CN110552686A - equipment for detecting leakage of gas conveying pipeline for exploiting seabed natural gas hydrate - Google Patents
equipment for detecting leakage of gas conveying pipeline for exploiting seabed natural gas hydrate Download PDFInfo
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Abstract
The invention relates to the technical field of gas leakage monitoring, in particular to equipment for detecting leakage of a gas transmission pipeline for exploiting seabed natural gas hydrate, which comprises a seabed track, a deep submerging robot and a hydroacoustic positioning system, wherein the seabed track is fixedly arranged on the seabed gas transmission pipeline and extends along the seabed gas transmission pipeline, a plurality of power supply stations are distributed at equal intervals beside the seabed track, and the deep submerging robot is provided with a power supply unit, a guide module, an obstacle detection module, an obstacle clearing module, a propulsion module, a control module and a methane sensor; the guide module, the obstacle detection module, the obstacle clearing module, the propulsion module, the control module and the methane sensor are all electrically connected with the power supply unit; the equipment can directly position the leakage position of the submarine gas conveying pipeline and can provide image data of the pipeline damage condition for workers.
Description
Technical Field
The invention relates to the technical field of gas leakage monitoring, in particular to equipment for detecting leakage of a gas conveying pipeline for exploiting seabed natural gas hydrate.
Background
With the increasing number of subsea pipelines, subsea pipelines are gradually becoming offshore oil and gas life lines. Due to the complex subsea environment, subsea pipelines are prone to degradation and corrosion, resulting in subsea pipeline leaks. The leakage of the submarine pipeline causes pollution to the environment, economic loss and casualties more seriously, so that the leakage monitoring of the submarine pipeline becomes a technical problem which needs to be solved more and more urgently.
the leakage monitoring technology of land pipelines in China is researched more, the main methods are a negative pressure wave method and an acoustic wave method, and the negative pressure wave method and the acoustic wave method are high in noise sensitivity and complex in submarine environment, so that the negative pressure wave method and the acoustic wave method are difficult to apply to monitoring of submarine pipeline leakage. At present, mature methods and devices for monitoring the leakage of the submarine pipeline do not appear in China. The leakage monitoring research of offshore submarine pipelines is ahead of China and has been practically applied to a plurality of pipelines. The existing leakage monitoring method for the submarine pipeline in foreign countries mainly comprises a pressure point analysis method, an optical fiber method and a real-time model, wherein the monitoring result of the pressure point analysis method is greatly influenced by instruments, the submarine pipeline needs to be modified by the optical fiber method, the modification difficulty is high, the submarine pipeline is easy to damage, and the real-time model is expensive in monitoring price and high in cost.
Chinese patent CN104976518B discloses a submarine pipeline leakage monitoring system, which comprises a controller, a flow sensor, a pressure sensor, a temperature sensor and a central host computer; the inlet end and the outlet end of the pipeline to be monitored are respectively provided with a flow sensor, a pressure sensor and a temperature sensor, and the flow sensor, the pressure sensor and the temperature sensor at the inlet end acquire flow, pressure and temperature signals at the inlet end in real time and send the signals to the first controller; the outlet end flow sensor, the pressure sensor and the temperature sensor acquire flow, pressure and temperature signals of the outlet end in real time and send the flow, pressure and temperature signals to the second controller; each controller sends signals to a central host computer through an Ethernet switch, a leakage monitoring system in the central host computer displays information in real time, judges whether a pipeline to be monitored leaks or not, and carries out leakage alarm if the pipeline to be monitored leaks, and calculates and displays the leakage amount and the leakage position; and the central host computer sends the received signals and the judgment results to each remote monitoring device.
The system disclosed by the patent calculates the leakage position of the pipeline through data, however, the seabed situation is complex, the undercurrent surges, the ecological ring is wide, the factors influencing the sensor data are particularly many, and the accurate position of the pipeline leakage is difficult to calculate by means of a formula summarized in a laboratory.
therefore, there is a need for an apparatus that can directly locate the location of a leak in a subsea pipeline, rather than by data calculation.
Disclosure of Invention
The invention aims to provide equipment for detecting leakage of a submarine natural gas hydrate exploitation gas transmission pipeline, which can directly position the leakage position of the submarine gas transmission pipeline and can provide image data of pipeline breakage conditions for workers.
in order to achieve the purpose, the invention adopts the following technical scheme:
The device comprises a submarine track, a deep submergence robot and an underwater sound positioning system, wherein the submarine track is fixedly arranged on the submarine gas conveying pipeline and extends along the submarine gas conveying pipeline, a plurality of power supply stations are distributed beside the submarine track at equal intervals, and the deep submergence robot is provided with a power supply unit, a guide module, an obstacle detection module, an obstacle clearing module, a propulsion module, a control module and a methane sensor;
The guiding module, the obstacle detecting module, the obstacle clearing module, the propelling module, the control module and the methane sensor are all electrically connected with the power supply unit.
As an optimal scheme of the equipment for detecting the leakage of the gas conveying pipeline for exploiting the seabed natural gas hydrate, the seabed track comprises a pipeline sleeve ring which is sleeved on the seabed gas conveying pipeline, track supports are fixedly arranged on two sides of the pipeline sleeve ring, a track steel ring is fixedly arranged on the track supports, and a plurality of track steel bars which are uniformly distributed around the axis of the track steel ring are fixedly arranged in the track steel ring.
As an optimal scheme of the equipment for detecting the leakage of the gas transmission pipeline for exploiting the seabed natural gas hydrate, the guiding module comprises resilience force arms fixedly arranged on two sides of the deep-submerged robot and a semi-ring support fixedly arranged at the suspension end of the resilience force arm, the resilience force arm is in a compression state in a working state, and the semi-ring support is abutted to the rail steel bar.
As a preferred scheme of the equipment for detecting the leakage of the gas transmission pipeline for exploiting the seabed natural gas hydrate, the surface of the semi-ring support is fixedly provided with a graphite wear-resistant layer.
as a preferable mode of the apparatus for detecting leakage of the gas transportation pipeline for submarine gas hydrate exploration, the rail steel rod abuts on the inner ring of the rail steel ring while spirally advancing around the axis of the rail steel ring.
as a preferred scheme of the equipment for detecting the leakage of the gas transmission pipeline for exploiting the seabed natural gas hydrate, the power supply station comprises a wet plugging socket fixedly arranged at the side of the seabed gas transmission pipeline, the wet plugging socket is electrically connected with a shore-based power supply station through a submarine cable, and the power supply unit comprises a battery arranged in the deep submergence robot and a power line and a wet plugging plug which extend to the outside of the deep submergence robot;
The guiding module, the obstacle detecting module, the obstacle clearing module, the underwater sound positioning system, the propelling module, the control module and the methane sensor are all electrically connected with the battery.
As a preferable scheme of the equipment for detecting the leakage of the submarine natural gas hydrate exploitation gas transmission pipeline, the obstacle detection module comprises an acoustic detection module fixedly arranged on the deep submergence robot.
As a preferable scheme of the apparatus for detecting the leakage of the gas transportation pipeline for the subsea natural gas hydrate production, the obstacle detection module comprises an optical detection module, and the optical detection module comprises a searchlight and a camera.
As a preferred scheme of the equipment for detecting the leakage of the submarine natural gas hydrate exploitation gas transmission pipeline, the underwater acoustic positioning system comprises a hydrophone array, a transceiver and an acoustic transponder array, wherein the hydrophone array is fixedly arranged on a ship platform, the transceiver is fixedly arranged on the deep-submerged robot, and the acoustic transponder array is fixedly arranged on the submarine track and is distributed at equal intervals along the submarine track.
As a preferred scheme of the equipment for detecting the leakage of the gas transmission pipeline for exploiting the seabed natural gas hydrate, the obstacle clearing module comprises a manipulator fixedly installed on the deep submergence robot, a wet plugging plug is fixedly installed beside the working end of the manipulator, and a power line is fixedly installed beside the force arm of the manipulator.
the invention has the beneficial effects that:
The deep-submerged robot walks in the submarine track under the guidance of the guide module, the deep-submerged robot detects surrounding obstacles through the acoustic detection module and discharges the obstacles through the obstacle clearing module, the deep-submerged robot supplies power through the built-in battery, when the electric quantity of the battery is insufficient, the deep-submerged robot inserts the wet plugging plug into the wet plugging socket, and the shore-based power supply station charges the battery through a submarine cable, the wet plugging socket, the wet plugging plug and the power supply line;
When the methane sensor detects methane, the deep-submerged robot shoots the surface of the submarine gas conveying pipeline through the searchlight and the camera, simultaneously sends out sound signals to the periphery through the transceiver, and an acoustic transponder array distributed on the submarine track feeds back the sound signals after receiving the sound signals; the shipway monitors the sound of the seabed on the sea surface through the hydrophone array, the hydrophone array monitors the acoustic signals sent by the transceiver and the acoustic transponder array, and the position of each acoustic signal away from the hydrophone array is calculated through the time required for the acoustic signals to be transmitted to the hydrophone array, so that the acoustic signals sent by the transceiver can be accurately positioned, and the position of the seabed gas transmission pipeline leakage is also accurately positioned;
After the deep-submerging robot returns to the slipway, the staff can read the image information stored in the deep-submerging robot, so that a maintenance scheme is formulated.
The equipment can directly position the leakage position of the submarine gas conveying pipeline and can provide image data of the pipeline damage condition for workers.
Drawings
in order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a perspective view of an apparatus for detecting leaks in a subsea natural gas hydrate production gas transportation pipeline in accordance with an embodiment of the present invention;
FIG. 2 is an elevation view of an apparatus for detecting leaks in a subsea natural gas hydrate production gas transportation pipeline according to an embodiment of the present invention;
FIG. 3 is a top plan view of an apparatus for detecting leaks in a subsea natural gas hydrate production gas transportation pipeline in accordance with an embodiment of the present invention;
FIG. 4 is a perspective view of a first deep submergence robot for detecting a leak in a gas pipeline for subsea natural gas hydrate production according to an embodiment of the present invention;
FIG. 5 is a side view of a deep submergence robotic system for detecting leaks in a subsea gas hydrate production gas transportation pipeline in accordance with an embodiment of the present invention;
FIG. 6 is a front view of a deep submergence robotic system for detecting leaks in a subsea gas hydrate production gas transportation pipeline in accordance with embodiments of the present invention;
FIG. 7 is a perspective view of a second deep submergence robot for detecting leakage from a gas pipeline for subsea natural gas hydrate production according to an embodiment of the present invention;
FIG. 8 is a diagram of an underwater acoustic positioning system for an apparatus for detecting leaks in a subsea natural gas hydrate production gas transportation pipeline in accordance with embodiments of the present invention;
In the figure:
1. A subsea track; 1a, a pipe lantern ring; 1b, a rail bracket; 1c, a rail steel ring; 1d, rail steel bars; 2. a power supply station; 2a, wet plugging and unplugging the socket; 3. a power supply unit; 3a, a power line; 3b, wet plugging and unplugging the plug; 4. a guide module; 4a, a rebound force arm; 4b, a semi-ring bracket; 4c, a graphite wear-resistant layer; 5. an obstacle detection module; 5a, an acoustic detection module; 5b, an optical detection module; 5b1, searchlight; 5b2, a camera; 6. a barrier removal module; 7. a propulsion module.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inner", "outer", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not indicated or implied that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limitations of the present patent, and the specific meanings of the terms may be understood by those skilled in the art according to specific situations.
in the description of the present invention, unless otherwise explicitly specified or limited, the term "connected" or the like, if appearing to indicate a connection relationship between the components, is to be understood broadly, for example, as being fixed or detachable or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through one or more other components or may be in an interactive relationship with one another. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 8, the apparatus for detecting leakage of a gas transmission pipeline for exploiting seabed natural gas hydrates comprises a seabed track 1, a deep submergence robot and an underwater sound positioning system, wherein the seabed track 1 is fixedly installed on the seabed gas transmission pipeline and extends along the seabed gas transmission pipeline, a plurality of power supply stations 2 are distributed at equal intervals beside the seabed track 1, and the deep submergence robot is provided with a power supply unit 3, a guide module 4, an obstacle detection module 5, an obstacle clearing module 6, a propulsion module 7, a control module and a methane sensor;
The guiding module 4, the obstacle detecting module 5, the obstacle clearing module 6, the propelling module 7, the control module and the methane sensor are all electrically connected with the power supply unit 3.
The deep-submerged robot walks inside the submarine track 1 through the guide module 4, so that the deep-submerged robot is always positioned right above a submarine gas conveying pipeline;
The deep-submergence robot is charged through the butt joint of the power supply unit 3 and the power supply station 2, so that electric power is supplemented;
The propulsion module 7 is a propeller, and the deep-submerged robot advances on the seabed through the propulsion module 7;
The deep-diving robot detects the obstacle in front through the obstacle detection module 5 and removes the obstacle through the obstacle removal module 6;
The control module is used for controlling the work of the deep diving robot;
The methane sensor is a Hydro C underwater methane sensor and is used for detecting whether the submarine gas transmission pipeline leaks or not, when the pipeline leaks, escaped methane is detected by the methane sensor, the methane sensor sends a signal to the control module, the control module sends the signal to the underwater sound positioning system, the underwater sound positioning system judges the position of the deep submergence robot and then sends a positioning signal to the slipway to inform the leaking position of the submarine gas transmission pipeline.
the submarine track 1 comprises a pipeline lantern ring 1a sleeved on a submarine gas conveying pipeline, track supports 1b are fixedly mounted on two sides of the pipeline lantern ring 1a, track steel rings 1c are fixedly mounted on the track supports 1b, and a plurality of track steel bars 1d uniformly distributed around the axis of the track steel rings 1c are fixedly mounted in the track steel rings 1 c.
The pipe lantern ring 1a, the rail bracket 1b and the rail steel ring 1c are used for fixedly mounting the rail steel bars 1d, so that the rail steel bars 1d are combined into an open cylindrical channel, and the deep-submerging robot runs along a path extending along the submarine gas conveying pipeline inside the cylindrical channel through the guide module 4.
The guiding module 4 comprises a resilience force arm 4a fixedly arranged on two sides of the deep-diving robot and a semi-ring support 4b fixedly arranged at a suspension end of the resilience force arm 4a, the resilience force arm 4a is in a compression state under a working state, and the semi-ring support 4b is abutted to the track steel bar 1 d.
the resilience arm of force 4a is rebounded towards the direction of keeping away from the robot all the time to make the resilience arm of force 4a press half ring support 4b on track billet 1d all the time, two half ring supports 4b make up into a ring, this ring is the open drum inner wall butt that forms with track billet 1d all the time, half ring support 4b is located track billet 1 d's inside all the time, thereby make submarine track 1 can guide the direction of advance of deep-submerged robot, make deep-submerged robot also can be located submarine gas pipeline directly over all the time under the effect of seabed undercurrent simultaneously.
And a graphite wear-resistant layer 4c is fixedly arranged on the surface of the semi-ring bracket 4 b.
the graphite wear-resistant layer 4c is used for contacting and rubbing the surface of the rail steel bar 1d, thereby avoiding the wear of the half-ring bracket 4b, and the graphite wear-resistant layer 4c can be directly replaced when worn to a certain degree.
The track steel bar 1d abuts on the inner ring of the track ring 1c while spirally advancing around the axis of the track ring 1 c.
When track billet 1d spiral gos forward and makes the deep-submerged robot move ahead, track billet 1d rubs with the different positions of graphite wearing layer 4c all the time, alleviates graphite wearing layer 4 c's degree of wear.
The power supply station 2 comprises a wet plugging and unplugging socket 2a fixedly arranged at the side of the submarine gas transmission pipeline, the wet plugging and unplugging socket 2a is electrically connected with the shore-based power supply station through a submarine cable, and the power supply unit 3 comprises a battery arranged in the deep-submerged robot, and a power line 3a and a wet plugging and unplugging plug 3b which extend to the outside of the deep-submerged robot;
the guiding module 4, the obstacle detecting module 5, the obstacle clearing module 6, the underwater sound positioning system, the propelling module 7, the control module and the methane sensor are all electrically connected with the battery.
The wet plugging socket 2a supplies power through a shore-based power supply station, and the battery can be charged on the seabed after the wet plugging socket 2a is in butt joint with the wet plugging plug 3b, so that the cruising ability is provided for the deep-submergence robot.
The obstacle detecting module 5 includes an acoustic detecting module 5a fixedly installed on the deep submergence robot.
The acoustic detection module 5a is IMAGENEX 881A multifrequency digital image sonar, and the deep submergence robot detects whether there is an obstacle in the place ahead through the sonar.
The obstacle detecting module 5 includes an optical detecting module 5b, and the optical detecting module 5b includes a floodlight 5b1 and a camera 5b 2.
the deep-submergence robot observes whether barriers exist in the front through the searchlight 5b1 and the camera 5b2, and can also observe the surface of a submarine gas conveying pipeline, so that specific leakage positions and leakage conditions are searched, and after the deep-submergence robot returns to a shipway, workers can read image information stored in the deep-submergence robot, and a maintenance scheme is formulated.
The underwater acoustic positioning system comprises a hydrophone array, a transceiver and an acoustic transponder array, wherein the hydrophone array is fixedly installed on a ship platform, the transceiver is fixedly installed on the deep-submerged robot, and the acoustic transponder array is fixedly installed on the submarine track 1 and distributed at equal intervals along the submarine track 1.
when the methane sensor detects methane, the deep-submerged robot sends out acoustic signals to the surroundings through the transceiver, and acoustic transponder matrixes distributed on the submarine track 1 feed back the acoustic signals after receiving the acoustic signals;
The shipway monitors the sound of the seabed on the sea surface through the hydrophone array, the hydrophone array monitors the acoustic signals sent by the transceiver and the acoustic transponder array, and the position of each acoustic signal away from the hydrophone array is calculated through the time required for the acoustic signals to be transmitted to the hydrophone array, so that the acoustic signals sent by the transceiver can be accurately positioned, and the position of the seabed gas transmission pipeline leakage is also accurately positioned;
Meanwhile, the deep-diving robot monitors the acoustic signals fed back by the acoustic transponder array through the transceiver, calculates the position of the deep-diving robot through the time required for the acoustic signals to propagate to the deep-diving robot, and records the position so that a worker can look up the deep-diving robot after the deep-diving robot returns to the slipway.
The obstacle clearing module 6 comprises a mechanical arm fixedly installed on the deep-diving robot, the wet plugging plug 3b is fixedly installed on the side of the working end of the mechanical arm, and the power line 3a is fixedly installed on the side of the force arm of the mechanical arm.
The type of the manipulator is a TA series multifunctional manipulator of an FET company, and the deep submerging robot can clear the front obstacle through the manipulator, can also clear sundries on a submarine gas conveying pipeline, and can also be used for adjusting the resilience degree of the resilient force arm 4a, so that the semi-ring support 4b can conveniently enter the submarine track 1;
when the manipulator moves the working end of the manipulator, the wet plugging plug 3b moves along with the manipulator, so that the deep diving robot can move the wet plugging plug 3b through the manipulator, and then the wet plugging plug 3b is plugged into the wet plugging socket 2 a.
The working principle of the invention is as follows:
The deep-submerged robot walks in the submarine track 1 under the guidance of the guide module 4, the deep-submerged robot detects surrounding obstacles through the acoustic detection module 5a and discharges the obstacles through the obstacle clearing module 6, the deep-submerged robot supplies power through a built-in battery, when the electric quantity of the battery is insufficient, the deep-submerged robot inserts the wet plug 3b into the wet plug socket 2a, and the shore-based power supply station charges the battery through a submarine cable, the wet plug socket 2a, the wet plug 3b and the power line 3 a;
when the methane sensor detects methane, the deep-submerged robot shoots through the searchlight 5b1 and the camera 5b2 to shoot the surface of the submarine gas transmission pipeline, and simultaneously sends out sound signals to the periphery through the transceiver, and the acoustic transponder matrixes distributed on the submarine track 1 feed back the sound signals after receiving the sound signals; the shipway monitors the sound of the seabed on the sea surface through the hydrophone array, the hydrophone array monitors the acoustic signals sent by the transceiver and the acoustic transponder array, and the position of each acoustic signal away from the hydrophone array is calculated through the time required for the acoustic signals to be transmitted to the hydrophone array, so that the acoustic signals sent by the transceiver can be accurately positioned, and the position of the seabed gas transmission pipeline leakage is also accurately positioned;
After the deep-submerging robot returns to the slipway, the staff can read the image information stored in the deep-submerging robot, so that a maintenance scheme is formulated.
it should be understood that the above-described embodiments are merely preferred embodiments of the invention and the technical principles applied thereto. It will be understood by those skilled in the art that various modifications, equivalents, changes, and the like can be made to the present invention. However, such variations are within the scope of the invention as long as they do not depart from the spirit of the invention. In addition, certain terms used in the specification and claims of the present application are not limiting, but are used merely for convenience of description.
Claims (10)
1. The device for detecting the leakage of the gas transmission pipeline for exploiting the seabed natural gas hydrate is characterized by comprising a seabed track (1), a deep submerging robot and an underwater sound positioning system, wherein the seabed track (1) is fixedly arranged on the seabed gas transmission pipeline and extends along the seabed gas transmission pipeline, a plurality of power supply stations (2) are distributed at equal intervals beside the seabed track (1), and the deep submerging robot is provided with a power supply unit (3), a guide module (4), an obstacle detection module (5), an obstacle clearing module (6), a propelling module (7), a control module and a methane sensor;
The guiding module (4), the obstacle detecting module (5), the obstacle clearing module (6), the propelling module (7), the control module and the methane sensor are all electrically connected with the power supply unit (3).
2. The device for detecting the leakage of the gas transmission pipeline for the exploitation of the seabed natural gas hydrate as claimed in claim 1, wherein the seabed track (1) comprises a pipeline sleeve ring (1a) sleeved on the seabed gas transmission pipeline, track supports (1b) are fixedly installed on two sides of the pipeline sleeve ring (1a), a track steel ring (1c) is fixedly installed on the track supports (1b), and a plurality of track steel bars (1d) uniformly distributed around the axis of the track steel ring (1c) are fixedly installed in the track steel ring (1 c).
3. The device for detecting the leakage of the submarine gas hydrate exploitation gas pipeline according to claim 2, wherein the guiding module (4) comprises a resilient force arm (4a) fixedly installed at two sides of the deep submergence robot and a semi-ring bracket (4b) fixedly installed at a suspended end of the resilient force arm (4a), and in an operating state, the resilient force arm (4a) is in a compressed state, and the semi-ring bracket (4b) abuts against the rail steel bar (1 d).
4. The equipment for detecting the leakage of the submarine natural gas hydrate exploitation gas pipeline according to claim 3, wherein the semi-ring support (4b) is fixedly provided with a graphite wear-resistant layer (4c) on the surface.
5. The apparatus for detecting a leakage of a subsea natural gas hydrate production gas transportation pipeline according to claim 2, characterized in that the track steel rod (1d) abuts on the inner ring of the track steel ring (1c) while being helically advanced around the axis of the track steel ring (1 c).
6. The apparatus for detecting the leakage of the gas transmission pipeline for the subsea natural gas hydrate production according to claim 1, wherein the power supply station (2) comprises a wet plugging socket (2a) fixedly installed at the side of the gas transmission pipeline, the wet plugging socket (2a) is electrically connected with the shore-based power supply station through a submarine cable, and the power supply unit (3) comprises a battery installed inside the deep-submergence robot and a power line (3a) and a wet plugging plug (3b) extending to the outside of the deep-submergence robot;
the guiding module (4), the obstacle detecting module (5), the obstacle clearing module (6), the underwater sound positioning system, the propelling module (7), the control module and the methane sensor are all electrically connected with the battery.
7. An apparatus for detecting leaks in subsea natural gas hydrate production gas transportation pipelines according to claim 1, characterized in that the obstruction detection module (5) comprises an acoustic detection module (5a) fixedly mounted on the deep submergence robot.
8. The apparatus for detecting a leak in a subsea natural gas hydrate production gas transportation pipeline according to claim 1, wherein the obstruction detection module (5) comprises an optical detection module (5b), and the optical detection module (5b) comprises a searchlight (5b1) and a camera (5b 2).
9. the apparatus for detecting a leak in a subsea natural gas hydrate production gas transportation pipeline according to claim 1, wherein the hydroacoustic positioning system comprises a hydrophone array fixedly mounted on the ship's dock, transceivers fixedly mounted on the deep submergence robot, and acoustic transponder arrays fixedly mounted on the subsea track (1) and distributed at equal intervals along the subsea track (1).
10. the device for detecting the leakage of the submarine natural gas hydrate exploitation gas pipeline according to claim 6, wherein the obstacle clearing module (6) comprises a manipulator fixedly installed on the deep submergence robot, the wet plugging plug (3b) is fixedly installed beside the working end of the manipulator, and the power line (3a) is fixedly installed beside the force arm of the manipulator.
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| CN113153232A (en) * | 2021-03-11 | 2021-07-23 | 浙江大学 | Seabed natural gas hydrate bubble leakage positioning device and method based on small array |
| CN113607216A (en) * | 2021-08-06 | 2021-11-05 | 广州海洋地质调查局 | Deep-sea mud volcano in-situ monitoring system and method |
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| CN113153232A (en) * | 2021-03-11 | 2021-07-23 | 浙江大学 | Seabed natural gas hydrate bubble leakage positioning device and method based on small array |
| CN113153232B (en) * | 2021-03-11 | 2024-04-02 | 浙江大学 | Seabed natural gas hydrate bubble leakage positioning device and method based on small array |
| CN113607216A (en) * | 2021-08-06 | 2021-11-05 | 广州海洋地质调查局 | Deep-sea mud volcano in-situ monitoring system and method |
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