CN108375625B - Jacket corrosion detection equipment without magnetic field interference and corrosion detection method - Google Patents
Jacket corrosion detection equipment without magnetic field interference and corrosion detection method Download PDFInfo
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- CN108375625B CN108375625B CN201810115733.8A CN201810115733A CN108375625B CN 108375625 B CN108375625 B CN 108375625B CN 201810115733 A CN201810115733 A CN 201810115733A CN 108375625 B CN108375625 B CN 108375625B
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- G—PHYSICS
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- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/60—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating electrostatic variables, e.g. electrographic flaw testing
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- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
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Abstract
The invention discloses jacket corrosion detection equipment without magnetic field interference, which comprises a control and data real-time interaction system, a release recovery system, an umbilical cable and a jacket corrosion detection crawling robot; the jacket corrosion detection crawling robot is used for completing detection of jacket sea wave splash zone and underwater area corrosion conditions, the control and data real-time interaction system is used for controlling the robot in real time, analyzing and storing measurement data detected by the corrosion detection unit and providing power for the jacket corrosion detection crawling robot, and the recovery system is used for distributing and recovering the robot. The invention also discloses a jacket corrosion detection method without magnetic field interference, which realizes full-range detection of the ocean platform jacket through the jacket corrosion detection equipment. The invention realizes the ocean platform jacket corrosion electric field detection technology without electromagnetic interference and motion interference, and ensures the accuracy of detection results.
Description
Technical Field
The invention belongs to the technical field of ocean platform detection, and particularly relates to jacket corrosion detection equipment and a jacket corrosion detection method without magnetic field interference.
Background
With the advent of the ocean economic age, various offshore facilities, such as ocean platform jackets, cross-sea bridges, sea dike dams, ships, deep sea submarines and the like, are increasingly arranged, and most of ocean structures adopt combined protection of coating and cathodic protection. The metal structure of the ocean platform is influenced by factors such as sunlight, sea wind, wave impact, a complex sea water system, day-night and season temperature change, marine organism corrosion and the like, so that the corrosion rate of the ocean platform is high, and the corrosion resistance of the metal material is changed differently according to different exposure conditions. The splash zone is affected by wind waves, sunlight and tide fluctuation factors, the surface of the steel structure is dry and wet alternately, and in addition, due to sufficient oxygen, the impact of sea waves, the impact and corrosion of floaters and the corrosion of seawater electrolyte, the splash zone of the jacket platform is often the most serious part of the platform corrosion, and in order to ensure the safe operation of the marine structure, a reasonable detection means is required to detect the corrosion condition of the jacket.
The demand of the new ocean platform jacket for the cathode protection monitoring system is not less than 30 sleeves every year in China; the old jacket has hundreds of thousands of seats, the existing cathodic protection detection system must be installed on the new jacket, and the full life detection of the jacket cannot be ensured, so that no effective means for maintaining, prolonging the life and monitoring the safety of the jacket of the old platform exists.
At present, the underwater robot platform is used for detecting the corrosion of the jacket at home and abroad, and mostly, the manual contact type electric field detection mode is adopted to acquire the corrosion detection data of the jacket and the submarine pipeline. At present, research and attempt of jacket detection by using underwater robots at home and abroad are just started, and submarine observation network cables are laid by using the high DOLPHIN underwater robots in Japan in 2016, so that the underwater robots are strong in operation capability and various in functions, but cannot be suitable for corrosion detection of jackets due to strong electromagnetic interference environments. The UK Sub-Atlantic operation type underwater robot has good prospect in oil platform varnish and underwater platform building detection and monitoring, but the Sub-Atlantic operation type underwater robot cannot provide relatively stable jacket corrosion detection conditions because the Sub-Atlantic operation type underwater robot cannot crawl on a jacket. The H2000-ROV produced by the France ECA company has the advantages of small volume, compact structure and frame type modularized design, and is provided with optical imaging equipment and a DIDSON double-frequency identification sonar device in the United states, so that the completion of operation tasks and the collection of related data can be ensured, but the H2000-ROV cannot carry a detection device and cannot detect the corrosion condition of a splash zone of a jacket platform. The domestic advanced domestic underwater robot is a "sea horse number" which is developed successfully by the domestic dominant units of Shanghai university, zhejiang university, tongji university, harbin engineering university, qingdao ocean chemical institute and the like in a co-operation way, and is provided with a multifunctional manipulator, an underwater camera shooting system, a sonar positioning system, a replaceable operation chassis and the like, however, the "sea horse number" still cannot meet the requirements of jacket corrosion detection due to the complex and strong electromagnetic environment and huge volume.
In summary, no special underwater robot platform for detecting the health state of the jacket exists at home and abroad, and conventional nondestructive detection technologies such as a traditional underwater television, a water inlet structural member testing method, underwater ultrasonic thickness measurement and the like are still the main means of jacket corrosion detection and potential detection. However, most of the conventional underwater detection technologies are point-to-point detection modes, only the condition within the coverage area of the sensor can be detected, the detection efficiency is low, and comprehensive corrosion condition detection of the jacket is difficult.
It is seen that there is a need for further improvements and enhancements in the art.
Disclosure of Invention
The invention provides jacket corrosion detection equipment and a corrosion detection method without magnetic field interference so as to realize full-range detection of the ocean platform jacket.
The technical scheme adopted by the invention is as follows:
a jacket corrosion detection device without magnetic field interference comprises a control and data real-time interaction system, a release recovery system, an umbilical cable and a jacket corrosion detection crawling robot; the jacket corrosion detection crawling robot is used for completing detection of corrosion conditions of a jacket sea wave splash zone and an underwater area and comprises a main control system, a robot body, a working chassis, a hydraulic enclasping unit, a sliding rail type detection carrying unit and a corrosion detection unit; the control and data real-time interaction system comprises a shore station display and operation unit and a shore-based power supply unit, and is responsible for real-time control of the jacket corrosion detection crawling robot, analysis and storage of measurement data detected by the corrosion detection unit and power supply for the jacket corrosion detection crawling robot; the umbilical cable is a medium for controlling connection between the real-time data interaction system and the jacket corrosion detection crawling robot and is used for realizing transmission of signals, data and energy between the real-time data interaction system and the jacket corrosion detection crawling robot, and the release recovery system is used for laying and recovering the jacket corrosion detection crawling robot.
The operation chassis is arranged at the bottom end of the robot body, the robot body is provided with a movement mechanism, the movement mechanism is controlled by the main control system, and the movement mechanism drives the robot body and the operation chassis to finish forward, backward, left turn, right turn, floating, diving and turning actions under the control of the main control system; the hydraulic enclasping unit is arranged on the operation chassis, is in signal connection with the main control system and is used for controlling the enclasping action of the hydraulic enclasping unit, so that the operation chassis enclasps the jacket through the hydraulic enclasping unit to realize the enclasping and climbing movement; the slide rail type detection carrying unit comprises a guide rail mechanism, a slide block and a heavy hammer, wherein the guide rail mechanism comprises an outer guide rail and an inner guide rail which can slide along the outer guide rail, the outer guide rail is arranged in a working chassis, the heavy hammer is connected with the slide block and is positioned below the slide block, the slide rail type detection carrying unit further comprises a first linear driving mechanism for driving the slide block to move from the bottom end of the inner guide rail to the top end of the inner guide rail and a second linear driving mechanism for driving the inner guide rail to do linear reciprocating motion along the outer guide rail, the corrosion detection unit is arranged on the slide block and synchronously moves along with the slide block, the center of the bottom of the working chassis is hollowed out, the hollowed-out area is opposite to the to-be-detected area of the jacket, and the corrosion detection unit is opposite to the hollowed-out area of the working chassis when moving along with the slide block; the first linear driving mechanism and the second linear driving mechanism are controlled by the main control system, the inner guide rail can extend out from the operation chassis or be completely positioned in the operation chassis under the action of the second linear driving mechanism, when the sliding block moves to the top limit position of the inner guide rail under the drive of the first linear driving mechanism, the main control system controls the first linear driving mechanism and the second linear driving mechanism to stop running, and the sliding block slides down along the inner guide rail under the action of the gravity of the heavy hammer together with the corrosion detection unit; when the inner guide rail is positioned in the operation chassis, the corrosion detection unit detects the underwater region part of the jacket within the sliding travel range of the sliding block along with the sliding block; when the inner guide rail extends out of the working chassis, the corrosion detection unit detects a jacket splash zone part in the sliding travel range of the sliding block when sliding down along with the sliding block.
The top of interior guide rail and the top of outer guide rail all are provided with limit sensor, and limit sensor transmits the signal that detects to main control system in real time, and main control system is according to the operation of the signal control first, second linear drive mechanism that limit sensor detected.
The hydraulic enclasping unit comprises a hydraulic oil station and at least one group of hydraulic enclasping mechanisms, wherein the hydraulic oil station is arranged on the robot body and supplies hydraulic oil for the hydraulic enclasping mechanisms, each hydraulic enclasping mechanism comprises enclasping mechanical arms symmetrically arranged on two sides of the operation chassis and used for enclasping the jacket, each hydraulic enclasping mechanism further comprises two symmetrically arranged first hydraulic rods, one first hydraulic rod correspondingly drives one enclasping mechanical arm, the top end of each enclasping mechanical arm is hinged with the first hydraulic rod used for driving the operation of the first hydraulic rod, and the two opposite enclasping mechanical arms are driven by the first hydraulic rods to realize enclasping or loosening of the jacket; the pipe holding manipulator is used for being provided with a pressure sensor on the surface of one side contacted with the jacket.
The first linear driving mechanism comprises a motor, a conveyor belt, an upper belt pulley and a lower belt pulley, wherein the upper belt pulley and the lower belt pulley are respectively arranged at the top end and the bottom end of the inner guide rail, the conveyor belt is sleeved on the upper belt pulley and the lower belt pulley, the upper belt pulley or the lower belt pulley is driven to rotate by the motor, the sliding block is installed and fixed on the conveyor belt, and the start and stop of the motor are controlled by the main control system.
The second linear driving mechanism comprises a second hydraulic rod, and one end of the second hydraulic rod is connected with the inner guide rail and drives the inner guide rail to do linear reciprocating motion.
The corrosion detection unit comprises a detection probe, a searchlight, a camera and a reference electrode, wherein the detection probe, the searchlight and the camera are arranged at one side of the bottom end of the sliding block facing to a jacket to-be-detected area; the reference electrode is arranged on the surface of one side of the pipe holding manipulator, which is used for being contacted with the jacket.
The robot body is provided with a sensor unit, the sensor unit comprises a water pressure sensor and an electronic compass, the water pressure sensor is used for determining the underwater position of the robot body, and the electronic compass is used for determining the gesture of the robot body.
The top of the robot body is provided with a plurality of floating blocks; the motion mechanism comprises four vertical thrusters and four horizontal thrusters, the four vertical thrusters are respectively arranged on the left side and the right side of the front end and the left side and the right side of the rear end of the robot body, the four horizontal thrusters are respectively arranged on the left side and the right side of the front end and the left side and the right side of the rear end of the robot body, and the four vertical thrusters and the four horizontal thrusters are controlled by the main control system.
The invention also discloses a jacket corrosion detection method without magnetic field interference, which realizes full-range detection of the ocean platform jacket through the jacket corrosion detection equipment, and comprises the following steps:
step 1, a coast worker puts the jacket corrosion detection crawling robot into water through a release recovery system, controls the robot to move to a near-water surface target area to be detected of the jacket through a control and data real-time interaction system, and controls the jacket corrosion detection crawling robot to adjust the posture after reaching the target area, so that the posture of the jacket corrosion detection crawling robot is kept at the same angle as the jacket, and a pipe holding state is achieved;
step 2, the control and data real-time interaction system controls the hydraulic enclasping unit to realize the enclasping action;
step 3, the sliding rail type detection carrying unit starts to work, the sliding block slides upwards along the inner guide rail, meanwhile, the inner guide rail slides upwards along the outer guide rail, when the sliding block moves to the limit position above the inner guide rail and the inner guide rail moves to the limit position above the outer guide rail, the first linear driving mechanism is powered off, the sliding block slides downwards along the inner guide rail under the action of gravity of the heavy hammer, meanwhile, the corrosion detection unit starts to work, detection of a pipeline in a spray splashing area above the water surface is realized, detection data is transmitted to a control and data real-time interaction system on the shore in real time, display and storage work of detection data in the spray splashing area are realized, and after detection, the inner guide rail is retracted to the inside of the operation chassis under the action of the second linear driving mechanism;
step 4, each hydraulic enclasping and loosening are carried out, a control and data real-time interaction system controls the jacket corrosion detection crawling robot to move downwards along the jacket, and after the crawling robot moves to the next body position, the pipe enclasping action is realized again through the hydraulic enclasping unit;
step 5, the sliding rail type detection carrying unit starts to work, the sliding block upwards slides along the inner guide rail under the action of the first linear driving mechanism, the inner guide rail does not act at the moment, when the sliding block moves to the limit position above the inner guide rail, the first linear driving mechanism is automatically powered off, the sliding block downwards performs passive sliding along the inner guide rail under the action of gravity of the lower heavy hammer, meanwhile, the corrosion detection unit starts to work, pipeline detection on a enclasping area of the robot body is realized, detection data is transmitted to a control and data real-time interaction system on the shore in real time, and display and storage work of detection data in an underwater area are realized;
and 6, repeating the step 4 and the step 5, thereby completing the corrosion detection work of the spray splash zone and the underwater area of the whole jacket.
By adopting the technical scheme, the invention has the following beneficial effects:
on one hand, the underwater robot is inevitably influenced by water flow and attachments on the jacket in the pipe climbing process, so that the relative positions of the underwater robot and the jacket surface are continuously changed, the stability of detection data is disturbed, and on the other hand, the detection of a corrosion electric field is seriously influenced by electromagnetic fields generated by electromagnetic elements such as a propeller on the robot. Therefore, abnormality of the detected data cannot be determined to be caused by abnormality of the corrosive electric field and also by abrupt change of motion or electromagnetic interference. The invention well solves the problem of inaccurate detection data caused by the electromagnetic interference and the motion interference.
According to the hydraulic clamping unit, the hydraulic clamping unit is used for clamping the jacket and the sliding block to passively slide under the action of gravity of the heavy hammer, so that the two interferences are effectively avoided. According to the invention, the corrosion detection unit does not detect when the robot crawls, and detects when the corrosion detection unit slides down along with the sliding block synchronously after hydraulic enclasping, so that the movement interference of the robot is avoided. Meanwhile, after hydraulic enclasping is adopted, the robot body cannot generate electromagnetic interference, when the sliding block actively slides upwards under the action of the motor and the conveyor belt, the corrosion detection unit does not detect, when the sliding block passively sinks, the motor is closed, the electromagnetic interference is not generated, and the corrosion detection unit starts to detect at the moment, so that the electromagnetic interference is thoroughly avoided, weak electric field signals which are difficult to detect are effectively detected, and the accuracy of detection data is ensured.
In addition, the hydraulic enclasping unit is adopted to realize the enclasping and the loosening of the jacket, so that the difficulty in detecting the underwater robot crossing the jacket node area is solved, and the full-range detection of the underwater robot on the jacket is realized. The inner guide rail can extend to the outer side of the operation chassis along the outer guide rail, so that the problem that the underwater robot detects the corrosion condition of the jacket in the near-water surface area under the condition of no water outlet is solved.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic diagram of the system of the present invention.
Fig. 3 is a schematic diagram illustrating an operating state of an embodiment of the present invention.
Fig. 4 is a rear view of an embodiment of the present invention.
Fig. 5 is a bottom view of one embodiment of the present invention for detecting a jacket spray splash zone using the present invention.
FIG. 6 is a schematic diagram illustrating another working state of an embodiment of the present invention.
Fig. 7 is a bottom view of one embodiment of the present invention for detecting a jacket in an underwater region using the present invention.
Fig. 8 is a schematic diagram of the working principle of the hydraulic enclasping unit in the present invention.
Wherein, the liquid crystal display device comprises a liquid crystal display device,
1. robot body 2, floating block 3, reference electrode 4, hydraulic oil station 5, vertical propeller 6, horizontal propeller 7, operation chassis 8, first hydraulic rod 9, pipe holding manipulator 10, pressure sensor 11, outer guide rail 12, inner guide rail 13, heavy hammer 14, sliding block 15, camera 16, detection probe 17, searchlight 18, motor 19, limit sensor 20, second hydraulic rod 21, control and data real-time interaction system 22, release recovery system 23, umbilical cable 24, jacket corrosion detection crawling robot
Detailed Description
The invention will be described in further detail with reference to the drawings and specific examples, but the invention is not limited to these examples.
As shown in fig. 1 to 8, a jacket corrosion detection apparatus without magnetic field interference includes a control and data real-time interaction system 21, a release recovery system 22, an umbilical 23, and a jacket corrosion detection crawling robot 24.
The control and data real-time interaction system 21 comprises a shore station display and operation unit and a shore-based power supply unit, and is responsible for real-time control of the jacket corrosion detection crawling robot 24, analysis and storage of measurement data detected by the corrosion detection unit and power supply of the jacket corrosion detection crawling robot.
Specifically, as shown in fig. 2, the shore station display and operation unit includes an external input device, a PC, an external display, a collection terminal and a first power carrier module; the shore station power supply unit comprises a distribution box and a power conversion module. The distribution box supplies power to a power supply unit through the power conversion module and the first power carrier module. The external input device is connected with the PC, the PC transmits control signals to the first power carrier module, and data acquisition and control signal intercommunication is realized between the acquisition terminal and the PC.
The umbilical 23 is a medium for controlling connection with the data real-time interaction system and the jacket corrosion detection crawling robot 24, and is used for realizing signal, data and energy transmission between the control and data real-time interaction system and the jacket corrosion detection crawling robot.
The release recovery system 22 is used to deploy and recover the jacket corrosion detection crawling robot 24.
The jacket corrosion detection crawling robot 24 is used for completing detection of corrosion conditions of a jacket sea wave splash zone and an underwater area, and the jacket corrosion detection crawling robot 24 comprises a main control system, a robot body 1, a working chassis 7, a hydraulic enclasping unit, a sliding rail type detection carrying unit and a corrosion detection unit.
The robot body 1 adopts an open frame structure so as to carry various instruments and equipment, and the robot body 1 is made of an aluminum alloy material so as to lighten the gravity. The top of robot body 1 is provided with a plurality of kicking blocks 2, and each kicking block 2 all adopts glass bead buoyancy material to provide quiet buoyancy for whole robot.
The robot body 1 is provided with a movement mechanism, and the movement mechanism is controlled by the main control system. Specifically, the motion mechanism includes four vertical thrusters 5 and four horizontal thrusters 6, the four vertical thrusters 5 are respectively disposed on the left and right sides of the front end and the left and right sides of the rear end of the robot body 1, and the four horizontal thrusters 6 are respectively disposed on the left and right sides of the front end and the left and right sides of the rear end of the robot body 1. The main control system controls the four vertical thrusters 5 and the four horizontal thrusters 6 through an electronic speed regulator.
The symmetrical structural layout of the vertical propeller 5 and the horizontal propeller 6 ensures the realization of basic actions such as forward movement, backward movement, left rotation, right rotation, floating, diving and the like of the robot, and ensures the stability of the actions. The robot body 1 can realize the actions with high difficulty such as left-right overturning, pitching overturning and the like of the whole robot through the cooperation of the vertical thrusters 5 at the left end, the right end, the front end and the rear end.
The robot body 1 is further provided with a sensor unit, the sensor unit comprises a water pressure sensor and an electronic compass, the water pressure sensor is used for determining the underwater position of the robot body 1, and the electronic compass is used for determining the gesture of the robot body 1. The water pressure sensor and the electronic compass transmit detected information to the main control system in real time, and the main control system respectively controls each vertical propeller 5 and each horizontal propeller 6 to realize the adjustment of the underwater position and the underwater posture of the robot.
The robot body 1 further comprises a power supply unit, a transmission unit and a vision unit. The power supply unit comprises a power supply module and a voltage stabilizing module, wherein the power supply module receives power from the first power carrier module and transmits the power to the voltage stabilizing module to realize voltage stabilization, and then the power is transmitted to each power utilization part of the jacket corrosion detection crawling robot. The transmission unit comprises two image transmission modules, a data transmission module, a switch and a second power carrier module. The vision unit comprises a digital camera and a searchlight. The digital camera transmits the detected information to the image transmission and data transmission module in real time, and transmits the detected information to the second power carrier module through the switch.
The working chassis 7 is arranged at the bottom end of the robot body 1. The top end of the operation chassis 7 is detachably connected with the bottom end of the robot body 1. The front end and the rear end of the working chassis 7 are of an open structure. The bottom center of the operation chassis 7 is a hollowed-out area, so that the corrosion detection unit can conveniently and smoothly detect the health state information of the jacket.
The hydraulic enclasping unit is arranged on the operation chassis 7 and is in signal connection with the main control system and used for controlling the enclasping action of the hydraulic enclasping unit, so that the operation chassis 7 enclasps the jacket through the hydraulic enclasping unit to realize enclasping and climbing.
Specifically, the hydraulic enclasping unit comprises a hydraulic oil station and a hydraulic enclasping mechanism. As shown in fig. 3 to 8, the hydraulic clasping mechanisms in the present embodiment have two groups. Of course, the hydraulic enclasping mechanism in the present invention is not limited to the two groups of hydraulic enclasping mechanisms which are required to be arranged as shown in the above figures, at least one group of hydraulic enclasping mechanisms in the present invention is arranged in the middle of the working chassis 7 when only one group of hydraulic enclasping mechanisms is arranged, and each group of hydraulic enclasping mechanisms can be uniformly distributed along the length direction of the working chassis 7 when more than one group of hydraulic enclasping mechanisms is arranged.
The hydraulic oil station 4 is arranged on the robot body 1 and supplies hydraulic oil to the hydraulic enclasping mechanism. Preferably, the hydraulic oil station 4 is installed and embedded in the float block 2 of the robot body 1 for providing positive buoyancy, thereby ensuring balance of the center of gravity and the position of the center of buoyancy of the whole robot.
Each hydraulic enclasping mechanism comprises enclasping mechanical arms which are symmetrically arranged at two sides of the operation chassis 7 and used for enclasping the jacket, each hydraulic enclasping mechanism further comprises two symmetrically arranged first hydraulic rods 8, and one first hydraulic rod 8 correspondingly drives one enclasping mechanical arm 9. And a three-position two-way valve is arranged on the oil supply pipeline between each first hydraulic rod 8 and the hydraulic oil station 4, and the master control system controls the action of each first hydraulic rod 8 by controlling each three-position two-way valve. The top ends of the pipe holding manipulators 9 are hinged with the first hydraulic rods 8 for driving the pipe holding manipulators to act, and the opening and closing actions of the pipe holding manipulators 9 are driven by means of levers, so that the jacket is held or loosened. Each first hydraulic rod 8 is arranged inside the operation chassis 7, so that the accident that the first hydraulic rod 8 is damaged due to the fact that the first hydraulic rod 8 is arranged outside the robot body and the first hydraulic rod 8 is mistakenly touched is effectively prevented.
The pipe holding manipulator 9 is used for being provided with a pressure sensor 10 on the surface of one side contacted with the jacket, and the pressure sensor 10 is used for detecting and judging whether the pipe holding manipulator holds the jacket tightly.
The hydraulic enclasping driving mode has the characteristics of large driving force, stable movement and the like, and the hydraulic cylinder has the greatest advantage of breaking and locking functions, so that when the robot enclasps the jacket, no motor works, and the influence of the robot enclasping pipe and climbing pipe on electric field detection is eliminated to the greatest extent. After the robot is placed in water, the robot is close to the jacket through the action of the horizontal propeller and the vertical propeller, the posture is adjusted through the vertical propeller 5, then the pipe holding manipulator 9 is driven by the first hydraulic rod 8 to complete the pipe holding action and lock, and the robot can judge whether the pipe holding manipulator 9 is locked or not according to the pressure sensor 10 arranged on the contact surface of the pipe holding manipulator 9, so that a stable and firm detection environment is provided for detection work.
When the robot finishes part of detection work or needs to span a node, the first hydraulic rod 8 can drive the pipe holding manipulator 9 to loosen the jacket, and the horizontal and vertical propellers drive the robot to move along the jacket so as to realize pipe climbing work. The robot of the invention builds a good foundation for realizing multi-region detection of the jacket through the functions of the hydraulic enclasping unit and the horizontal and vertical propellers. Meanwhile, the first hydraulic rod 8 has a waterproof function, so that a large amount of waterproof sealing work can be saved.
The sliding rail type detection carrying unit comprises a guide rail mechanism, a sliding block 14 and a heavy hammer 13, wherein the guide rail mechanism comprises an outer guide rail 11 and an inner guide rail 12 capable of sliding along the outer guide rail 11, the outer guide rail 11 is arranged in the operation chassis 7, and the heavy hammer 13 is connected with the sliding block 14 and is positioned below the sliding block 14. The slide rail type detection carrying unit further comprises a first linear driving mechanism for driving the sliding block 14 to move from the bottom end of the inner guide rail 12 to the top end of the inner guide rail 12, and a second linear driving mechanism for driving the inner guide rail 12 to linearly reciprocate along the outer guide rail 11. The first linear driving mechanism and the second linear driving mechanism are controlled by the main control system.
Specifically, the first linear driving mechanism includes a motor 18, a belt, an upper belt pulley and a lower belt pulley, the upper belt pulley and the lower belt pulley are respectively disposed at the top end and the bottom end of the inner rail 12, the belt is sleeved on the upper belt pulley and the lower belt pulley, the upper belt pulley or the lower belt pulley is driven to rotate by the motor 18, the slide block 14 is fixedly installed on the belt, and the start and stop of the motor 18 is controlled by a main control system. The motor 18 drives the upper or lower pulley to rotate, thereby driving the slider 14 upward by the conveyor belt.
The top of the inner guide rail 12 is provided with a limit sensor 19, when the sliding block 14 moves to the top of the inner guide rail 12, the limit sensor 19 is contacted with the limit sensor 19, the limit sensor 19 sends a signal to a main control system, the main control system controls the motor 18 to be powered off, and the sliding block 14 passively slides downwards along the inner guide rail 12 under the action of the gravity of the lower heavy hammer 13.
The second linear driving mechanism comprises a second hydraulic rod 20, and one end of the second hydraulic rod 20 is connected with the inner guide rail 12 and drives the inner guide rail 12 to do linear reciprocating motion. The second hydraulic rod 20 is driven by a motor, and the master control system controls the motor through a motor driver, so that the control of the second hydraulic rod 20 is realized.
The top of outer guide rail 11 is provided with limit sensor, and when limit sensor on outer guide rail 11 is touched to the bottom of interior guide rail 12, limit sensor transmits the signal that detects to main control system in real time, and the main control system controls the second hydraulic rod and stops the drive.
The corrosion detection unit is arranged on the sliding block 14 and synchronously moves along with the sliding block 14, the center of the bottom of the operation chassis 7 is hollowed out, the hollowed-out area is opposite to the to-be-detected area of the jacket, and the corrosion detection unit is opposite to the hollowed-out area of the operation chassis 7 when moving along with the sliding block 14.
The corrosion detection unit comprises a detection probe 16, a searchlight 17, a camera 15 and a reference electrode 3, wherein the detection probe 16, the searchlight 17 and the camera 15 are arranged at one side of the bottom end of the sliding block 14 facing to the jacket to-be-detected area.
The corrosion detection unit can detect the actual corrosion condition of the jacket surface to the maximum extent by the detection probe 16 carrying the corrosion electric field, and the condition that the jacket corrosion is aggravated due to the fact that the contact probe pierces the jacket is avoided. Because the detection mode needs to provide a stable reference signal for the detection probe, in order to avoid the influence of long-distance transmission of the reference signal on signal accuracy, the reference electrode 3 is arranged on the contact surface of the pipe holding manipulator 9 in a probe mode, when the hydraulic pipe holding unit finishes pipe holding action, the reference electrode 3 contacts the jacket, thereby generating the reference signal, avoiding noise mixing in due to long-distance transmission caused by the fact that the reference electrode 3 is fixed on the jacket, providing a stable and accurate reference signal for the detection probe, and meanwhile, the reference electrode 3 also leaves the jacket along with the loosening of the pipe holding manipulator 9.
The corrosion detection unit can know the condition of the detection surface during potential detection through carrying the searchlight 17 and the camera 15 with a short focal length, so that the corrosion condition can be conveniently identified and judged.
The corrosion detection unit further comprises a coaxial cable twisted pair module and an acquisition memory, the camera 15 transmits the shot image information to the external display in real time through the coaxial cable twisted pair module, the detection probe 16 transmits the detected corrosion condition information to the acquisition memory in real time, and the detected corrosion condition information is transmitted to the acquisition terminal through the acquisition memory, and finally the detected corrosion condition information is transmitted to the PC for storage and analysis.
As shown in fig. 3, the inner rail 12 of the present invention can be extended from the work chassis 7 by the second linear drive mechanism. As shown in fig. 6, the inner rail 12 of the present invention can also be located entirely within the work chassis 7 by the second linear drive mechanism.
As shown in fig. 7, when the inner rail 12 is located inside the working chassis 7, the slide block 14 is driven by the first linear driving mechanism to move to the top limit position of the inner rail 12, the main control system controls the motor 18 for driving the conveyor belt to run to cut off power, the slide block 14 slides down along the inner rail 12 under the action of gravity of the weight 13 together with the corrosion detection unit, and at this time, the corrosion detection unit detects the underwater area part of the jacket within the sliding travel range of the slide block 14 and the pipeline in the holding area in the robot body 1.
As shown in fig. 5, when the inner rail 12 extends out of the working chassis 7, the slide block 14 is driven by the first linear driving mechanism to move to the top limit position of the inner rail 12, the main control system controls the motor 18 for driving the conveyor belt to run to cut off power, the slide block 14 slides down along the inner rail 12 under the action of gravity of the weight 13 together with the corrosion detection unit, and at this time, the corrosion detection unit performs pipeline detection of a spray splash area above the water surface within the sliding travel range of the slide block 14.
The invention also discloses a jacket corrosion detection method without magnetic field interference, which realizes full-range detection of the ocean platform jacket through the jacket corrosion detection equipment, and comprises the following steps:
step 1, a shore worker puts the jacket corrosion detection crawling robot 24 into water through a release recovery system 22, controls the robot to move to a near-water surface target area to be detected of the jacket through a control and data real-time interaction system 21, and controls the jacket corrosion detection crawling robot 24 to adjust the posture after reaching the target area, so that the posture of the jacket corrosion detection crawling robot is kept at the same angle as the jacket, and a pipe holding state is achieved;
step 2, a control and data real-time interaction system 21 controls a hydraulic enclasping unit to realize the pipe enclasping action, and detects whether a pipe enclasping manipulator 9 locks a jacket or not through a pressure sensor 10;
step 3, the sliding rail type detection carrying unit starts to work, the sliding block 14 slides upwards along the inner guide rail 12, meanwhile, the inner guide rail 12 slides upwards along the outer guide rail 11, when the sliding block 14 moves to the limit position above the inner guide rail 12 and the inner guide rail 12 moves to the limit position above the outer guide rail 11, the limit sensor transmits a position signal to the main control system in real time, the main control system controls the motor 18 for driving the conveyor belt to cut off power, the sliding block 14 slides downwards along the inner guide rail 12 under the action of gravity of the heavy hammer 13, meanwhile, the corrosion detection unit starts to work, detection of a pipeline in a splash area above the water surface is realized, detection data is transmitted to the control and data real-time interaction system 21 on the shore in real time, display and storage work of detection data in the splash area are realized, and the inner guide rail 12 is retracted into the working chassis 7 under the action of the second linear driving mechanism after detection is completed;
step 4, each pipe holding manipulator 9 is loosened, the control and data real-time interaction system 21 controls the jacket corrosion detection crawling robot 24 to move downwards along the jacket, and after moving to the next body position, the pipe holding action is realized again through the hydraulic enclasping unit;
step 5, the sliding rail type detection carrying unit starts to work, the sliding block 14 slides upwards along the inner guide rail 12 under the action of the first linear driving mechanism, the inner guide rail 12 does not act at the moment, when the sliding block 14 moves to the limit position above the inner guide rail 12, the limit sensor transmits a position signal to the main control system in real time, the main control system controls the motor 18 for driving the conveyor belt to be powered off, the sliding block 14 slides downwards along the inner guide rail 12 passively under the action of the gravity of the lower heavy hammer 13, meanwhile, the corrosion detection unit starts to work, pipeline detection on the enclasping area of the robot body is realized, detection data is transmitted to the control and data real-time interaction system 21 on the shore in real time, and display and storage work of detection data in the underwater area are realized;
and 6, repeating the step 4 and the step 5, thereby completing the corrosion detection work of the spray splash zone and the underwater area of the whole jacket.
When the corrosion detection unit is used for detecting, the robot body 1 is in a state of tightly holding the jacket through the hydraulic holding unit, so that the influence of the movement of the robot on detection is eliminated. Meanwhile, when the corrosion detection unit performs detection work, the motor 18 for driving the conveyor belt to act is in a power-off state, and the sliding block 14 slides under the gravity action of the heavy hammer 13, so that the influence of an electromagnetic field on detection is eliminated. The invention realizes the ocean platform jacket corrosion electric field detection technology without electromagnetic interference and motion interference, and ensures the accuracy of detection results.
The parts not described in the invention can be realized by adopting or referring to the prior art.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The specific embodiments described herein are offered by way of illustration only, and are not intended to limit the scope of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (8)
1. A jacket corrosion detection device without magnetic field interference is characterized in that,
the system comprises a control and data real-time interaction system, a release recovery system, an umbilical cable and a jacket corrosion detection crawling robot;
the jacket corrosion detection crawling robot is used for completing detection of corrosion conditions of a jacket sea wave splash zone and an underwater area and comprises a main control system, a robot body, a working chassis, a hydraulic enclasping unit, a sliding rail type detection carrying unit and a corrosion detection unit;
the control and data real-time interaction system comprises a shore station display and operation unit and a shore-based power supply unit, and is responsible for real-time control of the jacket corrosion detection crawling robot, analysis and storage of measurement data detected by the corrosion detection unit and power supply for the jacket corrosion detection crawling robot;
the umbilical cable is a medium for controlling connection with the data real-time interaction system and the jacket corrosion detection crawling robot and is used for realizing transmission of signals, data and energy between the control and data real-time interaction system and the jacket corrosion detection crawling robot;
the release recovery system is used for laying and recovering the jacket corrosion detection crawling robot;
the operation chassis is arranged at the bottom end of the robot body, the robot body is provided with a movement mechanism, the movement mechanism is controlled by the main control system, and the movement mechanism drives the robot body and the operation chassis to finish forward, backward, left turn, right turn, floating, diving and turning actions under the control of the main control system;
the hydraulic enclasping unit is arranged on the operation chassis, is in signal connection with the main control system and is used for controlling the enclasping action of the hydraulic enclasping unit, so that the operation chassis enclasps the jacket through the hydraulic enclasping unit to realize enclasping and climbing movement;
the sliding rail type detection carrying unit comprises a guide rail mechanism, a sliding block and a heavy hammer, wherein the guide rail mechanism comprises an outer guide rail and an inner guide rail capable of sliding along the outer guide rail, the outer guide rail is arranged in the operation chassis, the heavy hammer is connected with the sliding block and is positioned below the sliding block, the sliding rail type detection carrying unit further comprises a first linear driving mechanism for driving the sliding block to move from the bottom end of the inner guide rail to the top end of the inner guide rail and a second linear driving mechanism for driving the inner guide rail to do linear reciprocating motion along the outer guide rail;
the corrosion detection unit is arranged on the sliding block and moves synchronously with the sliding block, the center of the bottom of the operation chassis is hollowed out, the hollowed-out area is opposite to the to-be-detected area of the jacket, and the corrosion detection unit is opposite to the hollowed-out area of the operation chassis when moving with the sliding block;
the first linear driving mechanism and the second linear driving mechanism are controlled by the main control system, the inner guide rail can extend out from the operation chassis or be completely positioned in the operation chassis under the action of the second linear driving mechanism, when the sliding block moves to the top end limit position of the inner guide rail under the drive of the first linear driving mechanism, the main control system controls the first linear driving mechanism and the second linear driving mechanism to stop running, and the sliding block and the corrosion detection unit slide down along the inner guide rail under the action of the gravity of the heavy hammer;
when the inner guide rail is positioned in the operation chassis, the corrosion detection unit detects the underwater region part of the jacket within the sliding travel range of the sliding block along with the sliding block; when the inner guide rail extends out of the operation chassis, the corrosion detection unit detects a jacket splash zone part in the sliding travel range of the sliding block along with the sliding block;
the corrosion detection unit comprises a detection probe, a searchlight, a camera and a reference electrode, wherein the detection probe, the searchlight and the camera are arranged at one side of the bottom end of the sliding block facing to a jacket to-be-detected area; the reference electrode is arranged on the surface of one side of the pipe holding manipulator, which is used for being contacted with the jacket.
2. The jacket corrosion detection apparatus without magnetic field interference of claim 1, wherein,
the top of interior guide rail and the top of outer guide rail all are provided with limit sensor, and limit sensor transmits the signal that detects to main control system in real time, and main control system is according to the operation of the signal control first, second linear drive mechanism that limit sensor detected.
3. The jacket corrosion detection apparatus without magnetic field interference of claim 1, wherein,
the hydraulic enclasping unit comprises a hydraulic oil station and at least one group of hydraulic enclasping mechanisms, wherein the hydraulic oil station is arranged on the robot body and supplies hydraulic oil for the hydraulic enclasping mechanisms, each hydraulic enclasping mechanism comprises enclasping mechanical arms symmetrically arranged on two sides of the operation chassis and used for enclasping the jacket, each hydraulic enclasping mechanism further comprises two symmetrically arranged first hydraulic rods, one first hydraulic rod correspondingly drives one enclasping mechanical arm, the top end of each enclasping mechanical arm is hinged with the first hydraulic rod used for driving the operation of the first hydraulic rod, and the two opposite enclasping mechanical arms are driven by the first hydraulic rods to realize enclasping or loosening of the jacket;
the pipe holding manipulator is used for being provided with a pressure sensor on the surface of one side contacted with the jacket.
4. The jacket corrosion detection apparatus without magnetic field interference of claim 1, wherein,
the first linear driving mechanism comprises a motor, a conveyor belt, an upper belt pulley and a lower belt pulley, wherein the upper belt pulley and the lower belt pulley are respectively arranged at the top end and the bottom end of the inner guide rail, the conveyor belt is sleeved on the upper belt pulley and the lower belt pulley, the upper belt pulley or the lower belt pulley is driven to rotate by the motor, the sliding block is installed and fixed on the conveyor belt, and the start and stop of the motor are controlled by the main control system.
5. The jacket corrosion detection apparatus without magnetic field interference of claim 1, wherein,
the second linear driving mechanism comprises a second hydraulic rod, and one end of the second hydraulic rod is connected with the inner guide rail and drives the inner guide rail to do linear reciprocating motion.
6. The jacket corrosion detection apparatus without magnetic field interference of claim 1, wherein,
the robot body is provided with a sensor unit, the sensor unit comprises a water pressure sensor and an electronic compass, the water pressure sensor is used for determining the underwater position of the robot body, and the electronic compass is used for determining the gesture of the robot body.
7. The jacket corrosion detection apparatus without magnetic field interference of claim 1, wherein,
the top of the robot body is provided with a plurality of floating blocks; the motion mechanism comprises four vertical thrusters and four horizontal thrusters, the four vertical thrusters are respectively arranged on the left side and the right side of the front end and the left side and the right side of the rear end of the robot body, the four horizontal thrusters are respectively arranged on the left side and the right side of the front end and the left side and the right side of the rear end of the robot body, and the four vertical thrusters and the four horizontal thrusters are controlled by the main control system.
8. A jacket corrosion detection method without magnetic field interference, which realizes full-range detection of a jacket of an ocean platform by the jacket corrosion detection device according to any one of claims 1 to 7, characterized in that the method comprises the following steps:
step 1, a coast worker puts the jacket corrosion detection crawling robot into water through a release recovery system, controls the robot to move to a near-water surface target area to be detected of the jacket through a control and data real-time interaction system, and controls the jacket corrosion detection crawling robot to adjust the posture after reaching the target area, so that the posture of the jacket corrosion detection crawling robot is kept at the same angle as the jacket, and a pipe holding state is achieved;
step 2, the control and data real-time interaction system controls the hydraulic enclasping unit to realize the enclasping action;
step 3, the sliding rail type detection carrying unit starts to work, the sliding block slides upwards along the inner guide rail, meanwhile, the inner guide rail slides upwards along the outer guide rail, when the sliding block moves to the limit position above the inner guide rail and the inner guide rail moves to the limit position above the outer guide rail, the first linear driving mechanism is powered off, the sliding block slides downwards along the inner guide rail under the action of gravity of the heavy hammer, meanwhile, the corrosion detection unit starts to work, detection of a pipeline in a spray splashing area above the water surface is realized, detection data is transmitted to a control and data real-time interaction system on the shore in real time, display and storage work of detection data in the spray splashing area are realized, and after detection, the inner guide rail is retracted to the inside of the operation chassis under the action of the second linear driving mechanism;
step 4, each hydraulic enclasping unit is loosened, the control and data real-time interaction system controls the jacket corrosion detection crawling robot to move downwards along the jacket, and after the crawling robot moves to the next body position, the pipe enclasping action is realized again through the hydraulic enclasping units;
step 5, the sliding rail type detection carrying unit starts to work, the sliding block upwards slides along the inner guide rail under the action of the first linear driving mechanism, the inner guide rail does not act at the moment, when the sliding block moves to the limit position above the inner guide rail, the first linear driving mechanism is automatically powered off, the sliding block downwards performs passive sliding along the inner guide rail under the action of gravity of the lower heavy hammer, meanwhile, the corrosion detection unit starts to work, pipeline detection on a enclasping area of the robot body is realized, detection data is transmitted to a control and data real-time interaction system on the shore in real time, and display and storage work of detection data in an underwater area are realized;
and 6, repeating the step 4 and the step 5, thereby completing the corrosion detection work of the spray splash zone and the underwater area of the whole jacket.
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| CN110824113B (en) * | 2019-11-13 | 2021-02-09 | 中国海洋大学 | Electromagnetic interference-free sea pipe corrosion detection device and detection method |
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| CN112254014B (en) * | 2020-10-29 | 2022-05-20 | 南通理工学院 | Underwater pipeline detection robot with cleaning function |
| CN113003456B (en) * | 2021-03-11 | 2022-06-24 | 中海艾普油气测试（天津）有限公司 | Underwater tree umbilical cable pulley for offshore test and control method thereof |
| CN113104126A (en) * | 2021-03-15 | 2021-07-13 | 湖北工业大学 | Foldable device of crawling outside of tubes |
| CN113340980B (en) * | 2021-06-18 | 2024-06-04 | 中海辉固地学服务（深圳）有限公司 | Nondestructive testing equipment for underwater steel cable |
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