CN113945995A - Submarine pipeline suspended span and buckling deformation underwater detection device and detection method - Google Patents
Submarine pipeline suspended span and buckling deformation underwater detection device and detection method Download PDFInfo
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Abstract
The invention discloses submarine pipeline suspended span and buckling deformation underwater detection equipment and a detection method, and belongs to the field of marine engineering disaster reduction and prevention. The equipment comprises a first control center, a transmission cable, a first transducer array, a second control center, an umbilical cable, an underwater crawler-type ARV, a second transducer array, a relay signal station and a transponder; the first transducer array is arranged at a pipeline node and is connected with the first control center through a transmission cable; a second transducer array is mounted to the underwater tracked ARV; the underwater crawler-type ARV is connected with a second control center through an umbilical cable; the transponder is arranged at the relay signal station; the second control center is in communication connection with the first control center. The equipment and the detection method of the invention provide an ultrashort baseline system positioning mode of a fixed transponder-mobile transducer array and a multi-transponder-multi-transducer array, and realize high-efficiency positioning in the buckling and span detection process of a pipeline.
Description
Technical Field
The invention relates to the technical field of underwater detection, in particular to underwater detection equipment and a detection method for submarine pipeline suspended span and buckling deformation, and belongs to the field of marine engineering disaster reduction and prevention.
Background
Submarine pipelines are widely applied to marine oil and gas transportation and electric power transmission and are known as marine life lines. The safe operation of the subsea pipeline directly affects the safe transportation of marine resources.
However, the submarine pipelines are in a complex environment, and on one hand, due to wave washing and complex seabed geological conditions, the submarine pipelines often form free suspension spans with different lengths. In the yellow river delta area, for 10m underwater, within 15 years of the design life of a submarine pipeline, the integral scouring depth of a seabed can reach 0.7m, the suspension span length of the submarine pipeline is 3-40m, some pipelines even reach 60-70m, and the suspension height is 0.5-3.0m, so that the problem of pipeline suspension span caused by seabed erosion is very serious. The stress state of the pipeline is changed by the suspension span of the pipeline, and the pipeline is damaged by large bending moment generated by the action of environmental loads such as wave flow and the like and the self weight of the pipeline; hydrodynamic forces act to cause vortex-induced vibration of the pipeline, causing fatigue failure of the pipeline. On the other hand, under the action of factors such as temperature, pressure, configuration defects, wave flow, seabed sediment conditions and the like, the submarine pipeline generates a total buckling phenomenon. The total buckling deformation includes lateral buckling and bump buckling. Lateral buckling often causes local buckling, fatigue damage and the like of the submarine pipeline; buckling causes the pipeline to be exposed on the seabed, increasing the risk of the pipeline being damaged. The general buckling phenomenon has serious consequences for the integrity and safety of marine pipelines.
In order to ensure the safety of the submarine pipeline, the development of the pipeline suspension and buckling phenomenon needs to be mastered. At present, the observation technical means aiming at the suspended span of the submarine pipeline mainly comprises a diver detection technology, a geophysical prospecting investigation technology and the like. The geophysical prospecting investigation technology mainly adopts instruments such as a multi-beam sounding system, a shallow stratum profiler and a side scan sonar to implement operation, but the use cost is higher and the data analysis difficulty is high; divers have high detection risk and high cost and are not suitable for deep sea. Therefore, the submarine pipeline scouring three-dimensional shape detection technology with wide application range, high precision and strong economy needs to be researched. The buckling deformation of the pipeline is mainly detected by adopting a buckling detector, an ROV/AUV shooting and sensor carrying. The buckling detector has the risks of being clamped, breaking a traction steel wire rope, disassembling the buckling detector and the like; ROV/AUV detection needs multi-sensor cooperative detection, and detection accuracy is greatly influenced by an interpretation method of an acoustic image. Therefore, it is necessary to research a submarine pipeline detection device and method with simple operation, high precision and good safety.
Chinese patent application No. 201922231812.8 discloses a subsea pipeline real-time safety monitoring and diagnostic system. The method comprises the steps of laying an optical cable along the existing pipeline, installing a sound sensor on the optical cable, monitoring leakage of the submarine pipeline and ships close to the pipeline, and monitoring suspension, displacement or damage of the pipeline by using the characteristic that the optical fiber vibrates due to loss of soil support. This method does not cause damage to the subsea pipeline, but is not applicable in the case of bare pipelines.
Chinese patent application No. 201510695307.2 discloses an active monitoring system and method for submarine pipeline suspended span vortex-induced vibration. The method monitors the suspended span of the submarine pipeline by monitoring vortex-induced vibration information, and only transmits information when vortex-induced vibration occurs, so that the monitoring efficiency is improved. The method has the disadvantages of more complicated data processing and higher difficulty.
Disclosure of Invention
The invention provides underwater detection equipment and a detection method for the suspended span and buckling deformation of a submarine pipeline, aiming at solving the problems that the conventional observation means for the suspended span and buckling deformation of the submarine pipeline depends on various detection equipment, the data analysis difficulty is high and the like. The equipment and the detection method are suitable for the condition of exposed pipelines, and the data analysis difficulty is low.
In order to realize the purpose, the invention adopts the following technical scheme:
an underwater exploration device for submarine pipeline suspended span and buckling deformation, comprising:
a first control center;
a transmission cable;
the first transducer array is arranged at a pipeline node and is connected with a first control center through a transmission cable;
the second control center is in communication connection with the first control center;
An umbilical cable;
the underwater crawler-type ARV is connected with the second control center through an umbilical cable;
a second transducer array mounted to the underwater tracked ARV;
a relay signal station; and
the transponder is arranged on the relay signal station; each relay signal station is provided with at least one transponder;
the first transducer array sends out an inquiry signal, the transponder receives the inquiry signal and replies a response signal, the first transducer array receives the response signal and transmits the signal to the first control center, the first control center calculates the absolute position coordinate of the first transducer array according to the received signal data and transmits the absolute position coordinate data to the second control center, and the second control center draws a pipeline three-dimensional shape graph according to the absolute position coordinate, evaluates the buckling condition of the pipeline and outputs a three-dimensional advancing route of the underwater crawler-type ARV;
the second transducer array sends out an inquiry signal, the responder receives the inquiry signal and replies a response signal, and the second transducer array receives the response signal and transmits the signal to the second control center; and the second control center calculates the real-time coordinate data of the underwater crawler-type ARV according to the received signal data, and further calculates the seabed topography of the pipeline.
The submarine pipeline suspended span and buckling deformation underwater detection equipment can also comprise a relay station; the relay station is respectively connected with the second control center and the umbilical cable; the relay station can realize the parking of the underwater crawler-type ARV, supplement power supply and transmit information, and recover/butt-joint the umbilical cable according to the autonomous/remote control operation requirement. Further, the relay station is a scalable relay station.
The first transducer array and the second transducer array are both L-shaped ternary arrays consisting of a receiving and transmitting combined transducer and two receiving transducers; the receiving and transmitting combined displacement energy device is positioned at the original point of the array, and the two receiving energy devices are respectively positioned in two mutually perpendicular directions of the array; the distance from the combined transducer to the two receiving transducers is equal.
The pipeline node refers to a position selected on the submarine pipeline according to the submarine condition. Designing the number of nodes 13 according to actual conditions
. The buckling length of a general pipeline is tens of meters to hundreds of meters, and in order to ensure effective monitoring of buckling, more than 3 nodes are arranged in the buckling length so as to draw a buckling form graph. Wherein the distance between adjacent nodes is
Number of nodes
= line length =
. Designing the number of relay signal stations according to actual conditions 
. In order to ensure the positioning precision of the ultra-short baseline and the control of engineering cost, the linear distance between a node and a transponder is required to be less than 100m, and the distance between relay signal stations is set by comprehensively considering the precision of ultra-short baseline equipment, the height of the transponder, the distance between the nodes and the slant distance X (the distance from the transponder to a transducer array)
. Distance between relay stations
After the determination, the number of relay signal stations is
= line length =
(results are rounded).
The first transducer array is fixed on a pipeline node through a buckle; furthermore, the buckle is in a circular ring shape, and a transmission cable hole and a first transducer array position are reserved; the transmission cable and the first transducer array can be fixed.
The first control center may be a land-based control center located at the sea surface. Real-time monitoring can be realized, and monitoring has stability.
The second control center may be provided to the mother ship.
The ARV is an Autonomous remote control underwater robot (Autonomous and remote operated Vehicle), is a novel underwater robot which is oriented to extreme environments or special mission tasks, integrates partial technical characteristics of the AUV and the ROV, and has Autonomous operation and remote operation working modes.
Furthermore, the height of the underwater crawler-type ARV is less than 0.2m, so that the detection operation can be conveniently implemented at the bottom of the submarine pipeline.
Further, the underwater crawler-type ARV comprises an umbilical cable connector, a detection device, a control device, a power device, a propulsion device and a crawler device; the umbilical cable connector is connected with an umbilical cable and is matched with the charging interface of the relay signal station; the detection device comprises a high-definition camera, an illuminating lamp and a forward-looking sonar; the control device is respectively connected with the detection device, the power device, the propulsion device and the second transducer array; the propelling device is connected with the crawler device; the power device provides energy power.
The umbilical cable connecting port is connected with an umbilical cable to realize remote control operation of the underwater crawler-type ARV, and the umbilical cable connecting port is connected with a relay signal station charging interface to charge the relay signal station in a state of being disconnected with the umbilical cable; the detection device comprises a high-definition camera, an illuminating lamp and a forward-looking sonar and is used for detecting the surface condition of the seabed in front of the walking route and identifying obstacles; the control device controls the underwater crawler-type ARV to walk along a planned path, and adjusts the walking path in real time according to data obtained by the detection device and the second transducer array, when the underwater crawler-type ARV reaches the relay station, the control device is connected with the second control center through an umbilical cable of the relay station, and the second control center inputs a new command to the control device; the power device provides energy power for the underwater crawler traveling device to travel and detect, and supplements electric power for the relay signal station; the propelling device is used for assisting in pushing the underwater crawler traveling device to move so as to realize the downward placement, upward floating and floating states of the underwater crawler ARV; the second transducer array is used for transmitting an inquiry signal and receiving a response signal to complete the underwater crawler-type ARV positioning work; the crawler device provides traction force for the underwater crawler-type ARV to travel on the seabed surface, and is positioned on two sides of the underwater crawler-type ARV, so that the underwater crawler-type ARV can conveniently and stably travel on the complex seabed surface after being washed.
Furthermore, the propulsion device comprises a vertical propeller and a horizontal propeller, wherein the vertical propeller is respectively arranged at two sides of the underwater crawler-type ARV by 2, and the horizontal propeller is symmetrically arranged at the tail part of the underwater crawler-type ARV by 2.
A detection method adopting the submarine pipeline suspended span and buckling deformation underwater detection equipment comprises the following steps:
(1) dividing submarine pipeline nodes; mounting a first transducer array on a buckle, and mounting the buckle on a preset pipeline node;
(2) installing a relay signal station; the distance between the relay signal station and the submarine pipeline is greater than a safety distance, wherein the safety distance is the sum of the predicted maximum scour radius around the pipeline and the predicted maximum scour radius around the relay signal station; mounting a transponder on the relay signal station, marking the transponder and recording the coordinates of the transponder;
(3) the first control center issues an instruction to enable the first transducer array to sequentially transmit an inquiry signal, the responder receives the inquiry signal and transmits a response signal, and the first transducer array receives the response signal and transmits signal data to the first control center; the first control center calculates the absolute position coordinates of each node according to the signal data and transmits the absolute position coordinate data to the second control center;
(4) The second control center draws a pipeline three-dimensional form graph according to the absolute position coordinates of each node and evaluates the buckling condition of the pipeline; the second control center preliminarily plans a traveling path of the underwater crawler-type ARV according to the absolute position coordinates of each node of the pipeline;
(5) the underwater crawler-type ARV is connected with the umbilical cable and is thrown to the side of the pipeline;
(6) the underwater crawler-type ARV walks along a planned advancing path on the side of the pipeline under the control of a second control center, and the advancing direction and the advancing angle are regulated and controlled according to the image transmitted back by the detection device;
(7) the underwater crawler-type ARV transmits an inquiry signal by the second transducer array while walking, the transponder on the signal relay station receives the inquiry signal and transmits a response signal, and the second transducer array receives the response signal and transmits signal data to the second control center;
(8) the second control center processes the signal data to obtain real-time coordinate data of the underwater crawler-type ARV, and further obtain seabed topography maps at two sides of the pipeline; planning a suspended span area needing important detection according to seabed topography maps at two sides of the pipeline and images returned by the detection device, and planning an autonomous operation route;
(9) closing umbilical cable connection by the underwater crawler-type ARV, and walking along the bottom of the suspended pipeline according to a pre-designed autonomous operation route;
(10) The underwater crawler-type ARV transmits an inquiry signal by the second transducer array while walking at the bottom of the pipeline, the transponder on the signal relay station receives the inquiry signal and transmits a response signal, and the second transducer array receives the response signal and transmits signal data to the second control center;
(11) the second control center processes the signal data to obtain real-time coordinate data of the underwater crawler-type ARV, and further obtain a seabed topography at the bottom of the pipeline;
(12) and drawing an integral seabed shape diagram around the pipeline by combining seabed shape diagrams at two sides of the pipeline and seabed shape diagrams at the bottom of the pipeline, and solving the suspension height and the suspension length of the pipeline by combining the three-dimensional shape diagram of the pipeline.
In the detection method, the ARV can be put in by adopting a relay station: connecting an umbilical cable and placing the underwater crawler-type ARV on a telescopic relay station; the mother ship slowly transfers the relay station to a specified depth, the relay station releases the underwater crawler-type ARV, and the underwater crawler-type ARV descends to the side of the pipeline.
The detection method further comprises the step that the underwater crawler-type ARV walking path walks in an ㄹ shape, the distance between the walking paths is adjusted according to the actual operation condition, the sea bed shape between the walking paths is calculated by adopting an interpolation method, and efficient detection is realized.
The detection method, the steps (7) and/or (9) are repeated for more than three times, and more sufficient traveling data is obtained to reduce errors.
After the detection work is finished, the underwater crawler-type ARV is contracted to the mother ship on the water surface under the control of the second control center; under the condition that the relay station exists, the underwater crawler-type ARV stops at the relay station, and the relay station carries the crawler-type ARV to be contracted to the mother ship on the water surface.
The detection method comprises the following steps of: the receiving and combining displacement energy devices in the first energy converter array and the second energy converter array actively transmit an inquiry signal, the transponder on the relay signal station receives the inquiry signal and replies a response signal, the first energy converter array receives the response signal and transmits the signal to the first control center through a transmission cable, and the second energy converter array receives the response signal and transmits the signal to the second control center and the underwater crawler-type ARV, so that real-time coordinates of the pipeline node and the underwater crawler-type ARV are positioned. The first control center is used for regulating and controlling the response of the first transducer array, processing the three-dimensional coordinate position of the pipeline node obtained by the first transducer array, and outputting a pipeline three-dimensional form diagram so as to obtain the buckling deformation condition of the pipeline; the transmission cable is arranged at the top of the pipeline, is fixed by a buckle, is connected with the first control center and the first transducer array, and can transmit a regulation and control instruction of the first control center, receive signals of the first transducer array of the pipeline and provide energy sources required by the transducers and the like; the second control center is used for analyzing an underwater optical image shot by the underwater crawler-type ARV, processing a three-dimensional coordinate position obtained by the ARV second transducer array, outputting a seabed surface form diagram, further regulating and controlling an ARV walking route, and supplementing energy sources for the ARV and providing a signal relay station.
The real-time positioning calculation principle of the pipeline node and the underwater crawler-type ARV is as follows: determining absolute three-dimensional position coordinates of each transponder on the relay station when the relay station is initially installed, the transponder being marked
、
……
，
Then the transponder coordinates are
. After the first transducer array and the second transducer array send out the inquiry signal, the first transducer array and the second transducer array receive the inquiry signal
An answer signal. The answer signals replied by the responders on the relay signal station closest to the first transducer array and the second transducer array arrive at the first transducer array and the second transducer array firstly, and the answer signals replied by the responders on the relay signal station closest to the first transducer array and the second transducer array are selected for calculation, namely before selection
Calculating individual response signals, each corresponding to a transponder
、
……
，
. Passing signal round trip time
、
……
，
Calculating the distance between the transponder and the original point of the transducer array, and calculating the included angle between the sound ray received by the original point of the array and two mutually perpendicular baselines according to the phase difference of the received signals of the receiving transducer (non-original point of the array)
. The coordinates of the transponder relative to the first and second transducer arrays can be determined from the above data. And calculating the absolute three-dimensional position coordinates of the first transducer array and the second transducer array according to the absolute three-dimensional position coordinates of the transponder and the relative position coordinates of the transponder, the first transducer array and the second transducer array, further drawing a pipeline three-dimensional form change diagram and an underwater crawler-type ARV (autoregressive moving track) traveling route diagram, and further acquiring data of buckling deformation and suspension of the pipeline.
Transponder
Relative position coordinates with respect to the transducer array origin are
,
,
：
Because of the transponder
The absolute position coordinate is
And only the first n signals are taken for positioning, so the absolute coordinates of the transducer array origin are as follows:
wherein the content of the first and second substances,
。
thus, the absolute coordinates of the pipe node are
The absolute coordinates of the surface of the seabed are
. Wherein D is the diameter of the pipeline, z is the height of the second transducer array from the bottom of the underwater crawler-type ARV,
the number of relay stations is n, and the number of responders installed in each relay station is n.
Compared with the prior art, the invention has the beneficial effects that:
(1) the submarine pipeline suspended span detection method based on the transducer array-transponder is low in data analysis difficulty, simple to operate and capable of supplementing submarine pipeline buckling form observation means, and other detection equipment does not need to be carried;
(2) the ultra-short baseline system positioning mode of a fixed transponder-mobile transducer array and a multi-transponder-multi-transducer array is provided, and efficient positioning is realized in the process of pipeline buckling and span detection;
(3) the ultra-short baseline signal screening mode of the multi-transponder-multi-transducer array is provided, so that the possibility of multi-signal interference is reduced;
(4) Compared with the method of only carrying out information transmission when vortex-induced vibration occurs, the method of the invention can realize real-time monitoring of the pipeline and provides an effective method for researching the dynamic process of pipeline buckling development;
(5) an underwater crawler-type ARV is adopted, autonomous/remote control operation can be switched from the bottom/side of a pipeline according to the operation environment, and a power supply is supplemented for a relay signal station;
(6) the advancing route of the underwater crawler-type ARV is in an ㄹ shape, so that the high-efficiency detection of the suspension span of the pipeline is realized, and the cost is saved;
(7) the mode of whole side detection and local bottom detection is adopted, and when bottom detection is carried out, the underwater crawler-type ARV is disconnected with the umbilical cable, so that the umbilical cable winding phenomenon is effectively avoided.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a transducer array and a fastener;
FIG. 3 is a schematic diagram of a pipeline node location principle;
FIG. 4 is a schematic diagram of the transducer array-transponder positioning principle;
FIG. 5 is a schematic view of an initial state of a subsea pipeline;
FIG. 6 is a schematic subsea pipeline buckling diagram; wherein, a is the detection of the uplifting and buckling of the submarine pipeline, and b is the detection of the lateral buckling of the submarine pipeline;
FIG. 7 is a schematic structural view of a tracked ARV;
FIG. 8 is a schematic top view of an underwater tracked ARV along a path of travel on both sides of a pipeline;
FIG. 9 is a schematic top view of an underwater tracked ARV following the pipeline bottom surface travel path;
the system comprises a first control center 1, a second control center 2, a relay station 2, a 3 umbilical cable, a 4 underwater crawler-type ARV, a 401 second transducer array, a 402 gripper, a 403 umbilical cable connecting port, a 404 control device, a 405 power device, a 406 horizontal thruster, a 407 detecting device, a 408 vertical thruster, a 409 crawler device, a 5 advancing route, an 501 pipeline two-side advancing route, a 502 pipeline bottom advancing route, a 6 seabed, a 7 positioning system, an 8 transponder, a 9 relay signal station, a 10 first control center, a 11 transmission cable, a 12 seabed pipeline, a 13 node, a 1301 buckle, a 1302 first transducer array, a 14 receiving transducer and a 15 receiving and combining energy-replacing device.
Detailed Description
The invention is further illustrated with reference to the figures and examples.
The structure, proportion, size and the like shown in the drawings are only used for matching with the content disclosed in the specification, so that the person skilled in the art can understand and read the description, and the description is not used for limiting the limit condition of the implementation of the invention, so the method has no technical essence, and any structural modification, proportion relation change or size adjustment still falls within the scope covered by the technical content disclosed by the invention without affecting the effect and the achievable purpose of the invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
As shown in fig. 1 to 9, an underwater exploration device for submarine pipeline suspended span and buckling deformation includes: a first control center 10, a transmission cable 11, a first transducer array 1302, a second control center 1, an umbilical cable 3, an underwater crawler-type ARV4, a second transducer array 401, a relay signal station 9 and a transponder 8; the first transducer array 1302, the second transducer array 401 and the transponder 8 constitute a positioning system 7; the first transducer array 1302 is installed on a pipeline node 13, and the first transducer array 1302 is connected with the first control center 10 through a transmission cable 11; a second transducer array 401 is mounted to the underwater crawler ARV 4; the underwater crawler-type ARV4 is connected with a second control center 1 through an umbilical cable 3; the transponder 8 is provided in the relay station 9; each relay station 9 is provided with at least two transponders 8; the second control center 1 is in communication connection with the first control center 10; the first transducer array 1302 sends out an inquiry signal, the transponder 8 receives the inquiry signal and replies a response signal, the first transducer array 1302 receives the response signal and transmits the signal to the first control center 10, the first control center 10 calculates the absolute position coordinate of the first transducer array 1302 according to the received signal data and transmits the absolute position coordinate data to the second control center 1, and the second control center 1 draws a pipeline three-dimensional form diagram according to the absolute position coordinate, evaluates the buckling condition of the pipeline and outputs a three-dimensional advancing route 5 of the underwater crawler-type ARV 4; the second transducer array 401 sends out an inquiry signal, the transponder 8 receives the inquiry signal and replies a response signal, and the second transducer array 401 receives the response signal and transmits the signal to the second control center 1; the second control center 1 calculates real-time coordinate data of the underwater crawler-type ARV4 according to the received signal data, and further obtains a seabed 6 topography of the pipeline.
As shown in fig. 1, the first control center 10 is a land-based control center, and is located at or above the sea surface; the second control center 1 is arranged on the mother ship. The first control center 10 may be fixedly installed at or above the sea surface, or movably installed at or above the sea surface. The first control center 10 is a land-based control center, and can realize real-time monitoring of the pipeline. The second control center 1 can move along with the movement of the mother ship, thereby realizing long-distance measurement of the long pipeline. The first control center 10 and the second control center 1 may each mainly include a computer, a data storage, and a data reader.
The connection between the first transducer array 1302 and the first control center 10 is a communication connection and an electrical connection. The connection between the underwater crawler-type ARV4 and the second control center 1 is a communication connection and an electric connection.
Wherein each node 13 is provided with a first transducer array 1302, each ARV is provided with a second transducer array 401, each relay signal station 9 is provided with at least 2 transponders 8 (the number of transponders 8 is n); more than 2 transponders 8 are installed per relay station 9 in order to obtain multiple sets of data to reduce errors. The number of transponders 8 installed per relay station 9 is selected according to the actual engineering cost. As an embodiment, each relay station 9 is equipped with 2-3 transponders 8; the transponders 8 are arranged in a vertically equidistant manner. Since one relay station 9 is located in cooperation with a plurality of nodes 13, the presence of other arrangements may cause the reception/transmission of signals by the transponders 8 to be influenced by the relay station 9.
The pipeline node 13 is a position selected on the subsea pipeline 12 according to the subsea condition. The bending length of the general pipeline is from tens meters to hundreds meters, and the bending is required to be ensured to be effectively monitoredMore than 3 nodes 13 are arranged in the curved length so as to draw a curved shape graph. Wherein the distance between two nodes 13 is
The number of nodes is
= line length =
. In order to ensure the positioning precision of the ultra-short baseline and the control of engineering cost, the linear distance between the node 13 and the transponder 8 is less than 100m, and the distance between the relay signal stations 9 is set by comprehensively considering the precision of the ultra-short baseline equipment, the height of the transponder 8, the distance between the nodes 13 and the slant distance X (the distance between the transponder 8 and the transducer array)
. 9 spacing of relay signal stations
After the determination, the number of relay signal stations 9 is
= line length =
(results are rounded). According to the existing calibration method for the precision and installation error of the ultra-short baseline equipment, the precision of the ultra-short baseline positioning system 7 can reach 5 thousandth X. Therefore, when the slant distance X =100m, the positioning accuracy can reach 0.5m, and the buckling detection requirement can be met. For example, the number of nodes 13 is designed according to actual conditions
1302-1 to 1302-7; the relay signal stations 9 are spaced apart by a distance of
The number of the relay signal stations 9 is 
901, 902; a relay station 9 co-operating
/
Values are rounded off; the relay station 9 is provided with
Four transponders 8 of 801-804 are provided as the transponders 8, and every two transponders 8 are matched
/
Each node 13 is positioned such that the transponders 801, 802 on the trunk number station 801 mate with the first transducer arrays 1302-1 to 1302-4 and the transponders 803, 804 on the trunk number station 802 mate with the first transducer arrays 1302-4 to 1302-7.
As shown in FIG. 2, as an embodiment, a first transducer array 1302 is secured to a pipeline node 13 by a snap 1301. For example, the buckle 1301 is in a circular ring shape, and a transmission cable 11 hole and a first transducer array 1302 position are reserved; the transmission cable 11 and the first transducer matrix 1302 may be implemented stationary.
As shown in fig. 4, the first transducer array 1302 and the second transducer array 401 are both "L" type ternary arrays composed of one combined transceiver transducer 15 and two receiving transducers 14, the combined transceiver transducer 15 is located at the origin of the array, the two receiving transducers 14 are respectively located in two mutually perpendicular directions of the array, and the distance between the two transducers in the same direction is d (d is a conventional parameter). That is, the combined transducer is equidistant from both receiving transducers 14; the two receiving transducers 14 and the transmitting and receiving transducer 15 located at the origin form an isosceles right triangle parallel to the xoy plane.
As shown in fig. 4, the first transducer matrix 1302-transponder 8 positioning principle is: taking the first transducer array 1302-1, the relay signal station 901 and the transponders 801 and 802 thereon as examples, the transceiving transducer 15 actively transmits an interrogation signal, the transponders 801 and 1302 on the relay signal station 901 receive the interrogation signal and reply a reply signal, and the transceiving transducer 15 receives the reply signal and replies according to the round trip time
、
The distance between the transponders 801, 802 and the transducer array origin 15 is calculated
Calculating the included angle between the sound ray received by the base array origin 15 and two mutually perpendicular baselines according to the phase difference of the received signals of the receiving transducer 14 (non-base array origin) 14
. Transmitting the signal data to a land control center through a transmission cable 11, calculating relative position coordinates of the transponders 801 and 802 relative to the first transducer array 1302, further calculating absolute position coordinates of the first transducer array 1302 according to the absolute position coordinates of the transponders 801 and 1202, and positioning real-time coordinates of the nodes 13 of the pipeline 12; similarly, the first transducer array 1302-1 at node 13-1 also receives the response signals from the transponders 803, 804. The relay signal station 9 closest to the node 13-1 is 901, and the response signals replied by the transponders 801 and 802 reach the first transducer array 1302-1 at the node 13 first, so that the first 2 response signals are selected for positioning in order to eliminate interference. The transceiver/transposer 15 of the node 13-2 transmits signals and performs the above operations until all the nodes 13 complete the above operations.
As shown in figure 4 of the drawings,the relative position coordinates of the transponder 801 with respect to the transducer array origin 15 are
,
,
：
Similarly, the coordinates of the transponder 802 relative to the transducer base origin 15 may be found to be
,
,
. Because the absolute position coordinates of the transponders 801, 1202 are
、
The absolute coordinates of the transducer array origin 15 are therefore:
the absolute coordinate of the pipe node 13-1 is
Wherein D is the diameter of the pipe, and the positioning principle of the second transducer array 401-transponder 8 is consistent with the positioning principle of the first transducer array 1302-transponder 8, which is not described in detail herein.
The underwater crawler-type ARV4 carries out preliminary remote control floating inspection on the submarine pipeline 12, autonomously walks on the bottom surface of the submarine pipeline 12 and remotely walks on the side surface of the submarine pipeline 12, shows the form of a seabed 6 around the submarine pipeline 12 by using a traveling route 5 and supplements a power supply for the relay signal station 9; the second control center 1 is used for analyzing optical images transmitted by the underwater crawler-type ARV4, regulating and controlling the traveling route 5 of the ARV4 in remote operation, processing the three-dimensional coordinate position acquired by the positioning system 7, outputting a surface topography map of the seabed 6, and further planning the traveling route 5 of the ARV4 and transmitting the traveling route 5 to the ARV 4. The umbilical 3 may transmit commands from a second control center to supplement the power supply to the underwater tracked ARV 4. The first control center 10 is configured to control the first transducer array 1302 to transmit an interrogation signal, process signal data acquired by the first transducer array 1302, further obtain a three-dimensional position coordinate of each node 13 of the real-time pipeline 12, and output a three-dimensional form diagram of the pipeline 12, thereby obtaining a buckling deformation condition of the pipeline 12. The transmission cable 11 provides power to the first transducer array 1302 and transmits signal data, logs down the pipeline 12, connects to the second control center 10 and transmits its instructions.
As shown in fig. 1, as an embodiment, the submarine pipeline suspended span and buckling deformation underwater detection device further comprises a relay station 2; the relay station 2 is respectively connected with the second control center 1 and the umbilical cable 3; the relay station 2 can realize the lowering and the parking of the underwater crawler-type ARV4, supplement power supply and transmit information, and recover/butt joint the umbilical cable 3 according to the autonomous/remote control operation requirement. Specifically, the relay station 2 may be a scalable relay station 2.
As shown in fig. 8-9, the underwater crawler-type ARV4 is used for performing preliminary inspection on the submarine pipeline 12, and walking along a planned path on the side and the bottom of the submarine pipeline 12, and drawing a three-dimensional map of the suspended span of the submarine pipeline 12 by using three-dimensional position coordinates of the walking process. As shown in fig. 7, the height of the underwater crawler ARV is less than 0.2m as an embodiment, which facilitates the exploration work at the bottom of the submarine pipeline 12. The height of the underwater crawler ARV means a vertical distance from the highest position of the upper surface of the underwater crawler ARV to the bottom surface.
As shown in fig. 7, the underwater tracked ARV4 comprises an umbilical connection port 403, a gripper 402, a detection device 407, a control device 404, a power device 405, a propulsion device and a track device 409; the umbilical cable connecting port 403 is connected with the umbilical cable 3, and the umbilical cable connecting port 403 is matched with a charging interface of the relay signal station 9; the detection device 407 comprises a high-definition camera, an illuminating lamp and a forward-looking sonar; the control device 404 is respectively connected with the detection device 407, the power device 405, the propulsion device and the second transducer array 401; the propelling device is connected with a crawler device 409; the power plant 405 provides energy source power. The umbilical cable connecting port 403 is connected with the umbilical cable 3 to realize remote control operation of the underwater crawler-type ARV4, and the umbilical cable connecting port 403 is connected with the charging interface of the relay signal station 9 in a disconnected state with the umbilical cable 3 to charge the relay signal station 9. A hand grip 402 for connecting the transmission cable 11 and the underwater crawler ARV 4. The detection device 407 includes a high-definition camera, an illumination lamp, and a forward-looking sonar for detecting the surface condition of the seabed 6 in front of the travel path 5 and identifying obstacles. The control device 404 is connected with the detection device 407, the power device 405, the propulsion device and the transponder 8, controls the underwater crawler-type ARV4 to move along a planned path, adjusts the traveling route 501 in real time according to data obtained by the detection device 407 and the second transducer array 401, and when the underwater crawler-type ARV reaches the relay station 2, the control device 404 is connected with a second control center through an umbilical cable 3 of the relay station 2, and the second control center inputs a new command to the control device 404. The power device 405 provides energy power for the underwater crawler traveling device to travel and detect, and supplements electric power for the relay signal station 9. The propelling device is used for assisting to push the underwater crawler traveling device to move, and the underwater crawler ARV4 is lowered, floated and floated. The second transducer array 401 is used for transmitting an inquiry signal and receiving a response signal, so that the underwater crawler-type ARV4 positioning work is completed. Crawler devices 409 provide traction for underwater tracked ARV4 to travel on the surface of seabed 6, are positioned on two sides of underwater tracked ARV4, and facilitate the stable travel of underwater tracked ARV4 on the surface of seabed 6 which is complicated after scouring.
As shown in fig. 7, as a specific embodiment, the propulsion device comprises a vertical propeller 408 and a horizontal propeller 406, wherein 2 vertical propellers 408 are respectively arranged on two sides of the underwater crawler-type ARV4, and 2 horizontal propellers 406 are symmetrically arranged at the tail of the underwater crawler-type ARV 4.
A detection method adopting the submarine pipeline suspended span and buckling deformation underwater detection equipment comprises the following steps:
(1) dividing the submarine pipeline 12 into nodes 13, the number of the nodes 13 being
(ii) a Installing a first transducer array 1302 on a buckle 1301, and installing the buckle 1301 on a preset pipeline node 13;
(2) installing a relay signal station 9, wherein the distance between the relay signal station 9 and the submarine pipeline 12 is greater than a safety distance, and the safety distance is the sum of the predicted maximum scour radius around the pipeline and the predicted maximum scour radius around the relay signal station 9; the relay signal station 9 is provided with a transponder 8, and the transponder 8 is marked
、
……
，
(ii) a And records the coordinates of the transponder 8 as
；
(3) The first control center 10 issues an instruction to enable the first transducer array 1302 to sequentially transmit an inquiry signal, the transponder 8 receives the inquiry signal and transmits a response signal, and the first transducer array 1302 receives the response signal and transmits signal data to the first control center 10; the first control center 10 calculates the absolute position coordinates of each node 13 according to the signal data, and transmits the absolute position coordinate data to the second control center;
(4) The second control center draws a pipeline three-dimensional form graph according to the absolute position coordinates of each node 13 and evaluates the buckling condition of the pipeline; the second control center preliminarily plans the traveling route 5 of the underwater crawler-type ARV4 according to the absolute position coordinates of each node 13 of the pipeline;
(5) the underwater crawler-type ARV4 is connected with the umbilical cable 3 and throws the underwater crawler-type ARV4 to the side of the pipeline;
(6) the underwater crawler-type ARV4 walks along the planned traveling route 5 on the side of the pipeline under the control of the second control center, and regulates the advancing direction and angle according to the image returned by the detection device 407;
(7) the underwater crawler-type ARV4 transmits an inquiry signal by the second transducer array 401 while walking, the transponder 8 on the signal relay station 2 receives the inquiry signal and transmits a response signal, and the second transducer array 401 receives the response signal and transmits signal data to the second control center;
(8) the second control center processes the signal data to obtain real-time coordinate data of the underwater crawler-type ARV4, and further obtain the topography of the seabed 6 on two sides of the pipeline; planning a suspended span area needing important detection according to the topography of seabed 6 on two sides of the pipeline and images returned by the detection device 407, and planning an autonomous operation route;
(9) Closing the connection of the umbilical cable 3 by the underwater crawler-type ARV4, and walking along the bottom of the suspended pipeline according to a pre-designed autonomous operation route;
(10) the underwater crawler-type ARV4 transmits an inquiry signal by the second transducer array 401 while walking at the bottom of the pipeline, the transponder 8 on the signal relay station 2 receives the inquiry signal and transmits a response signal, and the second transducer array 401 receives the response signal and transmits signal data to the second control center;
(11) the second control center processes the signal data to obtain real-time coordinate data of the underwater crawler-type ARV4, and further obtain a seabed 6 topography at the bottom of the pipeline;
(12) and drawing a form diagram of the whole seabed 6 around the pipeline by combining the seabed 6 form diagrams at the two sides of the pipeline and the seabed 6 form diagram at the bottom of the pipeline, and solving the suspension height and the suspension length of the pipeline by combining the three-dimensional form diagram of the pipeline.
The detection method and the ARV putting mode can be realized in various modes. As a specific embodiment, the delivery method of the ARV may adopt the relay station 2: connecting the umbilical 3 and placing the underwater tracked ARV4 on the telescopic relay station 2; the mother ship slowly lowers the relay station 2 to a designated depth (the depth is determined by the technical personnel according to the operating water depth and engineering hydrological conditions, and belongs to the conventional technical means), the relay station 2 releases the underwater crawler-type ARV4, and the underwater crawler-type ARV4 descends to the side of the pipeline.
As shown in fig. 8-9, as a specific embodiment of the above detection method, the underwater crawler-type ARV4 traveling route 501 travels in a shape of "ㄹ", the distance between the traveling routes 5 is adjusted according to the actual operation condition, and the shape of the seabed 6 between the traveling routes 5 is calculated by using an interpolation method, so that efficient detection is realized. The line side path 501 is shown in FIG. 8 and the line bottom path 502 is shown in FIG. 9.
In the above detection method, the distance between the relay station 9 and the pipeline can be selected according to specific situations. In one embodiment, the distance between the relay station 9 and the pipeline is 1.5-2 times the safety distance.
The detection method, the steps (7) and/or (9) are repeated for more than three times, and more sufficient traveling data is obtained to reduce errors. As a specific embodiment, the steps (7) or/and (9) are repeated three times.
After the detection work is finished, the underwater crawler-type ARV4 is contracted to the mother ship on the water surface under the control of the second control center; in the presence of the relay station 2, the underwater crawler-type ARV4 docks the relay station 2, and the relay station 2 carries the crawler-type ARV to retract to the mother ship on the water surface.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. An underwater exploration device for submarine pipeline suspended span and buckling deformation is characterized by comprising:
a first control center;
a transmission cable;
the first transducer array is arranged at a pipeline node and is connected with a first control center through a transmission cable;
the second control center is in communication connection with the first control center;
an umbilical cable;
the underwater crawler-type ARV is connected with the second control center through an umbilical cable;
a second transducer array mounted to the underwater tracked ARV;
the transponder is arranged on the relay signal station; each relay signal station is provided with at least one transponder;
the first transducer array sends out an inquiry signal, the transponder receives the inquiry signal and replies a response signal, the first transducer array receives the response signal and transmits the signal to the first control center, the first control center calculates the absolute position coordinate of the first transducer array according to the received signal data and transmits the absolute position coordinate data to the second control center, and the second control center draws a pipeline three-dimensional shape graph according to the absolute position coordinate, evaluates the buckling condition of the pipeline and outputs a three-dimensional advancing route of the underwater crawler-type ARV;
The second transducer array sends out an inquiry signal, the responder receives the inquiry signal and replies a response signal, and the second transducer array receives the response signal and transmits the signal to the second control center; and the second control center calculates the real-time coordinate data of the underwater crawler-type ARV according to the received signal data, and further calculates the seabed topography of the pipeline.
2. The subsea pipeline suspended span and buckling deformation underwater detection device of claim 1, comprising a relay station; and the relay station is respectively connected with the second control center and the umbilical cable.
3. The subsea pipeline suspended span and buckling deformation underwater detection device of claim 2, wherein the relay station is a retractable relay station.
4. The subsea pipeline suspended span and buckling deformation underwater detection device according to claim 1, wherein the first transducer array and the second transducer array are both "L" -shaped ternary arrays consisting of one transmitting and receiving combined transducer and two receiving transducers; the receiving and transmitting combined displacement energy device is positioned at the original point of the array, and the two receiving energy devices are respectively positioned in two mutually perpendicular directions of the array; the distance from the combined transducer to the two receiving transducers is equal.
5. The subsea pipeline suspended span and buckling deformation underwater detection device of claim 1, wherein the first control center is disposed at a land-based control center at the sea surface; the second control center is arranged on the mother ship.
6. The subsea pipeline suspended span and buckling deformation underwater detection apparatus of claim 1, wherein the underwater crawler-type ARV comprises an umbilical connection port, a detection device, a control device, a power device, a propulsion device and a crawler device; the umbilical cable connector is connected with an umbilical cable and is matched with the charging interface of the relay signal station; the detection device comprises a high-definition camera, an illuminating lamp and a forward-looking sonar; the control device is respectively connected with the detection device, the power device, the propulsion device and the second transducer array; the propelling device is connected with the crawler device; the power device provides energy power.
7. The subsea pipeline suspended span and buckling deformation underwater detection device according to claim 6, wherein the propulsion means comprises 2 vertical propellers and 2 horizontal propellers, the vertical propellers are respectively installed on two sides of the underwater crawler-type ARV, and the horizontal propellers are symmetrically installed on the tail of the underwater crawler-type ARV by 2.
8. A method for detecting a submarine pipeline suspended span and buckling deformation underwater detection device according to any one of claims 1 to 7, comprising the steps of:
(1) dividing submarine pipeline nodes; mounting a first transducer array on a buckle, and mounting the buckle on a preset pipeline node;
(2) installing a relay signal station; the distance between the relay signal station and the submarine pipeline is greater than a safety distance, wherein the safety distance is the sum of the predicted maximum scour radius around the pipeline and the predicted maximum scour radius around the relay signal station; mounting a transponder on the relay signal station, marking the transponder and recording the coordinates of the transponder;
(3) the first control center issues an instruction to enable the first transducer array to sequentially transmit an inquiry signal, the responder receives the inquiry signal and transmits a response signal, and the first transducer array receives the response signal and transmits signal data to the first control center; the first control center calculates the absolute position coordinates of each node according to the signal data and transmits the absolute position coordinate data to the second control center;
(4) the second control center draws a pipeline three-dimensional form graph according to the absolute position coordinates of each node and evaluates the buckling condition of the pipeline; the second control center preliminarily plans a traveling path of the underwater crawler-type ARV according to the absolute position coordinates of each node of the pipeline;
(5) The underwater crawler-type ARV is connected with the umbilical cable and is thrown to the side of the pipeline;
(6) the underwater crawler-type ARV walks along a planned advancing path on the side of the pipeline under the control of a second control center, and the advancing direction and the advancing angle are regulated and controlled according to the image transmitted back by the detection device;
(7) the underwater crawler-type ARV transmits an inquiry signal by the second transducer array while walking, the transponder on the signal relay station receives the inquiry signal and transmits a response signal, and the second transducer array receives the response signal and transmits signal data to the second control center;
(8) the second control center processes the signal data to obtain real-time coordinate data of the underwater crawler-type ARV, and further obtain seabed topography maps at two sides of the pipeline; planning a suspended span area needing important detection according to seabed topography maps at two sides of the pipeline and images returned by the detection device, and planning an autonomous operation route;
(9) closing umbilical cable connection by the underwater crawler-type ARV, and walking along the bottom of the suspended pipeline according to a pre-designed autonomous operation route;
(10) the underwater crawler-type ARV transmits an inquiry signal by the second transducer array while walking at the bottom of the pipeline, the transponder on the signal relay station receives the inquiry signal and transmits a response signal, and the second transducer array receives the response signal and transmits signal data to the second control center;
(11) The second control center processes the signal data to obtain real-time coordinate data of the underwater crawler-type ARV, and further obtain a seabed topography at the bottom of the pipeline;
(12) and drawing an integral seabed shape diagram around the pipeline by combining seabed shape diagrams at two sides of the pipeline and seabed shape diagrams at the bottom of the pipeline, and solving the suspension height and the suspension length of the pipeline by combining the three-dimensional shape diagram of the pipeline.
9. The detection method according to claim 8, wherein the ARV is launched by using a relay station: connecting an umbilical cable and placing the underwater crawler-type ARV on a telescopic relay station; the mother ship slowly transfers the relay station to a specified depth, the relay station releases the underwater crawler-type ARV, and the underwater crawler-type ARV descends to the side of the pipeline.
10. The method of claim 9, wherein the underwater tracked ARV travel path takes an "ㄹ" shape.
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