CN105891674B - Subsea power cable shelf depreciation position fast-positioning device and method - Google Patents
Subsea power cable shelf depreciation position fast-positioning device and method Download PDFInfo
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- CN105891674B CN105891674B CN201610218984.XA CN201610218984A CN105891674B CN 105891674 B CN105891674 B CN 105891674B CN 201610218984 A CN201610218984 A CN 201610218984A CN 105891674 B CN105891674 B CN 105891674B
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- power cable
- subsea power
- rov
- shelf depreciation
- positioning device
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
- G01R31/083—Locating faults in cables, transmission lines, or networks according to type of conductors in cables, e.g. underground
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1209—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing using acoustic measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1218—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing using optical methods; using charged particle, e.g. electron, beams or X-rays
Abstract
The invention discloses a kind of subsea power cable shelf depreciation position fast-positioning device and methods, including high voltage pulse generation device, towed linear-array sonar, ROV and moveable platform waterborne；High voltage pulse generation device is connected on the connection of subsea power cable；Moveable platform waterborne is equipped with monitoring center, acoustic marker positioning device, satellite positioning device；Monitoring center is connected with acoustic marker positioning device, satellite positioning device, communication device, towed linear-array sonar and ROV respectively；ROV is upper equipped with optical imaging apparatus, sonar array, manipulator, acoustic marker.The present invention determines the general orientation at doubtful shelf depreciation position by towing line array, then it is supported into confirmation by ROV, realize accurate, the quick positioning at shelf depreciation position, it is relatively low to subsea power cable structural requirement itself, with stronger adaptability, composite cable technical support is not needed, the construction cost of subsea power cable is reduced.
Description
Technical field
The present invention relates to a kind of subsea power cable shelf depreciation position fast-positioning device and methods, belong to power cable
Detection technique field.
Background technology
Subsea power cable is the important way of maritime power transmission.Compared with land power cable, subsea power cable
It is highly prone to the influence of complicated marine environment and Activities of Ocean and breaks down.In the normal course of operation of subsea power cable
In, due to the utilization activity to ocean of movement and the mankind of sea bed（Anchor is such as fallen, casts anchor, catch）, easily generate sea
Bottom power cable insulating layer is damaged, reduces its insulation performance.Simultaneously as the particular surroundings of ocean so that subsea power cable
More land power cable is highly prone to burn into infiltration, also results in the reduction of insulation performance.The drop of the insulation performance of power cable
It is low, easily lead to the generation of partial discharge phenomenon, great harm is brought to power cable normal operation, it is therefore desirable to Yi Zhongjian
It is single, fast and accurately method and device positions the shelf depreciation position of subsea power cable, convenient for carrying out the dimension of cable in time
Shield.
Shelf depreciation refers to only having subregion to discharge in Electric Power Equipment Insulation system under electric field action, and do not have
Have between applying alive conductor, i.e., the phenomenon that not yet breakdown.Subsea power cable shelf depreciation contains greatly
The medium heating at position of discharging is made its evaporation, effect be similar to explosion, at this point, part by transient energy during release
Electric discharge position is equivalent to a sound source, sends out sound wave.
Existing subsea power cable detection method for local discharge is mostly from cable, using composite cable skill
Art, such as distributed fiberoptic sensor is coaxially laid to subsea power cable, by dependent field information around cable（Such as pressure
Field, temperature field, electric field etc.）Acquisition to determine whether there is shelf depreciation.This method has significant limitation：On the one hand,
It is a large amount of to lay sensor, improve the construction cost of subsea power cable circuit；On the other hand, by the sensor laid
Precision limits, and is produced a very large impact to the sensitivity of Partial Discharge Detection, easily misses best maintenance time, to bring not
Necessary loss.
Invention content
It is a primary object of the present invention to overcome the deficiencies of existing technologies, a kind of subsea power cable shelf depreciation portion is provided
Position fast-positioning device and method can carry out subsea power cable shelf depreciation position quick, accurate positionin.
In order to achieve the above object, the technical solution adopted in the present invention is：
Subsea power cable shelf depreciation position fast-positioning device, which is characterized in that including high voltage pulse generation device,
Towed linear-array sonar, ROV and moveable platform waterborne；
The high voltage pulse generation device is connected on the estuary of subsea power cable or the connection of marine outfall, is used for
Generate high-voltage pulse signal；
The moveable platform waterborne is equipped with monitoring center, acoustic marker positioning device, satellite positioning device and communication dress
It sets；
The monitoring center respectively with acoustic marker positioning device, satellite positioning device, communication device, towed linear-array sonar
It is connected with ROV；
Equipped with optical imaging apparatus, sonar array, manipulator, acoustic marker on the ROV, the optical imaging apparatus,
Sonar array and manipulator are connected with monitoring center respectively.
Subsea power cable shelf depreciation above-mentioned position fast-positioning device, which is characterized in that described waterborne removable
Towed linear-array sonar draw off gear and ROV draw off gears are additionally provided on platform；The towed linear-array sonar draw off gear is used
In towed linear-array sonar is positioned in water and draws or is taken out from water, the ROV draw off gears are for placing ROV
Yu Shuizhong simultaneously draws or is taken out from water.
Subsea power cable shelf depreciation above-mentioned position fast-positioning device, which is characterized in that described waterborne removable
Platform is ship or naval vessels.
Subsea power cable shelf depreciation above-mentioned position fast-positioning device, which is characterized in that the towing line array
Sonar draw off gear and ROV draw off gears are winch or crane.
Subsea power cable shelf depreciation above-mentioned position fast-positioning device, which is characterized in that the satellite positioning dress
It is same equipment to set with communication device.
Subsea power cable shelf depreciation above-mentioned position fast-positioning device, which is characterized in that the satellite positioning dress
It is set to the big-dipper satellite alignment system with communication function.
Subsea power cable part based on power subsea power cable shelf depreciation above-mentioned position fast-positioning device
Discharge position method for rapidly positioning, which is characterized in that includes the following steps：
S001 places high voltage pulse generation device, controls it and generates high-voltage pulse signal, subsea power cable is locally put
The sound frequency range that electric position is sent out is controlled；
S002 discharges towed linear-array sonar by towed linear-array sonar draw off gear, and moveable platform waterborne is coastal
Bottom power cable layout path carries out cruise and starts inspection；
S003 judges whether to complete inspection, if completed, terminates inspection work, if it is not, continuing S004
Step；
S004, towed linear-array sonar collect the subsea power cable shelf depreciation portion controlled by high-voltage pulse signal
The sound frequency band signals that position is sent out, and upload to monitoring center；
S005, monitoring center analyze collected acoustical signal and obtain its directive property；
S006 judges whether directive property obtained in the previous step is notable；If directive property is notable, S007 is entered step；It is no
Then, then return to step S002, continues inspection；
S007 discharges ROV by ROV draw off gears and is supported into confirmation；
S008 is confirmed whether there is partial discharge phenomenon, if without partial discharge phenomenon, enters step S011, otherwise,
Enter step S009；
S009, ROV place acoustic marker and local discharge part position are marked；
S010, monitoring center calculate the geographical coordinate position and depth information of acoustic marker, and are sent to subsea power cable
Maintenance personnel；
S011, ROV return to inspection ship, and enter step S002 and continue inspection, until completing inspection.
Subsea power cable shelf depreciation above-mentioned position method for rapidly positioning, which is characterized in that the step S003 sentences
It is disconnected when whether completing inspection, judge especially by following method, moveable platform waterborne passes through from the position in electronic chart
It sets and position of the subsea power cable in sea chart, to judge whether inspection work is completed.
Subsea power cable shelf depreciation above-mentioned position method for rapidly positioning, which is characterized in that in the step S005
The method that analysis acoustical signal obtains its directive property is adaptive spatial filtering class algorithm or Estimation of Spatial Spectrum class algorithm.
Subsea power cable shelf depreciation above-mentioned position method for rapidly positioning, which is characterized in that in the step S007
Release ROV is supported into when confirming, ROV is navigated by the sonar array carried thereon, to doubtful subsea power cable
Shelf depreciation position is moved, and after, is observed by the optical imaging apparatus of its carrying, is confirmed whether have shelf depreciation existing
As.
Compared with prior art, subsea power cable shelf depreciation position fast-positioning device of the invention and method, tool
There is following advantageous effect：
（1）It is equivalent to the characteristic of sound source using subsea power cable shelf depreciation position, is determined and is doubted by towing line array
It like the general orientation at shelf depreciation position, is then supported into confirmation by ROV, and is marked by special acoustic marker,
Realize accurate, the quick positioning at shelf depreciation position.
（2）Start with from subsea power cable partial discharge phenomenon, to determine shelf depreciation position, to subsea power cable sheet
Body structure requirement is relatively low, has stronger adaptability.
（3）Composite cable technical support is not needed, the construction cost of subsea power cable is reduced.
Description of the drawings
Fig. 1 is the structural schematic diagram of the subsea power cable shelf depreciation position fast-positioning device of the present invention.
Fig. 2 is the overall flow figure of the subsea power cable shelf depreciation position method for rapidly positioning of the present invention.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
As shown in Figure 1, a kind of subsea power cable shelf depreciation position fast-positioning device, including high-voltage pulse fill
Set E001, towed linear-array sonar E002, ROV E010 and inspection ship E006.
High voltage pulse generation device E001 is connected on the estuary of subsea power cable D001 or the connection of marine outfall,
High-voltage pulse signal for generating special parameter, the parameter of high-voltage pulse signal is according to the case where marine site and subsea power cable
Type be determined.
Inspection ship E006 is defended equipped with monitoring center E005, acoustic marker positioning device E007 and the Big Dipper with communication function
Star positioning system E008.Monitoring center E005 respectively with acoustic marker positioning device E007, big-dipper satellite alignment system E008, towing
Towed array sonar E002 is connected with ROVE010.ROV E010 are to have cable remote underwater robot, are set thereon equipped with optical imagery
Standby, sonar array, manipulator, acoustic marker E004, optical imaging apparatus, sonar array and manipulator respectively with monitoring center E005
It is connected.Optical imaging apparatus is used to see whether that, there are partial discharge phenomenon, sonar array is used to connect close to subsea power cable
The signal of target sound source is received, guides the ROV directions of motion, manipulator is for placing acoustic marker E004.
Towed linear-array sonar draw off gear E003 and ROV draw off gear E009 is additionally provided on inspection ship E006；Tow line
Array sonar draw off gear E003 is used to that towed linear-array sonar E002 to be positioned in water and draw or take out from water,
ROVE010 for being positioned in water and drawing or taken out from water by ROV draw off gears E009.Towed linear-array sonar folding and unfolding
Device E003 and ROV draw off gear E009 is winch or crane, but is not limited to both equipment.
Towed linear-array sonar E002 is for acquiring acoustical signal.High voltage pulse generation device E001 can be specific by generating
The high-voltage pulse signal of parameter, the sound control that subsea power cable shelf depreciation position is sent out is in specific frequency range, towing
The acoustical signal frequency of acquisition is limited in the frequency range by towed array sonar E002, can exclude the sound letter that other sound sources of seabed generate
Number interference, to improve the accuracy rate of detection, collected acoustical signal is sent into monitoring center by towed linear-array sonar E002.
The monitoring center E005 analyses collected acoustical signals of towed linear-array sonar E002 obtain its directive property, determine seabed
After the general orientation at the electric discharge position of power cable, ROV draw off gears release ROV is supported into confirmation.The sound that ROV passes through carrying
Array is received to navigate, is moved to doubtful subsea power cable shelf depreciation position, after, passes through the optical imagery of carrying
Equipment carries out having seen whether partial discharge phenomenon, believes if it is confirmed that there is partial discharge phenomenon then to place special sound by manipulator
Mark label electric discharge position.
It discharges after the completion of part mark, monitoring center E005 obtains inspection ship by big-dipper satellite alignment system E008
The geographic coordinate information of E006 obtains the orientation and distance of the acoustic marker E004 that ROV is placed by acoustic marker positioning device E007
Information.Monitoring center E005 is by the geographic coordinate information of inspection ship E006 and the orientation of acoustic marker that get and apart from letter
Breath calculates the final geographic coordinate information and depth information of acoustic marker E004, and will by big-dipper satellite alignment system E008
The final position information of calculated acoustic marker E004（That is the location information of shelf depreciation position D002）It is sent to sub-sea dynamic
Cable maintenance personnel.
Based on the localization method of above-mentioned subsea power cable shelf depreciation position fast-positioning device, flow chart such as Fig. 2
It is shown, include the following steps：
S001 places high voltage pulse generation device, controls it and generates high-voltage pulse signal, subsea power cable is locally put
The sound control that electric position is sent out is in specific frequency range；
S002 discharges towed linear-array sonar by towed linear-array sonar draw off gear, and inspection ship is along seabed power electric
Cable layout path carries out cruise and starts inspection；Subsea power cable can preserve it and be laid with coordinate information when constructing, by these
Coordinate information is imported into electronic chart, you can is driven inspection ship and is cruised along subsea power cable layout path；
S003 judges whether to complete inspection, position and sub-sea dynamic electricity of the inspection ship by oneself in electronic chart
Whether position of the cable in sea chart completes to judge that inspection works, if completed, terminates inspection work, if it is not, after
It is continuous to carry out S004 steps；
S004, towed linear-array sonar collect the subsea power cable shelf depreciation portion controlled by high-voltage pulse signal
The sound frequency band signals that position is sent out, and upload to monitoring center；
S005, monitoring center analyze collected acoustical signal and obtain its directive property, and the acoustical signal by analyzing acquisition obtains
The method of its directive property can be including but not limited to adaptive spatial filtering class algorithm and Estimation of Spatial Spectrum class algorithm；
S006 judges whether directive property obtained in the previous step is notable；If directive property is notable, S007 is entered step；It is no
Then, then return to step S002 continues inspection, and can the whether significant criterion of directive property to accurately distinguish out a certain doubt
Subject to azimuth like the sound source of shelf depreciation position generation；
S007 discharges ROV by ROV draw off gears and is supported into confirmation, ROV by the sonar array carried thereon come into
Row navigation, is moved to doubtful subsea power cable shelf depreciation position, after, is carried out by the optical imaging apparatus of its carrying
Observation；
S008 is confirmed whether there is partial discharge phenomenon, if without partial discharge phenomenon, enters step S011, otherwise,
Enter step S009；
S009, ROV place acoustic marker and local discharge part position are marked, the manipulator carry out sound letter that ROV passes through carrying
Target is placed, and acoustic marker can generate the acoustical signal of specific frequency within a certain period of time, for coordinating inspection ship to determine its position
Information and for guide subsea power cable maintenance personnel reach designated position safeguard；
S010, monitoring center calculate the geographical coordinate position and depth information of acoustic marker, and are sent to subsea power cable
Maintenance personnel, monitoring center obtain the geographic coordinate information of inspection ship, pass through acoustic marker positioning device by satellite positioning device
Obtain the orientation and range information of the acoustic marker that ROV is placed, the geographic coordinate information that monitoring center passes through the inspection ship got
And the orientation and range information of acoustic marker, the final geographic coordinate information and depth information of acoustic marker are calculated, is then passed through
The final position information of calculated acoustic marker is sent to subsea power cable and safeguards people by the big-dipper satellite alignment system of carrying
Member；
S011, ROV return to inspection ship, and enter step S002 and continue inspection, until completing inspection.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. subsea power cable shelf depreciation position fast-positioning device, which is characterized in that including high voltage pulse generation device
（E001）, towed linear-array sonar（E002）、ROV（E010）With moveable platform waterborne（E006）；
The high voltage pulse generation device（E001）It is connected on subsea power cable（D001）Estuary or marine outfall connect
Place is refuted, for generating high-voltage pulse signal；
The moveable platform waterborne（E006）It is equipped with monitoring center（E005）, acoustic marker positioning device（E007）, satellite
Position device（E008）And communication device；
The monitoring center（E005）Respectively with acoustic marker positioning device（E007）, satellite positioning device（E008）, communication device,
Towed linear-array sonar（E002）And ROV（E010）It is connected；
The ROV（E010）On equipped with optical imaging apparatus, sonar array, manipulator, acoustic marker（E004）, the optics at
As equipment, sonar array and manipulator respectively with monitoring center（E005）It is connected.
2. subsea power cable shelf depreciation according to claim 1 position fast-positioning device, which is characterized in that described
Moveable platform waterborne（E006）On be additionally provided with towed linear-array sonar draw off gear（E003）With ROV draw off gears（E009）；
The towed linear-array sonar draw off gear（E003）For by towed linear-array sonar（E002）Be positioned in water and draw or
Person takes out from water, the ROV draw off gears（E009）For by ROV（E010）It is positioned in water and draws or taken from water
Go out.
3. subsea power cable shelf depreciation according to claim 1 position fast-positioning device, which is characterized in that described
Moveable platform waterborne（E006）For ship or naval vessels.
4. subsea power cable shelf depreciation according to claim 2 position fast-positioning device, which is characterized in that described
Towed linear-array sonar draw off gear（E003）With ROV draw off gears（E009）For winch or crane.
5. subsea power cable shelf depreciation according to claim 1 position fast-positioning device, which is characterized in that described
Satellite positioning device（E008）It is same equipment with communication device.
6. subsea power cable shelf depreciation according to claim 5 position fast-positioning device, which is characterized in that described
Satellite positioning device（E008）For the big-dipper satellite alignment system with communication function.
7. the seabed based on the subsea power cable shelf depreciation position fast-positioning device described in claim 1-6 any one
Power cable shelf depreciation position method for rapidly positioning, which is characterized in that include the following steps：
S001 places high voltage pulse generation device, controls it and generates high-voltage pulse signal, by subsea power cable shelf depreciation portion
The sound frequency range that position is sent out is controlled；
S002, discharges towed linear-array sonar, and moveable platform waterborne carries out cruise along subsea power cable layout path
Start inspection；
S003 judges whether to complete inspection, if completed, terminates inspection work, if it is not, continuing S004 steps
Suddenly；
S004, towed linear-array sonar collect the subsea power cable shelf depreciation position hair controlled by high-voltage pulse signal
The sound frequency band signals gone out, and upload to monitoring center；
S005, monitoring center analyze collected acoustical signal and obtain its directive property；
S006 judges whether directive property obtained in the previous step is notable；If directive property is notable, S007 is entered step；Otherwise, then
Return to step S002, continues inspection；
S007, release ROV are supported into confirmation；
S008 is confirmed whether there is partial discharge phenomenon, if without partial discharge phenomenon, enters step S011, otherwise, enters
Step S009；
S009, ROV place acoustic marker and local discharge part position are marked；
S010, monitoring center calculate the geographical coordinate position and depth information of acoustic marker, and are sent to subsea power cable maintenance
Personnel；
S011, ROV return to inspection ship, and enter step S002 and continue inspection, until completing inspection.
8. subsea power cable shelf depreciation according to claim 7 position method for rapidly positioning, which is characterized in that described
When step S003 judges whether to complete inspection, judge especially by following method, moveable platform waterborne passes through from electronics
The position of position and subsea power cable in sea chart in sea chart, to judge whether inspection work is completed.
9. subsea power cable shelf depreciation according to claim 7 position method for rapidly positioning, which is characterized in that described
It is that adaptive spatial filtering class algorithm or Estimation of Spatial Spectrum class are calculated that the method that acoustical signal obtains its directive property is analyzed in step S005
Method.
10. subsea power cable shelf depreciation according to claim 7 position method for rapidly positioning, which is characterized in that institute
It states and discharges ROV in step S007 and supported into when confirmation, ROV is navigated by the sonar array carried thereon, to doubtful
Subsea power cable shelf depreciation position is moved, and after, is observed, is confirmed whether by the optical imaging apparatus of its carrying
There is partial discharge phenomenon.
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| CN201610218984.XA CN105891674B (en) | 2016-04-08 | 2016-04-08 | Subsea power cable shelf depreciation position fast-positioning device and method |
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| CN106741658B (en) * | 2016-11-09 | 2018-03-13 | 哈尔滨工程大学 | A kind of acoustic marker automatic distributing and discharging structure |
| CN106952554A (en) * | 2017-03-22 | 2017-07-14 | 佛山市三水区希望火炬教育科技有限公司 | A kind of special civil-military inosculation fishing boat sonar system of teenager's research in defense-related science and technology |
| CN109633556A (en) * | 2018-12-12 | 2019-04-16 | 上海无线电设备研究所 | A kind of sea cable monitoring and protecting system |
| CN109521341A (en) * | 2018-12-14 | 2019-03-26 | 杭州晟冠科技有限公司 | A kind of partial discharge on-Line Monitor Device |
| CN110304207A (en) * | 2019-07-16 | 2019-10-08 | 上海船舶研究设计院（中国船舶工业集团公司第六0四研究院） | Special measurement ship for submarine pipeline and cable inspection upkeep operation |
| CN111239949A (en) * | 2020-03-26 | 2020-06-05 | 中邮建技术有限公司 | Submarine optical cable operation device |
| CN112281967A (en) * | 2020-10-20 | 2021-01-29 | 水利部交通运输部国家能源局南京水利科学研究院 | ROV-based (remote operated vehicle-based) dredging device and method for hectometer-level deep water environment |
| CN116148614B (en) * | 2023-04-18 | 2023-06-30 | 江苏明月软件技术股份有限公司 | Cable partial discharge detection system and method based on unmanned mobile carrier |
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