, No. 104 Patentee before: Xu Pengfei |