CN115071923A - Submersible vehicle for monitoring oil spilling of offshore drilling platform pipeline and monitoring method - Google Patents
Submersible vehicle for monitoring oil spilling of offshore drilling platform pipeline and monitoring method Download PDFInfo
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- CN115071923A CN115071923A CN202210848228.0A CN202210848228A CN115071923A CN 115071923 A CN115071923 A CN 115071923A CN 202210848228 A CN202210848228 A CN 202210848228A CN 115071923 A CN115071923 A CN 115071923A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
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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
- B63B22/00—Buoys
- B63B22/04—Fixations or other anchoring arrangements
- B63B22/08—Fixations or other anchoring arrangements having means to release or urge to the surface a buoy on submergence thereof, e.g. to mark location of a sunken object
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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
- B63B22/00—Buoys
- B63B2022/006—Buoys specially adapted for measuring or watch purposes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
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- Combustion & Propulsion (AREA)
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Abstract
The invention relates to the technical field of marine environment monitoring, in particular to a submarine vehicle for monitoring oil spilling of a pipeline of an offshore drilling platform and a monitoring method, the submarine vehicle comprises a remote sensing submarine vehicle (1), an oil spilling monitoring buoy (3) and an oil pipe detection mechanism (5), wherein a rope winding and unwinding mechanism (2) is arranged at the top of the remote sensing submarine vehicle (1), the rope winding and unwinding mechanism (2) is connected with the oil spilling monitoring buoy (3), the lower end of the remote sensing submarine vehicle (1) is connected with the oil pipe detection mechanism (5) through a suspension arm assembly (4), the trend can be changed when the oil pipeline under the water is detected, the oil spilling area can be monitored through a radar below the water surface while an oil pipeline detection device is not separated from the oil pipeline.
Description
Technical Field
The invention relates to the technical field of marine environment monitoring, in particular to a submarine vehicle for monitoring oil spilling of a pipeline of an offshore drilling platform and a monitoring method.
Background
With the vigorous development of the marine transportation industry and the construction of more and more marine oil drilling platforms, the occurrence frequency of offshore oil spill accidents is higher and higher. Oil spill accidents have been the focus of attention in various countries for many years as one of the major sources of marine environmental pollution. It is statistical that the petroleum and petroleum products that leak into the ocean through various routes each year account for approximately 0.5% of the world's total petroleum production. The petroleum leakage not only can cause serious damage to marine ecology, but also can bring serious harm to human health and regional economy.
At present, the modes of offshore oil spill monitoring mainly include satellite audio monitoring, remote aerial audio monitoring, remote ship audio monitoring, CCT oil spill monitoring, fixed point and buoy monitoring, etc., a satellite television tracking detector uses a satellite as a working platform, and various oil spill probe sensors generated by the satellite are used for extracting information from the earth surface and determining the surface of oil spill water, and then the information is processed. The radar remote sensing is also one of important oil spill detection means, a shipborne radar oil spill monitoring system is developed and developed by utilizing radars of ports and ship equipment, oil spill events of the ports and the ships are monitored in real time, a quick, efficient and all-weather radar sea surface oil spill digital image can be provided for departments of marine environment monitoring, forecasting, management, law enforcement and the like, and a scientific basis is provided for oil spill removal and decision-making. Fixed point oil spill monitoring is achieved by installing sensors, sometimes buildings, equipment, etc. fixed to the surface of the water, in fixed parts of a column or bridge, the sensors used in this monitoring mode being mainly comprised of laser fluorescence sensors and electron absorption sensor sets. Ocean buoy oil spill monitoring which has the capability of continuously and reliably collecting ocean environment data at any time and can also perform automatic data collection, automatic labeling and automatic transmission.
Chinese patent ZL202111068741.X discloses a portable submarine cable inspection unmanned underwater vehicle, which comprises a main cabin arranged on a frame, a driving assembly, a gas cylinder and a steering engine, wherein the driving assembly and the gas cylinder are arranged to adjust the motion posture and the sinking and floating state of the main cabin, the volume and the weight of the gas cylinder are adjustable, the steering engine adjusts the working angle and the posture of a sensing assembly under the action of a controller, so that the sensing assembly can realize the positioning of the main cabin on the position of a submarine cable and the tracking inspection of the submarine cable by the main cabin, an image acquisition device is arranged on the main cabin, and the image acquisition device can communicate with a ground control console through the controller to realize the high-precision and high-accuracy inspection of the submarine cable. Can carry out regularly tour, external force destruction trouble tour and defect location to submarine cable, carry on 4K camera, 5.8G picture sensing module, big dipper satellite positioning and sensing assembly etc. control through STM32 single chip controller, can move and automatic tour motion through the mode of remote control.
Chinese patent ZL202110075404.7 discloses an oil spill alarm buoy device of fixed point observation, including buoy main part and a plurality of work casees of evenly installing on the buoy, all be provided with in the work casees and be used for avoiding the buoy to rock excessively and then improve observation data accuracy and data transmission stability's supplementary observation part, buoy main part is placed at appointed workplace, through supplementary observation part reduced buoy main part's the degree of rocking, through reducing data measurement error and guaranteeing antenna and big dipper satellite's normal signal transmission, improve observation data's accuracy with this, buoy main part adopts the buoy of DPS-3m-B type, and carry oil spill monitoring sensor, meteorological sensor, GPS, wave appearance, data collection station, communications facilities, solar panel, anchor lamp etc. equipment, realize monitoring oil in the water, wind speed, wind direction, atmospheric pressure, temperature, humidity, ocean current, equipment such as equipment, Water temperature, salinity and other parameters.
However, in the prior art, the detection of oil spillage cannot be carried out on an oil delivery pipeline, the oil spillage can only be observed after the oil spillage occurs, the underwater oil delivery pipeline is diversified in arrangement mode, and when the oil delivery pipeline is detected, the oil delivery pipeline is subjected to steering, so that the detection device and the oil delivery pipeline need to be adapted again. In addition, when a detection radar arranged on an aerial vehicle detects oil spill on the water surface in a large range, the detection radar is easily influenced by weather and hydrological weather, and the detection of an oil spill area is greatly interfered.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the underwater vehicle for monitoring the oil spilling of the offshore drilling platform pipeline and the monitoring method, the trend can be changed when the oil pipeline under the water surface is detected, the oil pipeline can pass through the bending part of the oil pipeline under the condition that an oil pipeline detection device is not separated from the oil pipeline, and meanwhile, the oil spilling area can be monitored under the water surface through a radar.
In order to achieve the purpose, the invention provides the following technical scheme:
a remote sensing underwater vehicle for monitoring oil spilling of pipelines of an offshore oil drilling platform comprises a remote sensing underwater vehicle, an oil spilling monitoring buoy and an oil pipe detection mechanism, wherein the remote sensing underwater vehicle comprises an underwater vehicle body, a left propelling mechanism and a right propelling mechanism are arranged on two sides of the rear part of the underwater vehicle body, a rear propelling mechanism is arranged at the tail end of the underwater vehicle body and used for realizing the advancing and retreating of the remote sensing underwater vehicle, and the left propelling mechanism and the right propelling mechanism are used for realizing the steering of the remote sensing underwater vehicle;
the top of the remote sensing underwater vehicle is provided with a rope retracting and releasing mechanism, the rope retracting and releasing mechanism is connected with the oil spill monitoring buoy, the rope retracting and releasing mechanism can release a buoy cable so as to change the depth of the oil spill monitoring buoy from the water surface, and the rope retracting and releasing mechanism is abutted to the oil spill monitoring buoy in a rope retracting state;
the oil spill monitoring buoy comprises a buoyancy base, an oil spill detection radar and an oil spill monitoring rod, wherein the buoyancy base can rise in a water body through buoyancy when the rope retracting mechanism releases a buoy cable, the oil spill detection radar can detect an oil spill area of the water surface when the oil spill detection radar is below the water surface, and the oil spill monitoring rod can extend out of the water surface to perform oil spill detection;
the lower extreme of remote sensing ware of diving under water is connected with oil pipe detection mechanism through hanging the arm subassembly, oil pipe detection mechanism butt defeated oil pipe way removes, defeated oil pipe way includes oil delivery straight tube, straight tube adapter sleeve and return bend adapter sleeve, oil pipe detection mechanism can remove along the defeated oil pipe way of linear condition/turn state to the realization is to defeated oil pipe way's detection.
Further, hang arm subassembly and include cantilever body, last hinged end, lower hinged end, backup pad, articulated seat and axis of rotation, the rotatable connection of lower extreme of ware body the last hinged end of cantilever body, the rotatable connection of lower hinged end through articulated seat of cantilever body the backup pad, the lower terminal surface of backup pad is provided with the axis of rotation.
Further, oil pipe detection mechanism includes U type support frame, rotation seat, supporting roller, collision detection board, elastic telescoping mechanism, collision sensor, sensor accommodation hole, gyro wheel pivot, slip guide bar, detection backup pad, the sensor of detecting a flaw, U type support frame is in through rotating the rotatable setting of seat in the axis of rotation, the upper portion of the both sides of U type support frame is provided with accommodation space, two be provided with the slip guide bar of vertical setting in the accommodation space respectively, the both sides of gyro wheel pivot are provided with the slip guide hole, the both ends of gyro wheel pivot are passed through the slip guide hole can realize sliding on the guide bar, the gyro wheel pivot with between the up end of accommodation space still the cover is equipped with reset spring on the guide bar, the rotatable supporting roller that is provided with in the gyro wheel pivot, the supporting roller with the restriction space that the lower part of U type support frame is constituteed can hold defeated oil pipe way One side of gyro wheel pivot still is provided with the detection backup pad, it can be right to be provided with in the detection backup pad defeated oil pipe way carries out the sensor of detecting a flaw, support roll along defeated oil pipe way's surface rolls, works as through having certain height drop during straight tube adapter sleeve and return bend adapter sleeve, it can along with to survey the backup pad and detect a flaw the sensor support roll reciprocates.
Furthermore, the U-shaped support frame is positioned at the two sides of the oil pipeline, and the side surfaces of the U-shaped support frame in the advancing direction are respectively provided with a collision detection plate, the collision detection plates are connected with the front side surface of the U-shaped support frame through the elastic telescopic mechanisms, the position of the U-shaped support frame corresponding to the collision detection plates is provided with a collision sensor, and the main body of the collision sensor is arranged in a sensor accommodating hole on the U-shaped support frame;
the remote sensing underwater vehicle drives the oil pipe detection mechanism to move along the oil conveying pipeline, one of the two collision detection plates is collided by the oil conveying pipeline at the turning position of the oil conveying pipeline, the U-shaped support frame rotates for a certain angle relative to the support plate, meanwhile, the collision detection plate collided by the oil conveying pipeline triggers a corresponding collision sensor, and the collision sensor controls the left side propulsion mechanism and/or the right side propulsion mechanism to realize steering of the remote sensing underwater vehicle.
Further, the rope winding and unwinding mechanism comprises a winding and unwinding shell, a buoy base, a long waist hole, a buoy cable, a fixed wheel seat, a telescopic driving mechanism, a sliding wheel seat, a fixed rope winding roller, a sliding rope winding roller, a cable fixing seat and a wheel seat slide rail;
the submersible vehicle comprises a submersible vehicle body, a fixed wheel seat, a sliding wheel seat, a wheel seat slide rail, a fixed rope winding roller, a fixed wheel seat, a sliding wheel seat, a telescopic driving mechanism, a telescopic rod, a wheel seat slide rail, a fixed rope winding roller, a sliding rope winding roller and a rope winding roller, wherein the submersible vehicle body is fixedly connected with the fixed wheel seat;
the retractable shell is covered outside the retractable rope mechanism, a buoy base is arranged on the top surface of the retractable shell, the shape of the buoy base is matched with the shape of the bottom of the buoyancy base, a long waist hole is further formed in the buoy base, and the buoy cable extends out of a cable fixing seat on the underwater vehicle body, is wound on the fixed rope winding roller and the sliding rope winding roller for preset turns, passes through the long waist hole, extends out of the retractable shell and is connected with the bottom of the buoyancy base;
the telescopic driving mechanism drives the sliding wheel seat and the fixed wheel seat to change the distance between the sliding wheel seat and the fixed wheel seat, so that the winding length of the buoy cable on the fixed rope winding roller and the sliding rope winding roller is changed, and the distance between the buoyancy base and the underwater vehicle body is further changed.
The oil spill monitoring method adopts the remote sensing underwater vehicle for monitoring the oil spill of the offshore oil drilling platform pipeline, and comprises the following steps,
step a, controlling a rope retracting and releasing mechanism on the remote sensing underwater vehicle to be in a rope retracting state, and enabling an oil spilling monitoring buoy to be fastened on a buoy base of a retracting and releasing shell through a buoy cable;
b, controlling the remote sensing underwater vehicle to move so that a support roller of the oil pipe detection mechanism is abutted against the oil pipeline, the oil pipe detection mechanism moves along the oil pipeline, and the oil pipeline is detected through a flaw detection sensor;
and c, when the oil pipe detection mechanism moves to the turning part of the oil conveying pipeline, the collision detection plate on one side of the oil pipe detection mechanism is collided by the pipe wall of the oil conveying pipeline with the trend changed, so that the collision sensor on the side sends a signal, the signal controls the left side propulsion mechanism and/or the right side propulsion mechanism to realize the steering of the remote sensing underwater vehicle, the U-shaped support frame rotates a certain angle relative to the support plate through the stress on one side of the U-shaped support frame, and the steering force of the left side propulsion mechanism and/or the right side propulsion mechanism is matched to realize that the oil pipe detection mechanism passes through the turning section of the oil conveying pipeline.
Further, the method also comprises the following steps:
d, controlling a rope retracting and releasing mechanism on the remote sensing underwater vehicle to release the buoy cable, and floating the buoyancy base by buoyancy to enable the oil spill monitoring rod to extend out of the water surface to detect whether oil spill exists on the water surface;
step e, when detecting that oil spilling exists on the water surface, driving the oil spilling monitoring buoy to sink to a preset depth below the water surface through a rope retracting mechanism, detecting the water surface above through an oil spilling detection radar, and identifying the boundary of an oil spilling area through detection data;
and f, controlling the remote sensing submersible vehicle to move underwater, repeating the step d and the step e, and determining the complete boundary of the water surface oil spilling area.
Compared with the prior art, the invention provides the underwater vehicle for monitoring the oil spilling of the offshore drilling platform pipeline and the monitoring method, and the underwater vehicle has the following beneficial effects:
1. when the underwater oil conveying pipeline is detected, the turning part and other connecting parts of the oil conveying pipeline are positions where oil leakage is easy to occur;
2. the invention realizes the detection of whether the oil spill on the water surface exists or not through the oil spill monitoring rod, when the oil spill on the water surface is detected, the remote sensing underwater vehicle can be controlled to continue to run, the oil spill monitoring buoy is controlled to sink to a preset position below the water surface, the oil spill area on the top of the water surface is detected through the oil spill detection radar, and the boundary of the oil spill area can be identified through the signal detected by the oil spill detection radar.
Drawings
FIG. 1 is a schematic view of the overall structure of the remote sensing underwater vehicle of the present invention;
FIG. 2 is a schematic view of another orientation of the remote sensing underwater vehicle of the present invention;
FIG. 3 is a schematic structural view of the cord retracting mechanism of the present invention;
FIG. 4 is a schematic top view of the remote sensing underwater vehicle of the present invention;
FIG. 5 is a schematic view of another orientation of the remote sensing underwater vehicle of the present invention;
FIG. 6 is a schematic structural view of the oil pipe detection mechanism of the present invention;
FIG. 7 is a schematic view of another orientation of the oil pipe detection mechanism of the present invention;
FIG. 8 is a schematic view of the tubing detection mechanism of the present invention entering a bend at the bend;
FIG. 9 is a schematic view of the exit bend of the tubing detection mechanism of the present invention at the bend;
in the figure: the remote sensing underwater vehicle 1, an underwater vehicle body 101, a left propelling mechanism 102, a rear propelling mechanism 103, a right propelling mechanism 104, a rope retracting mechanism 2, a retracting shell 201, a buoy base 202, a long waist hole 203, a buoy cable 204, a fixed wheel seat 205, a telescopic driving mechanism 206, a sliding wheel seat 207, a fixed rope winding roller 208, a sliding rope winding roller 209, a cable fixing seat 210, a wheel seat sliding rail 211, an oil spill monitoring buoy 3, a buoyancy base 301, an oil spill detection radar 302, an oil spill monitoring rod 303, a suspension arm assembly 4, a cantilever body 401, an upper hinged end 402, a lower hinged end 403, a supporting plate 404, a hinged seat 405, a rotating shaft 406, an oil pipe detection mechanism 5, a U-shaped supporting frame 501, a rotating seat 502, a supporting roller 503, a collision detection plate 504, an elastic telescopic mechanism 505, a collision sensor 506, a sensor accommodating hole 507, a roller rotating shaft 508, a sliding guide rod 509, a detection supporting plate 510, a rope winding rope, a, Flaw detection sensor 511, defeated oil pipe way 6, defeated oil straight tube 601, straight tube adapter sleeve 602, return bend adapter sleeve 603.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention is described in detail below according to the attached drawings 1-9, the remote sensing submersible for monitoring oil spill of a pipeline of an offshore oil drilling platform of the invention comprises a remote sensing submersible 1, an oil spill monitoring buoy 3 and an oil pipe detection mechanism 5, the remote sensing submersible 1 comprises a submersible body 101, a left propelling mechanism 102 and a right propelling mechanism 104 are arranged on two sides of the rear part of the submersible body 101, a rear propelling mechanism 103 is arranged at the tail end of the submersible body 101, the rear propelling mechanism 103 realizes the advancing and retreating of the remote sensing submersible 1, and the left propelling mechanism 102 and the right propelling mechanism 104 realize the steering of the remote sensing submersible 1;
the top of the remote sensing underwater vehicle 1 is provided with a rope retracting and releasing mechanism 2, the rope retracting and releasing mechanism 2 is connected with the oil spill monitoring buoy 3, the rope retracting and releasing mechanism 2 can release a buoy cable 204 to change the depth of the oil spill monitoring buoy 3 from the water surface, and the rope retracting and releasing mechanism 2 is abutted to the oil spill monitoring buoy 3 in a rope retracting state;
the oil spill monitoring buoy 3 comprises a buoyancy base 301, an oil spill detection radar 302 and an oil spill monitoring rod 303, wherein the buoyancy base 301 can rise in a water body through buoyancy when the buoy cable 204 is released by the rope retracting mechanism 2, the oil spill detection radar 302 can detect an oil spill area of the water surface when the oil spill detection radar is below the water surface, and the oil spill monitoring rod 303 can extend out of the water surface to detect oil spill;
the lower extreme of remote sensing underwater vehicle 1 is connected with oil pipe detection mechanism 5 through hanging arm subassembly 4, oil pipe detection mechanism 5 butt defeated oil pipe way 6 removes, defeated oil pipe way 6 includes defeated oil straight tube 601, straight tube adapter sleeve 602 and return bend adapter sleeve 603, oil pipe detection mechanism 5 can remove along defeated oil pipe way 6 of rectilinear state/turn state to the realization is to defeated oil pipe way 6's detection.
Further, the suspension arm assembly 4 includes a cantilever body 401, an upper hinge end 402, a lower hinge end 403, a support plate 404, a hinge seat 405, and a rotation shaft 406, the lower end of the underwater vehicle body 101 is rotatably connected to the upper hinge end 402 of the cantilever body 401, the lower hinge end 403 of the cantilever body 401 is rotatably connected to the support plate 404 through the hinge seat 405, and the lower end surface of the support plate 404 is provided with the rotation shaft 406.
Further, the oil pipe detection mechanism 5 includes a U-shaped support frame 501, a rotation seat 502, a support roller 503, a collision detection plate 504, an elastic telescopic mechanism 505, a collision sensor 506, sensor accommodation holes 507, a roller rotation shaft 508, sliding guide rods 509, a detection support plate 510, and a flaw detection sensor 511, the U-shaped support frame 501 is rotatably disposed on the rotation shaft 406 through the rotation seat 502, accommodation spaces are disposed at upper portions of both sides of the U-shaped support frame 501, vertically disposed sliding guide rods 509 are respectively disposed in the two accommodation spaces, sliding guide holes are disposed at both sides of the roller rotation shaft 508, both ends of the roller rotation shaft 508 can slide on the guide rods 509 through the sliding guide holes, a return spring is further sleeved on the guide rods 509 between the roller rotation shaft 508 and the upper end face of the accommodation space, rotatable supporting roller 503 that is provided with in the gyro wheel pivot 508, supporting roller 503 with the restriction space that U type support frame 501's lower part is constituteed can hold defeated oil pipe way 6, one side of gyro wheel pivot 508 still is provided with surveys backup pad 510, it can be right to be provided with on the survey backup pad 510 defeated oil pipe way 6 carries out the sensor 511 of detecting a flaw, supporting roller 503 along defeated oil pipe way 6's surface rolls, works as through having the certain height drop during straight tube adapter sleeve 602 and return bend adapter sleeve 603, survey backup pad 510 and the sensor 511 of detecting a flaw can follow supporting roller 503 reciprocates.
Further, the U-shaped support frame 501 is located at two sides of the oil pipeline 6, and a collision detection plate 504 is respectively arranged on the side surfaces of the U-shaped support frame 501 in the advancing direction, the collision detection plate 504 is connected with the front side surface of the U-shaped support frame 501 through the elastic telescopic mechanism 505, a collision sensor 506 is arranged on the U-shaped support frame 501 at a position corresponding to the collision detection plate 504, and the main body of the collision sensor 506 is arranged in a sensor accommodating hole 507 on the U-shaped support frame 501;
the remote sensing underwater vehicle 1 drives the oil pipe detection mechanism 5 to move along the oil conveying pipeline 6, one of two collision detection plates 504 is collided by the oil conveying pipeline 6 at the turning position of the oil conveying pipeline 6, the U-shaped support frame 501 rotates for a certain angle relative to the support plate 404, meanwhile, the collision detection plate 504 collided by the oil conveying pipeline 6 triggers a corresponding collision sensor 506, and the collision sensor 506 controls the left side propelling mechanism 102 and/or the right side propelling mechanism 104 to realize steering of the remote sensing underwater vehicle 1.
When the underwater oil conveying pipeline is detected, the turning part and other connecting parts of the oil conveying pipeline are positions where oil leakage is easy to occur.
Further, the rope winding and unwinding mechanism 2 comprises a winding and unwinding housing 201, a buoy base 202, a long waist hole 203, a buoy rope 204, a fixed wheel seat 205, a telescopic driving mechanism 206, a sliding wheel seat 207, a fixed rope winding roller 208, a sliding rope winding roller 209, a rope fixing seat 210 and a wheel seat slide rail 211;
the fixed wheel seat 205 is fixedly connected with the underwater vehicle body 101, the fixed wheel seat 205 is connected with the sliding wheel seat 207 through a telescopic driving mechanism 206, a telescopic rod of the telescopic driving mechanism 206 is connected with the sliding wheel seat 207, a wheel seat slide rail 211 is arranged at the bottom of the sliding wheel seat 207, a fixed rope winding roller 208 is rotatably arranged on the fixed wheel seat 205, and a sliding rope winding roller 209 is rotatably arranged on the sliding wheel seat 207;
the retractable housing 201 is covered outside the retractable rope mechanism 2, a buoy base 202 is arranged on the top surface of the retractable housing 201, the shape of the buoy base 202 is matched with the shape of the bottom of the buoyancy base 301, a long waist hole 203 is further formed in the buoy base 202, the buoy cable 204 extends out of a cable fixing seat 210 on the underwater vehicle body 101, is wound on the fixed rope winding roller 208 and the sliding rope winding roller 209 for preset turns, penetrates through the long waist hole 203, extends out of the retractable housing 201 and is connected with the bottom of the buoyancy base 301;
the telescopic driving mechanism 206 drives the sliding wheel seat 207 and the fixed wheel seat 205 to change the distance between the sliding wheel seat and the fixed wheel seat, so as to change the winding length of the floating cable 204 on the fixed rope winding rollers 208 and the sliding rope winding rollers 209, and further change the distance between the buoyancy base 301 and the underwater vehicle body 101.
The invention realizes the detection of whether the oil spill on the water surface exists or not through the oil spill monitoring rod, when the oil spill on the water surface is detected, the remote sensing underwater vehicle can be controlled to continue to run, the oil spill monitoring buoy is controlled to sink to a preset position below the water surface, the oil spill area on the top of the water surface is detected through the oil spill detection radar, and the boundary of the oil spill area can be identified through the signal detected by the oil spill detection radar.
The oil spill detection radar records the electromagnetic radiation characteristics of the target on the sea surface, directly and remotely obtains remote sensing data through a wireless technology, and can obtain the oil spill condition of the oil spill sea area after the oil spill accident occurs.
The oil spill monitoring method adopts the remote sensing underwater vehicle for monitoring the oil spill of the offshore oil drilling platform pipeline, and comprises the following steps,
step a, controlling a rope retracting mechanism 2 on a remote sensing underwater vehicle 1 to be in a rope retracting state, and fastening an oil spilling monitoring buoy 3 on a buoy base 202 of a retracting shell 201 through a buoy cable 204;
step b, controlling the remote sensing underwater vehicle 1 to move to enable the supporting roller 503 of the oil pipe detection mechanism 5 to abut against the oil pipeline 6, enabling the oil pipe detection mechanism 5 to move along the oil pipeline 6, and detecting the oil pipeline 6 through the flaw detection sensor 511;
and c, when the oil pipe detection mechanism 5 moves to the turning part of the oil conveying pipeline 6, the collision detection plate 504 on one side of the oil pipe detection mechanism 5 is collided by the pipe wall of the oil conveying pipeline 6 with the changed trend, so that the collision sensor 506 on the side sends out a signal, the signal controls the left-side propulsion mechanism 102 and/or the right-side propulsion mechanism 104 to realize the steering of the remote sensing underwater vehicle 1, the U-shaped support frame 501 rotates for a certain angle relative to the support plate 404 through the stress on one side of the U-shaped support frame 501, and the steering force of the left-side propulsion mechanism 102 and/or the right-side propulsion mechanism 104 is matched to realize the turning section of the oil pipe 6 passing through by the oil pipe detection mechanism 5.
Further, the method also comprises the following steps:
d, controlling the rope retracting mechanism 2 on the remote sensing submersible vehicle 1 to release the buoy cable 204, and floating the buoyancy base 301 by buoyancy to enable the oil spill monitoring rod 303 to extend out of the water surface to detect whether oil spill exists on the water surface;
step e, when detecting that oil spilling exists on the water surface, driving the oil spilling monitoring buoy 3 to sink to a preset depth below the water surface through the rope retracting mechanism 2, detecting the water surface above through the oil spilling detection radar 302, and identifying the boundary of an oil spilling area through detection data;
and f, controlling the remote sensing submersible vehicle 1 to move underwater, repeating the step d and the step e, and determining the complete boundary of the water surface oil spilling area.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The underwater vehicle for monitoring the oil spill of the offshore drilling platform pipeline comprises a remote sensing underwater vehicle (1), an oil spill monitoring buoy (3) and an oil pipe detection mechanism (5), and is characterized in that the remote sensing underwater vehicle (1) comprises an underwater vehicle body (101), a left propelling mechanism (102) and a right propelling mechanism (104) are arranged on two sides of the rear portion of the underwater vehicle body (101), a rear propelling mechanism (103) is arranged at the tail end of the underwater vehicle body (101), the rear propelling mechanism (103) is used for achieving advancing and retreating of the remote sensing underwater vehicle (1), and the left propelling mechanism (102) and the right propelling mechanism (104) are used for achieving steering of the remote sensing underwater vehicle (1);
the remote sensing underwater vehicle (1) is characterized in that a rope retracting and releasing mechanism (2) is arranged at the top of the remote sensing underwater vehicle (1), the rope retracting and releasing mechanism (2) is connected with the oil spill monitoring buoy (3), the rope retracting and releasing mechanism (2) can release a buoy cable (204) to change the depth of the oil spill monitoring buoy (3) from the water surface, and the rope retracting and releasing mechanism (2) is abutted to the oil spill monitoring buoy (3) in a rope retracting state;
the oil spill monitoring buoy (3) comprises a buoyancy base (301), an oil spill detection radar (302) and an oil spill monitoring rod (303), wherein the buoyancy base (301) can rise in a water body through buoyancy when the rope retracting mechanism (2) releases the buoy cable (204), the oil spill detection radar (302) can detect an oil spill area of a water surface when the oil spill detection radar (302) is below the water surface, and the oil spill monitoring rod (303) can extend out of the water surface to perform oil spill detection;
the lower extreme of remote sensing ware of diving under navigation (1) is connected with oil pipe detection mechanism (5) through hanging arm subassembly (4), oil pipe detection mechanism (5) butt defeated oil pipe way (6) remove, defeated oil pipe way (6) are including defeated oil straight tube (601), straight tube adapter sleeve (602) and return bend adapter sleeve (603), oil pipe detection mechanism (5) can remove along defeated oil pipe way (6) of rectilinear state/turn state to realize the detection to defeated oil pipe way (6).
2. The undersea vehicle for monitoring oil spill in an offshore drilling platform pipeline according to claim 1, characterized in that the suspension arm assembly (4) comprises a cantilever body (401), an upper hinged end (402), a lower hinged end (403), a support plate (404), a hinged seat (405) and a rotation shaft (406), the lower end of the undersea vehicle body (101) is rotatably connected with the upper hinged end (402) of the cantilever body (401), the lower hinged end (403) of the cantilever body (401) is rotatably connected with the support plate (404) through the hinged seat (405), and the lower end surface of the support plate (404) is provided with the rotation shaft (406).
3. The submarine vehicle for monitoring oil spilling of pipelines of an offshore drilling platform according to claim 2, wherein the oil pipe detection mechanism (5) comprises a U-shaped support frame (501), a rotating seat (502), support rollers (503), a collision detection plate (504), an elastic telescopic mechanism (505), a collision sensor (506), sensor accommodating holes (507), a roller rotating shaft (508), sliding guide rods (509), a detection support plate (510) and a flaw detection sensor (511), wherein the U-shaped support frame (501) is rotatably arranged on the rotating shaft (406) through the rotating seat (502), accommodating spaces are arranged at the upper parts of two sides of the U-shaped support frame (501), vertically arranged sliding guide rods (509) are respectively arranged in the two accommodating spaces, sliding guide holes are arranged at two sides of the roller rotating shaft (508), and two ends of the roller rotating shaft (508) can realize sliding on the guide rods (509) through the sliding guide holes A return spring is sleeved on the guide rod (509) between the roller rotating shaft (508) and the upper end face of the accommodating space, a supporting roller (503) is rotatably arranged on the roller rotating shaft (508), a limiting space formed by the supporting roller (503) and the lower part of the U-shaped supporting frame (501) can accommodate the oil pipeline (6), a detection support plate (510) is further arranged on one side of the roller rotating shaft (508), a flaw detection sensor (511) capable of detecting the oil conveying pipeline (6) is arranged on the detection support plate (510), the supporting rollers (503) roll along the surface of the oil pipeline (6), when the straight pipe connecting sleeve (602) and the elbow pipe connecting sleeve (603) with certain height difference are passed through, the detection supporting plate (510) and the flaw detection sensor (511) can move up and down along with the supporting roller (503).
4. The underwater vehicle for monitoring the oil spill of the offshore drilling platform pipeline according to claim 3, wherein the U-shaped supporting frame (501) is positioned at the two sides of the oil pipeline (6), the sides of the U-shaped supporting frame in the advancing direction are respectively provided with a collision detection plate (504), the collision detection plates (504) are connected with the front side of the U-shaped supporting frame (501) through the elastic telescopic mechanisms (505), the U-shaped supporting frame (501) is provided with collision sensors (506) at the positions corresponding to the collision detection plates (504), and the main bodies of the collision sensors (506) are arranged in sensor accommodating holes (507) in the U-shaped supporting frame (501);
remote sensing underwater vehicle (1) drive oil pipe detection mechanism (5) are along defeated oil pipe way (6) remove the turning department of defeated oil pipe way (6), two one among collision pick-up plate (504) receives defeated oil pipe way (6) collision, the collision drive U type support frame (501) for backup pad (404) rotate certain angle, simultaneously receive collision pick-up plate (504) that defeated oil pipe way (6) collided trigger corresponding collision sensor (506), and this collision sensor (506) control left side advancing mechanism (102) and/or right side advancing mechanism (104) realize the turning to of remote sensing underwater vehicle (1).
5. The submarine vehicle for monitoring oil spill in pipelines of an offshore drilling platform according to claim 4, wherein the rope retracting mechanism (2) comprises a retracting and releasing shell (201), a buoy base (202), a long waist hole (203), a buoy cable (204), a fixed wheel seat (205), a telescopic driving mechanism (206), a sliding wheel seat (207), a fixed rope winding roller (208), a sliding rope winding roller (209), a cable fixing seat (210) and a wheel seat slide rail (211);
the submersible vehicle comprises a submersible vehicle body (101), a fixed wheel seat (205), a sliding wheel seat (207), a wheel seat slide rail (211) and a fixed rope winding roller (208), wherein the fixed wheel seat (205) is fixedly connected with the submersible vehicle body (101), the fixed wheel seat (205) is connected with the sliding wheel seat (207) through a telescopic driving mechanism (206), a telescopic rod of the telescopic driving mechanism (206) is connected with the sliding wheel seat (207), the fixed wheel seat (205) is rotatably provided with the fixed rope winding roller (208), and the sliding wheel seat (207) is rotatably provided with the sliding rope winding roller (209);
the retractable shell (201) is covered outside the retractable rope mechanism (2), a buoy base (202) is arranged on the top surface of the retractable shell (201), the shape of the buoy base (202) is matched with the shape of the bottom of the buoyancy base (301), a long waist hole (203) is further formed in the buoy base (202), and the buoy cable (204) penetrates through the long waist hole (203) and extends out of the retractable shell (201) to be connected with the bottom of the buoyancy base (301) after extending out of a cable fixing seat (210) on a submarine vehicle body (101), winding on the fixed rope winding roller (208) and the sliding rope winding roller (209) for preset turns;
the telescopic driving mechanism (206) drives the sliding wheel seat (207) and the fixed wheel seat (205) to change the distance between the sliding wheel seat and the fixed wheel seat, so that the winding length of the buoy cable (204) on the fixed rope winding roller (208) and the sliding rope winding roller (209) is changed, and the distance between the buoyancy base (301) and the underwater vehicle body (101) is changed.
6. A method for monitoring oil spill, using the submersible as claimed in any one of claims 1 to 5, comprising the steps of,
step a, controlling a rope retracting mechanism (2) on a remote sensing underwater vehicle (1) to be in a rope retracting state, and enabling an oil spilling monitoring buoy (3) to be fastened on a buoy base (202) of a retracting shell (201) through a buoy cable (204);
b, controlling the remote sensing underwater vehicle (1) to move to enable a supporting roller (503) of the oil pipe detection mechanism (5) to be abutted against the oil conveying pipeline (6), enabling the oil pipe detection mechanism (5) to move along the oil conveying pipeline (6), and detecting the oil conveying pipeline (6) through a flaw detection sensor (511);
and c, when the oil pipe detection mechanism (5) moves to the turning part of the oil conveying pipeline (6), the collision detection plate (504) on one side of the oil pipe detection mechanism (5) is collided by the pipe wall of the oil conveying pipeline (6) with the trend changed, so that the collision sensor (506) on the side sends a signal, the signal controls the left-side propulsion mechanism (102) and/or the right-side propulsion mechanism (104) to realize the turning of the remote sensing underwater vehicle (1), the U-shaped support frame (501) rotates for a certain angle relative to the support plate (404) through the stress on one side of the U-shaped support frame (501), and the turning section of the oil pipe detection mechanism (5) passing through the oil conveying pipeline (6) is realized by matching with the steering force of the left-side propulsion mechanism (102) and/or the right-side propulsion mechanism (104).
7. The oil spill monitoring method of claim 6, further comprising the step of,
d, controlling a rope retracting mechanism (2) on the remote sensing submersible vehicle (1) to release a buoy cable (204), and enabling a buoyancy base (301) to float upwards under the action of buoyancy, so that an oil spill monitoring rod (303) extends out of the water surface, and detecting whether oil spill exists on the water surface;
step e, when oil spilling on the water surface is detected, the rope retracting mechanism (2) is used for driving the oil spilling monitoring buoy (3) to sink to a preset depth below the water surface, the oil spilling detection radar (302) is used for detecting the water surface above the buoy, and the boundary of an oil spilling area is identified through detection data;
and f, controlling the remote sensing submersible vehicle (1) to move underwater, repeating the step d and the step e, and determining the complete boundary of the water surface oil spilling area.
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