CN105691568B - A kind of underwater equipment installation recycling system and method - Google Patents
A kind of underwater equipment installation recycling system and method Download PDFInfo
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- CN105691568B CN105691568B CN201610036398.3A CN201610036398A CN105691568B CN 105691568 B CN105691568 B CN 105691568B CN 201610036398 A CN201610036398 A CN 201610036398A CN 105691568 B CN105691568 B CN 105691568B
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- installation
- retracting device
- substrate
- control device
- equipment
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Classifications
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of underwater equipments to install recycling system and method, wherein, the underwater equipment installation recovery system includes ship ontology, loop wheel machine is provided on the ship ontology, the system also includes for installing and recycle the installation retracting device of underwater equipment, for the connection transfer device for connecting loop wheel machine with installing retracting device, two unmanned remotely controlled submersible vehicle for monitoring construction under water, the control device for controlling the loop wheel machine and unmanned remotely controlled submersible vehicle and the positioning device for positioning vessel position are additionally provided on the ship ontology, underwater equipment installation and recycling operation are carried out by using multi-functional ship ontology and unmanned remotely controlled submersible vehicle, the cost of underwater operation is greatly saved, and two unmanned remotely controlled submersible vehicle installation accuracies are high, duty cycle is short, improve the flexibility of underwater operation.
Description
Technical field
The present invention relates to Offshore Engineering technical field, more particularly to a kind of underwater equipment installation recovery system and its side
Method.
Background technology
Offshore Engineering operating risk is high, and technical difficulty is big, in addition domestic Offshore Engineering especially deep water field
Still it is in the starting stage.At present, mainly using drill ship and semisubmersible drilling platform, connected by drill string carry out production tree and
It is oriented to the installation of substrate and recycling operation.
However, supply falls short of demand for drill ship and semisubmersible drilling platform, and cost of use is high, is put down using drill ship or drilling well
Platform carries out subsea production tree/guiding substrate using the method for drill string connection and installs, and duty cycle is long, and operating efficiency is low, installation fee
With higher.It is difficult to meet growing customer demand.
Thus the prior art could be improved and improve.
Invention content
Part in view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of underwater equipments to install recycling system
The cost of underwater operation can be greatly saved, and installation accuracy is high in system and its method, and duty cycle is short, improves underwater operation
Flexibility.
In order to achieve the above object, this invention takes following technical schemes：
A kind of underwater equipment installs recovery system, and including ship ontology, loop wheel machine, the system are provided on the ship ontology
System further includes the installation retracting device for installing and recycling underwater equipment, for the connection for connecting loop wheel machine with installing retracting device
Conversion equipment, two, for monitoring the unmanned remotely controlled submersible vehicle of construction under water, are additionally provided with to control on the ship ontology
The control device of the loop wheel machine and unmanned remotely controlled submersible vehicle and the positioning device for positioning vessel position；
The installation retracting device is installed back for guiding substrate and is put the tools away；
The guiding substrate installs back the top to put the tools away and is provided with to be connected for connecting the first of the connection transfer device
Socket part, it is described be oriented to substrate and install back the bottom to put the tools away be provided with the first fixed part for fixed guide substrate；
First fixed part is lock pin, and " J " type groove mating with the lock pin is provided on the guiding substrate.
In the underwater equipment installation recovery system, the loop wheel machine compensation for compensating the heave displacement of ship ontology is further included
Device.
In the underwater equipment installation recovery system, it is provided with to shoot image on the unmanned remotely controlled submersible vehicle
Camera and the function hand for constructing operation.
A kind of installation of underwater equipment installation recovery system as described above and recovery method, include the following steps：
A, after ship ontology reaches safety work region, a unmanned remotely controlled submersible vehicle is controlled to enter water by control device and reached
Target location；
B, retracting device will be installed by connection transfer device to connect with loop wheel machine, peace is sling by control device control loop wheel machine later
Reinstall receiving apparatus, and under be put into water, while control another unmanned remotely controlled submersible vehicle and the installation retracting device is synchronouss transfers；
C, when installing retracting device and another unmanned remotely controlled submersible vehicle is reached away from target location pre-determined distance, by controlling
Device control installation retracting device stops decentralization；
D, the phase between predetermined angle detection installation retracting device and target location is kept by two unmanned remotely controlled submersible vehicle
To position；
E, installation retracting device movement is controlled according to the relative position by control device, when the installation retracting device position
When the surface of target location, the installation retracting device is controlled to transfer to target location by control device and installed or returned
It is incorporated as industry.
In the underwater equipment installation and recovery method, the step E includes:
E01, it is moved according to relative position control installation retracting device by control device, is filled when with the installation recycling
When putting the equipment to be installed of connection and being located at the surface of target location, the equipment to be installed is controlled to transfer to mesh by control device
Cursor position；
E02, equipment to be installed is detached, and will be to be installed with the installation retracting device by two unmanned remotely controlled submersible vehicle
Equipment is installed to target location；
E03, installation retracting device is controlled to lift, and be recycled to ship ontology by control device.
In the underwater equipment installation and recovery method, the step E includes:
E11, installation retracting device movement is controlled according to the relative position by control device, when the installation retracting device
During positioned at the surface of target location, equipment to be recycled is controlled to transfer to target location by control device；
E12, the equipment to be recycled of target location and the installation retracting device are consolidated by two unmanned remotely controlled submersible vehicle
Fixed connection；
E13, installation retracting device and equipment to be recycled is controlled to lift by control device, is recycled to ship ontology.
It is described to set under water in underwater equipment installation recycling system and method provided by the invention compared to the prior art
Standby installation recovery system includes ship ontology, and loop wheel machine is provided on the ship ontology, the system also includes for installing and
The installation retracting device of underwater equipment is recycled, for the connection transfer device for connecting loop wheel machine with installing retracting device, two are used for
The unmanned remotely controlled submersible vehicle of underwater monitoring construction is additionally provided on the ship ontology to control the loop wheel machine and unmanned remote controlled
The control device of submersible and the positioning device for positioning vessel position, it is distant with nobody by using multi-functional ship ontology
It controls submersible and carries out underwater equipment installation and recycling operation, the cost of underwater operation is greatly saved, and two unmanned remote controlled latent
Hydrophone installation accuracy is high, and duty cycle is short, improves the flexibility of underwater operation.
Description of the drawings
Fig. 1 is the structure diagram that underwater equipment provided by the invention installs recovery system.
Fig. 2 is the structure diagram that underwater equipment provided by the invention installs unmanned remotely controlled submersible vehicle in recovery system.
Fig. 3 installs back the structure to put the tools away for guiding substrate in underwater equipment provided by the invention installation recovery system and shows
It is intended to.
Fig. 4 installs production tree in recovery system for underwater equipment provided by the invention and installs back the structural representation to put the tools away
Figure.
Fig. 5 is the flow chart of underwater equipment provided by the invention installation and recovery method.
Specific embodiment
In view of the shortcomings of duty cycle is long in the prior art, and operating efficiency is low, and mounting cost is higher, the purpose of the present invention exists
In providing a kind of underwater equipment installation recycling system and method, the cost of underwater operation, and installation accuracy can be greatly saved
Height, duty cycle is short, improves the flexibility of underwater operation.
To make the purpose of the present invention, technical solution and effect clearer, clear and definite, develop simultaneously embodiment pair referring to the drawings
The present invention is further described.It should be appreciated that specific embodiment described herein is not used to only to explain the present invention
Limit the present invention.
Referring to Fig. 1, underwater equipment installation recovery system provided by the invention includes ship ontology 10, the ship ontology
Loop wheel machine 20 is provided on 10, the system also includes for installing and recycling the installation retracting device 30 of underwater equipment, for even
Loop wheel machine 20 is connect with installing the connection transfer device 40 of retracting device 30, two unmanned remotely controlled submersible vehicle for monitoring construction under water
50（Remote Operated Vehicle, ROV）, it is additionally provided with to control 20 He of loop wheel machine on the ship ontology 10
The control device of unmanned remotely controlled submersible vehicle 50（It is not shown in figure）With for positioning the positioning device of vessel position（Do not show in figure
Go out）.
The present invention is provided on the ship ontology 10 and is installed for handling by using multi-functional ship ontology 10
The loop wheel machine 20 of retracting device 30, the installation retracting device 30 are coupled by connection transfer device 40 with loop wheel machine 20, ensure installation
Stability during 30 handling of retracting device, in addition, the underwater equipment installs recovery system by two for prison under water
The unmanned remotely controlled submersible vehicle 50 of construction is controlled, the loop wheel machine 20 and unmanned remotely controlled submersible vehicle 50 are controlled by control device, installed
It is monitored by two unmanned remotely controlled submersible vehicle 50 while 30 times water operations of retracting device and constructed as required, installation accuracy is high and clever
It is active high, it certainly, also can be right according to available accuracy demand and the unmanned remotely controlled submersible vehicle 50 of cost selection different number, the present invention
This is not construed as limiting.It positions the position of ship in real time by positioning device simultaneously, makes installation retracting device 30 that can accurately reach mesh
Cursor position further improves underwater equipment and installs back the accuracy for being incorporated as industry.
Particularly, the underwater equipment installation recovery system of stating further includes to compensate hanging for the heave displacement of ship ontology 10
20 compensation device of machine（It is not shown in figure）, due to being influenced by stormy waves stream, the ship ontology 10 can be inevitably generated
Heave movement.Implement effective deep water installation exercise to ensure, 20 compensation device of loop wheel machine can compensate for ship ontology 10 and heave
Displacement enhances the control moved to the installation retracting device 30, improves the applicability of system.
Further, also referring to Fig. 2, the camera shooting for shooting image is provided on the unmanned remotely controlled submersible vehicle 50
First 5011 and the function hand 5012 for constructing operation, clearly image is provided under water by the camera 5011, so as to
The movement of real-time position information control installation retracting device 30 that control device is provided according to the image information and positioning device, peace
It is high to fill accuracy, and the constructing operations such as function hand 5012 can be rotated, switch valves, capture apparatus, it can be auxiliary under water
It helps and installs back receipts operation process, improve operating flexibility.
Specifically, also referring to 3, the installation retracting device 30 installs back to be oriented to substrate and puts the tools away 301, described to lead
301 top of putting the tools away is installed back to substrate and is provided with first connecting portion 3011 for connecting the connection transfer device 40,
The first connecting portion 3011 can be 4-1/2 IF female threads head or replace other connecting components according to actual needs, ensure to be oriented to
Substrate is installed back to put the tools away and 301 is bonded with connection transfer device 40, it is described be oriented to substrate install back put the tools away 301 bottom
The first fixed part 3012 for fixed guide substrate is provided with, when it is implemented, first fixed part 3012 can be lock pin,
Mating " J " type groove is provided on substrate is oriented to, is rotated by a certain angle, the lock pin is made to enter " J " type groove bottom, is oriented to substrate
It installs back to put the tools away and 301 be connected with being oriented to substrate, installing back guiding substrate, put the tools away 301 can related guiding substrate one
Enter water together, and installed substrate is oriented to designated position.
Further, also referring to Fig. 4, underwater equipment provided by the invention is installed in recovery system, the installation
Retracting device 30 installs back for production tree and puts the tools away 302, and the production tree installs back 302 tops that put the tools away and is provided with to connect
The second connecting portion 3021 of the connection transfer device 40, the second connecting portion 3021 can be shackle or according to actual needs
Other connecting components are replaced, ensures that production tree installs back to put the tools away and 302 is bonded with connection transfer device 40, the production tree
It installs back 302 bottom of putting the tools away and is provided with the second fixed part 3022 for fixing production tree, make installation or recycling production tree
When can be fixed in production tree install back put the tools away 302 bottom.
Preferably, pilot hole is provided on the production tree, direction peg used for positioning is provided on the guiding substrate,
When production tree need to be mounted on the guiding substrate, the 302 related production trees that put the tools away are installed back by production tree and are entered together under water
It puts to guiding substrate, and production tree its pilot hole in decentralization process is accurately transferred along the direction peg to target
Position, it is ensured that the accuracy of production tree installation.
The present invention correspondingly provides a kind of underwater equipment installation and recovery method, as shown in figure 5, the underwater equipment is installed
And recovery method includes the following steps：
After S100, ship ontology reach safety work region, a unmanned remotely controlled submersible vehicle is controlled to enter water by control device
Reach target location；
S200, installation retracting device with loop wheel machine is connect by connection transfer device, is hung later by control device control loop wheel machine
Rise installation retracting device, and under be put into water, while control another unmanned remotely controlled submersible vehicle with it is described install retracting device it is synchronous
Decentralization；
S300, when installing retracting device and another unmanned remotely controlled submersible vehicle is reached away from target location pre-determined distance, by
Control device control installation retracting device stops decentralization；
S400, it is kept between predetermined angle detection installation retracting device and target location by two unmanned remotely controlled submersible vehicle
Relative position；
S500, installation retracting device movement is controlled according to the relative position by control device, when the installation recycling dress
Setting in target location surface when, the installation retracting device is controlled to transfer to target location and installed by control device
Or recycling operation.
In underwater equipment installation provided by the invention and recovery method, before construction, first ship ontology is examined comprehensively
It surveys, the dynamical system including ship ontology, deck implement, communication system etc., it is ensured that ship bulk state is normal and reaches
Behind safety work region, a unmanned remotely controlled submersible vehicle is controlled to enter water by control device and reach target location, and confirm underwater mesh
Whether cursor position information and surrounding operating environment are safe, and the unmanned remotely controlled submersible vehicle uses specific purpose tool to target position later
It puts and carries out cleaning until meeting installation requirement；Retracting device will be installed by connection transfer device later to connect with loop wheel machine, control dress
Put control loop wheel machine and sling installation retracting device, and under be put into water, while control another unmanned remotely controlled submersible vehicle and the installation
Retracting device synchronizes decentralization, the lower state of the retracting device of monitoring installation at any time；As installation retracting device and another, nobody is distant
Control submersible has transferred predetermined depth, and at such as 20 meters, control device control loop wheel machine compensation device is opened, to compensate ship ontology liter
Heavy displacement enhances the stability to the installation retracting device decentralization process；As installation retracting device and another, nobody is distant
It controls submersible to reach away from target location pre-determined distance, at such as 5 meters away from target location, retracting device is installed by control device control and is stopped
Only transfer；Keep predetermined angles by two unmanned remotely controlled submersible vehicle, such as keep 90 degree angular positions detection installation retracting devices and
Relative position between target location, so as to clearly observe and determine the position of installation retracting device；By control device according to
The relative position control installation retracting device movement, when the installation retracting device is located at the surface of target location, by
The control device control installation retracting device, which is transferred to target location, is installed or is recycled operation, it is achieved thereby that accurate high
The cost of underwater operation is greatly saved, and flexibility is high in the underwater equipment installation and recycling of effect.
When it is implemented, when equipment requiring installation, the step S500 includes：
Installation retracting device movement is controlled according to the relative position by control device, is connected when with the installation retracting device
When the equipment to be installed connect is located at the surface of target location, the equipment to be installed is controlled to transfer to target position by control device
It puts；
Equipment to be installed is detached, and equipment to be installed is installed with the installation retracting device by two unmanned remotely controlled submersible vehicle
To target location；
Installation retracting device is controlled to lift, and be recycled to ship ontology by control device.
When equipment requiring installation, equipment to be installed is fixed on to the lower section of installation retracting device before water is entered, and together
Under be put into water, when installing retracting device and equipment to be installed and transferring to away from target location pre-determined distance, controlled by control device
Retracting device is installed and stops decentralization, predetermined angle detection installation retracting device and target position are kept by two unmanned remotely controlled submersible vehicle
Relative position between putting controls installation retracting device movement, when described to be installed by control device according to the relative position
When equipment is located at the surface of target location, the equipment to be installed is controlled to transfer to target location, Zhi Houyou by control device
Two unmanned remotely controlled submersible vehicle detach equipment to be installed, and install to target location with the installation retracting device, are installed to
Position after, by control device control loop wheel machine by it is described installation retracting device sling, so as to fulfill by equipment to be installed accurately and efficiently
It installs to target location.
Further, when needing reclaimer, the step S500 includes：
Installation retracting device movement is controlled according to the relative position by control device, when the installation retracting device is located at
During the surface of target location, equipment to be recycled is controlled to transfer to target location by control device；
The equipment to be recycled of target location with the installation retracting device is fixed by two unmanned remotely controlled submersible vehicle and is connected
It connects；
Installation retracting device and equipment to be recycled is controlled to lift by control device, be recycled to ship ontology.
When needing to recycle underwater equipment, when installation retracting device is transferred to away from target location pre-determined distance, by controlling
Device control installation retracting device stops decentralization, and predetermined angle detection installation retracting device is kept by two unmanned remotely controlled submersible vehicle
Relative position between target location controls installation retracting device movement according to the relative position by control device, works as institute
When stating the surface of equipment to be recycled that installation retracting device is located at target location, the installation is controlled to recycle by control device
Device is transferred to above equipment to be recycled, is filled the equipment to be recycled and the installation recycling by two unmanned remotely controlled submersible vehicle
It puts and is fixedly connected, the installation retracting device of control device control later and equipment to be recycled lift, and equipment to be recycled is made to be lifted directly
To ship ontology is recycled to, ship ontology is recycled to so as to fulfill by underwater equipment high efficiency to be recycled.
For a better understanding of the technical solution of the present invention, below in conjunction with Fig. 1 to Fig. 3, specific embodiment is lifted to the present invention
Underwater equipment installation recovery system installation and process be described in detail：
This application embodiment, when installation is oriented to substrate, is carried out for installing and recycling and be oriented to substrate on land first
It substrate will be oriented to by connection transfer device 40 during preparation installs back to put the tools away and 301 connect with loop wheel machine 20, later consolidate guiding substrate
Due to the lower section of installation retracting device 30, specially rotary steering substrate installs back the lock pin for 301 bottoms that put the tools away, makes it into
The slot bottom of mating " J " type groove on substrate is oriented to, substrate is oriented at this time and installs back to put the tools away and 301 be linked to be one with guiding substrate
Body carries out complete detection to ship ontology 10 later, it is ensured that and 10 state of ship ontology is normal and after reaching safety work region, by
Control device controls a unmanned remotely controlled submersible vehicle 50 to enter water and reaches target location, and confirm underwater target position information and its week
The operating environment enclosed whether safety, later the unmanned remotely controlled submersible vehicle 50 using specific purpose tool to target location carry out cleaning until
Meet installation requirement.
Further, guiding substrate is sling by control device control loop wheel machine 20 and installs back put the tools away 301 and guiding substrate, and
Under be put into water, while control another unmanned remotely controlled submersible vehicle 50 be oriented to substrate install back put the tools away 301 it is synchronous decentralization, at any time
Monitoring be oriented to substrate install back put the tools away 301 lower state；When be oriented to substrate install back put the tools away 301 and another nobody is distant
Control submersible 50 has transferred predetermined depth, and at such as 20 meters, control device control loop wheel machine 20 compensation device is opened, to compensate ship sheet
Body 10 heaves displacement.
It puts the tools away 301 when being oriented to substrate and installing back, be oriented to substrate and another unmanned remotely controlled submersible vehicle 50 is reached away from target
Position pre-determined distance at such as 5 meters away from target location, is controlled to be oriented to substrate and install back to put the tools away by control device and 301 and is oriented to base
Plate stops decentralization, and predetermined angle is kept by two unmanned remotely controlled submersible vehicle 50, and 90 degree of angular position detections is such as kept to be oriented to substrate
Relative position between target location, and relative position information is fed back into control device, by control device according to the phase
The movement for being oriented to substrate is controlled location information, specifically, video image information is fed back to control by unmanned remotely controlled submersible vehicle 50
Device, operation command personnel judge that ship ontology 10 needs mobile direction and distance, and defeated according to the video image information
Enter corresponding control instruction to control device, ship ontology 10 is manipulated according to the control instruction by control device and is carried out accordingly
It is mobile, so as to move guiding substrate, 301 and it is oriented to substrate when the guiding substrate installs back to put the tools away and is located at target location
During surface, the guiding substrate is controlled to transfer to target location by control device.
When it is implemented, filled inside the guiding substrate there are two shear pin, when guiding substrate is located on target location,
It is installed back to put the tools away by guiding substrate and 301 provides a pressure on substrate is oriented to, to cut shear pin, be oriented to substrate and fall,
Guiding substrate by unmanned remotely controlled submersible vehicle 50 is installed back and put the tools away by the well head compression fit of internal structure and target location
301 lock pin reversely rotates, it is made to be released from " J " type groove, and put the tools away 301 and guiding substrate are installed back so as to be oriented to substrate
Separation, loop wheel machine 20, which lifts and recycles the guiding substrate and install back, puts the tools away 301, so as to fulfill that will be oriented to substrate accurately and efficiently
It installs to target location.Comprehensive inspection is carried out around substrate is oriented to, it is ensured that without exception by unmanned remotely controlled submersible vehicle 50 later.
When recycling is oriented to substrate, 301 decentralizations that put the tools away are installed back to away from guiding substrate pre-determined distance such as 5 being oriented to substrate
Meter Shi controls it to stop transferring, predetermined angle is kept by two unmanned remotely controlled submersible vehicle 50 by control device, and such as 90 degree of positions are examined
It surveys guiding substrate and installs back the relative position to put the tools away between 301 and guiding substrate, by control device according to the relative position
Control is oriented to substrate and installs back 301 movements that put the tools away, when it is located at the surface for being oriented to substrate, as described in controlling control device
It is oriented to substrate to install back above 301 decentralizations to the equipment to be recycled that puts the tools away, be pacified by 50 rotary steering substrate of unmanned remotely controlled submersible vehicle
The lock pin for 301 bottoms that put the tools away is reinstalled, makes it into the slot bottom for being oriented to " J " type groove mating on substrate, substrate installation will be oriented to
Recycling tool 301 be oriented to substrate be fixedly connected, later control device be oriented to substrate install back put the tools away 301 and be oriented to substrate carry
It rises, is lifted guiding substrate until being recycled to ship ontology 10, is recycled so as to fulfill by underwater equipment high efficiency to be recycled
To ship ontology 10.Comprehensive inspection is carried out by the import of 50 surrounding target position of unmanned remotely controlled submersible vehicle later, it is ensured that nothing
It is abnormal.
In conclusion in underwater equipment installation recycling system and method provided by the invention, the underwater equipment installation
Recovery system includes ship ontology, and loop wheel machine is provided on the ship ontology, and the system also includes for installation and recycle-water
The installation retracting device of lower equipment, for the connection transfer device for connecting loop wheel machine with installing retracting device, two for prison under water
The unmanned remotely controlled submersible vehicle of construction is controlled, is additionally provided with to control the loop wheel machine and unmanned remotely controlled submersible vehicle on the ship ontology
Control device and positioning device for positioning vessel position, by using multi-functional ship ontology and unmanned remote controlled diving
Device carries out underwater equipment installation and recycling operation, and the cost of underwater operation, and two unmanned remotely controlled submersible vehicle peaces are greatly saved
It is high to fill precision, duty cycle is short, improves the flexibility of underwater operation.
It, can according to the technique and scheme of the present invention and its hair it is understood that for those of ordinary skills
Bright design is subject to equivalent substitution or change, and all these changes or replacement should all belong to the guarantor of appended claims of the invention
Protect range.
Claims (6)
1. a kind of underwater equipment installs recovery system, including ship ontology, loop wheel machine is provided on the ship ontology, feature exists
In the system also includes for installing and recycling the installation retracting device of underwater equipment, being recycled for connecting loop wheel machine with installation
The connection transfer device of device, two, for monitoring the unmanned remotely controlled submersible vehicle of construction under water, also set up on the ship ontology
It is useful for controlling the control device of the loop wheel machine and unmanned remotely controlled submersible vehicle and the positioning device for positioning vessel position；
The installation retracting device is installed back for guiding substrate and is put the tools away；
It is described be oriented to substrate and install back the top to put the tools away be provided with first connecting portion for connecting the connection transfer device,
It is described be oriented to substrate and install back the bottom to put the tools away be provided with the first fixed part for fixed guide substrate；
First fixed part is lock pin, and " J " type groove mating with the lock pin is provided on the guiding substrate.
2. underwater equipment according to claim 1 installs recovery system, which is characterized in that further includes to compensate ship sheet
Body heaves the loop wheel machine compensation device of displacement, and the loop wheel machine compensation device is electrically connected with control device.
3. underwater equipment according to claim 1 installs recovery system, which is characterized in that on the unmanned remotely controlled submersible vehicle
It is provided with the camera for shooting image and the function hand for constructing operation.
4. installation and the recovery method of a kind of underwater equipment installation recovery system as described in claim 1, which is characterized in that including
Following steps：
A, after ship ontology reaches safety work region, a unmanned remotely controlled submersible vehicle is controlled to enter water by control device and reaches target
Position；
B, guiding substrate is installed back to put the tools away by connection transfer device and is connect with loop wheel machine, substrate will be oriented to later and fix and install
The lower section of retracting device, specially rotary steering substrate install back the lock pin for the bottom that puts the tools away, and make it into be oriented on substrate and match
The slot bottom of " J " type groove of set makes guiding substrate installation retracting device be connected with being oriented to substrate, is controlled later by control device
Loop wheel machine slings installation retracting device, and under be put into water, while control another people's remote-controlled vehicle and the installation retracting device
Synchronous decentralization；
C, when installing retracting device and another unmanned remotely controlled submersible vehicle is reached away from target location pre-determined distance, by control device
Control installation retracting device stops decentralization；
D, the opposite position between predetermined angle detection installation retracting device and target location is kept by two unmanned remotely controlled submersible vehicle
It puts；
E, installation retracting device movement is controlled according to the relative position by control device, when the installation retracting device is located at mesh
During the surface of cursor position, the installation retracting device is controlled to transfer to target location by control device and installed or recycled work
Industry.
5. underwater equipment installation according to claim 4 and recovery method, which is characterized in that the step E includes:
E01, installation retracting device movement is controlled according to the relative position by control device, connected when with the installation retracting device
When the equipment to be installed connect is located at the surface of target location, the equipment to be installed is controlled to transfer to target position by control device
It puts；
E02, equipment to be installed is detached, and with the installation retracting device by equipment to be installed by two unmanned remotely controlled submersible vehicle
It installs to target location；
E03, installation retracting device is controlled to lift, and be recycled to ship ontology by control device.
6. underwater equipment installation according to claim 4 and recovery method, which is characterized in that the step E includes:
E11, installation retracting device movement is controlled according to the relative position by control device, when the installation retracting device is located at
During the surface of target location, equipment to be recycled is controlled to transfer to target location by control device；
E12, the equipment to be recycled of target location and the installation retracting device are fixed into company by two unmanned remotely controlled submersible vehicle
It connects；
E13, installation retracting device and equipment to be recycled is controlled to lift by control device, is recycled to ship ontology.
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| Application Number | Priority Date | Filing Date | Title |
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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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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610036398.3A CN105691568B (en) | 2016-01-20 | 2016-01-20 | A kind of underwater equipment installation recycling system and method |
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| CN105691568B true CN105691568B (en) | 2018-07-06 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106218837B (en) * | 2016-08-25 | 2017-12-26 | 江苏科技大学 | The underwater transportation system that a kind of hermetic type can be launched accurately |
| CN106321028A (en) * | 2016-09-22 | 2017-01-11 | 中国海洋石油总公司 | Underwater Christmas tree installing method and system |
| CN106596042B (en) * | 2016-11-14 | 2019-01-25 | 中国特种飞行器研究所 | A kind of underwater test platform |
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| CN109556645B (en) * | 2018-12-27 | 2020-12-29 | 中国船舶重工集团公司第七一0研究所 | Underwater sound equipment mounting frame capable of rotating on two planes |
| CN110542020B (en) * | 2019-01-29 | 2021-02-05 | 深圳海油工程水下技术有限公司 | Underwater testing device, system and method for deepwater sea pipe |
| CN111516806B (en) * | 2020-04-29 | 2021-02-02 | 上海中车艾森迪海洋装备有限公司 | Laying and recycling system and method for underwater equipment |
| 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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| CN102398856A (en) * | 2010-09-02 | 2012-04-04 | Dmc株式会社 | Active heave compensation system for crane operated in deep sea |
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