CN110834707B - 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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- CN110834707B CN110834707B CN201911251759.6A CN201911251759A CN110834707B CN 110834707 B CN110834707 B CN 110834707B CN 201911251759 A CN201911251759 A CN 201911251759A CN 110834707 B CN110834707 B CN 110834707B
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- 238000001514 detection method Methods 0.000 title claims abstract description 74
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 33
- 238000005553 drilling Methods 0.000 claims abstract description 32
- 238000010248 power generation Methods 0.000 claims abstract description 8
- 230000007547 defect Effects 0.000 claims abstract description 5
- 239000000523 sample Substances 0.000 claims description 18
- 238000007789 sealing Methods 0.000 claims description 16
- 238000007689 inspection Methods 0.000 claims description 15
- 230000000149 penetrating effect Effects 0.000 claims description 11
- 238000002955 isolation Methods 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 4
- 238000007667 floating Methods 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 claims description 4
- 239000013535 sea water Substances 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 3
- 239000013307 optical fiber Substances 0.000 claims description 2
- 230000008602 contraction Effects 0.000 abstract 1
- 238000012423 maintenance Methods 0.000 description 7
- 238000005265 energy consumption Methods 0.000 description 4
- 230000009189 diving Effects 0.000 description 3
- 108010066278 cabin-4 Proteins 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000251730 Chondrichthyes Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
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- 230000006835 compression Effects 0.000 description 1
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- 238000010276 construction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect 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
- 239000006249 magnetic particle Substances 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- 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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- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses an underwater hybrid self-driving device for detecting the defects of a marine riser, which comprises a driving system, a control system and a power generation system, wherein the driving system comprises a guide rail which is arranged in parallel with the marine riser, an underwater detection assembly is connected onto the guide rail in a sliding way, a wireless module, a detection module, a hybrid driving module and a master control module are respectively arranged on a main control circuit, the hybrid driving module controls the operation of a screw propeller and a suction pump and controls the expansion and contraction of a mechanical telescopic arm, the detection module detects the performance of the marine riser, the wireless module receives and transmits control signals, and the master control module automatically regulates and controls the operation of the detection module and the hybrid driving module according to the control signals; the power generation system comprises a generator, and the power supply interface is arranged towards the underwater detection assembly. The marine drilling platform is used as a carrier, the part below the water surface of the marine riser is detected in a hybrid driving mode, the energy utilization rate is high, the continuous operation capability is stronger, and the marine unmanned operation requirement is met.
Description
Technical Field
The invention relates to marine oil and gas equipment, in particular to an underwater hybrid self-driving device for marine riser flaw detection.
Background
Offshore platforms are the main equipment for offshore oil and gas operations, and because the operation environment is special, the offshore platforms are eroded by wind speed, wave and ocean currents, so the safety risk is high, and with the increasing global energy demand, the future offshore oil drilling and production will be developed to larger and deeper water areas, which puts higher demands on the safety of the offshore equipment.
In offshore petroleum equipment, a marine riser is an important offshore drilling equipment, is a steel pipe for connecting a subsea blowout preventer and an offshore drilling device, and consists of an expansion joint, a marine riser main pipe, a flexible joint, a bottom marine riser assembly and the like, and has the main functions of isolating seawater, guiding drilling tools and casings, forming a mud circulation channel and the like.
The marine riser is divided into two parts above the water surface and below the water surface, and is influenced by factors such as sea current, sea wave, buoyancy, water pressure, platform movement and self weight, internal drilling fluid pressure, drill rod friction, tensioning tension and the like, so that the marine riser has high requirements on raw material performance, welding quality, corrosion resistance, sealing, fatigue strength and the like, and various performances of the marine riser are usually required to be checked regularly.
Particularly, the detection of the part below the water surface of the marine riser to the seabed is more difficult, and the marine riser with the water depth of 1500 meters is taken as an example, the bearing tension of the marine riser can reach kilotons, and if an extremely small crack appears, the safety of the whole drilling platform can be threatened.
However, the detection of the part from the lower part of the water surface of the marine riser to the seabed is complicated due to the environmental influence, the marine riser is mainly detected by means of an underwater remote control robot at present, the operation cost is very high, the existing robot is complex in structure and low in general cost, and the equipment is heavy, the power and the energy consumption are high, the fuel is required to be frequently supplemented or the power is required to be supplied by charging, and the maintenance and overhaul cost is high.
In view of the foregoing, there is a need for a lower cost marine riser underwater automatic inspection device that is more compact in construction, and that is more capable of continuous operation, maintenance, and energy consumption.
Disclosure of Invention
The invention aims to solve the technical problems that the cost of the existing detection equipment for the underwater part of the water-proof pipe of the drilling platform is high and the working efficiency is low.
In order to solve the technical problems, the invention adopts the technical proposal that the invention provides an underwater hybrid self-driving device for detecting the defects of a water isolation pipe, which sequentially comprises a driving system, a control system and a power generation system,
The driving system comprises guide rails which are fixedly arranged in parallel with a marine riser of the drilling platform at intervals, two ends of each guide rail are respectively connected with the drilling platform and a subsea blowout preventer, an underwater detection assembly is connected to the guide rails in a sliding manner, each underwater detection assembly comprises a sealing cabin body and spiral propellers which are respectively arranged at two ends of the sealing cabin body, the two spiral propellers respectively drive the underwater detection assembly to ascend or descend along the guide rails, a diving cabin, a suction pump and a water inlet and outlet pipeline are sequentially connected to the middle part in the sealing cabin body, a pipe orifice of the water inlet and outlet pipeline is hermetically arranged outside the sealing cabin body in a penetrating manner, a mechanical telescopic arm is also hermetically arranged on the sealing cabin body in a penetrating manner, and a servo motor for driving the mechanical telescopic arm to stretch is connected to the inner end of the mechanical telescopic arm and is arranged in the sealing cabin body;
The control system is arranged in the sealed cabin body and comprises a main control circuit fixed in the sealed cabin body, a detection probe fixedly arranged at the outer end of the mechanical telescopic arm and a wire set for controlling and connecting all parts, wherein the detection probe is arranged towards the marine riser, a wireless module, a detection module, a hybrid driving module and a master control module are respectively arranged on the main control circuit, the screw propeller, the suction pump and the servo motor are respectively connected with the hybrid driving module through the wire set, the hybrid driving module controls the switching operation of a circuit between the screw propeller and the suction pump and controls the servo motor to drive the mechanical telescopic arm to stretch and retract, the detection probe is connected with the detection module through the wire set, the detection probe is controlled to detect the performance of the marine riser, a control signal is transmitted and received between the wireless module and a remote terminal arranged on a drilling platform through a wireless mode, and the master control module automatically regulates and controls the operation of the detection module and the hybrid driving module according to the control signal;
The power generation system comprises a generator connected with the drilling platform through an anchor chain, the generator is arranged in sea water in a floating mode, a power supply interface matched with the underwater detection assembly in a sealing and butt joint mode is arranged on the generator, and the power supply interface faces the underwater detection assembly.
In the above scheme, still be equipped with the group battery in the sealed cabin, the group battery respectively with screw propeller, suction pump, servo motor pass through the wire group is connected, each be connected with respectively on the group battery with the waterproof joint of power supply interface matching seal butt joint, waterproof joint seals and wears to locate the outside of the sealed cabin.
In the above scheme, the control system further comprises a sonar generator and a pressure sensor which are arranged outside the sealed cabin in a penetrating mode, a sonar receiver matched with the sonar generator is arranged on the drilling platform, the sonar generator and the pressure sensor are connected with the detection module through a secondary circuit board and the wire set respectively, a depth signal is measured by receiving and transmitting signals between the sonar generator and the sonar receiver, and the total control module controls the mixed 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 along the water isolation pipe to detect.
In the above scheme, the driving system further comprises a pulley assembly fixed on one side outside the sealed cabin body 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 guide rail, the pulley is embedded between the sliding grooves in a rolling mode, and the underwater detection assembly is arranged in a sliding mode along the guide rail through the pulley.
In the scheme, a cable is fixedly connected to the outer side wall of the top of the sealed cabin body, a communication optical fiber for connecting the control system and the remote terminal is arranged in the cable, and the top of the cable is connected to a wire winding motor on the drilling platform.
In the scheme, the screw propeller of each screw propeller penetrates through the outer part of the sealed cabin body respectively, the two screw propellers are arranged upwards and downwards respectively, and the engine of the screw propeller is sealed in the inner part of the sealed cabin body.
In the above scheme, the waterproof sleeve is sealed and coated between the mechanical telescopic arm and the contact surface penetrating through the sealed cabin body, and the detection probe faces the outer wall of the water isolation pipe.
In the above scheme, the detection module is an ultrasonic flaw detector or an electromagnetic flaw detector.
In the above scheme, the generator is a sea wave generator or a tidal generator.
In the above scheme, the guide rail is a steel cable.
The marine drilling platform is used as a carrier, the part from the lower part of the water surface of the marine riser to the seabed is detected in a hybrid driving mode, the energy utilization rate is high, the continuous operation capability is stronger, the maintenance cost is lower, and the marine unmanned operation requirement is met.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is an enlarged schematic view of a partial connection structure of the subsurface detection assembly, rail and riser of FIG. 1;
FIG. 3 is an enlarged schematic view of a part of the structure in FIG. 2;
FIG. 4 is a flow chart of the control system of the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The invention discloses an underwater hybrid self-driving device for detecting the defects of a water-proof pipe, and a person skilled in the art can properly improve the technological parameters by referring to the content of the description. It is to be particularly pointed out that all similar substitutes and modifications apparent to those skilled in the art are deemed to be included in the invention and that the relevant person can make modifications and appropriate alterations and combinations of what is described herein to make and use the technology without departing from the spirit and scope of the invention.
In the present invention, unless otherwise indicated, scientific and technical terms used herein have the meanings commonly understood by one of ordinary skill in the art.
Because the existing marine riser detection is mainly realized by an underwater robot, and the robot power system on the market mainly depends on a propeller device, the following problems can occur in the actual application process:
1. The energy consumption is higher, because the robot needs to balance six-way resistance of going up, down, left, right, front and back, therefore it needs to set up multiunit screw propulsion device respectively, this makes the manufacturing of equipment, cost of maintenance and electric quantity loss all greatly increased to the operation in-process need constantly salvage, retrieve, charge maintenance etc. to the robot, can not charge automatically, causes work efficiency also lower.
2. The driving mode is single, because the offshore oil operation at present has deep sea drilling platforms with the drilling water depth of thousands of meters and shallow sea drilling platforms with the operation water depth of hundreds of meters or even tens of meters, and the number of the drilling platforms in shallow sea areas is huge, compared with the deep sea, the spiral propulsion driving mode is adopted, and the actual shallow sea area operation can adopt an alternative driving mode or a mixed driving mode which is relatively economical in structure cost and energy consumption, so that the detection work of the marine riser is realized.
Aiming at the two practical problems, as shown in fig. 1 to 4, the invention provides an underwater hybrid self-driving device for detecting the defects of a marine riser, which sequentially comprises a driving system, a control system and a power generation system, wherein
The driving system mainly comprises guide rails 2 which are fixedly arranged in parallel with the marine riser 1 of the drilling platform at intervals and serve as a main body guide framework for driving the detection device to move, so that the driving system can save power supply required by space multidirectional positioning along the guide rails 2, only two-way power is required to be provided along the guide rails, the guide rails 2 can be detachably connected with the marine riser 1 by adopting steel cables or other alternative structures, and the guide rails can be appropriately fixed with the marine riser 1 through anchor chains on the premise of not affecting operation safety according to the requirements of practical application environments. The two ends of the guide rail 2 are respectively and fixedly connected to the drilling platform and the seabed blowout preventer in a detachable mode, so that the guide rail 2 can be removed in time after detection operation is finished.
The underwater detection assembly 3 is connected to the guide rail 2 in a sliding manner, namely, the underwater detection assembly 3 is a main body for detecting the marine riser 1, the shell of the underwater detection assembly 3 comprises a streamline columnar sealing cabin body 4, a pulley assembly 5 is fixed to one side outside the sealing cabin body 4 through a support 22, a pulley rotates on the support 22, a sliding groove 23 is formed in the middle of the guide rail 2, the pulley is embedded between the sliding grooves 23 in a rolling manner, the underwater detection assembly 3 is connected to the guide rail 2 in a sliding manner through the pulley, and accordingly, the underwater detection assembly 3 can detect all part performances of the marine riser 1 along the guide rail 2 along with power driving.
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 through the outside of the sealed cabin body 4, the two screw propellers are respectively arranged upwards and downwards, an engine of each screw propeller 6 is sealed inside 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 the two screw propellers is the first driving mode of the hybrid driving of the invention, and the driving mode has the advantages of being free from the limitation of operation water depth, and is suitable for driving in deep water areas, wherein the screw propellers 6 can be various ROV propellers and AUV propellers such as TECNADYNE underwater propellers, ROVMAKER underwater propellers and the like which are commercially available at present.
The other 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 and a water inlet and outlet pipeline 10, the power model of the suction pump 9 can be flexibly selected according to the operation water depth, the pipe orifice of the water inlet and outlet pipeline 10 is sealed and penetrated outside the sealed cabin body 4, thus the suction pump 9 is automatically controlled by a system to carry out water inlet and water outlet so as to drive a device to float up and down.
The mixed driving mode is also suitable for detecting the horizontal trend part of the marine riser 1, and when the detection equipment runs to the horizontal section, the diving driving mode is closed and the spiral propulsion mode is adopted, so that the mixed driving mode is flexible in use and wide in application range.
The control system of the invention is built 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 wire group for controlling and connecting all parts.
The detection probe 16 is arranged towards the outer wall of the marine riser 1, the mechanical telescopic arm 12 is hermetically penetrated on the wall surface of the sealed cabin body 4, the inner end of the mechanical telescopic arm 12 is connected with a servo motor 13 for driving the mechanical telescopic arm to stretch out and draw back, the servo motor 13 is arranged in the sealed cabin body 4 to control the stretching out and drawing back of the mechanical telescopic arm 12, so that the detection probe 16 monitors the marine riser 1 in real time, in order to achieve an excellent waterproof compression level, a layer of flexible waterproof sleeve 14 can be sealed and coated between the mechanical telescopic arm 12 and the contact surface penetrating the sealed cabin body 4, and thus a better waterproof level can be achieved, wherein the mechanical telescopic arm 12 can preferably adopt various ROV underwater mechanical telescopic arms sold at present, such as SHARK MARINE mechanical arms, HLK-40500R mechanical arms and the like.
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 mixed driving module and a master control module.
The spiral propeller 6, the suction pump 9 and the servo motor 13 are respectively connected with the hybrid driving module through a wire set, so that the hybrid driving module controls the switching of circuits between the spiral propeller 6 and the suction pump 9 to realize different driving modes according to different operation water depths, and meanwhile, the servo motor 13 can be controlled to drive the telescopic detection of the mechanical telescopic arm 12.
The inspection probe 16 is connected to an inspection module, preferably an ultrasonic inspection instrument or an electromagnetic inspection instrument, such as a CTS-9003plus digital ultrasonic flaw detector, a JY-II magnetic particle inspection instrument, a CSK-IA ultrasonic inspection instrument, etc. which are currently commercially available, and the inspection module inspects the performance of the riser pipe 1 by controlling the inspection probe 16.
The wireless module and the remote terminal of the drilling platform receive and dispatch control signals in a wireless mode, automatic control or manual control can be realized according to the instructions, and the master control module automatically adjusts the operation of the detection module and the hybrid drive module according to the control signals;
Further preferably, the control system further comprises a sonar generator 19 and a pressure sensor 20 which are hermetically penetrated outside the sealed cabin body 4, a sonar receiver matched with the sonar generator 19 is arranged on the drilling platform (the sonar generator 19 and the sonar receiver form a sonar sensor), the sonar generator 19 and the pressure sensor 20 are respectively connected with the detection module through a secondary circuit board 21 and a wire set which are fixed in the sealed cabin body 4, thus, when the sonar generator 19 and the sonar receiver receive and dispatch sonar signals or according to water pressure signals measured by the pressure sensor 20, the depth of the current position of the underwater detection assembly 3 can be measured, at the moment, the master control module controls a proper flexible switching operation circuit of the hybrid drive module according to the received depth signals and drives the underwater detection assembly 3 to move, so that the detection probe 16 moves along the water isolation pipe 1 to detect at different water depths, and the driving mode switching of the automatic control hybrid drive system is realized.
The power generation system comprises the generator 17 connected with the drilling platform through the anchor chain, the generator 17 is arranged in the sea water in a floating mode, and the generator 17 can adopt a sea wave generator or a tidal generator which are commercially available at present, so that the environment protection standard is achieved, and the self-sufficiency of power energy can be realized.
The power supply device comprises a power generator 17, wherein a power supply interface 18 is arranged on the power generator 17, the power supply interface 18 faces to an underwater detection assembly 3, a battery pack 7 is further arranged in a sealed cabin body 4, the battery pack 7 is respectively connected with a spiral propeller 6, a servo motor 13 and a suction pump 9 through lead sets, waterproof connectors 11 matched with the power supply interface 18 in a sealing and abutting mode are respectively connected to each battery pack 7, and the waterproof connectors 11 are arranged outside the sealed cabin body 4 in a penetrating mode in a sealing mode. When the control system detects that the electric power is insufficient, the floating underwater detection assembly 3 enables the power supply interface 18 to be automatically connected with the generator 17 in a butt joint mode, so that the battery pack 7 can be automatically charged, the time cost of equipment maintenance is greatly saved, and the continuous automatic operation capability is improved.
In addition, fixedly connected with cable 24 on the top lateral wall of sealed cabin body 4, cable 24 embeds the communication optic fibre that connects control system and remote terminal, can replace wireless module to change into wired communication module as required, and the signal is more stable like this, and cable 24's top is connected in the receipts line motor 25 on the drilling platform, in order to prevent equipment trouble or from falling off from the guide rail 2 accident, cable 24 can effectively retrieve equipment when unexpected.
The marine drilling platform is used as a carrier, the part from the lower part of the water surface of the marine riser to the seabed is detected in a hybrid driving mode, the energy utilization rate is high, the continuous operation capability is stronger, the maintenance cost is lower, and the marine unmanned operation requirement is met.
The present invention is not limited to the above-mentioned preferred embodiments, and any person who can learn about the structural changes made under the teaching of the present invention can be within the scope of the present invention if the present invention has the same or similar technical solutions.
Claims (8)
1. The underwater hybrid self-driving device for the 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 subsea blowout preventer, an underwater detection assembly is connected to the guide rail in a sliding manner, the underwater detection assembly comprises a sealed cabin body and screw propellers which are respectively arranged at two ends of the sealed cabin body, the two screw propellers respectively drive the underwater detection assembly to ascend or descend along the guide rail, a submarine cabin, a suction pump and a water inlet and outlet pipeline are sequentially connected to the middle part of the sealed cabin body, a pipe orifice of the water inlet and outlet pipeline is hermetically arranged outside the sealed cabin body in a penetrating manner, a mechanical telescopic arm is also 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 which drives the telescopic servo motor, and the servo motor is arranged in the sealed cabin body; the control system is arranged in the sealed cabin body and comprises a main control circuit fixed in the sealed cabin body, a detection probe fixedly arranged at the outer end of the mechanical telescopic arm and a wire set for controlling and connecting all parts, wherein the detection probe is arranged towards the marine riser, a wireless module, a detection module, a hybrid driving module and a master control module are respectively arranged on the main control circuit, the screw propeller, the suction pump and the servo motor are respectively connected with the hybrid driving module through the wire set, the hybrid driving module controls the switching operation of a circuit between the screw propeller and the suction pump and controls the servo motor to drive the mechanical telescopic arm to stretch and retract, the detection probe is connected with the detection module through the wire set, the detection probe is controlled to detect the performance of the marine riser, a control signal is transmitted and received between the wireless module and a remote terminal arranged on a drilling platform through a wireless mode, and the master control module automatically regulates and controls the operation of the detection module and the hybrid driving module according to the control signal; the power generation system comprises a generator connected with the drilling platform through an anchor chain, the generator is arranged in sea water in a floating mode, a power supply interface matched with the underwater detection assembly in a sealing and butt joint mode is arranged on the generator, and the power supply interface is arranged towards the underwater detection assembly;
the sealed cabin body is internally provided with a battery pack, the battery pack is respectively connected with the spiral propeller, the suction pump and the servo motor through the lead groups, each battery pack is respectively connected with a waterproof joint matched with the power supply interface in a sealing and butting way, and the waterproof joint is arranged outside the sealed cabin body in a penetrating way in a sealing way;
The control system further comprises a sonar generator and a pressure sensor which are arranged outside the sealed cabin in a penetrating mode in a sealing mode, a sonar receiver matched with the sonar generator is arranged on the drilling platform, the sonar generator and the pressure sensor are connected with the detection module through a secondary circuit board and the lead set respectively, a depth signal is measured through receiving and transmitting signals between the sonar generator and the sonar receiver, the master control module controls the hybrid 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 enabled to move and detect along the water isolation pipe.
2. The underwater hybrid self-driving device for detecting faults of a marine riser according to claim 1, wherein the driving system further comprises a pulley assembly fixed on one side outside the sealed cabin body 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 guide rail, the pulley is embedded between the sliding grooves in a rolling mode, and the underwater detection assembly is arranged in a sliding mode along the guide rail through the pulley.
3. The underwater hybrid self-driving device for riser flaw detection according to claim 1, wherein a cable is fixedly connected to the outer side wall of the top of the sealed cabin body, 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-collecting motor on a drilling platform.
4. An underwater hybrid self-driving device for riser inspection according to claim 1, wherein the propeller of each propeller is respectively penetrated out of the sealed cabin, two propellers are respectively arranged upwards and downwards, and the engine of the propeller is sealed inside the sealed cabin.
5. The underwater hybrid self-driving device for detecting the defects of the water isolation pipe according to claim 1, wherein a waterproof sleeve is sealed and coated between the mechanical telescopic arm and a contact surface penetrating through the sealed cabin body, and the detection probe is arranged towards the outer wall of the water isolation pipe.
6. An underwater hybrid self-driving device for riser inspection as claimed in claim 1, wherein the detection module is an ultrasonic inspection instrument or an electromagnetic inspection instrument.
7. An underwater hybrid self-driving device for riser inspection as in claim 1 wherein the generator is a sea wave generator or a tidal generator.
8. The hybrid subsea self-driving device for riser inspection according to claim 1, wherein the guide rail is a steel cable.
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| CN201911251759.6A CN110834707B (en) | 2019-12-09 | 2019-12-09 | Underwater hybrid self-driving device for marine riser flaw detection |
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| CN211107936U (en) * | 2019-12-09 | 2020-07-28 | 中油（天津）国际石油勘探开发技术有限公司 | Underwater hybrid self-driving device for marine riser flaw detection |
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| US7720190B2 (en) * | 2005-04-13 | 2010-05-18 | Kabushiki Kaisha Toshiba | Working device and working method |
| CN102162769A (en) * | 2011-01-05 | 2011-08-24 | 中国海洋石油总公司 | Fatigue multi-point wireless monitoring system of marine riser |
| CN102635319A (en) * | 2012-04-12 | 2012-08-15 | 宝鸡石油机械有限责任公司 | Direct hydraulic cylinder type offshore drilling riser tensioning system |
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| CN211107936U (en) * | 2019-12-09 | 2020-07-28 | 中油（天津）国际石油勘探开发技术有限公司 | Underwater hybrid self-driving device for marine riser flaw detection |
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