CN105691568A - Underwater equipment mounting and recycling system and method - Google Patents
Underwater equipment mounting and recycling system and method Download PDFInfo
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- CN105691568A CN105691568A CN201610036398.3A CN201610036398A CN105691568A CN 105691568 A CN105691568 A CN 105691568A CN 201610036398 A CN201610036398 A CN 201610036398A CN 105691568 A CN105691568 A CN 105691568A
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- receiving apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an underwater equipment mounting and recycling system and method. The underwater equipment mounting and recycling system comprises a ship main body, wherein a crane is arranged on the ship main body. The system further comprises a mounting and recycling device, a connecting and converting device and two unmanned remote control submersibles, wherein the mounting and recycling device is used for mounting and recycling underwater equipment; the connecting and converting device is used for connecting the crane with the mounting and recycling device; and the two unmanned remote control submersibles are used for underwater construction monitoring. Te ship main body is also provided with a control device and a positioning device, wherein the control device is used for controlling the crane and the unmanned remote control submersibles; and the positioning device is used for positioning the position of a ship. As the underwater equipment is mounted and recycled through adoptions of the multi-functional ship main body and the unmanned remote control submersibles, the underwater operation cost is greatly saved; and moreover, as the two unmanned remote control submersibles have the advantages of high mounting accuracy and short operation period, the underwater operation flexibility is enhanced.
Description
Technical field
The present invention relates to Offshore Engineering technical field, particularly to a kind of underwater installation, recovery system and method thereof are installed。
Background technology
Offshore Engineering operating risk is high, and technical difficulty is big, and domestic Offshore Engineering especially deep water field is still in the starting stage in addition。At present, mainly adopt drill ship and semisubmersible drilling platform, connected the installation carrying out production tree and guiding substrate by drill string and reclaim operation。
But, supply falls short of demand for drill ship and semisubmersible drilling platform, and cost of use is high, adopts drill ship or drilling platforms, utilizes the method that drill string connects to carry out subsea production tree/guiding substrate and installs, and duty cycle is long, and working performance is low, and mounting cost is higher。It is difficult to meet growing customer demand。
Thus prior art need to improve。
Summary of the invention
In view of above-mentioned the deficiencies in the prior art part, it is an object of the invention to provide a kind of underwater installation and install recovery system and method thereof, can be greatly saved the cost of underwater performance, and installation accuracy is high, duty cycle is short, improves the motility of underwater performance。
In order to achieve the above object, this invention takes techniques below scheme:
Recovery system installed by a kind of underwater installation, including boats and ships body, described boats and ships body is provided with loop wheel machine, described system also includes installing back receiving apparatus for what install and reclaim underwater installation, for the connection transfer device connecting loop wheel machine with install back receiving apparatus, two, for monitoring the unmanned remotely controlled submersible vehicle of construction under water, described boats and ships body are additionally provided with the control device for controlling described loop wheel machine and unmanned remotely controlled submersible vehicle and for positioning the positioner of vessel position。
Described underwater installation is installed in recovery system, also includes the loop wheel machine compensation device for compensating boats and ships body heave displacement。
Described underwater installation is installed in recovery system, and described unmanned remotely controlled submersible vehicle is provided with the photographic head for shooting image and the function hands for constructing operation。
Described underwater installation is installed in recovery system, described in install back receiving apparatus and install back for guiding substrate and put the tools away。
Described underwater installation is installed in recovery system, described guiding substrate installs back the top put the tools away and is provided with the first connecting portion for connecting described connection transfer device, and described guiding substrate installs back the bottom put the tools away and is provided with the first fixed part for fixed guide substrate。
Described underwater installation is installed in recovery system, described in install back receiving apparatus be that production tree installs back and puts the tools away。
Described underwater installation is installed in recovery system, and described production tree installs back the top that puts the tools away and is provided with the second connecting portion for connecting described connection transfer device, and described production tree installs back the bottom put the tools away and is provided with the second fixed part for fixing production tree。
Installation and the recovery method of recovery system installed by a kind of underwater installation described above, and it comprises the steps:
After A, boats and ships body arrive safety work region, entered water arrival target location by controlling device one unmanned remotely controlled submersible vehicle of control；
B, connection transfer device will install back receiving apparatus and be connected with loop wheel machine, and control loop wheel machine and sling and install back receiving apparatus by controlling device afterwards, and under put into water, control another unmanned remotely controlled submersible vehicle simultaneously and install back receiving apparatus Tong Bu transfer with described；
C, when installing back receiving apparatus and another unmanned remotely controlled submersible vehicle and arriving from target location predeterminable range, controlled to install back receiving apparatus stop transferring by controlling device；
D, kept the relative position that predetermined angle detection installs back between receiving apparatus and target location by two unmanned remotely controlled submersible vehicle；
E, control to install back receiving apparatus and move according to described relative position by controlling device, when described install back the surface that receiving apparatus is positioned at target location time, by control device control described in install back receiving apparatus and transfer to target location and carry out installing or reclaiming operation。
Described underwater installation is installed and in recovery method, described step E includes:
E01, control to install back receiving apparatus and move according to described relative position by controlling device, when with described install back the surface that the equipment to be installed that receiving apparatus is connected is positioned at target location time, transferred to target location by controlling the device described equipment to be installed of control；
E02, by two unmanned remotely controlled submersible vehicle, equipment to be installed is separated with the described receiving apparatus that installs back, and equipment to be installed is mounted to target location；
E03, control to install back receiving apparatus and mention by controlling device, and be recycled to boats and ships body。
Described underwater installation is installed and in recovery method, described step E includes:
E11, control to install back receiving apparatus and move according to described relative position by controlling device, when described install back the surface that receiving apparatus is positioned at target location time, controlled described equipment to be installed transfer to target location by controlling device；
E12, by two unmanned remotely controlled submersible vehicle with described, the equipment to be recycled of target location is installed back that receiving apparatus is fixing to be connected；
E13, control to install back receiving apparatus and equipment to be recycled is mentioned by controlling device, be recycled to boats and ships body。
Compared to prior art, underwater installation provided by the invention is installed in recovery system and method thereof, described underwater installation is installed recovery system and is included boats and ships body, described boats and ships body is provided with loop wheel machine, described system also includes installing back receiving apparatus for what install and reclaim underwater installation, for the connection transfer device connecting loop wheel machine with install back receiving apparatus, two for monitoring the unmanned remotely controlled submersible vehicle of construction under water, described boats and ships body is additionally provided with the control device for controlling described loop wheel machine and unmanned remotely controlled submersible vehicle and for positioning the positioner of vessel position, by adopting multi-functional boats and ships body and unmanned remotely controlled submersible vehicle carry out underwater installation installation and reclaim operation, it is greatly saved the cost of underwater performance, and two unmanned remotely controlled submersible vehicle installation accuracies are high, duty cycle is short, improve the motility of underwater performance。
Accompanying drawing explanation
Fig. 1 is the structural representation that recovery system installed by underwater installation provided by the invention。
Fig. 2 is that the structural representation of unmanned remotely controlled submersible vehicle in recovery system installed by underwater installation provided by the invention。
Fig. 3 is that in underwater installation provided by the invention installation recovery system, guiding substrate installs back the structural representation put the tools away。
Fig. 4 is that in underwater installation provided by the invention installation recovery system, production tree installs back the structural representation put the tools away。
Fig. 5 is the flow chart of underwater installation provided by the invention installation and recovery method。
Detailed description of the invention
The shortcomings such as in view of in prior art, duty cycle is long, working performance is low, and mounting cost is higher, it is an object of the invention to provide a kind of underwater installation and recovery system and method thereof are installed, the cost of underwater performance can be greatly saved, and installation accuracy is high, duty cycle is short, improves the motility of underwater performance。
For making the purpose of the present invention, technical scheme and effect clearly, clearly, developing simultaneously referring to accompanying drawing, the present invention is described in more detail for embodiment。Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention。
Refer to Fig. 1, underwater installation provided by the invention is installed recovery system and is included boats and ships body 10, described boats and ships body 10 is provided with loop wheel machine 20, described system also includes installing back receiving apparatus 30 for what install and reclaim underwater installation, for connect loop wheel machine 20 with install back receiving apparatus 30 connection transfer device 40, two for monitoring the unmanned remotely controlled submersible vehicle 50(RemoteOperatedVehicle of construction under water, ROV), described boats and ships body 10 is additionally provided with the control device (not shown) for controlling described loop wheel machine 20 and unmanned remotely controlled submersible vehicle 50 and for positioning the positioner (not shown) of vessel position。
The present invention is by adopting multi-functional boats and ships body 10, described boats and ships body 10 is provided with the loop wheel machine 20 installing back receiving apparatus 30 for handling, the described receiving apparatus 30 that installs back is coupled with loop wheel machine 20 by connection transfer device 40, ensure the steadiness installing back in receiving apparatus 30 handling process, additionally, described underwater installation installs recovery system by two for monitoring the unmanned remotely controlled submersible vehicle 50 of construction under water, described loop wheel machine 20 and unmanned remotely controlled submersible vehicle 50 is controlled by controlling device, monitored by two unmanned remotely controlled submersible vehicle 50 and constructed on request while installing back 30 times water operations of receiving apparatus, installation accuracy is high and motility is high, certainly, the unmanned remotely controlled submersible vehicle 50 of varying number is selected also dependent on available accuracy demand and cost, this is not construed as limiting by the present invention。Simultaneously by the position of positioner real-time positioning boats and ships, make to install back receiving apparatus 30 and can arrive target location accurately, further increase underwater installation and install back the accuracy being incorporated as industry。
Especially, described in state underwater installation install recovery system also include the loop wheel machine 20 compensation device (not shown) for compensating boats and ships body 10 heave displacement, owing to being subject to the impact of stormy waves stream, described boats and ships body 10 can be inevitably generated heave movement。Implementing effective deep water installation exercise for ensureing, described loop wheel machine 20 compensation device can compensate for boats and ships body 10 heave displacement, enhances the described control installing back receiving apparatus 30 motion, improves the suitability of system。
Further, see also Fig. 2, described unmanned remotely controlled submersible vehicle 50 is provided with the photographic head 5011 for shooting image and the function hands 5012 for constructing operation, image clearly is provided under water by described photographic head 5011, to control device controlling the to install back movement of receiving apparatus 30 according to the real-time position information that this image information and positioner provide, installation accuracy is high, and the constructing operation such as function hands 5012 can rotate, switch valves, capture apparatus, can assist under water and install back receipts operation process, improve operating flexibility。
Specifically, see also 3, the described receiving apparatus 30 of installing back installs back for guiding substrate and puts the tools away 301, described guiding substrate install back put the tools away 301 top be provided with the first connecting portion 3011 for connecting described connection transfer device 40, described first connecting portion 3011 can be 4-1/2IF box head, or change other connection members according to actual needs, ensure that guiding substrate installs back to put the tools away 301 to consolidate with connection transfer device 40 and be connected, described guiding substrate install back put the tools away 301 bottom be provided with the first fixed part 3012 for fixed guide substrate, when being embodied as, described first fixed part 3012 can be lock pin, guiding substrate is provided with supporting " J " type groove, rotate to an angle, described lock pin is made to enter " J " type bottom land, guiding substrate install back put the tools away 301 namely with guiding substrate be connected, guiding substrate is made to install back to put the tools away and 301 can together enter water by related guiding substrate, and be directed to substrate be mounted to appointment position。
Further, see also Fig. 4, underwater installation provided by the invention is installed in recovery system, the described receiving apparatus 30 that installs back installs back for production tree and puts the tools away 302, described production tree installs back 302 tops that put the tools away and is provided with the second connecting portion 3021 for connecting described connection transfer device 40, described second connecting portion 3021 can be shackle, or change other connection members according to actual needs, ensure that production tree installs back to put the tools away 302 firm with connection transfer device 40 to be connected, described production tree install back put the tools away 302 bottom be provided with the second fixed part 3022 for fixing production tree, make installation or reclaim production tree time can be fixed in production tree install back put the tools away 302 bottom。
Preferably, described production tree is provided with pilot hole, described guiding substrate is provided with the direction peg for positioning, when production tree need to be arranged on described guiding substrate, installed back the 302 related production trees that put the tools away together to enter to put under water to guiding substrate by production tree, and production tree its pilot hole in decentralization process is transferred to target location exactly along described direction peg, it is ensured that the accuracy that production tree is installed。
The present invention correspondingly provides a kind of underwater installation and installs and recovery method, as it is shown in figure 5, described underwater installation is installed and recovery method comprises the steps:
After S100, boats and ships body arrive safety work region, entered water arrival target location by controlling device one unmanned remotely controlled submersible vehicle of control；
S200, connection transfer device will install back receiving apparatus and be connected with loop wheel machine, and control loop wheel machine and sling and install back receiving apparatus by controlling device afterwards, and under put into water, control another unmanned remotely controlled submersible vehicle simultaneously and install back receiving apparatus Tong Bu transfer with described；
S300, when installing back receiving apparatus and another unmanned remotely controlled submersible vehicle and arriving from target location predeterminable range, controlled to install back receiving apparatus stop transferring by controlling device；
S400, kept the relative position that predetermined angle detection installs back between receiving apparatus and target location by two unmanned remotely controlled submersible vehicle；
S500, control to install back receiving apparatus and move according to described relative position by controlling device, when described install back the surface that receiving apparatus is positioned at target location time, by control device control described in install back receiving apparatus and transfer to target location and carry out installing or reclaiming operation。
Underwater installation provided by the invention is installed and in recovery method, before construction, first boats and ships body is carried out complete detection, including the dynamical system of boats and ships body, deck implement, communication system etc., after guaranteeing that boats and ships bulk state is normal and arriving safety work region, water arrival target location is entered by controlling device one unmanned remotely controlled submersible vehicle of control, and confirming underwater target position information and working environment about whether safety, this unmanned remotely controlled submersible vehicle uses specific purpose tool target location to be cleaned until meeting installation requirement afterwards；Receiving apparatus will be installed back by connection transfer device afterwards to be connected with loop wheel machine, control device control loop wheel machine is sling and is installed back receiving apparatus, and under put into water, control another unmanned remotely controlled submersible vehicle simultaneously and install back receiving apparatus Tong Bu transfer with described, monitoring at any time installs back the lower state of receiving apparatus；Transfer predetermined depth when installing back receiving apparatus with another unmanned remotely controlled submersible vehicle, during such as 20 meters, controlled device and control the unlatching of loop wheel machine compensation device, to compensate boats and ships body heave displacement, enhance the described stability installing back receiving apparatus decentralization process；When installing back receiving apparatus and the arrival of another unmanned remotely controlled submersible vehicle from target location predeterminable range, as during from 5 meters, target location, control device controlled to install back receiving apparatus and stop transferring；Being kept predetermined angle by two unmanned remotely controlled submersible vehicle, the relative position installing back between receiving apparatus and target location as kept 90 degree of angular position to detect, thus clearly observing and determining the position installing back receiving apparatus；Controlled to install back receiving apparatus by control device according to described relative position to move, when described install back the surface that receiving apparatus is positioned at target location time, by control device control described in install back receiving apparatus and transfer to target location and carry out installing or reclaiming operation, it is achieved thereby that the underwater installation of precise and high efficiency is installed and is reclaimed, it is greatly saved the cost of underwater performance, and motility is high。
When being embodied as, when equipment requiring installation, described step S500 includes:
Controlled to install back receiving apparatus and move according to described relative position by controlling device, when with described install back the surface that the equipment to be installed that receiving apparatus is connected is positioned at target location time, transferred to target location by controlling the device described equipment to be installed of control；By two unmanned remotely controlled submersible vehicle, equipment to be installed is separated with the described receiving apparatus that installs back, and equipment to be installed is mounted to target location；
Controlled to install back receiving apparatus by control device to mention, and be recycled to boats and ships body。
When equipment requiring installation, before entering water, equipment to be installed is fixed on the lower section installing back receiving apparatus, and together put into water down, when installing back receiving apparatus and equipment to be installed is transferred to during from target location predeterminable range, controlled to install back receiving apparatus by control device to stop transferring, predetermined angle is kept to detect the relative position installing back between receiving apparatus and target location by two unmanned remotely controlled submersible vehicle, controlled to install back receiving apparatus by control device according to described relative position to move, when described equipment to be installed is positioned at the surface of target location, transferred to target location by controlling the device described equipment to be installed of control, by two unmanned remotely controlled submersible vehicle, equipment to be installed is separated with the described receiving apparatus that installs back afterwards, and it is mounted to target location, after installation puts in place, by controlling device control loop wheel machine, the described receiving apparatus that installs back is sling, thus realizing equipment to be installed is mounted to target location accurately and efficiently。
Further, when needs reclaimer, described step S500 includes:
Controlled to install back receiving apparatus and move according to described relative position by controlling device, when described install back the surface that receiving apparatus is positioned at target location time, controlled described equipment to be installed transfer to target location by controlling device；
By two unmanned remotely controlled submersible vehicle with described, the equipment to be recycled of target location is installed back that receiving apparatus is fixing to be connected；
Installed back receiving apparatus by control device control and equipment to be recycled is mentioned, be recycled to boats and ships body。
When needs reclaim underwater installation, transfer to during from target location predeterminable range installing back receiving apparatus, controlled to install back receiving apparatus by control device to stop transferring, predetermined angle is kept to detect the relative position installing back between receiving apparatus and target location by two unmanned remotely controlled submersible vehicle, controlled to install back receiving apparatus by control device according to described relative position to move, when described install back the surface of equipment to be recycled that receiving apparatus is positioned at target location time, described in control device controls, install back receiving apparatus transfer above equipment to be recycled, by two unmanned remotely controlled submersible vehicle with described, described equipment to be recycled is installed back that receiving apparatus is fixing to be connected, control device control afterwards installs back receiving apparatus and equipment to be recycled is mentioned, equipment to be recycled is made to be lifted until being recycled to boats and ships body, thus realizing equipment high efficiency to be recycled under water is recycled to boats and ships body。
In order to be better understood from technical scheme, below in conjunction with Fig. 1 to Fig. 3, lift specific embodiment installation and process to the underwater installation installation recovery system of the present invention and be described in detail:
This application embodiment is to install and to reclaim guiding substrate, when installing guiding substrate, first it is directed to substrate when land is prepared by connection transfer device 40 install back to put the tools away and 301 be connected with loop wheel machine 20, it is directed to substrate afterwards and is fixed on the lower section installing back receiving apparatus 30, it is specially rotary steering substrate and installs back the lock pin put the tools away bottom 301, make it into the bottom land of " J " type groove supporting on guiding substrate, now guiding substrate install back put the tools away 301 namely with guiding substrate be connected, afterwards boats and ships body 10 is carried out complete detection, after guaranteeing that boats and ships body 10 state is normal and arriving safety work region, water arrival target location is entered by controlling device one unmanned remotely controlled submersible vehicle 50 of control, and confirm underwater target position information and working environment about whether safety, this unmanned remotely controlled submersible vehicle 50 uses specific purpose tool target location to be cleaned until meeting installation requirement afterwards。
Further, by control device control loop wheel machine 20 sling guiding substrate install back put the tools away 301 and guiding substrate, and under put into water, control another unmanned remotely controlled submersible vehicle 50 to install back with guiding substrate to put the tools away and 301 synchronization transfer simultaneously, the substrate of monitoring guiding at any time install back put the tools away 301 lower state；When guiding substrate install back put the tools away 301 and another unmanned remotely controlled submersible vehicle 50 transferred predetermined depth, during such as 20 meters, control device control loop wheel machine 20 compensation device open, to compensate boats and ships body 10 heave displacement。
301 are put the tools away when guiding substrate installs back, guiding substrate and another unmanned remotely controlled submersible vehicle 50 arrive from target location predeterminable range, as during from 5 meters, target location, by control device control guiding substrate install back put the tools away 301 and guiding substrate stop transfer, predetermined angle is kept by two unmanned remotely controlled submersible vehicle 50, as kept the relative position between 90 degree of angular position detection guiding substrates and target location, and relative position information is fed back to control device, by controlling the device movement according to described relative position information control guiding substrate, it is specially, video image information is fed back to control device by unmanned remotely controlled submersible vehicle 50, according to described video image information, operation command personnel judge that boats and ships body 10 needs direction and the distance of movement, and input corresponding control instruction to controlling device, moved accordingly according to described control instruction manipulation boats and ships body 10 by controlling device, thus moving guiding substrate, when described guiding substrate install back put the tools away 301 and guiding substrate be positioned at the surface of target location time, transferred to target location by controlling the device described guiding substrate of control。
When being embodied as, equipped with two shear pins inside described guiding substrate, when the substrate that leads is positioned on target location, by guiding substrate install back put the tools away 301 guiding substrate on a pressure is provided, to cut off shear pin, guiding substrate falls, the well head compression fit of its internal structure and target location, by unmanned remotely controlled submersible vehicle 50 be directed to substrate install back put the tools away 301 lock pin reversely rotate, it is made to release from " J " type groove, thus be directed to substrate install back put the tools away 301 with guiding substrate separate, loop wheel machine 20 is mentioned and is reclaimed described guiding substrate and installs back and put the tools away 301, thus realizing being directed to substrate to be mounted to target location accurately and efficiently。Comprehensive inspection is carried out around guiding substrate afterwards, it is ensured that without exception by unmanned remotely controlled submersible vehicle 50。
When reclaiming guiding substrate, lead substrate install back put the tools away 301 transfer to from guiding substrate predeterminable range such as 5 meters time, controlled its stopping by control device to transfer, predetermined angle is kept by two unmanned remotely controlled submersible vehicle 50, as 90 degree of position detection guiding substrates install back the relative position put the tools away between 301 and guiding substrate, controlled guiding substrate according to described relative position and install back to put the tools away by controlling device and 301 move, when it is positioned at the surface of guiding substrate, controlled described guiding substrate and install back to put the tools away by controlling device and 301 transfer above equipment to be recycled, the lock pin put the tools away bottom 301 is installed back by unmanned remotely controlled submersible vehicle 50 rotary steering substrate, make it into the bottom land of " J " type groove supporting on guiding substrate, it is directed to substrate install back to put the tools away and 301 fixing with guiding substrate be connected, afterwards control device guiding substrate install back put the tools away 301 and guiding substrate mention, guiding substrate is made to be lifted until being recycled to boats and ships body 10, thus realizing equipment high efficiency to be recycled under water is recycled to boats and ships body 10。Comprehensive inspection is carried out afterwards, it is ensured that without exception by the import of unmanned remotely controlled submersible vehicle 50 surrounding target position。
In sum, underwater installation provided by the invention is installed in recovery system and method thereof, described underwater installation is installed recovery system and is included boats and ships body, described boats and ships body is provided with loop wheel machine, described system also includes installing back receiving apparatus for what install and reclaim underwater installation, for the connection transfer device connecting loop wheel machine with install back receiving apparatus, two for monitoring the unmanned remotely controlled submersible vehicle of construction under water, described boats and ships body is additionally provided with the control device for controlling described loop wheel machine and unmanned remotely controlled submersible vehicle and for positioning the positioner of vessel position, by adopting multi-functional boats and ships body and unmanned remotely controlled submersible vehicle carry out underwater installation installation and reclaim operation, it is greatly saved the cost of underwater performance, and two unmanned remotely controlled submersible vehicle installation accuracies are high, duty cycle is short, improve the motility of underwater performance。
It is understood that for those of ordinary skills, it is possible to it is equal to replacement according to technical scheme and inventive concept thereof or is changed, and all these are changed or replace the scope of the claims that all should belong to appended by the present invention。
Claims (10)
1. recovery system installed by a underwater installation, including boats and ships body, described boats and ships body is provided with loop wheel machine, it is characterized in that, described system also includes installing back receiving apparatus for what install and reclaim underwater installation, for the connection transfer device connecting loop wheel machine with install back receiving apparatus, two, for monitoring the unmanned remotely controlled submersible vehicle of construction under water, described boats and ships body are additionally provided with the control device for controlling described loop wheel machine and unmanned remotely controlled submersible vehicle and for positioning the positioner of vessel position。
2. recovery system installed by underwater installation according to claim 1, it is characterised in that also include the loop wheel machine compensation device for compensating boats and ships body heave displacement, and described loop wheel machine compensation device electrically connects with controlling device。
3. recovery system installed by underwater installation according to claim 1, it is characterised in that be provided with the photographic head for shooting image and the function hands for constructing operation on described unmanned remotely controlled submersible vehicle。
4. recovery system installed by underwater installation according to claim 1, it is characterised in that described in install back receiving apparatus and install back put the tools away for guiding substrate。
5. recovery system installed by underwater installation according to claim 4, it is characterized in that, described guiding substrate installs back the top put the tools away and is provided with the first connecting portion for connecting described connection transfer device, and described guiding substrate installs back the bottom put the tools away and is provided with the first fixed part for fixed guide substrate。
6. recovery system installed by underwater installation according to claim 1, it is characterised in that described in install back receiving apparatus be that production tree installs back and puts the tools away。
7. recovery system installed by underwater installation according to claim 6, it is characterized in that, described production tree installs back the top that puts the tools away and is provided with the second connecting portion for connecting described connection transfer device, and described production tree installs back the bottom put the tools away and is provided with the second fixed part for fixing production tree。
8. installation and the recovery method of recovery system installed by a underwater installation as claimed in claim 1, it is characterised in that comprises the steps:
After A, boats and ships body arrive safety work region, entered water arrival target location by controlling device one unmanned remotely controlled submersible vehicle of control；
B, connection transfer device will install back receiving apparatus and be connected with loop wheel machine, and control loop wheel machine and sling and install back receiving apparatus by controlling device afterwards, and under put into water, control another people's remote-controlled vehicle simultaneously and install back receiving apparatus Tong Bu transfer with described；
C, when installing back receiving apparatus and another unmanned remotely controlled submersible vehicle and arriving from target location predeterminable range, controlled to install back receiving apparatus stop transferring by controlling device；
D, kept the relative position that predetermined angle detection installs back between receiving apparatus and target location by two unmanned remotely controlled submersible vehicle；
E, control to install back receiving apparatus and move according to described relative position by controlling device, when described install back the surface that receiving apparatus is positioned at target location time, by control device control described in install back receiving apparatus and transfer to target location and carry out installing or reclaiming operation。
9. underwater installation according to claim 8 is installed and recovery method, it is characterised in that described step E includes:
E01, control to install back receiving apparatus and move according to described relative position by controlling device, when with described install back the surface that the equipment to be installed that receiving apparatus is connected is positioned at target location time, transferred to target location by controlling the device described equipment to be installed of control；
E02, by two unmanned remotely controlled submersible vehicle, equipment to be installed is separated with the described receiving apparatus that installs back, and equipment to be installed is mounted to target location；
E03, control to install back receiving apparatus and mention by controlling device, and be recycled to boats and ships body。
10. underwater installation according to claim 8 is installed and recovery method, it is characterised in that described step E includes:
E11, control to install back receiving apparatus and move according to described relative position by controlling device, when described install back the surface that receiving apparatus is positioned at target location time, controlled described equipment to be installed transfer to target location by controlling device；
E12, by two unmanned remotely controlled submersible vehicle with described, the equipment to be recycled of target location is installed back that receiving apparatus is fixing to be connected；
E13, control to install back receiving apparatus and equipment to be recycled is mentioned by controlling device, be recycled to boats and ships body。
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| CN201610036398.3A CN105691568B (en) | 2016-01-20 | 2016-01-20 | A kind of underwater equipment installation recycling system and method |
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| CN109556645A (en) * | 2018-12-27 | 2019-04-02 | 中国船舶重工集团公司第七0研究所 | It is a kind of can two Plane Rotations underwater sound equipment mounting rack |
| CN110542020A (en) * | 2019-01-29 | 2019-12-06 | 深圳海油工程水下技术有限公司 | underwater testing device, system and method for deepwater sea pipe |
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| CN111994203B (en) * | 2020-08-07 | 2021-11-19 | 鲁东大学 | Based on boats and ships aquatic target location operating means |
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