CN110834707A - Underwater hybrid self-driving device for marine riser flaw detection - Google Patents
Underwater hybrid self-driving device for marine riser flaw detection Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 78
- 238000005553 drilling Methods 0.000 claims abstract description 32
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 31
- 238000010248 power generation Methods 0.000 claims abstract description 9
- 239000000523 sample Substances 0.000 claims description 18
- 238000013459 approach Methods 0.000 claims description 14
- 238000007689 inspection Methods 0.000 claims description 10
- 230000000149 penetrating effect Effects 0.000 claims description 9
- 238000007789 sealing Methods 0.000 claims description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 4
- 230000009189 diving Effects 0.000 claims description 4
- 238000007667 floating Methods 0.000 claims description 4
- 239000013535 sea water Substances 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 239000013307 optical fiber Substances 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000013461 design Methods 0.000 abstract description 3
- 108010066278 cabin-4 Proteins 0.000 description 9
- 238000012423 maintenance Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 238000005265 energy consumption Methods 0.000 description 4
- 230000004075 alteration Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000006249 magnetic particle Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
- B63B35/4413—Floating drilling platforms, e.g. carrying water-oil separating devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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Abstract
The invention discloses an underwater hybrid self-driven device for marine riser flaw detection, which comprises a driving system, a control system and a power generation system, wherein the driving system comprises a guide rail arranged in parallel with a marine riser, an underwater detection assembly is connected onto the guide rail in a sliding manner, a main control circuit is respectively provided with a wireless module, a detection module, a hybrid drive module and a master control module, the hybrid drive module controls the operation of a spiral propeller and a suction pump and controls the extension and retraction of a mechanical telescopic arm, the detection module detects the performance of the marine riser, the wireless module receives and transmits a control signal, and the master control module automatically regulates and controls the operation of the detection module and the hybrid drive module according to the control signal; the power generation system comprises a generator, and a power supply interface is arranged towards the underwater detection assembly. The marine riser water surface detection device is small in structural size design and low in manufacturing cost, takes the marine drilling platform as a carrier, adopts a hybrid driving mode to detect the part below the water surface of the marine riser, is high in energy utilization rate and strong in continuous operation capacity, and is more suitable for the requirement of current offshore unmanned operation.
Description
Technical Field
The invention relates to ocean oil and gas equipment, in particular to an underwater hybrid self-driving device for marine riser flaw detection.
Background
The offshore platform is a main device for offshore oil and gas operation, because of special operation environment, the offshore platform can be eroded by wind speed, waves and ocean currents, so that the safety risk is higher, and with the increasing global energy demand, the offshore oil drilling and production will be developed to a larger and deeper water area in the future, which puts higher requirements on the safety of the offshore device.
In offshore oil equipment, a marine riser is important offshore drilling and production equipment, is a steel pipe for connecting a subsea blowout preventer device and an offshore drilling device, consists of an expansion joint, a marine riser main pipe, a flexible joint, a bottom marine riser assembly and other devices, and is mainly used for isolating seawater, leading in a drilling tool and a casing pipe, forming a mud circulation channel and the like.
The marine riser is divided into two parts above and below the water surface, which are influenced by sea current, sea wave, buoyancy, water pressure, platform movement and self weight, as well as internal drilling fluid pressure, drill pipe friction, tensioning tension and other factors, so that the marine riser has high requirements on raw material performance, welding quality, corrosion resistance, sealing, fatigue strength and the like, and all performances of the marine riser are required to be regularly checked.
Especially, the detection of the part from the water surface to the seabed of the marine riser is more difficult, for example, the marine riser with the water depth of 1500 meters is adapted, the bearing tension can reach kiloton level, and if an extremely small crack occurs, the safety of the whole drilling platform can be threatened.
However, due to the influence of the environment, the part of the marine riser from the water surface to the seabed is complex to detect, the marine riser is mainly detected by an underwater remote control robot at present, the operation cost is very high, particularly, the existing robot has a complex structure and is not low in general cost, and due to the fact that equipment is heavy, power and energy consumption are high, fuel needs to be supplemented frequently or power needs to be provided by charging, and the maintenance cost is also high.
In summary, there is a need for an underwater automatic marine riser inspection device that is lighter in structure, more robust in continuous operation, and less expensive in maintenance and energy consumption.
Disclosure of Invention
The invention aims to solve the technical problems that the existing underwater part detection equipment for the marine riser of the drilling platform is high in cost and low in working efficiency.
In order to solve the technical problem, the invention adopts the technical scheme that the underwater hybrid self-driven device for the marine riser flaw detection sequentially comprises a driving system, a control system and a power generation system,
the driving system comprises a guide rail which is fixedly arranged in parallel with a marine riser of a drilling platform at intervals, two ends of the guide rail are respectively connected with the drilling platform and a seabed blowout preventer, an underwater detection assembly is connected to the guide rail in a sliding manner and comprises a sealed cabin body and spiral propellers which are respectively arranged at two ends of the sealed cabin body, the two spiral propellers respectively drive the underwater detection assembly to move upwards or downwards along the guide rail, the middle part in the sealed cabin body is sequentially connected with a diving cabin, a suction pump and a water inlet and outlet pipeline, a pipe orifice of the water inlet and outlet pipeline is hermetically arranged outside the sealed cabin body, a mechanical telescopic arm is hermetically arranged on the sealed cabin body in a penetrating manner, the inner end of the mechanical telescopic arm is connected with a servo motor for driving the mechanical telescopic arm to stretch, and the servo motor is arranged in the sealed cabin body;
the sealing cabin is arranged in the control system, the control system comprises a main control circuit fixed in the sealing cabin, a detection probe fixedly arranged at the outer end of the mechanical telescopic arm and a wire group for controlling and connecting each part, the detection probe is arranged towards the marine riser, the main control circuit is respectively provided with a wireless module, a detection module, a mixed driving module and a master control module, the spiral propeller, the suction pump and the servo motor are respectively connected with the mixed driving module through the wire group, the mixed driving module controls the switching operation of the circuit between the spiral propeller and the suction pump and controls the servo motor to drive the mechanical telescopic arm to stretch, the detection probe is connected with the detection module through the wire group, and the detection module controls the detection probe to detect the performance of the marine riser, the wireless module receives and transmits control signals with a remote terminal arranged on the drilling platform in a wireless mode, and the master control module automatically regulates and controls the operation of the detection module and the hybrid drive module according to the control signals;
the power generation system comprises a generator connected with the drilling platform through an anchor chain, the generator is arranged in seawater in a floating mode, a power supply interface matched, sealed and butted with the underwater detection assembly is arranged on the generator, and the power supply interface faces the underwater detection assembly.
In the above scheme, a battery pack is further arranged in the sealed cabin body, the battery pack is respectively connected with the screw propeller, the suction pump and the servo motor through the lead group, a waterproof connector in matched, sealed and butt joint with the power supply interface is respectively connected to each battery pack, and the waterproof connector is arranged outside the sealed cabin body in a sealed penetrating mode.
In the above scheme, the control system further comprises a sonar generator and a pressure sensor which are arranged outside the sealed cabin body in a sealed penetrating mode, a sonar receiver matched with the sonar generator is arranged on the drilling platform, the sonar generator and the pressure sensor are respectively connected with the detection module through a secondary circuit board and the lead group, a depth signal is measured through a receiving and sending signal between the sonar generator and the sonar receiver, the master control module controls the mixed drive module to switch the operation circuit according to the depth signal and drives the underwater detection assembly to move, and the detection probe is made to move and detect along the marine riser.
In the above scheme, the driving system further comprises a pulley assembly fixed on one side outside the sealed cabin through a support, a pulley of the pulley assembly is rotatably connected to the support, a sliding groove is formed in the middle of the approach rail, the pulley is embedded between the sliding grooves in a rolling mode, and the underwater detection assembly is arranged in a sliding mode through the pulley along the approach rail.
In the scheme, a mooring rope is fixedly connected to the outer side wall of the top of the sealed cabin body, a communication optical fiber connected with the control system and the remote terminal is arranged in the mooring rope, and the top of the mooring rope is connected with a take-up motor on the drilling platform.
In the above scheme, the propellers of each propeller penetrate the outside of the sealed cabin respectively, the two propellers are arranged upwards and downwards respectively, and the engine of the propeller is sealed inside the sealed cabin.
In the scheme, the mechanical telescopic arm and the contact surface penetrating through the sealing cabin body are hermetically coated with a waterproof sleeve, and the detection probe faces the outer wall of the marine riser.
In the above scheme, the detection module is an ultrasonic flaw detector or an electromagnetic flaw detector.
In the above scheme, the generator is an ocean wave generator or a tidal generator.
In the above scheme, the guide rail is a steel cable.
The marine riser continuous operation system is small in structural volume design and low in manufacturing cost, takes the marine drilling platform as a carrier, adopts a hybrid driving mode to detect the part from the water surface of the marine riser to the seabed, is high in energy utilization rate, stronger in continuous operation capacity and lower in maintenance cost, and is more suitable for the requirement of current marine unmanned operation.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an enlarged schematic view of a partial connection structure of the underwater detection assembly, the guide rail and the riser in FIG. 1;
FIG. 3 is an enlarged view of a portion of the structure of FIG. 2;
FIG. 4 is a flow chart of the control system of the present invention.
Detailed Description
The invention is described in detail below with reference to the accompanying drawings.
The invention discloses an underwater hybrid self-driving device for marine riser flaw detection, which can be realized by appropriately improving process parameters by taking the contents of the underwater hybrid self-driving device as reference by a person skilled in the art. It is expressly intended that all such alterations and modifications which are obvious to those skilled in the art are deemed to be incorporated herein by reference, and that the techniques of the invention may be practiced and applied by those skilled in the art without departing from the spirit, scope and range of equivalents of the invention.
In the present invention, unless otherwise defined, scientific and technical terms used herein have the meanings that are commonly understood by those skilled in the art.
Because the existing marine riser detection is mainly realized through an underwater robot, and a robot power system on the market mainly depends on a propeller thruster device, the following problems can occur in the actual application process:
1. the energy consumption is higher, because six to the resistance about the automatic robot will balance, consequently it needs to set up multiunit spiral advancing device respectively, and this makes manufacturing, cost of maintenance and the electric quantity loss of equipment all greatly increased to need constantly salvage, retrieve, charge maintenance etc. to automatic robot in the operation process, can not charge automatically, cause work efficiency also lower.
2. The driving mode is single, at present, offshore oil operation not only has a deep sea drilling platform with the drilling depth of thousands of meters, but also has a shallow sea drilling platform with the operating depth of no more than hundreds of meters or even dozens of meters, and the number of the drilling platforms in the shallow sea area is huge, so compared with the deep sea, the offshore oil operation adopts a spiral propulsion driving mode, and the actual operation in the shallow sea area can adopt an alternative driving mode or a hybrid driving mode which has relatively lower construction cost and lower energy consumption, so that the detection work of the marine riser is realized.
In view of the above two practical problems, as shown in fig. 1 to 4, the underwater hybrid self-driven device for marine riser flaw detection provided by the invention sequentially comprises a driving system, a control system and a power generation system, wherein the driving system, the control system and the power generation system
The actuating system mainly includes the approach 2 with 1 parallel interval fixed arrangement of drilling platform's marine riser, as the main part guide framework that drive detection device removed, drive along approach 2 like this, can save the required power supply of space multidirectional location, only need along the approach provide two-way power can, approach 2 can adopt steel cable or other fungible structures can dismantle with marine riser 1 and be connected, according to the demand of actual application environment, under the prerequisite that does not influence operation safety, the approach can carry out appropriate fixed through anchor chain and marine riser 1. The two ends of the guide rail 2 are fixedly connected to the drilling platform and the seabed blowout preventer in a detachable mode respectively, so that after detection operation is finished, the guide rail 2 can be detached in time.
There is detection assembly 3 under water along sliding connection on the approach rail 2, detection assembly 3 is the main part that detects to marine riser 1 under water promptly, it includes a streamlined columnar sealed cabin 4 to detect assembly 3's shell under water, loose pulley assembly 5 is fixed in the outer one side of sealed cabin 4 through support 22, it has the pulley to rotate on the support 22, spout 23 has been seted up along the middle part of approach rail 2, the pulley rolls to be embedded between spout 23, it is connected along approach rail 2 sliding connection through the pulley to detect assembly 3 under water, along with power drive, it just can detect each partial performance of marine riser 1 along approach rail 2 to detect assembly 3 under water like this.
The underwater detection assembly 3 further comprises screw propellers 6 respectively arranged at two ends of the sealed cabin body 4, the screw propellers of each screw propeller 6 respectively penetrate out of the sealed cabin body 4, the two screw propellers are respectively arranged upwards and downwards, the engine of each screw propeller 6 is sealed in the sealed cabin body 4, the two screw propellers 6 respectively drive the underwater detection assembly 3 to float upwards or submerge along the guide rail 2, and therefore the mode of adopting the two screw propellers is the first driving mode of hybrid driving of the invention, the driving mode has the advantages of being not limited by the operating water depth and being more suitable for driving in a deep water area, wherein the screw propellers 6 can adopt various ROV propellers and AUV propellers which are commercially available at present, such as Tecnadyne underwater propellers, ROVMAKER underwater propellers and the like.
Another driving structure of the invention is as follows: the middle part in the sealed cabin body 4 is sequentially connected with a diving cabin 8, a suction pump 9, a water inlet pipeline and a water outlet pipeline 10, the power model of the suction pump 9 can be flexibly selected according to the operation water depth, wherein the pipe orifice of the water inlet pipeline and the water outlet pipeline 10 is hermetically arranged outside the sealed cabin body 4 in a penetrating way, so that the suction pump 9 is automatically controlled by a system to feed water and drain water, and a driving device floats up and down.
The hybrid drive mode of the invention is also suitable for detecting the horizontal trend part of the marine riser 1, when the detection equipment runs to the horizontal section, the diving drive mode is closed, and the spiral propulsion mode is adopted for realization, so the invention has flexible use and wide application range.
The control system of the invention is arranged in the sealed cabin 4 and comprises a main control circuit 15 fixed in the sealed cabin 4, a detection probe 16 fixedly arranged at the outer end of the mechanical telescopic arm 12 and a lead group for controlling and connecting each part.
The detection probe 16 is arranged towards the outer wall of the marine riser 1, the mechanical telescopic arm 12 is arranged on the wall surface of the sealed cabin 4 in a sealed penetrating mode, the inner end of the mechanical telescopic arm 12 is connected with a servo motor 13 for driving the mechanical telescopic arm to stretch, the servo motor 13 is arranged in the sealed cabin 4 in a built-in mode to control the stretching of the mechanical telescopic arm 12, so that the detection probe 16 monitors the marine riser 1 in real time, in order to achieve a good waterproof and pressure-resistant level, a flexible waterproof sleeve 14 can be preferably coated between the mechanical telescopic arm 12 and a contact surface of the mechanical telescopic arm penetrating through the sealed cabin 4 in a sealed mode, and therefore the good waterproof level can be achieved, wherein the mechanical telescopic arm 12 can preferably adopt various ROV underwater mechanical telescopic arms which are sold in the market at present, such as a SharkMarine mechanical arm, an HL.
The main control circuit 15 is preferably assembled in a modularized manner, different control modules can be replaced according to different operation depths, a commercially available PLC control system, a DCS control system and the like can be preferably adopted, and the main control circuit 15 respectively comprises a wireless module, a detection module, a hybrid drive module and a master control module.
Wherein, screw propeller 6, suction pump 9 and servo motor 13 are connected with the thoughtlessly driving module through the wire group respectively, and the thoughtlessly driving module realizes different drive methods operation according to the operation depth of water of difference, the switching of control screw propeller 6 and circuit between the suction pump 9, and the flexible detection of the flexible arm 12 of steerable servo motor 13 drive machinery simultaneously.
The inspection probe 16 is connected to an inspection module, preferably an ultrasonic flaw detector or an electromagnetic flaw detector, such as a CTS-9003plus digital ultrasonic flaw detector, a JY-II magnetic particle flaw detector, a CSK-IA ultrasonic flaw detector, etc., which are commercially available, through a wire set, and the inspection module inspects the performance of the riser 1 by controlling the inspection probe 16.
The wireless module receives and transmits control signals with a remote terminal of the drilling platform in a wireless mode, automatic control or manual control can be realized according to instructions, and the master control module automatically adjusts the operation of the detection module and the hybrid drive module according to the control signals;
preferably, the control system further comprises a sonar generator 19 and a pressure sensor 20 which are hermetically inserted outside the sealed cabin 4, the drilling platform is provided with a sonar receiver (the sonar generator 19 and the sonar receiver form a sonar sensor) matched with the sonar generator 19, the sonar generator 19 and the pressure sensor 20 are respectively connected with the detection module through a secondary circuit board 21 and a lead group which are fixed in the sealed cabin 4, so that when the sonar generator 19 and the sonar receiver receive sonar signals or transmit sonar signals or water pressure signals detected by the pressure sensor 20, the depth of the current position of the underwater detection assembly 3 can be detected, the master control module controls the hybrid drive module to appropriately and flexibly switch the operation circuit according to the received depth signals and drives the underwater detection assembly 3 to move, so that the detection probe 16 moves and detects at different water depths along the marine riser 1, and the driving mode switching of the automatic control hybrid driving system is realized.
The power generation system comprises a generator 17 connected with the drilling platform through an anchor chain, the generator 17 is arranged in seawater in a floating mode, the generator 17 can be a currently marketed sea wave generator or a tidal generator, and therefore the environment-friendly standard is achieved, and self-sufficiency of power energy can be achieved.
The specific structure is that a power supply interface 18 is arranged on the generator 17, the power supply interface 18 is arranged towards the underwater detection assembly 3, a battery pack 7 is further arranged in the sealed cabin body 4, the battery pack 7 is respectively connected with the spiral propeller 6, the servo motor 13 and the suction pump 9 through a lead group, a waterproof joint 11 which is matched, sealed and butted with the power supply interface 18 is respectively connected onto each battery pack 7, and the waterproof joint 11 is sealed and penetrates through the outside of the sealed cabin body 4. When the control system detects that the electric power is insufficient, the underwater floating detection assembly 3 enables the power supply interface 18 and the generator 17 to be automatically butted to automatically charge the battery pack 7, so that the time cost of equipment maintenance is greatly saved, and the continuous automatic operation capability is improved.
In addition, fixedly connected with hawser 24 on the top lateral wall of the sealed cabin body 4, hawser 24 embeds there is the communication optic fibre of connection control system and remote terminal, can replace wireless module to convert wired communication module as required, and the signal is more stable like this, and the top of hawser 24 is connected in the receipts line motor 25 on the drilling platform, drops in order to prevent equipment trouble or from the accident on the approach rail 2, and hawser 24 can effectively recovery plant when the accident.
The marine riser continuous operation system is small in structural volume design and low in manufacturing cost, takes the marine drilling platform as a carrier, adopts a hybrid driving mode to detect the part from the water surface of the marine riser to the seabed, is high in energy utilization rate, stronger in continuous operation capacity and lower in maintenance cost, and is more suitable for the requirement of current marine unmanned operation.
The present invention is not limited to the above-mentioned preferred embodiments, and any structural changes made under the teaching of the present invention shall fall within the protection scope of the present invention, which has the same or similar technical solutions as the present invention.
Claims (10)
1. An underwater hybrid self-driven device for marine riser flaw detection sequentially comprises a driving system, a control system and a power generation system, and is characterized in that,
the driving system comprises a guide rail which is fixedly arranged in parallel with a marine riser of a drilling platform at intervals, two ends of the guide rail are respectively connected with the drilling platform and a seabed blowout preventer, an underwater detection assembly is connected to the guide rail in a sliding manner and comprises a sealed cabin body and spiral propellers which are respectively arranged at two ends of the sealed cabin body, the two spiral propellers respectively drive the underwater detection assembly to move upwards or downwards along the guide rail, the middle part in the sealed cabin body is sequentially connected with a diving cabin, a suction pump and a water inlet and outlet pipeline, a pipe orifice of the water inlet and outlet pipeline is hermetically arranged outside the sealed cabin body, a mechanical telescopic arm is hermetically arranged on the sealed cabin body in a penetrating manner, the inner end of the mechanical telescopic arm is connected with a servo motor for driving the mechanical telescopic arm to stretch, and the servo motor is arranged in the sealed cabin body;
the sealing cabin is arranged in the control system, the control system comprises a main control circuit fixed in the sealing cabin, a detection probe fixedly arranged at the outer end of the mechanical telescopic arm and a wire group for controlling and connecting each part, the detection probe is arranged towards the marine riser, the main control circuit is respectively provided with a wireless module, a detection module, a mixed driving module and a master control module, the spiral propeller, the suction pump and the servo motor are respectively connected with the mixed driving module through the wire group, the mixed driving module controls the switching operation of the circuit between the spiral propeller and the suction pump and controls the servo motor to drive the mechanical telescopic arm to stretch, the detection probe is connected with the detection module through the wire group, and the detection module controls the detection probe to detect the performance of the marine riser, the wireless module receives and transmits control signals with a remote terminal arranged on the drilling platform in a wireless mode, and the master control module automatically regulates and controls the operation of the detection module and the hybrid drive module according to the control signals;
the power generation system comprises a generator connected with the drilling platform through an anchor chain, the generator is arranged in seawater in a floating mode, a power supply interface matched, sealed and butted with the underwater detection assembly is arranged on the generator, and the power supply interface faces the underwater detection assembly.
2. The underwater hybrid self-driven device for marine riser flaw detection according to claim 1, wherein a battery pack is further disposed in the sealed cabin, the battery pack is respectively connected to the screw propeller, the suction pump, and the servo motor through the wire group, a waterproof joint in matching, sealing, and abutting joint with the power supply interface is respectively connected to each battery pack, and the waterproof joint is sealingly disposed outside the sealed cabin.
3. The underwater hybrid self-driving device for marine riser flaw detection according to claim 1, wherein the control system further comprises a sonar generator and a pressure sensor which are hermetically inserted outside the sealed cabin, a sonar receiver matched with the sonar generator is arranged on the drilling platform, the sonar generator and the pressure sensor are respectively connected with the detection module through a sub-circuit board and the wire group, a depth signal is measured by transmitting and receiving signals between the sonar generator and the sonar receiver, and the main control module controls the hybrid driving module to switch the operation circuit according to the depth signal and drives the underwater detection assembly to move so that the detection probe moves and detects along the marine riser.
4. The underwater hybrid self-driven device for marine riser flaw detection according to claim 1, wherein the driving system further comprises a pulley assembly fixed to one side outside the sealed cabin through a support, a pulley of the pulley assembly is rotatably connected to the support, a sliding groove is formed in the middle of the approach rail, the pulley is embedded between the sliding grooves in a rolling manner, and the underwater detection assembly is slidably disposed along the approach rail through the pulley.
5. The underwater hybrid self-driven device for marine riser inspection according to claim 1, wherein a cable is fixedly connected to an outer side wall of the top of the sealed cabin, a communication optical fiber for connecting the control system and a remote terminal is arranged in the cable, and the top of the cable is connected to a wire take-up motor on a drilling platform.
6. The underwater hybrid self-driving device for marine riser inspection according to claim 1, wherein the propellers of each propeller penetrate through the outside of the sealed cabin, the two propellers are respectively arranged upwards and downwards, and the engine of the propeller is sealed inside the sealed cabin.
7. The underwater hybrid self-driven device for marine riser flaw detection according to claim 1, wherein a waterproof jacket is hermetically wrapped between the mechanical telescopic arm and a contact surface of the mechanical telescopic arm penetrating through the sealing cabin, and the detection probe is arranged towards the outer wall of the marine riser.
8. The underwater hybrid self-driven device for marine riser inspection according to claim 1, wherein the detection module is an ultrasonic flaw detector or an electromagnetic flaw detector.
9. The underwater hybrid self-drive device for riser inspection of claim 1, wherein the generator is an ocean wave generator or a tidal generator.
10. The underwater hybrid self-driven device for marine riser inspection of claim 1, wherein the guide rail is a steel cable.
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| CN113895595A (en) * | 2021-10-09 | 2022-01-07 | 上海海洋大学 | Hybrid-driven anchor chain cleaning and detecting robot and operation method thereof |
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| US11565781B1 (en) | 2021-10-09 | 2023-01-31 | CIMC Offshore Co., Ltd | Hybrid-driven mooring chain cleaning and structural inspection underwater robot and working method thereof |
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