CN113700938B - Mud contact point monitoring device and monitoring method in submarine pipeline laying process - Google Patents
Mud contact point monitoring device and monitoring method in submarine pipeline laying process Download PDFInfo
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- CN113700938B CN113700938B CN202110983422.5A CN202110983422A CN113700938B CN 113700938 B CN113700938 B CN 113700938B CN 202110983422 A CN202110983422 A CN 202110983422A CN 113700938 B CN113700938 B CN 113700938B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/12—Laying or reclaiming pipes on or under water
- F16L1/16—Laying or reclaiming pipes on or under water on the bottom
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
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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
- B63B35/03—Pipe-laying vessels
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/12—Laying or reclaiming pipes on or under water
- F16L1/20—Accessories therefor, e.g. floats, weights
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
- F16M11/425—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels along guiding means
Abstract
A mud contact point monitoring device and a monitoring method in a submarine pipeline laying process relate to the submarine pipeline laying field. The invention solves the problems that the existing underwater cable-free monitoring device for laying the submarine pipeline has low information transmission efficiency, and the cable of the underwater cable monitoring device is easy to damage in a complex sea area. According to the invention, a track transmission unit of a middle crawler mechanism is arranged at the lower end of a middle support frame, the upper end of the middle support frame is connected with a frame, a track transmission unit of a side crawler mechanism is arranged on one side of a side support frame, the side support frame is connected with the frame, two pan heads are respectively arranged on the left side and the right side of a submarine pipeline, the upper ends of the pan heads are connected with a driving module, and the driving module is arranged on the frame. The invention is used for monitoring the position of the mud inlet point of the submarine pipeline, and the laying position of the pipeline is adjusted in time through the video information fed back by the monitoring device, so that the submarine pipeline is laid on a preset track, and the whole submarine pipeline laying construction is carried out smoothly.
Description
Technical Field
The invention relates to the field of submarine pipeline laying, in particular to a mud contact point monitoring device and a monitoring method in the submarine pipeline laying process.
Background
The submarine pipeline is a main component of an offshore oil and gas field development and production system and is an oil and gas conveying tool for connecting an oil well with a platform and connecting the platform with a land storage and transportation facility, and the structural safety and the service life of the submarine pipeline are determined by the quality of the submarine position laid by the submarine pipeline.
Because of the complexity and diversity of the submarine topography, there are some dangerous sections such as bumpy or soft mud, in order to ensure the safety of the submarine pipeline, a reasonable and safe submarine pipeline laying track needs to be designed in advance, in the submarine pipeline laying process, if the submarine pipeline deviates from the preset laying track, the structural safety of the submarine pipeline is affected, the service life of the submarine pipeline is further affected, and the submarine pipeline is leaked to pollute the marine environment,
therefore, a device is needed for monitoring the position of a mud contact point of the submarine pipeline, and the laying position of the pipeline is adjusted in time through video information fed back by the monitoring device, so that the submarine pipeline is laid on a preset track, and the whole submarine pipeline laying construction is carried out smoothly.
In summary, the existing underwater cable-free monitoring device for laying the submarine pipeline has the problem of low information transmission efficiency, and the cable of the underwater cable monitoring device is easy to damage in a complex sea area.
Disclosure of Invention
The invention aims to solve the problems that the existing underwater cable-free monitoring device for laying a submarine pipeline has low information transmission efficiency, and the cable of the underwater cable monitoring device is easy to damage in a complex sea area, and further provides a mud contact point monitoring device and a monitoring method in the laying process of the submarine pipeline.
The technical scheme of the invention is as follows:
a mud contact point monitoring device in the laying process of a submarine pipeline comprises a frame, a traveling mechanism, a monitoring mechanism, a control mechanism, a cable retracting mechanism and an optical cable, wherein the traveling mechanism comprises a middle crawler mechanism and two side crawler mechanisms, the middle crawler mechanism is arranged at the upper part of the submarine pipeline along the length direction of the submarine pipeline, the middle crawler mechanism comprises a middle support frame and crawler transmission units, the crawler transmission units of the middle crawler mechanism are arranged at the lower end of the middle support frame, the upper end of the middle support frame is connected with the frame, the two side crawler mechanisms are respectively and oppositely arranged at the left side and the right side of the submarine pipeline, the side crawler mechanisms comprise side support frames and crawler transmission units, the crawler transmission units of the side crawler mechanisms are arranged at one side of the side support frame, which is close to the submarine pipeline, the side support frames are connected with the frame, and the three crawler transmission units can hold the submarine pipeline tightly, the three crawler transmission units are self-driven crawler transmission units and are driven by the three self-driven crawler transmission units to crawl along the submarine pipeline; the monitoring mechanism comprises two driving modules and two cloud platforms 1, the two cloud platforms 1 are respectively arranged on the left side and the right side of the submarine pipeline, the upper ends of the cloud platforms 1 are connected with the driving modules, the driving modules are arranged on the frame, and the monitoring of the cloud platforms 1 on the left side and the right side of a mud contact point of the submarine pipeline is realized under the action of the driving modules; the cable winding mechanism comprises a winch 5, a cable arrangement assembly, a cutting knife 11 and a winch driving mechanism, the winch 5 is installed in the middle of the upper end face of the frame, a sliding ring is arranged on the winch 5, the winch 5 is connected with the winch driving mechanism, the rotation of the winch 5 is realized under the driving of the winch driving mechanism, the cutting knife 11 is installed in the middle of the head of the upper end face of the frame, the cable arrangement assembly is arranged on the frame between the winch 5 and the cutting knife 11, the water upper end of the optical cable is connected with the water surface control console, and the water lower end of the optical cable is connected with the sliding ring of the winch 5; the control mechanism comprises a power distribution device, an optical transceiver and a controller, the power distribution device is connected with the crawler transmission unit, the driving module and the winch driving mechanism through waterproof cables, and the optical transceiver completes photoelectric conversion of a downlink control signal and an uplink video signal; the controller is connected with the optical transceiver and the power distribution mechanism, and controls the crawler driving mechanism and the position of the holder 1 of the monitoring mechanism according to the instruction of an operator.
Further, the crawler transmission unit comprises a frame, a driving wheel, a guide wheel, a crawler 2, a magnet and a crawler driving mechanism, wherein the driving wheel and the guide wheel are respectively arranged at two ends of the frame, the crawler 2 surrounds the circumferential surface of the driving wheel and the guide wheel to form crawler 2 transmission, the magnet is arranged on the crawler 2, the crawler driving mechanism is arranged on the frame, the crawler driving mechanism is connected with the driving wheel, and the rotation of the driving wheel is realized under the driving of the crawler driving mechanism.
Further, the crawler driving mechanism comprises a motor, a driving gear and a driven gear, the motor is installed on the frame, the driving gear is installed on an output shaft of the motor, the driven gear is installed on a wheel shaft of the driving wheel, and the driving gear is meshed with the driven gear.
Further, every drive module includes telescopic link 3, first slider and cloud platform actuating mechanism, the frame both sides are equipped with first slide 12 along length direction, the vertical setting of telescopic link 3 is at the lateral part of submarine pipeline, 3 lower extremes of telescopic link are connected with cloud platform 1, 3 upper ends of telescopic link are connected with first slider, first slider slidable mounting is in first slide 12 of frame, realize the removal of cloud platform 1 in vertical direction under the drive of telescopic link 3, cloud platform actuating mechanism installs on the frame, first slider is connected with cloud platform actuating mechanism, realize the removal of cloud platform 1 in the horizontal direction under cloud platform actuating mechanism's drive.
Further, the holder driving mechanism is an electric cylinder or an air cylinder.
Further, arrange the cable subassembly including arranging cable ware 6, arrange cable drive structure, two second slides 9 and two second sliders, two second slides 9 set up on the frame between winch 5 and cutting knife 11 along frame width direction level is relative, two second sliders are slidable mounting respectively in two second slides 9, arrange cable ware 6 and set up in two second slides 9 tops, and arrange cable ware 6 bottom and be connected with two second sliders, arrange cable drive structure and install on the frame, and arrange cable drive structure and be connected with the second slider, realize arranging cable ware 6's removal under the drive of arranging cable drive structure.
Furthermore, the optical cable is fixed on the submarine pipeline by the binding belt, and the binding belt can be cut off by the cutting knife 11 along with the submarine pipeline laid on the seabed by the pipe laying ship, so that the optical cable is separated from the submarine pipeline, and the cable is conveniently taken up by the cable taking-up mechanism.
Further, the intelligent control system further comprises a sealed cabin 10, the sealed cabin 10 is arranged at the tail of the frame, the control mechanism is installed in the sealed cabin 10, a cable connecting port is arranged outside the sealed cabin 10 and connected with a sliding ring on the winch 5 through a waterproof cable, and then the control mechanism is connected with a water surface control console, the sealed cabin 10 is divided into three independent cabins, namely a first cabin 4 for installing the power distribution device, a second cabin 7 for installing the optical transceiver and a third cabin 8 for installing the controller.
Further, the monitoring mechanism further comprises two cameras and two illuminating lamps, and each tripod head 1 is provided with the camera and the illuminating lamp.
A monitoring method based on a mud contact monitoring device in the submarine pipeline laying process is realized by the following steps,
step one, connecting an optical cable:
one end of the optical cable sequentially penetrates through the cutting knife 11 and the cable arranger 6 to be connected to the slip ring of the winch 5, and the other end of the optical cable is connected to the water surface control console, so that information communication between the monitoring device and the water surface control console can be realized;
step two, installation of a monitoring device:
the monitoring device is arranged at one end of the submarine pipeline to be submerged into the seabed through a middle crawler mechanism and two side crawler mechanisms of the travelling mechanism, the optical cable is fixed on the submarine pipeline through a binding belt, and the control mechanism is positioned at the tail part of the monitoring device;
step three, monitoring a mud contact point at the head end of the submarine pipeline:
the monitoring device sinks into the seabed along with the submarine pipeline, when the submarine pipeline is about to contact the seabed, the monitoring mechanism starts to work, a camera of the monitoring mechanism monitors a mud contact point at the head end of the submarine pipeline, the mud contact point of the submarine pipeline starts to move along with the sinking of the submarine pipeline, a first sliding block of the monitoring mechanism also starts to move, a controller of a control mechanism controls the first sliding block to move, the moving speed of the monitoring mechanism and the moving speed of the first sliding block are the same, and when the monitoring mechanism moves to the head of the monitoring device, the first sliding block of the monitoring mechanism does not move any more;
step four, recycling the optical cable:
at the moment, along with the movement of the mud contact point, the monitoring device begins to crawl along the submarine pipeline through the walking mechanism, meanwhile, the cable retracting mechanism begins to work, a cutting knife 11 arranged at the front end of the monitoring device can cut off the binding belt, so that the optical cable is separated from the submarine pipeline, and the cable retracting speed of the winch 5 is the same as the crawling speed of the monitoring device through a controller of the control mechanism, so that the cable retracting mechanism can timely recover the optical cable separated from the submarine pipeline;
step five, monitoring the mud contact point of the whole submarine pipeline:
during the crawling process of the walking mechanism of the monitoring device, the controller of the control mechanism can continuously adjust the position of the cradle head 1 of the monitoring mechanism so as to ensure that the monitoring device can monitor the mud contact point of the submarine pipeline until the whole submarine pipeline laying process is finished, the monitoring device is withdrawn, and the monitoring task of the monitoring device is completed.
Compared with the prior art, the invention has the following effects:
1. the mud contact point monitoring device in the submarine pipeline laying process is connected to the water surface control console through the optical cable, data can be transmitted mutually, and the optical cable has a good transmission effect compared with underwater wireless data transmission, so that the real-time monitoring on the mud contact point can be realized.
2. The optical cable is fixed on the submarine pipeline by the binding belt, the optical cable is laid on the submarine along with the submarine pipeline by the pipe laying ship and is attached to the submarine pipeline, and when the binding belt is cut off and the optical cable is separated from the submarine pipeline, the optical cable is timely collected by the winch 5, so that the risk that the optical cable is broken by other external force is reduced.
3. The walking mechanism of the mud contact point monitoring device in the laying process of the submarine pipeline is composed of three magnetic crawler belts, the magnetic crawler belts enable the device to have strong adsorbability, when the device is interfered by external force, the device can stably move on the submarine pipeline without separating from the submarine pipeline, and meanwhile, the arrangement mode of the three crawler belts enhances the motion stability of the device.
4. The monitoring mechanism of the mud contact point monitoring device in the submarine pipeline laying process is provided with a driving module, and the monitoring mechanism can move between the head part and the tail part of the device through the movement of the first sliding block in the first slideway 12, so that the longitudinal position of the monitoring mechanism can be adjusted. The vertical position of the monitoring mechanism and the monitoring angle of the camera can be adjusted through the movement of the telescopic rod 3. Therefore, when the device works, the first sliding block and the telescopic rod 3 can be adjusted according to the instruction of an operator, so that the holder 1 reaches the optimal monitoring position.
Drawings
FIG. 1 is a front view of a mud contact point monitoring apparatus for use in subsea pipeline laying according to the present invention;
fig. 2 is a side view of a mud contact point monitoring apparatus in the subsea pipeline laying process according to the present invention.
Detailed Description
The first embodiment is as follows: the embodiment is described by combining fig. 1 and fig. 2, the mud contact point monitoring device in the laying process of the submarine pipeline of the embodiment comprises a frame, a walking mechanism, a monitoring mechanism, a control mechanism, a cable retracting mechanism and an optical cable, wherein the walking mechanism comprises a middle crawler mechanism and two side crawler mechanisms, the middle crawler mechanism is arranged at the upper part of the submarine pipeline along the length direction of the submarine pipeline, the middle crawler mechanism comprises a middle support frame and a crawler transmission unit, the crawler transmission unit of the middle crawler mechanism is arranged at the lower end of the middle support frame, the upper end of the middle support frame is connected with the frame, the two side crawler mechanisms are respectively arranged at the left side and the right side of the submarine pipeline oppositely, the side crawler mechanisms comprise side support frames and crawler transmission units, the crawler transmission units of the side crawler mechanisms are arranged at one side of the side support frame close to the submarine pipeline, and the side support frames are connected with the frame, the three crawler transmission units can tightly hold the submarine pipeline, and all the three crawler transmission units are self-driven crawler transmission units and crawl along the submarine pipeline under the driving of the three self-driven crawler transmission units; the monitoring mechanism comprises two driving modules and two cloud platforms 1, the two cloud platforms 1 are respectively arranged on the left side and the right side of the submarine pipeline, the upper ends of the cloud platforms 1 are connected with the driving modules, the driving modules are arranged on the frame, and the monitoring of the cloud platforms 1 on the left side and the right side of a mud contact point of the submarine pipeline is realized under the action of the driving modules; the cable winding mechanism comprises a winch 5, a cable arrangement assembly, a cutting knife 11 and a winch driving mechanism, the winch 5 is installed in the middle of the upper end face of the frame, a sliding ring is arranged on the winch 5, the winch 5 is connected with the winch driving mechanism, the rotation of the winch 5 is realized under the driving of the winch driving mechanism, the rotating speed of the winch 5 can be controlled according to the instruction of an operator, the cutting knife 11 is installed in the middle of the head of the upper end face of the frame, the cable arrangement assembly is arranged on the frame between the winch 5 and the cutting knife 11, the water upper end of the optical cable is connected with the water surface control console, and the water lower end of the optical cable is connected with the sliding ring of the winch 5; the control mechanism comprises a power distribution device, an optical transceiver and a controller, the power distribution device is connected with the crawler transmission unit, the driving module and the winch driving mechanism through waterproof cables, and the optical transceiver completes photoelectric conversion of a downlink control signal and an uplink video signal; the controller is connected with the optical transceiver and the power distribution mechanism, and controls the crawler driving mechanism and the position of the holder 1 of the monitoring mechanism according to the instruction of an operator.
The monitoring device of the embodiment exchanges information with the water surface control end through the optical cable, the optical cable can transmit electric energy and control signals downwards and transmit monitoring signals upwards, and the monitoring work of the mud contact point of the submarine pipeline is completed under the control of an operator.
The power supply device of the embodiment is a lithium battery pack which is connected with all electrical appliances through waterproof cables to provide electric energy for the electrical appliances, the controller is composed of an embedded control computer and a control module, and the working wavelength of the optical transceiver is 1310nm or 1550 nm.
The second embodiment is as follows: the embodiment is described with reference to fig. 1 and 2, the track transmission unit of the embodiment includes a frame, a driving wheel, a guiding wheel, a track 2, a magnet and a track driving mechanism, the driving wheel and the guiding wheel are respectively installed at two ends of the frame, the track 2 forms track 2 transmission around the circumferential surface of the driving wheel and the guiding wheel, the magnet is installed on the track 2, the track driving mechanism is installed on the frame, the track driving mechanism is connected with the driving wheel, and rotation of the driving wheel is realized under the driving of the track driving mechanism. So set up, adopt three track 2 can realize holding tightly to submarine pipeline, every track all has an independent motor drive, makes whole monitoring arrangement steady, the nimble crawl along submarine pipeline. Set up magnet on track 2, when not influencing track 2 and creeping along submarine pipeline, can prevent that track 2 from breaking away from submarine pipeline. Other components and connections are the same as in the first embodiment.
The third concrete implementation mode: the present embodiment is described with reference to fig. 1 and 2, and the track driving mechanism of the present embodiment includes a motor mounted on the frame, a driving gear mounted on an output shaft of the motor, and a driven gear mounted on a wheel shaft of the driving wheel, the driving gear being engaged with the driven gear. So set up, motor output shaft rotates, drives the driving gear and rotates, and the driving gear drives driven gear and rotates, and driven gear drives track transmission unit's drive wheel and rotates, and the drive wheel drives track 2 and guide wheel and rotates. Other compositions and connections are the same as in the first or second embodiments.
The fourth concrete implementation mode: the embodiment is described with reference to fig. 1 and 2, each driving module of the embodiment includes an expansion link 3, a first slider and a pan/tilt head driving mechanism, first slides 12 are disposed on two sides of a frame along a length direction, the expansion link 3 is vertically disposed on a lateral portion of a submarine pipeline, a lower end of the expansion link 3 is connected with the pan/tilt head 1, an upper end of the expansion link 3 is connected with the first slider, the first slider is slidably mounted in the first slide 12 of the frame, the pan/tilt head 1 is driven by the expansion link 3 to move in a vertical direction, the pan/tilt head driving mechanism is mounted on the frame, the first slider is connected with the pan/tilt head driving mechanism, and the pan/tilt head 1 is driven by the pan/tilt head driving mechanism to move in a horizontal direction. So set up, two first sliders set up respectively in the first slide 12 of frame both sides, make monitoring mechanism can monitor the left and right sides of submarine pipeline touching mud point. Every first slider is connected with a cloud platform actuating mechanism respectively, and cloud platform actuating mechanism is connected with control mechanism's controller, makes two cloud platforms 1 can be in according to operator's instruction the monitoring devices both sides remove, can adjust first slider and telescopic link 3 under this device course of operation according to operator's instruction, the position of adjustment cloud platform 1 so that the camera reachs the best monitoring position. Other compositions and connection relationships are the same as in the first, second or third embodiment.
The fifth concrete implementation mode: the present embodiment will be described with reference to fig. 1 and 2, and the pan/tilt head driving mechanism of the present embodiment is an electric cylinder or an air cylinder. Other compositions and connection relationships are the same as those in the first, second, third or fourth embodiment.
The sixth specific implementation mode: the embodiment is described with reference to fig. 1 and 2, the cable arrangement assembly of the embodiment includes a cable arranger 6, a cable arrangement driving structure, two second slide ways 9 and two second slide blocks, the two second slide ways 9 are horizontally and oppositely disposed on the frame between the winch 5 and the cutting knife 11 along the width direction of the frame, the two second slide blocks are respectively slidably mounted in the two second slide ways 9, the cable arranger 6 is disposed above the two second slide ways 9, the bottom of the cable arranger 6 is connected with the two second slide blocks, the cable arrangement driving structure is mounted on the frame, the cable arrangement driving structure is connected with the second slide blocks, and the movement of the cable arranger 6 is realized under the driving of the cable arrangement driving structure. So set up, arrange the cable subassembly and realize the collection to the optical cable. Arrange the cable drive structure and be connected with control mechanism's controller, arrange the cable drive structure and through driving the second slider, can realize arranging the removal of cable ware 6 to better collect the optical cable. Other compositions and connection relationships are the same as in the first, second, third, fourth or fifth embodiment.
The wire rope arrangement driving structure of the present embodiment is an electric cylinder or an air cylinder.
The seventh embodiment: referring to fig. 1 and 2, the optical cable of the present embodiment is fixed to the submarine pipeline by the tightening band, and the tightening band is cut by the cutter 11 when the submarine pipeline is laid on the seabed by the pipe-laying vessel, so that the optical cable is separated from the submarine pipeline, and the cable is conveniently taken up by the cable-taking-up mechanism. Other compositions and connection relationships are the same as in the first, second, third, fourth, fifth or sixth embodiment.
The optical cable is a photoelectric composite cable, and is high in information transmission efficiency and good in safety performance.
The specific implementation mode is eight: the embodiment is described with reference to fig. 1 and 2, and the embodiment further includes a sealed cabin 10, the sealed cabin 10 is disposed at the tail of the frame, the control mechanism is installed in the sealed cabin 10, a cable connector is disposed outside the sealed cabin 10, and is connected to the slip ring on the winch 5 through a waterproof cable, so as to achieve connection between the control mechanism and the water surface console, for simplicity and convenience in installation, the sealed cabin 10 is divided into three independent cabins, namely a first cabin 4 for installing the power distribution device, a second cabin 7 for installing the optical transceiver, and a third cabin 8 for installing the controller. So set up, sealed cabin 10 plays waterproof effect for the control mechanism of protection sealed cabin 10 inside. Other compositions and connection relationships are the same as those of embodiment one, two, three, four, five, six or seven.
The specific implementation method nine: the present embodiment is described with reference to fig. 1 and 2, and the monitoring mechanism of the present embodiment further includes two cameras and two illumination lamps, and each pan/tilt head 1 is provided with a camera and an illumination lamp. So set up, adopt the camera to observe submarine pipeline both sides and touch the mud point, adopt the light to throw light on to touching the mud point, can be used to night operation. Other compositions and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, seventh or eighth embodiment.
The detailed implementation mode is ten: the embodiment is described with reference to fig. 1 and 2, and a monitoring method based on the mud contact monitoring device in the submarine pipeline laying process of the embodiment is realized by the following steps,
step one, connecting an optical cable:
one end of the optical cable sequentially penetrates through the cutting knife 11 and the cable arranger 6 to be connected to the slip ring of the winch 5, and the other end of the optical cable is connected to the water surface control console, so that information communication between the monitoring device and the water surface control console can be realized;
step two, installation of a monitoring device:
the monitoring device is arranged at one end of the submarine pipeline to be submerged into the seabed through a middle crawler mechanism and two side crawler mechanisms of the travelling mechanism, the optical cable is fixed on the submarine pipeline through a binding belt, and the control mechanism is positioned at the tail part of the monitoring device;
step three, monitoring a mud contact point at the head end of the submarine pipeline:
the monitoring device sinks into the seabed along with the submarine pipeline, when the submarine pipeline is about to contact the seabed, the monitoring mechanism starts to work, a camera of the monitoring mechanism monitors a mud contact point at the head end of the submarine pipeline, the mud contact point of the submarine pipeline starts to move along with the sinking of the submarine pipeline, a first sliding block of the monitoring mechanism also starts to move, a controller of a control mechanism controls the first sliding block to move, the moving speed of the monitoring mechanism and the moving speed of the first sliding block are the same, and when the monitoring mechanism moves to the head of the monitoring device, the first sliding block of the monitoring mechanism does not move any more;
step four, recycling the optical cable:
at the moment, along with the movement of the mud contact point, the monitoring device begins to crawl along the submarine pipeline through the walking mechanism, meanwhile, the cable retracting mechanism begins to work, a cutting knife 11 arranged at the front end of the monitoring device can cut off the binding belt, so that the optical cable is separated from the submarine pipeline, and the cable retracting speed of the winch 5 is the same as the crawling speed of the monitoring device through a controller of the control mechanism, so that the cable retracting mechanism can timely recover the optical cable separated from the submarine pipeline;
step five, monitoring the mud contact point of the whole submarine pipeline:
during the crawling process of the walking mechanism of the monitoring device, the controller of the control mechanism can continuously adjust the position of the cradle head 1 of the monitoring mechanism so as to ensure that the monitoring device can monitor the mud contact point of the submarine pipeline until the whole submarine pipeline laying process is finished, the monitoring device is withdrawn, and the monitoring task of the monitoring device is completed.
Other compositions and connections are the same as those of the first, second, third, fourth, fifth, sixth, seventh, eighth or ninth embodiments.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A monitoring device for a mud contact point in the laying process of a submarine pipeline is characterized in that: the device comprises a frame, a travelling mechanism, a monitoring mechanism, a control mechanism, a cable retracting mechanism and an optical cable, wherein the travelling mechanism comprises a middle crawler mechanism and two side crawler mechanisms, the middle crawler mechanism is arranged at the upper part of a submarine pipeline along the length direction of the submarine pipeline, the middle crawler mechanism comprises a middle support frame and a crawler transmission unit, the crawler transmission unit of the middle crawler mechanism is arranged at the lower end of the middle support frame, the upper end of the middle support frame is connected with the frame, the two side crawler mechanisms are respectively and oppositely arranged at the left side and the right side of the submarine pipeline, the side crawler mechanisms comprise side support frames and crawler transmission units, the crawler transmission unit of the side crawler mechanism is arranged at one side of the side support frame close to the submarine pipeline, the side support frames are connected with the frame, the three crawler transmission units can hold the submarine pipeline tightly, and the three crawler transmission units are self-driving crawler transmission units, driven by the three self-driven crawler transmission units, the crawler belt crawls along the submarine pipeline; the monitoring mechanism comprises two driving modules and two cloud platforms (1), the two cloud platforms (1) are respectively arranged on the left side and the right side of the submarine pipeline, the upper end of the cloud platform (1) is connected with the driving modules, the driving modules are arranged on the frame, and the monitoring of the cloud platforms (1) on the left side and the right side of a mud contact point of the submarine pipeline is realized under the action of the driving modules; the cable winding mechanism comprises a winch (5), a cable arrangement assembly, a cutting knife (11) and a winch driving mechanism, the winch (5) is installed in the middle of the upper end face of the frame, a sliding ring is arranged on the winch (5), the winch (5) is connected with the winch driving mechanism, the rotation of the winch (5) is achieved under the driving of the winch driving mechanism, the cutting knife (11) is installed in the middle of the head of the upper end face of the frame, the cable arrangement assembly is arranged on the frame between the winch (5) and the cutting knife (11), the water upper end of the optical cable is connected with the water surface control console, and the water lower end of the optical cable is connected with the sliding ring of the winch (5); the control mechanism comprises a power distribution device, an optical transceiver and a controller, the power distribution device is connected with the crawler transmission unit, the driving module and the winch driving mechanism through waterproof cables, and the optical transceiver completes photoelectric conversion of a downlink control signal and an uplink video signal; the controller is connected with the optical transceiver and the power distribution mechanism, and controls the crawler driving mechanism and the position of the holder (1) of the monitoring mechanism according to the instruction of an operator.
2. The device for monitoring mud contact points during the laying of a submarine pipeline according to claim 1, wherein: the crawler transmission unit comprises a frame, a driving wheel, a guide wheel, a crawler (2), a magnet and a crawler driving mechanism, wherein the driving wheel and the guide wheel are respectively arranged at two ends of the frame, the crawler (2) surrounds the circumferential surface of the driving wheel and the guide wheel to form crawler (2) transmission, the magnet is arranged on the crawler (2), the crawler driving mechanism is arranged on the frame, the crawler driving mechanism is connected with the driving wheel, and the rotation of the driving wheel is realized under the driving of the crawler driving mechanism.
3. The device for monitoring mud contact points during the laying of a submarine pipeline according to claim 2, wherein: the crawler driving mechanism comprises a motor, a driving gear and a driven gear, the motor is installed on the frame, the driving gear is installed on an output shaft of the motor, the driven gear is installed on a wheel shaft of the driving wheel, and the driving gear is meshed with the driven gear.
4. A device for monitoring mud contact points during the laying of a submarine pipeline according to claim 3, wherein: every drive module includes telescopic link (3), first slider and cloud platform actuating mechanism, the frame both sides are equipped with first slide (12) along length direction, the vertical setting of telescopic link (3) is at the lateral part of submarine pipeline, telescopic link (3) lower extreme is connected with cloud platform (1), telescopic link (3) upper end is connected with first slider, first slider slidable mounting is in first slide (12) of frame, realize the removal of cloud platform (1) in vertical direction under the drive of telescopic link (3), cloud platform actuating mechanism installs on the frame, first slider is connected with cloud platform actuating mechanism, realize the removal of cloud platform (1) in the horizontal direction under cloud platform actuating mechanism's drive.
5. The device for monitoring mud contact points in the laying process of the submarine pipeline according to claim 4, wherein: the holder driving mechanism is an electric cylinder or an air cylinder.
6. The device for monitoring mud contact points during the laying of a submarine pipeline according to claim 5, wherein: arrange the cable subassembly including arranging cable ware (6), arrange cable drive structure, two second slide (9) and two second sliders, two second slide (9) set up on the frame between winch (5) and cutting knife (11) along frame width direction level relatively, two second sliders are slidable mounting respectively in two second slide (9), arrange cable ware (6) and set up in two second slide (9) tops, and arrange cable ware (6) bottom and be connected with two second sliders, arrange cable drive structure and install on the frame, and arrange cable drive structure and be connected with the second slider, realize arranging the removal of cable ware (6) under the drive of arranging cable drive structure.
7. The device for monitoring mud contact points during the laying of a submarine pipeline according to claim 6, wherein: the optical cable is fixed on the submarine pipeline by the binding belt, and the binding belt can be cut off by the cutting knife (11) along with the submarine pipeline laid on the seabed by the pipe laying ship, so that the optical cable is separated from the submarine pipeline, and the cable is conveniently taken up by the cable taking-up mechanism.
8. The apparatus for monitoring mud contact point during laying of submarine pipeline according to claim 7, wherein: it still includes sealed cabin (10), sealed cabin (10) set up at the frame afterbody, control mechanism installs in sealed cabin (10), be equipped with the cable connector in sealed cabin (10) outside, be connected through waterproof cable and the sliding ring on winch (5), and then realize being connected of control mechanism and surface of water control cabinet, divide into three independent cabin in sealed cabin (10), be first cabin (4) of installation distribution device respectively, second cabin (7) of installation optical transceiver and third cabin (8) of installation controller.
9. The apparatus for monitoring mud contact during laying of a submarine pipeline according to claim 8, wherein: the monitoring mechanism further comprises two cameras and two illuminating lamps, and each tripod head (1) is provided with the camera and the illuminating lamp.
10. A monitoring method based on the device for monitoring mud contact point in the process of laying submarine pipeline according to claim 9, characterized in that: the method for monitoring the mud contact point in the laying process of the submarine pipeline is realized by the following steps,
step one, connecting an optical cable:
one end of the optical cable sequentially penetrates through the cutting knife (11) and the cable arranging device (6) to be connected to a slip ring of the winch (5), and the other end of the optical cable is connected to the water surface control console, so that information communication between the monitoring device and the water surface control console can be realized;
step two, installation of a monitoring device:
the monitoring device is arranged at one end of the submarine pipeline to be submerged into the seabed through a middle crawler mechanism and two side crawler mechanisms of the travelling mechanism, the optical cable is fixed on the submarine pipeline through a binding belt, and the control mechanism is positioned at the tail part of the monitoring device;
step three, monitoring a mud contact point at the head end of the submarine pipeline:
the monitoring device sinks into the seabed along with the submarine pipeline, when the submarine pipeline is about to contact the seabed, the monitoring mechanism starts to work, a camera of the monitoring mechanism monitors a mud contact point at the head end of the submarine pipeline, the mud contact point of the submarine pipeline starts to move along with the sinking of the submarine pipeline, a first sliding block of the monitoring mechanism also starts to move, a controller of a control mechanism controls the first sliding block to move, the moving speed of the monitoring mechanism and the moving speed of the first sliding block are the same, and when the monitoring mechanism moves to the head of the monitoring device, the first sliding block of the monitoring mechanism does not move any more;
step four, recycling the optical cable:
at the moment, along with the movement of the mud contact point, the monitoring device begins to crawl along the submarine pipeline through the walking mechanism, meanwhile, the cable retracting mechanism begins to work, a cutting knife (11) arranged at the front end of the monitoring device can cut off the binding belt, so that the optical cable is separated from the submarine pipeline, and the cable retracting speed of a winch (5) is the same as the crawling speed of the monitoring device through a controller of the control mechanism, so that the cable retracting mechanism can timely retract the optical cable separated from the submarine pipeline;
step five, monitoring the mud contact point of the whole submarine pipeline:
during the crawling process of the walking mechanism of the monitoring device, the controller of the control mechanism can continuously adjust the position of the cradle head (1) of the monitoring mechanism so as to ensure that the monitoring device can monitor the mud contact point of the submarine pipeline until the whole submarine pipeline laying process is finished, the monitoring device is withdrawn, and the monitoring task of the monitoring device is completed.
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