CN111239035A - Underwater corrosion detection device and system for structure - Google Patents
Underwater corrosion detection device and system for structure Download PDFInfo
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Abstract
The invention relates to a device and a system for detecting underwater corrosion of a structure. The device comprises a shell, a pressure-resistant cabin body, a detection element group, a propelling assembly and a communication optical fiber, wherein the pressure-resistant cabin body comprises a battery cabin and a control cabin, the battery cabin is used for containing a battery pack, and the control cabin is used for containing a control processing assembly and an information transmission assembly; the pressure-resistant cabin body is arranged in the shell; the detection element group is arranged on the shell; the propelling component is arranged on the shell; one end of the communication optical fiber is connected with the water communication equipment, and the other end of the communication optical fiber is arranged on the shell in a fiber cluster mode and is connected to the control cabin. The invention can reduce the defects of umbilical cable winding, small moving range and high requirement on a mother ship of the traditional navigation carrier, and can effectively overcome the contradiction that the AUV is limited by the current intelligent level and can not completely adapt to the actual complex marine environment and the unknown task requirement when the AUV works completely autonomously.
Description
Technical Field
The invention relates to the technical field of underwater detection, in particular to a device and a system for detecting underwater corrosion of a structure.
Background
In recent years, the development of marine oil and gas in China is vigorously developed, and equipment and technical level of marine oil and gas detection are remarkably improved and greatly improved. The marine structure is a basic facility for the development of marine oil and gas fields, more than 200 offshore production facilities are built in Bohai sea, south sea and east sea in China, and a large-scale seabed pipe network is built in cooperation with the marine production facilities. Various production facilities of offshore oil and gas fields are not threatened by corrosion all the time, not only a great deal of material is wasted, but also oil and gas leakage caused by corrosion and damage of marine structures cause a plurality of catastrophic accidents, so that the marine corrosion problem increasingly attracts attention of relevant units in the field of marine oil development. Therefore, ensuring the safe operation of marine structures, researching the corrosion characteristics of materials in seawater environment, and detecting and monitoring the corrosion state of structures in real time have become a focus of urgent solution, and are receiving wide attention from all the world. Therefore, the underwater part of the structure needs to be regularly inspected and deeply detected, the corrosion condition of the underwater part is known, the current situation of the corrosion state is mastered, hidden dangers are timely found and eliminated, and the safe operation of the marine structure is guaranteed.
The marine corrosion detection refers to corrosion monitoring of offshore facilities such as a jacket, a semi-submersible platform and a FPSO (floating production storage and offloading), and the monitoring contents mainly comprise corrosion morphology, protection potential, outer wall damage and defect conditions, sacrificial anode consumption conditions and the like. Because marine environment's particularity does not possess the convenient condition that onshore structure can look over and detect repeatedly, and jacket structure is complicated relatively, and marine structure's corrosion detection has characteristics such as the degree of difficulty is big, with high costs, needs the detection boats and ships and the detecting instrument who is applicable to marine environment.
At present, corrosion detection methods mainly adopted by marine structures comprise a cathodic protection monitoring system and underwater special detection. The cathodic protection monitoring system can master the potential conditions of the jacket and the sacrificial anode in real time, but is limited by the installation position of the probe, the monitoring range is limited, the corrosion condition of the whole can be reflected, but the local part cannot be reflected; underwater special inspections are typically performed by divers or ROVs, whose operation is limited in depth (depths below 40 meters, which are difficult to operate with conventional diving) and is inefficient. For the underwater corrosion detection of shallow marine structures, China mainly depends on divers and underwater Robots (ROVs), and has the disadvantages of large limitation, low safety and low operation efficiency; for the detection of submarine pipelines and underwater facilities with the depth of hundreds of meters, a cabled remote control type underwater Robot (ROV) is basically adopted to detect the corrosion condition, and the ROV needs the support of a mother ship working on the water surface during operation, so the use cost is high. Is not suitable for regular routine inspection. But in short distance and complex environment, the operator is needed to operate the underwater vehicle more flexibly. Therefore, it is needed to develop an underwater corrosion detection device for marine structures, which can reduce ship support, reduce operation cost, save inspection time, and can be operated manually and flexibly to complete the inspection task of underwater corrosion states of marine structures.
Disclosure of Invention
In view of the above, the present invention aims to provide a structure underwater corrosion detection apparatus and system, so as to safely, efficiently, flexibly and conveniently detect the underwater corrosion condition of a marine structure, so as to reduce the disadvantages of umbilical cable winding, small range of motion and high requirement on a mother ship of a traditional navigation carrier, and effectively overcome the contradiction that an AUV is limited by the current intelligent level and cannot completely adapt to the actual complex marine environment and the requirement of unknown tasks when working autonomously.
The invention firstly provides a structure underwater corrosion detection device, which mainly comprises a shell, a pressure-resistant cabin body, a detection element group, a propulsion assembly and a communication optical fiber, wherein,
the pressure-resistant cabin body comprises a battery cabin and a control cabin, the battery cabin is used for containing a battery pack, and the control cabin is used for containing a control processing assembly and an information transmission assembly;
the pressure-resistant cabin body is arranged in the shell;
the detection element group is arranged on the shell;
the propelling component is arranged on the shell;
one end of the communication optical fiber is connected with the water communication equipment, and the other end of the communication optical fiber is arranged on the shell in an optical fiber group mode and is connected to the control cabin.
The technical scheme of the invention can be used for self-providing the battery on the underwater vehicle, and is different from the traditional underwater vehicle which needs a cable to be connected with the water electric equipment, so that the action is flexible, only a thin optical fiber is needed to be connected with the water electric equipment, and the initiative of paying off is arranged on the vehicle, thereby avoiding the trouble that the vehicle can not sail once the water cable is wound by arranging the cable on the water electric equipment in the traditional way, and effectively overcoming the contradiction that the AUV (cableless underwater robot) can not completely adapt to the actual complex marine environment and the unknown task requirement due to the limitation of the current intelligent level when the AUV works in a fully autonomous mode.
According to one embodiment of the invention, the housing has the shape of an elongated flat cuboid.
According to one embodiment of the invention, the housing comprises a lower buoyant housing and an upper buoyant housing connected.
According to one embodiment of the invention, the lower buoyant casing comprises a fixedly connected load-bearing frame and a main buoyant body.
According to one embodiment of the present invention, the upper buoyant casing comprises a front upper buoyant casing, a power supply buoyant casing, an upper middle buoyant casing, and an upper rear buoyant casing, which are connected in sequence.
According to one embodiment of the invention, the detection element group comprises a structure detection element group and a device detection element group, wherein the structure detection element group comprises a detection probe and/or a sampling manipulator; the device detection group comprises an attitude sensor, a temperature sensor, a salinity sensor, an underwater sound positioning device and an image pickup element.
The invention also provides a structure underwater corrosion detection system, which comprises a navigation control system, an information processing and transmitting system and the corrosion detection device, wherein the navigation control system is controlled by a control processing assembly, and the information processing and transmitting system is used for processing and transmitting information by an information transmitting assembly.
According to one embodiment of the invention, the navigation control system comprises a control module, a power management module and a safety monitoring module, wherein the control module controls the system according to detection data or received signals; the power supply management module is responsible for generating and managing a system power supply; and the safety monitoring module is used for monitoring and alarming the working state of the system.
According to one embodiment of the invention, the information processing and transmission system comprises a data collection processing subsystem and a central switching subsystem, wherein,
the data collection and processing subsystem processes the collected data and transmits the processed data to the navigation control system through the central exchange subsystem;
the central exchange subsystem provides information central exchange and exchange connection points for the corrosion detection system to complete the information exchange of the overall system;
according to one embodiment of the invention, the corrosion detection system further comprises a self-rescue system, the self-rescue system comprises a safety self-rescue device, an independent power supply and a controller, the self-rescue system independently receives the instruction of the communication module and is used for real-time tracking of the corrosion detection system and manual intervention under emergency conditions, the independent power supply is used for supplying power to the self-rescue system, and the controller controls the safety self-rescue device to be started according to the received instruction; the communication modes of the system comprise optical fiber communication, sound communication and underwater sound positioning communication. Wherein, the acoustic communication transmits signals such as control signals; the underwater sound positioning communication transmits positioning signals; both are underwater acoustic communications, but the content of the communications is different.
The invention adopts the micro optical cable to replace the traditional cable, and has remote control and semi-autonomous working modes; the diversity of navigation carrier mode and quick changeable function make this project navigation carrier have safety, high efficiency, flexibility, convenient comprehensive properties advantage, greatly reduced on the one hand traditional navigation carrier umbilical cable winding, home range is little and to the high shortcoming of mother's ship requirement, on the other hand has effectively overcome the conflict that receives the restriction of current intelligence level still can't adapt to actual complicated marine environment and unknown task demand completely when AUV is full autonomic work.
The navigation body of the invention adopts a slender flat cuboid shape, which can effectively reduce water resistance and improve the anti-flow capability of the underwater robot.
The invention relates to a structure underwater corrosion detection integrated system technology, which is a comprehensive technology integrating scientific technologies such as kinematics and dynamics theory, mechanical design and manufacturing technology, materials science, computer hardware and software technology, control theory, electric servo follow-up technology, sensor technology, artificial intelligence theory and the like, and relates to multiple subjects such as electronics, computers, fluids, structures, materials, underwater sound, optics and the like.
Drawings
FIG. 1 is a schematic view of the overall structure (upper shell facing the reader) of the underwater corrosion detection device for a structure according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the overall structure of the underwater corrosion detection device (the lower shell faces the reader) of the structure according to the embodiment of the present invention;
FIG. 3 is a schematic diagram of the overall structure of the underwater corrosion detection device (with the upper housing removed) according to one embodiment of the present invention;
FIG. 4 is a schematic view of the overall structure of the underwater corrosion detection device for a structure (the bottom of the lower shell faces the reader) according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a battery compartment according to an embodiment of the present invention;
FIG. 6 is a schematic view of a control cabin according to an embodiment of the present invention;
FIG. 7 is a block diagram of a system for detecting corrosion in underwater structures according to an embodiment of the present invention;
reference numerals:
1 front upper buoyancy housing, 2 propeller cage, 3 right front vertical propeller, 4 power supply buoyancy housing, 5 upper middle buoyancy housing, 6 optical fiber guide bar, 7 optical fiber cluster, 8 optical fiber, 9 upper rear buoyancy housing, 10 upper vision camera, 11 main propeller, 12 rear vertical propeller, 13 strobe light, 14USBL beacon, 15 rear lateral propeller, 16 beidou surface positioning device, 17 slinger, 18 front lateral propeller, 19 left front vertical propeller, 20 cathodic protection monitoring probe device, 21 left front camera light, 22 front camera, 23 right front camera light, 24 image sonar, 25 rear lower camera, 26 lower buoyancy housing, 27 altimeter, 28 control cabin, 29 battery cabin, 30 bearing frame, 31 main buoyancy body, 32 watertight socket (head), 33BMS, 34 battery pack, 35 water intake sensor, 36 power management system, 37 control circuit, 38 course intelligent attitude measurement system, 39 communication system.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the invention can be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely intended to illustrate the spirit of the technical solution of the present invention.
The underwater corrosion detection integrated device for the marine structures can effectively solve the problem of underwater corrosion detection and evaluation of the marine structures in the industry mainly based on the marine oil and gas development industry, the marine structures such as a marine oil platform have the characteristics of large depth, wide coverage area and the like, most of the structures have higher service life and face risks such as high corrosion degree, reduced effective bearing capacity of the structures and the like, and by intelligently detecting and evaluating the corrosion degree of the structures, on one hand, the integrated device can effectively avoid accidents such as structural collapse, marine oil and gas leakage and the like caused by corrosion of the structures, on the other hand, the integrated device can efficiently complete corrosion detection tasks, and brings potential economic benefits for the marine oil industry. In combination with the defects of the background art, the invention aims to provide a method for detecting underwater corrosion of a marine structure, which can reduce the winding risk of an umbilical cable of a traditional navigation carrier, overcome the defects of small moving range and high requirement on a mother ship, and thus, safely, efficiently, flexibly and conveniently detect the underwater corrosion of the marine structure.
The overall device structure of the invention provides a navigation carrier for other systems, and reasonably distributes, arranges and connects all parts of the marine structure underwater corrosion detection navigation carrier to form the whole body of the marine structure underwater corrosion detection navigation carrier, and the marine structure underwater corrosion detection navigation carrier has good overall performance so as to meet the requirements of navigation stability, maneuverability, navigation speed, maximum operation depth, navigation safety, reliability and the like. The device adopts a high-strength framework and a slender open structure form. The appearance is long and thin flat cuboid, and a plurality of high definition camera and high definition image sonar are arranged to the front, upper and lower of navigation body altogether, and the internal withstand voltage cabin that arranges of navigation is used for placing battery, control assembly, information transmission subassembly etc..
As shown in fig. 1, the invention firstly provides a structure underwater corrosion detection device, which mainly comprises a shell, a pressure-resistant cabin, a detection element group, a propulsion assembly and a communication optical fiber, wherein,
as shown in fig. 3, the pressure-resistant cabin comprises a battery cabin 29 and a control cabin 28, the battery cabin 29 mainly contains a battery pack, and the control cabin 28 mainly contains a control processing component and an information transmission component.
The pressure-resistant cabin body is arranged in the shell;
the detection element group is arranged on the shell;
the propelling component is arranged on the shell;
as shown in fig. 1, one end of the communication optical fiber 8 is connected to the water communication equipment, and the other end is arranged on the housing in the form of an optical fiber ball 7 and connected to the control cabin 28. The optical fiber may be guided via a fiber guide rod 6. The fiber guide rod 6 is preferably a flexible guide rod.
The technical scheme of the invention can be used for self-providing the battery on the underwater vehicle (the device), and does not need a cable to be connected with the water electric equipment unlike the traditional underwater vehicle, so the action is flexible, only a thin optical fiber is needed to be connected with the water electric equipment, and the initiative of paying off is arranged on the vehicle, thereby avoiding the trouble that the vehicle can not sail once the water cable is wound by arranging a cable group on the water electric equipment, and effectively overcoming the contradiction that the AUV (cableless underwater robot) can not be completely adapted to the actual complex marine environment and the unknown task requirement due to the limitation of the current intelligent level when the AUV works in a fully autonomous mode.
The underwater navigation carrier has complex working environment and is easy to be interfered by external factors such as waves, currents, surges, cables and the like. In order to ensure good handling, the overall and control must be designed jointly. The overall design determines the open loop maneuverability of the robot. The overall design and the controller together determine the closed-loop maneuverability of the craft.
According to one embodiment of the invention, the housing has the shape of an elongated flat cuboid. Due to the design, the water resistance of the underwater vehicle in motion in water is greatly reduced.
According to one embodiment of the invention, the housing comprises a lower buoyant housing 26 and an upper buoyant housing connected together.
As shown in fig. 4, the lower buoyant casing 26 comprises a fixedly connected load-bearing frame 30 and a main buoyant body 31 according to an embodiment of the present invention.
The bearing frame 30 can be welded and molded according to the overall layout of the device, and then is glued with the main buoyancy body 31 by using a buoyancy material to form a lower buoyancy shell.
As shown in fig. 1, according to an embodiment of the present invention, the upper buoyant casing includes a front upper buoyant casing 1, a power supply buoyant casing 4, an upper middle buoyant casing 5, and an upper rear buoyant casing 9, which are connected in this order. So set up, mainly for the battery/optic fibre convenience of changing.
According to one embodiment of the invention, the detection element group comprises a structure detection element group and a device detection element group, wherein the structure detection element group comprises a detection probe and/or a sampling manipulator; the device detection group comprises an attitude sensor, a temperature sensor, a salinity sensor, an underwater sound positioning device and an image pickup element.
According to one embodiment of the invention, the detection probe of the invention is a cathodic protection monitoring probe.
The purpose of detection of the cathodic protection monitoring probe is as follows: firstly, the protection condition of a protected structure is known, and if the potential of the protected structure is not in the design range, the protected structure needs to be adjusted; and secondly, checking the working condition of the cathode protection system, and if some parts are found to work in fault or damaged, repairing or replacing the parts to ensure the normal work of the system. The purpose of monitoring the electrochemical protection system is to detect the cathodic protection of the subsea pipeline, to indicate the weak link of the pipeline, to predict the location of possible damage, and to detect defects in the system before the protection state of the protected piece deteriorates.
The device is provided with equipment such as a camera and an image sonar, can find obstacles (such as a fishing net) in time, avoids being entangled by the obstacles, and ensures the safety of the system.
As shown in fig. 7, the present invention further provides a structure underwater corrosion detection system, which mainly comprises a navigation control system, an information processing and transmission system, and the corrosion detection device (including an overall structure system and other detection sensing elements, a propulsion assembly, an information transmission assembly, etc.), wherein the navigation control system is controlled by a control processing assembly, such as a navigation control computer, and the information processing and transmission system is used for processing and transmitting information by an information transmission assembly, such as a communication device, a watertight cable, an exchange system, etc.
According to one embodiment of the invention, the navigation control system comprises a control module, a power management module and a safety monitoring module, wherein the control module controls the system according to detection data or received signals; the power supply management module is responsible for generating and managing a system power supply; and the safety monitoring module is used for monitoring and alarming the working state of the system.
According to one embodiment of the invention, the information processing and transmission system comprises a data collection processing subsystem and a central switching subsystem, wherein,
the data collection and processing subsystem processes the collected data and transmits the processed data to the navigation control system through the central exchange subsystem;
the central exchange subsystem provides information central exchange and exchange connection points for the corrosion detection system to complete the information exchange of the overall system.
According to one embodiment of the present invention, the communication means includes fiber optic communication, acoustic communication, and underwater acoustic positioning communication. The communication devices on the navigation system and the communication devices on the water surface are respectively used for information interaction in the modes, so that the portable system on the water surface and the navigation system can carry out information interaction.
The navigation carrier of the system controls navigation and detection through umbilical cable communication, when the operating water depth is larger, the navigation resistance is large, and due to the complex underwater environment, the cable is possibly broken, and the risk that the navigation carrier loses control is increased. According to an embodiment of the invention, the invention can also add an acoustic remote control mode, and the navigation carrier can be remotely controlled by sound after the umbilical cable is pulled off or the communication is interrupted, so that the risk of the AUV losing control caused by the pulling off of the umbilical cable of the navigation carrier is reduced.
Obstacles such as fishing nets may exist in the sea, so that the risk that the navigation carrier is stuck by the fishing nets and the like is increased. According to one embodiment of the invention, if necessary, a stress sensor is arranged at the head of the navigation carrier, and when the sensor measures the stress of the barrier, the navigation carrier is controlled to stop and retreat, so that the risk that the navigation carrier is caught by a fishing net and the like is reduced.
In addition, according to one embodiment of the invention, the navigation carrier is provided with means such as sound communication and the like to ensure contact, so that the risk can be reduced.
According to one embodiment of the invention, the corrosion detection system further comprises a self-rescue system, the self-rescue system mainly comprises a safety self-rescue device, an independent power supply and a controller, the self-rescue system independently receives an instruction of a communication device and is used for real-time tracking of the corrosion detection system and manual intervention under emergency conditions, the independent power supply is used for supplying power to the self-rescue system, and the controller controls the safety self-rescue device to be started according to the received instruction.
In general, an ROV (underwater robot) can be divided into two types, namely a towing cable and a non-towing cable, and for the ROV with the towing cable, the resistance value of the resistance value is gradually increased along with the increase of the length of the towing cable, which means that when the ROV performs a longer distance task, the voltage drop and the loss in the towing cable are larger, and for the towing cables with different distances, the voltage drop and the loss are different. When the supply voltage at the streamer input is constant, the voltage at the streamer output will be different. The propeller has higher requirements on the quality of a power supply, requires a small input voltage fluctuation range, puts higher requirements on a power supply management system, and has larger weight and larger resistance in water when being dragged by an ROV. Therefore, the ROV (underwater robot or navigation body) designed by the invention adopts a towrope-free form, a battery pack is arranged in the navigation body, the voltage output by the battery pack is supplied to each electric device after passing through a power supply management component, the problem of voltage drop caused by overlong towropes does not need to be considered, and the extra resistance caused by the towropes does not need to be considered when a propeller is selected.
In the operation process, image information, feedback information, sonar information, sensor information and the like need to be transmitted to the water surface control platform through the optical cable, and the water surface control platform transmits a control instruction to the ROV through the optical cable according to the received feedback information, so as to control the ROV and the equipment and the sensors carried by the ROV to work.
The ROV needs to continuously transmit images, navigation and measurement information to the water surface control platform when performing underwater operation, and the water surface control platform controls the ROV to perform operation according to the information transmitted back by the ROV, which requires that a communication medium has strong anti-interference capability.
Because the ROV is supplied with power by the battery, the optical cable only has a communication function, and the total communication data volume is not large, the invention only adopts one optical fiber to realize the communication between the water surface control equipment and the underwater ROV.
In order to prevent the optical cable from being broken by accidental stress in the using process, according to one embodiment of the invention, the optical fiber is preferably an underwater special optical fiber, the diameter of the optical fiber is 0.4mm, the breaking tension is not less than 11kgf, and the tensile requirement can be effectively met.
The micro optical fiber can be released from the underwater navigation body coil and unfolded with little force, and a bidirectional and large-capacity communication link is formed between the navigation carrier and the water surface remote control platform and is used for manual intervention of the navigation carrier in operation engineering, real-time transmission of information and the like, so that the safe and efficient detection operation of the navigation carrier in a complex environment is ensured.
The micro optical cable is used for replacing a traditional cable, an underwater paying-off mode is adopted, and meanwhile, the system has a remote control and semi-autonomous working mode; the navigation carrier has the advantages of safety, high efficiency, flexibility and convenience in comprehensive performance due to the diversity of the working modes and the quick switchable function of the navigation carrier, greatly reduces the defects of umbilical cable winding, small moving range and high requirement on a mother ship of the traditional navigation carrier on one hand, and effectively overcomes the contradiction that the AUV cannot completely adapt to the actual complex marine environment and the unknown task requirement due to the limitation of the current intelligent level when the AUV works autonomously on the other hand.
In a word, the integrated device for detecting the underwater corrosion of the structure is a miniaturized and intelligent integrated device for detecting the underwater corrosion, is provided with a power supply for working and superfine optical fiber communication, has high flexibility and integration level, is provided with a CCD high-definition camera, carries a cathode protection monitoring probe or other detection equipment, has long-time underwater navigation capability, can be used for carrying out corrosion morphology observation and cathode protection potential detection operation of a long distance and a complex structure in the complex structure, and has the characteristics of safety, stability, flexibility, reliability, high efficiency, flexibility and accuracy.
Examples
As shown in fig. 7, the integrated device for detecting underwater corrosion of marine structures in this embodiment distributes signals (CAN bus/ethernet) and electric energy (bus line distribution) to all components, units or nodes of the overall system by means of a power management system, a central switching system, a data collection and processing system, and remote control information transmitted from the surface of the water by optical fibers and a voice remote control device, so as to complete power on-off, information forwarding, digital I/O driving, and the like.
As shown in fig. 4, when the detection device is installed, first, the carrier frame 30 is welded and molded according to the overall layout of the device, and then bonded to the main buoyant body 31 by using a buoyant material to form the lower buoyant casing 26, and the propeller cover 2 is installed on the main buoyant body 31 by using screws and reinforcing nuts.
As shown in fig. 5, a watertight socket (header) 32, a BMS 33, a battery pack 34, and a water inflow sensor 35 are installed in the battery compartment 29; as shown in fig. 6, a watertight socket (head) 32, a water intake sensor 35, a power management system 36, a control circuit 37, an intelligent heading attitude measurement system 38, and a communication system 39 are installed in the control cabin 28.
As shown in fig. 1, then, the right front vertical thruster 3, the top view camera 10, the main thruster 11, the rear vertical thruster 12, the strobe light 13, the USBL beacon 14, the rear lateral thruster 15, the beidou surface positioning device 16, the front lateral thruster 18, the left front vertical thruster 19, the cathodic protection monitoring probe device 20, the left front camera light 21, the front camera 22, the right front camera light 23, the image sonar 24, the rear lower camera 25 and the altimeter 27 are mounted on the lower buoyancy housing 26; the front upper buoyancy housing 1 and the upper rear buoyancy housing 9 are mounted in position on the lower buoyancy housing 26.
Finally, as shown in fig. 3 and 1, the control cabin 28, the battery cabin 29, the upper middle buoyancy housing 5 and the power supply buoyancy housing 4 are installed at corresponding positions of the lower buoyancy housing 26, and as shown in fig. 1, the optical fiber flexible guide rod 6, the micro-fiber bulk 7 and the micro-fiber 8 are installed on the upper middle buoyancy housing 5. The micro optical fiber 8 can be released from the micro optical fiber cluster 7 and unfolded with little force, a bidirectional and large-capacity communication link is formed between the navigation carrier and the water surface remote control platform, the optical fiber breaking tension is 110N, and the optical fiber breaking tension is used for manual intervention of the navigation carrier in an operation project, real-time transmission of information and the like, so that safe and efficient detection operation of the navigation carrier in a complex environment is ensured.
The cathodic protection monitoring probe device 20 utilizes the electromagnetic adsorption principle, makes the navigation carrier relatively stable for between the sounding body when carrying out cathodic protection probe and surveys, reduces the interference that the ocean current environment caused the underwater navigation body, provides a relatively stable operation environment for the cathodic protection detects under water, and then protects the probe, improves measurement accuracy and detection efficiency.
In the embodiment, the USBL (ultra short baseline positioning system) is an underwater positioning technology, is generally applied to the aspects of marine production development such as marine oil exploration and development, marine salvage and the like, and is mainly used for determining underwater accurate positions of ROVs, ads, divers and other underwater carriers.
The BMS in this embodiment is an abbreviation of a BATTERY management system (BATTERY MANAGEMENT SYSTEM), which is a link between a BATTERY and a user. The main object of the present invention is to provide a secondary battery, which can improve the utilization rate of the battery and prevent the overcharge and overdischarge of the battery.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing embodiments are merely illustrative of the present invention, and various components and devices of the embodiments may be changed or eliminated as desired, not all components shown in the drawings are necessarily required, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments described herein, and all equivalent changes and modifications based on the technical solutions of the present invention should not be excluded from the scope of the present invention.
Claims (10)
1. A structure underwater corrosion detection device is characterized by comprising a shell, a pressure-resistant cabin body, a detection element group, a propulsion assembly and a communication optical fiber, wherein,
the pressure-resistant cabin body comprises a battery cabin and a control cabin, the battery cabin is used for containing a battery pack, and the control cabin is used for containing a control processing assembly and an information transmission assembly;
the pressure-resistant cabin body is arranged in the shell;
the detection element group is arranged on the shell;
the propelling component is arranged on the shell;
one end of the communication optical fiber is connected with the water communication equipment, and the other end of the communication optical fiber is arranged on the shell in an optical fiber group mode and is connected to the control cabin.
2. A structure underwater corrosion detection apparatus as claimed in claim 1, wherein the housing has an external shape of an elongated flat rectangular parallelepiped.
3. A structure underwater corrosion detection apparatus according to claim 1 or 2, wherein the housing comprises a lower buoyant housing and an upper buoyant housing connected together.
4. A structure underwater corrosion detection arrangement as claimed in claim 3, wherein the lower buoyant hull comprises a fixedly connected load bearing frame and a main buoyant body.
5. A structure underwater corrosion detection device according to claim 3, wherein the upper buoyancy housing includes a front upper buoyancy housing, a power supply buoyancy housing, an upper middle buoyancy housing, and an upper rear buoyancy housing, which are connected in sequence.
6. The structure underwater corrosion detection apparatus of claim 1, 2, 4 or 5, wherein the detection element set comprises a structure detection element set and an apparatus detection set, the structure detection element set comprising a detection probe and/or a sampling manipulator; the device detection group comprises an attitude sensor, a temperature sensor, a salinity sensor, an underwater sound positioning device and an image pickup element.
7. A structure underwater corrosion detection system, characterized in that the system comprises a navigation control system, an information processing and transmission system and the device of any one of claims 1 to 6, wherein the navigation control system is controlled by a control processing component, and the information processing and transmission system is used for processing and transmitting information by an information transmission component.
8. The structure underwater corrosion detection system of claim 7, wherein the navigation control system includes a control module, a power management module, and a safety monitoring module, the control module controlling the system based on the detected data or received signals; the power supply management module is responsible for generating and managing a system power supply; and the safety monitoring module is used for monitoring and alarming the working state of the system.
9. The structure underwater corrosion detection system of claim 7, wherein the information processing transmission system includes a data collection processing subsystem, a central exchange subsystem, wherein,
the data collection and processing subsystem processes the collected data and transmits the processed data to the navigation control system through the central exchange subsystem;
the central exchange subsystem provides information central exchange and exchange connection points for the corrosion detection system to complete the information exchange of the overall system.
10. The structure underwater corrosion detection system of claim 9, further comprising a self-rescue system, wherein the self-rescue system comprises a safety self-rescue device, an independent power supply and a controller, the self-rescue system independently receives the instruction of the communication module and is used for real-time tracking and manual intervention in emergency situations of the corrosion detection system, the independent power supply is used for supplying power to the self-rescue system, and the controller controls the safety self-rescue device to be started according to the received instruction; the communication modes of the detection system comprise optical fiber communication, sound communication and underwater sound positioning communication.
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