CN115451189A - Submarine pipeline coating repairing device and repairing method - Google Patents

Abstract

The invention discloses a submarine pipeline coating repairing device and a repairing method, wherein the method comprises the following steps: s01, positioning the defect position of the coating of the submarine pipeline to acquire the information of the defect position of the coating; s02, acquiring a coating defect image according to the position information of the coating defect, and judging the defect condition according to the coating defect image to obtain a judgment result; s03, processing the defect position of the pipeline coating according to a preset condition according to the judgment result and the information of the defect position of the coating; s04, coating the defect position of the processed pipeline coating according to a preset condition, and then arranging a protective layer on the outer peripheral side of the submarine pipeline correspondingly to finish repairing the submarine pipeline coating; the defect type is judged ingeniously by combining the positioned submarine pipeline defect image, so that when the submarine pipeline coating defect is an external force damage defect or a coating modification stripping defect and the like, different repairing strategies can be adopted for repairing, and the structural reliability, the service life and the stability of a repaired area are improved.

Description

Submarine pipeline coating repairing device and repairing method

Technical Field

The invention relates to the technical field of submarine pipeline maintenance, in particular to a submarine pipeline coating repairing device and a submarine pipeline coating repairing method.

Background

The submarine pipeline is one of important components of a cross-sea water supply system and an offshore oil and gas system, and is immersed in seawater all the year round, so that in order to prolong the service life and improve the stability, an anti-corrosion coating is usually applied to the surface of the submarine pipeline, a sacrificial anode system is established to ensure the anti-corrosion capability of the submarine pipeline, and for some special media, the anti-corrosion coating is applied to the inner wall of the pipeline. However, because the use environment of the submarine pipeline is complicated, the coating on the surface of the submarine pipeline may cause coating defects due to external force wounds caused by the collision of submarine sand stones or other impurities, and may also cause pipeline corrosion from inside to outside due to the influence of internal media, especially between the joints of different pipelines, because the pipelines are fixed by welding, the coating on the surface of the pipeline may be damaged due to high welding temperature or have a reduced service life due to high temperature, and thus after the coating fails, the pipeline corrosion problem is caused; at present, the damage repair mode aiming at the pipeline coating is mostly assisted by a manual work or a remote control underwater robot, the damage repair mode is comparatively general in strategy, meanwhile, the repair target is mostly only restoration, the repair target is not further deep into the repair region, the durability of the region is not expected easily due to other uncertain factors in the pipeline region of secondary construction, therefore, the repair durability of the pipeline coating is improved, meanwhile, when the coating is repaired, secondary protection treatment can be carried out on the coating simply and conveniently, and the method is a research subject with practical significance.

Disclosure of Invention

In view of the above, the present invention provides a coating repair device and a repair method for a submarine pipeline, which are reliable in implementation, flexible in operation and durable in repair area.

In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:

a subsea pipeline coating repair method for repair of a subsea pipeline corrosion resistant coating, comprising:

s01, positioning the defect position of the coating of the submarine pipeline to acquire the information of the defect position of the coating;

s02, acquiring a coating defect image according to the position information of the coating defect, and judging the defect condition according to the coating defect image to obtain a judgment result;

s03, processing the defect position of the pipeline coating according to a preset condition according to the judgment result and the information of the defect position of the coating;

and S04, coating the defect position of the processed pipeline coating according to a preset condition, and then arranging a protective layer on the outer periphery of the submarine pipeline correspondingly to finish the repair of the submarine pipeline coating.

As a possible implementation manner, further, the coating defect position information includes a coordinate position of the coating defect at the submarine pipeline body, and the origin position referred to by the coordinate position is set according to a preset condition;

the judgment result comprises: the defect of external force damage of the coating and/or the defect of corrosion stripping of the coating.

As a preferred implementation option, in the present embodiment S03, preferably, the processing the defect position of the pipe coating according to the preset condition includes:

and removing the coating in the preset range of the defect position of the pipeline coating according to the preset condition and the information of the defect position of the coating.

In addition, as a preferred implementation choice, in this scheme S03, preferably, when the determination result is a coating external force damage defect, and the coating defect position information points to the outer side wall of the pipe body between the two ends of the submarine pipeline correspondingly, the method for processing the pipeline coating defect position according to the preset condition includes:

further judging whether the coating defect position has leakage or not according to the coating defect position information;

when no leakage point exists, removing the coating within the preset range of the defect position of the pipeline coating according to the preset condition and the information of the defect position of the coating;

s04 comprises the following steps:

spraying a coating on the cleaned pipeline area, so that the newly applied coating and the reserved original coating on the outer side wall of the pipeline cover the preset anti-corrosion area on the outer side wall of the pipeline;

and winding a protective layer on the outer peripheral side of the submarine pipeline corresponding to the applied coating to finish the repair of the submarine pipeline coating.

In addition, as a preferred implementation choice, in this scheme S03, preferably, when the determination result is a coating corrosion peeling defect, and the coating defect position information points to between different submarine pipeline connection portions, the method for processing the pipeline coating defect position according to the preset condition includes:

further judging whether the coating defect position has leakage or not according to the coating defect position information;

when the leakage point exists, removing coatings on the inner side wall and the outer side wall of the pipeline within a preset range of the defect position of the pipeline coating according to the defect position information of the coating and preset conditions, and also preprocessing a rusty area of the leakage point;

s04 comprises the following steps:

performing rust point filling on the submarine pipeline at the defective position of the coating;

spraying a coating on the cleaned pipeline area, so that the newly applied coating and the original coatings reserved on the inner side wall and the outer side wall of the pipeline cover the preset anti-corrosion areas on the inner side wall and the outer side wall of the pipeline;

and winding a protective layer on the outer peripheral side of the submarine pipeline corresponding to the applied coating to finish the repair of the submarine pipeline coating.

As a preferred implementation option, it is preferable that the scheme S03 further includes:

when the leakage point exists, evaluating and judging the leakage point according to preset conditions;

and when the judgment result shows that the leakage point is positioned at the welding part between the connecting parts of the different submarine pipelines and is larger than the preset specification, polishing and cleaning the leakage point, so that the main body part of the preset range of the leakage point is removed, and the removed main body part covers the rusty area of the leakage point.

As a better implementation choice, in the scheme S04, the method for filling the corrosion point of the submarine pipeline at the coating defect position is preferably welding filling.

As a preferred implementation option, in the present embodiment S04, when the leakage point is located at the welding portion between the different submarine pipeline connection portions and the leakage point is greater than the preset specification, S03 further includes:

polishing and removing the welding part in the preset area range of the leakage point;

s04 comprises the following steps:

filling the polished and cleaned leakage points in a welding and filling mode, and then polishing the leakage points to enable the filling area to be level with the inner side wall or the outer side wall of the submarine pipeline;

spraying a coating on the cleaned inner side wall area of the pipeline, so that the newly applied coating and the original coating reserved on the inner side wall of the pipeline cover the preset anti-corrosion area on the inner side wall of the pipeline;

the method comprises the following steps of (1) penetrating a gasket at a welding part between different submarine pipeline connecting parts, filling resin into two ends of the gasket to enable the gasket to be bonded and fixed on the inner wall of a submarine pipeline, and simultaneously shaping the parts of the resin exceeding the two ends of the gasket to enable the surface of the gasket to be arc-shaped;

re-welding the welding parts removed among different submarine pipeline connecting parts;

spraying a coating on the cleaned outer side wall area of the pipeline, so that the newly applied coating and the original coating reserved on the outer side wall of the pipeline cover the preset anti-corrosion area on the outer side wall of the pipeline;

and winding a protective layer on the peripheral side of the submarine pipeline corresponding to the applied coating to finish the repair of the submarine pipeline coating.

As a preferred implementation choice, in this solution S01, preferably, the locating a defect position of a coating on the submarine pipeline, and the acquiring information of the defect position of the coating includes:

throwing a pipeline robot which is loaded with an image acquisition unit and can move on the outer side wall of the submarine pipeline;

setting a positioning coordinate origin according to a preset condition according to the putting position of the pipeline robot;

driving the pipeline robot to move along the outer side wall of the submarine pipeline, simultaneously capturing images of the side wall of the submarine pipeline in real time through an image acquisition unit, acquiring movement information of the pipeline robot in real time and establishing moving track information of the pipeline robot by combining an origin of coordinates;

preprocessing an image captured by an image acquisition unit in real time, guiding the image into a detection neural network for identification processing, outputting an identification result, and associating the identification result with a traveling track of a pipeline robot;

and acquiring an identification result, and when the identification result indicates that the coating defect exists, associating the identification result, the image acquired by the image acquisition unit and the position of the pipeline robot corresponding to the image and outputting the associated image to generate the position information of the coating defect.

Based on the above, the present invention also provides a submarine pipeline coating repairing apparatus, which comprises:

the system comprises a positioning detection unit, a server and a control unit, wherein the positioning detection unit is used for positioning the coating defect position of the submarine pipeline and acquiring the coating defect position information, the positioning detection unit comprises a first pipeline robot capable of advancing on the outer side wall of the submarine pipeline, an image acquisition unit loaded on the first pipeline robot, and the server which is loaded with a detection neural network and used for detecting and judging the image taken by the image acquisition unit;

the pipeline pretreatment unit is used for treating the coating defect position of the pipeline according to the preset condition according to the judgment result and the coating defect position information, and comprises a second pipeline robot used for advancing on the outer side wall of the pipeline, a third pipeline robot used for advancing in the pipeline, a first grinding assembly loaded on the second pipeline robot and a second grinding assembly loaded on the third pipeline robot; the first grinding assembly is used for grinding the outer side wall of the pipeline, and the second grinding assembly is used for grinding the inner side wall of the pipeline;

the repair unit is used for filling and applying a coating at the defect position of the processed pipeline coating according to preset conditions, and correspondingly arranging a protective layer at the peripheral side of the submarine pipeline to finish the repair of the submarine pipeline coating, and comprises: the device comprises a first coating spraying assembly, a winding assembly, a welding assembly, a second coating spraying assembly, a clamping assembly and a sizing assembly; the first coating spraying component, the winding component and the welding component are loaded and arranged on the second pipeline robot, and the second coating spraying component, the clamping component and the glue applying component are loaded and arranged on the third pipeline robot; in addition, the first coating spraying assembly is used for spraying a coating on the outer side wall of the pipeline, the second coating spraying assembly is used for spraying a coating on the inner side wall of the pipeline, the welding assembly is used for welding and filling leakage points of the pipeline and welding and fixing joint parts among different pipelines, the winding assembly is used for winding and arranging the protective layer on the outer side wall of the pipeline, the clamping assembly is used for penetrating the liner into the pipeline, and the sizing assembly is used for filling resin into the liner to enable the liner to be adhered and fixed on the inner wall of the submarine pipeline;

and the control unit is connected with the positioning detection unit, the pipeline pretreatment unit and the repair unit and correspondingly controls the opening and closing of the pipeline pretreatment unit and the repair unit.

By adopting the technical scheme, compared with the prior art, the invention has the beneficial effects that: according to the scheme, after the defect position of the coating of the submarine pipeline is positioned ingeniously, the defect type is judged by combining the positioned defect image of the submarine pipeline, different targeted repair schemes are implemented according to the judged defect type, so that when the defect of the coating of the submarine pipeline is an external force damage defect or a coating modification stripping defect and the like, different repair strategies can be adopted for repairing, meanwhile, the structure of a coating repair area is reinforced by arranging a protective layer, the structural reliability of the repaired area is improved, and the service life and the stability of the repaired area are prolonged.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic flow diagram of an embodiment of the process of the present invention;

FIG. 2 is a schematic view of the normal use of the subsea pipeline in the solution of the present invention;

FIG. 3 is a schematic view of the outer sidewall of a subsea pipeline in the solution of the invention when the coating is damaged by external forces;

FIG. 4 is a schematic diagram of the embodiment of the present invention after repairing the outer sidewall of the submarine pipeline after coating damage;

FIG. 5 is a schematic illustration of the present invention in the case of a subsea pipeline coating leaking due to corrosion damage;

FIG. 6 is a schematic diagram illustrating the stopping of the fluid delivery in the pipeline and the treatment of the coating and leakage points when the coating of the submarine pipeline is corroded and damaged and leaked in the solution of the present invention;

FIG. 7 is one of the schematic diagrams of the subsea pipeline after repairing the coating of the subsea pipeline when corrosion damage leaks in the solution of the present invention;

FIG. 8 is an enlarged view of a portion of the structure at A in FIG. 7;

FIG. 9 is a second schematic diagram of the subsea pipeline after repairing the coating of the subsea pipeline after the coating is corroded and leaked according to the present invention;

FIG. 10 is an enlarged view of a portion of the structure at B in FIG. 9;

fig. 11 is a schematic diagram of the schematic connection of the device of the present invention.

Detailed Description

The invention is described in further detail below with reference to the figures and examples. It is to be noted that the following examples are only illustrative of the present invention, and do not limit the scope of the present invention. Likewise, the following examples are only some examples, not all examples, and all other examples obtained by those skilled in the art without any inventive work are within the scope of the present invention.

As shown in fig. 1, the present embodiment provides a method for repairing a coating of a subsea pipeline, which is used for repairing a corrosion-resistant coating of the subsea pipeline, and includes:

s01, positioning the defect position of the coating of the submarine pipeline to acquire the information of the defect position of the coating;

s02, acquiring a coating defect image according to the position information of the coating defect, and judging the defect condition according to the coating defect image to obtain a judgment result;

s03, processing the defect position of the pipeline coating according to a preset condition according to the judgment result and the defect position information of the coating;

and S04, coating the defect position of the processed pipeline coating according to a preset condition, and then arranging a protective layer on the outer periphery of the submarine pipeline correspondingly to finish the repair of the submarine pipeline coating.

In order to record and feed back accurate information of the position of the coating defect in time when the coating defect is positioned, the information of the position of the coating defect comprises a coordinate position of the coating defect on the submarine pipeline body, and an original point position referred by the coordinate position is set according to a preset condition.

Specifically, in this scheme S01, the positioning of the defect position of the submarine pipeline coating, and the acquiring of the information of the defect position of the coating include:

s011, throwing a pipeline robot which is loaded with an image acquisition unit and can move on the outer side wall of the submarine pipeline;

s012, setting a positioning coordinate origin according to a preset condition according to the throwing position of the pipeline robot (for example, manually selecting a mark point on the pipeline as the origin, or selecting a reference object as the origin in other modes);

s013, driving the pipeline robot to move along the outer side wall of the submarine pipeline, simultaneously capturing images of the side wall of the submarine pipeline in real time through an image acquisition unit, acquiring movement information of the pipeline robot in real time, and establishing moving track information of the pipeline robot by combining the origin of coordinates;

s014, preprocessing the image shot by the image acquisition unit in real time, guiding the image into a detection neural network for identification processing, outputting an identification result and associating the identification result with the advancing track of the pipeline robot;

and S015, acquiring an identification result, and outputting the identification result, the image which is shot correspondingly by the image acquisition unit and the position of the pipeline robot corresponding to the image after associating the identification result, the image and the position of the pipeline robot corresponding to the image to generate position information of the coating defect when the identification result indicates that the coating defect exists.

In the aspect of training for detecting the neural network, after the pipeline image with the coating defects is marked to determine whether the defects exist, the marking result and the pipeline image are input into the neural network as a training set, then a part of the pipeline image is selected to be marked and is led into the trained neural network as verification data to be verified, and finally the converged neural network is obtained after the neural network is trained and verified, namely the neural network is detected.

In this case, the determination result in S02 includes: the coating is damaged by external force and/or rusty and stripped.

The judgment result can be assisted manually or by means of a neural network, and when the neural network is judged, the training of the neural network can also be obtained by referring to the training of the neural network for detection, namely, after the pipeline image with the coating defect is labeled with the defect type, the labeling result and the pipeline image are input into the neural network as a training set, then part of the pipeline image with the coating defect is selected for labeling with the defect type and is led into the trained neural network as verification data for verification, and finally, after the neural network is trained and verified, a converged neural network is obtained, namely, the neural network is judged.

Because the repair of the coating defect often can not be limited to the local repair of a single defect position, in order to ensure the durability after repair, under normal circumstances, the coating within the preset range of the coating defect region also needs to be subjected to secondary construction, as a better implementation choice, preferably, in the scheme S03, the treatment of the defect position of the pipeline coating according to the preset conditions includes:

and removing the coating in the preset range of the defect position of the pipeline coating according to the preset condition and the information of the defect position of the coating.

Referring to fig. 2 to 4, as one of the coating defect cases in the embodiment, it shows a submarine pipeline 1, a coating 2 attached to the outer sidewall and the inner sidewall of the submarine pipeline 1, and a cement counterweight layer 3, when a coating defect 4 of the submarine pipeline 1 is located on the outer sidewall of the submarine pipeline 1, in this embodiment S03, the determination result is a coating external force damage defect, and when the coating defect position information is correspondingly directed to the outer sidewall of the pipe body between the two ends of the submarine pipeline, the method for processing the pipeline coating defect position according to the preset condition is as follows:

further judging whether the coating defect position has leakage or not according to the coating defect position information;

when no leakage point exists, removing the coating within the preset range of the defect position of the pipeline coating according to the preset condition and the information of the defect position of the coating;

s04 comprises the following steps:

spraying a coating on the cleaned pipeline area, so that the newly applied coating and the reserved original coating on the outer side wall of the pipeline cover the preset anti-corrosion area on the outer side wall of the pipeline;

winding a protective layer 5 on the outer peripheral side of the submarine pipeline corresponding to the applied coating to finish the repair of the submarine pipeline coating; wherein, the protective layer 5 can be a glass fiber tape precoated with an adhesive.

In addition to the above example, as another coating defect situation of the embodiment shown in fig. 2 and further shown in fig. 5 to fig. 8, in addition to the above example, it shows the subsea pipeline 1, the coating 2 attached to the outer sidewall and the inner sidewall thereof, and the cement counterweight layer 3, when the coating defect of the subsea pipeline 1 is a corrosion defect 6 and is located between the two ends of the subsea pipeline 1, as a preferred implementation option, in the embodiment S03, the determination result is a coating corrosion peeling defect, and the coating defect location information is correspondingly directed between the two ends of the subsea pipeline, the method for processing the pipeline coating defect location according to the preset condition is:

further judging whether the coating defect position has leakage or not according to the coating defect position information;

when the leakage point exists, removing coatings on the inner side wall and the outer side wall of the pipeline within a preset range of the defect position of the pipeline coating according to the defect position information of the coating and preset conditions, and also preprocessing a rusty area of the leakage point;

s04 comprises the following steps:

performing rust point filling on the submarine pipeline at the defective position of the coating;

spraying a coating on the cleaned pipeline area, so that the newly applied coating and the original coatings reserved on the inner side wall and the outer side wall of the pipeline cover the preset anti-corrosion areas on the inner side wall and the outer side wall of the pipeline;

winding a protective layer 5 on the outer peripheral side of the submarine pipeline corresponding to the applied coating to finish the repair of the submarine pipeline coating; wherein, the protective layer 5 can be a glass fiber tape precoated with an adhesive.

In addition to the above examples, as another coating defect situation of the embodiment shown in fig. 2 and further shown in fig. 9 or fig. 10, in addition to the above examples, it shows that the subsea pipeline 1, the coating 2 attached to the outer sidewall and the inner sidewall thereof, and the cement counterweight layer 3, when the coating defect of the subsea pipeline 1 is a corrosion defect 6 and is located between the different subsea pipeline 1 connections, as a preferred implementation option, in the embodiment S03, the determination result is a coating corrosion peeling defect, and the coating defect location information is correspondingly directed between the different subsea pipeline connections, the method for processing the pipeline coating defect location according to the preset condition is:

further judging whether the coating defect position has leakage or not according to the coating defect position information;

when the leakage point exists, evaluating and judging the leakage point according to preset conditions;

when the judgment result is that the leakage point is positioned at the welding part between different submarine pipeline connecting parts and the leakage point is larger than the preset specification, the coatings of the inner side wall and the outer side wall of the pipeline within the preset range of the coating defect position of the pipeline are cleared according to the information of the coating defect position and preset conditions, and the leakage point is also polished and cleaned, so that the main part of the preset range of the leakage point is cleared, the cleared main part covers the corrosion area of the leakage point, and meanwhile, the welding part within the preset area range of the leakage point is polished and removed.

S04 comprises the following steps:

filling the grinded and cleaned leakage points by welding and filling, and then grinding the leakage points to make the filling area level with the inner side wall or the outer side wall of the submarine pipeline;

spraying a coating on the cleaned inner side wall area of the pipeline, so that the newly applied coating and the original coating reserved on the inner side wall of the pipeline cover the preset anti-corrosion area on the inner side wall of the pipeline;

the method comprises the following steps of (1) penetrating a gasket at a welding part between different submarine pipeline connecting parts, filling resin into two ends of the gasket to enable the gasket to be bonded and fixed on the inner wall of a submarine pipeline, and simultaneously shaping the parts of the resin exceeding the two ends of the gasket to enable the surface of the gasket to be arc-shaped;

re-welding the welding parts removed among different submarine pipeline connecting parts;

spraying a coating on the cleaned outer side wall area of the pipeline, so that the newly applied coating and the original coating reserved on the outer side wall of the pipeline cover the preset anti-corrosion area on the outer side wall of the pipeline;

and winding a protective layer 5 on the outer peripheral side of the submarine pipeline corresponding to the applied coating to finish the repair of the submarine pipeline coating, wherein the protective layer 5 can be a glass fiber tape pre-coated with an adhesive.

Wherein, the gasket includes:

the first gasket 8 is made of an elastic material, is arranged in the submarine pipeline 1 in a surrounding manner, corresponds to the position of the leakage point, and is attached to the inner side wall of the submarine pipeline 1, wherein in order to improve the attachment, the part of the first gasket 8 close to the inner side wall of the submarine pipeline 1 is coated with an adhesive, and when the submarine pipeline 1 is welded and filled, the first gasket 8 and the region of the leakage point of the submarine pipeline 1 are welded and fixed together;

the second liner 8 is of an annular structure and is parallelly arranged among the connecting parts of different submarine pipelines 1 in a penetrating manner, the axial middle part of the second liner is provided with an avoidance groove 72 corresponding to the first liner 8, the peripheral side of the second liner, which is far away from the side wall of the submarine pipeline 1, is also coated with a coating 71, in order to avoid the situation that when welding and filling, the first liner 8 transfers heat to the second liner 8 excessively to cause the coating 71 on the second liner 8 to crack, peel or otherwise cause poor conditions, a heat insulation layer 81 is arranged between the avoidance groove 72 and the first liner 8, and the heat insulation layer 81 can be heat insulation paint, heat insulation adhesive or a heat insulation pad made of a material with low heat conductivity coefficient; still all be equipped with fluting 74 on the lateral wall that the both ends of second liner 8 are close submarine pipeline 1 inner wall, the cover is equipped with O type sealing washer on this fluting 74, and in this scheme, behind the resin packing liner, form sticky piece 9.

Based on the above, as shown in fig. 11, the present embodiment further provides a device for repairing a coating on a subsea pipeline, which includes:

the system comprises a positioning detection unit, a server and a control unit, wherein the positioning detection unit is used for positioning the coating defect position of the submarine pipeline and acquiring the coating defect position information, the positioning detection unit comprises a first pipeline robot capable of advancing on the outer side wall of the submarine pipeline, an image acquisition unit loaded on the first pipeline robot, and the server which is loaded with a detection neural network and used for detecting and judging the image taken by the image acquisition unit;

the pipeline pretreatment unit is used for treating the coating defect position of the pipeline according to the preset condition according to the judgment result and the coating defect position information, and comprises a second pipeline robot used for advancing on the outer side wall of the pipeline, a third pipeline robot used for advancing in the pipeline, a first grinding assembly loaded on the second pipeline robot and a second grinding assembly loaded on the third pipeline robot; the first grinding assembly is used for grinding the outer side wall of the pipeline, and the second grinding assembly is used for grinding the inner side wall of the pipeline;

the repair unit is used for filling and applying a coating at the defect position of the processed pipeline coating according to preset conditions, and correspondingly arranging a protective layer at the peripheral side of the submarine pipeline to finish the repair of the submarine pipeline coating, and comprises: the device comprises a first coating spraying assembly, a winding assembly, a welding assembly, a second coating spraying assembly, a clamping assembly and a sizing assembly; the first coating spraying component, the winding component and the welding component are loaded and arranged on the second pipeline robot, and the second coating spraying component, the clamping component and the glue applying component are loaded and arranged on the third pipeline robot; in addition, the first coating spraying component is used for spraying a coating on the outer side wall of the pipeline, the second coating spraying component is used for spraying a coating on the inner side wall of the pipeline, the welding component is used for welding and filling leakage points of the pipeline and welding and fixing joint parts among different pipelines, the winding component is used for winding a protective layer on the outer side wall of the pipeline, the clamping component is used for penetrating the liner into the pipeline, and the glue applying component is used for filling resin into the liner to enable the liner to be adhered and fixed on the inner wall of the submarine pipeline;

and the control unit is connected with the positioning detection unit, the pipeline pretreatment unit and the repair unit and correspondingly controls the work start and stop of the pipeline pretreatment unit and the repair unit.

It should be noted that the apparatus of the present embodiment is a combined invention, which is formed by loading and combining a plurality of existing pipeline construction components and monitoring components in the field; therefore, further description of specific structures and principles is not provided.

The above description is only a part of the embodiments of the present invention, and not intended to limit the scope of the present invention, and all equivalent devices or equivalent processes performed by the contents of the present specification and the attached drawings, or directly or indirectly applied to other related technical fields, are all included in the scope of the present invention.

Claims (10)

1. A coating repairing method for a submarine pipeline is used for repairing an anti-corrosion coating of the submarine pipeline and is characterized by comprising the following steps:

s01, positioning the defect position of the coating of the submarine pipeline to acquire the information of the defect position of the coating;

s02, acquiring a coating defect image according to the position information of the coating defect, and judging the defect condition according to the coating defect image to obtain a judgment result;

s03, processing the defect position of the pipeline coating according to a preset condition according to the judgment result and the information of the defect position of the coating;

and S04, coating the treated pipeline coating defect position according to a preset condition, and then arranging a protective layer on the outer periphery of the submarine pipeline correspondingly to finish the submarine pipeline coating repair.

2. The subsea pipeline coating repair method according to claim 1, wherein the coating defect position information includes a coordinate position of the coating defect at the subsea pipeline body, the coordinate position being set with reference to an origin position according to a preset condition;

the judgment result comprises: the defect of external force damage of the coating and/or the defect of corrosion stripping of the coating.

3. The method for repairing a coating on a subsea pipeline according to claim 2, wherein in S03, the processing the defect site of the pipeline coating according to the predetermined condition comprises:

and removing the coating in the preset range of the defect position of the pipeline coating according to the preset condition and the information of the defect position of the coating.

4. The method for repairing a coating on a submarine pipeline according to claim 2, wherein in step S03, the determination result is a coating damage defect caused by an external force, and when the coating defect position information is correspondingly directed to an outer sidewall of a pipe body between two ends of the submarine pipeline, the method for processing the pipeline coating defect position according to the preset conditions comprises:

further judging whether the coating defect position has leakage or not according to the coating defect position information;

when the leakage point does not exist, removing the coating in the preset range of the defect position of the pipeline coating according to the preset condition and the information of the defect position of the coating;

s04 comprises the following steps:

spraying a coating on the cleaned pipeline area, so that the newly applied coating and the reserved original coating on the outer side wall of the pipeline cover the preset anti-corrosion area on the outer side wall of the pipeline;

and winding a protective layer on the outer peripheral side of the submarine pipeline corresponding to the applied coating to finish the repair of the submarine pipeline coating.

5. The method for repairing a coating on a subsea pipeline according to claim 2, wherein in S03, when the determination result is a coating corrosion peeling defect and the coating defect position information points between different subsea pipeline connections, the method for processing the pipeline coating defect position according to the preset condition comprises:

further judging whether the coating defect position has leakage or not according to the coating defect position information;

when the leakage point exists, removing coatings on the inner side wall and the outer side wall of the pipeline within a preset range of the defect position of the pipeline coating according to the defect position information of the coating and preset conditions, and also preprocessing a rusty area of the leakage point;

s04 comprises the following steps:

performing rust point filling on the submarine pipeline at the defective position of the coating;

spraying a coating on the cleaned pipeline area, so that the newly applied coating and the original coatings reserved on the inner side wall and the outer side wall of the pipeline cover the preset anti-corrosion areas on the inner side wall and the outer side wall of the pipeline;

and winding a protective layer on the outer peripheral side of the submarine pipeline corresponding to the applied coating to finish the repair of the submarine pipeline coating.

6. The subsea pipeline coating remediation method of claim 5 wherein S03 further comprises:

when the leakage point exists, evaluating and judging the leakage point according to preset conditions;

and when the judgment result shows that the leakage point is positioned at the welding part between the different submarine pipeline connecting parts and is larger than the preset specification, polishing and cleaning the leakage point, so that the main body part of the preset range of the leakage point is cleaned, and the cleaned main body part covers the corrosion area of the leakage point.

7. The method for repairing a coating on a subsea pipeline according to claim 6, wherein in step S04, the method for filling the corrosion point of the subsea pipeline at the coating defect position is weld filling.

8. The method for repairing a coating on a subsea pipeline according to claim 7, wherein when a leakage point is located at a weld between different subsea pipeline connections and the leakage point is greater than a predetermined specification, S03 further comprises:

polishing and removing the welding part within the preset area range of the leakage point;

s04 comprises the following steps:

filling the polished and cleaned leakage points in a welding and filling mode, and then polishing the leakage points to enable the filling area to be level with the inner side wall or the outer side wall of the submarine pipeline;

spraying a coating on the cleaned inner side wall area of the pipeline, so that the newly applied coating and the original coating reserved on the inner side wall of the pipeline cover the preset anticorrosion area on the inner side wall of the pipeline;

the method comprises the following steps of (1) penetrating a gasket at a welding part between different submarine pipeline connecting parts, filling resin into two ends of the gasket to enable the gasket to be bonded and fixed on the inner wall of a submarine pipeline, and simultaneously shaping the parts of the resin exceeding the two ends of the gasket to enable the surface of the gasket to be arc-shaped;

re-welding the welding parts removed among different submarine pipeline connecting parts;

spraying a coating on the cleaned outer side wall area of the pipeline, so that the newly applied coating and the original coating reserved on the outer side wall of the pipeline cover the preset anti-corrosion area on the outer side wall of the pipeline;

and winding a protective layer on the peripheral side of the submarine pipeline corresponding to the applied coating to finish the repair of the submarine pipeline coating.

9. The subsea pipeline coating repair method of any of claims 1 through 8, wherein in S01, locating a subsea pipeline coating defect location and obtaining coating defect location information comprises:

throwing a pipeline robot which is loaded with an image acquisition unit and can move on the outer side wall of the submarine pipeline;

setting a positioning coordinate origin according to a preset condition according to the putting position of the pipeline robot;

driving the pipeline robot to move along the outer side wall of the submarine pipeline, simultaneously capturing images of the side wall of the submarine pipeline in real time through an image acquisition unit, acquiring movement information of the pipeline robot in real time, and establishing moving track information of the pipeline robot by combining an origin of coordinates;

preprocessing an image captured by an image acquisition unit in real time, guiding the image into a detection neural network for identification processing, outputting an identification result, and associating the identification result with a traveling track of a pipeline robot;

and acquiring an identification result, and when the identification result is that the coating defect exists, associating the identification result, the image acquired by the image acquisition unit and the position of the pipeline robot corresponding to the image and outputting the associated image to generate the position information of the coating defect.

10. A subsea pipeline coating remediation device, comprising:

the system comprises a positioning detection unit, a server and a control unit, wherein the positioning detection unit is used for positioning the coating defect position of the submarine pipeline and acquiring the position information of the coating defect, and comprises a first pipeline robot capable of advancing on the outer side wall of the submarine pipeline, an image acquisition unit loaded on the first pipeline robot, and the server loaded with a detection neural network and used for detecting and judging the image taken by the image acquisition unit;

the pipeline pretreatment unit is used for treating the coating defect position of the pipeline according to the preset condition according to the judgment result and the coating defect position information, and comprises a second pipeline robot used for advancing on the outer side wall of the pipeline, a third pipeline robot used for advancing in the pipeline, a first grinding assembly loaded on the second pipeline robot and a second grinding assembly loaded on the third pipeline robot; the first grinding assembly is used for grinding the outer side wall of the pipeline, and the second grinding assembly is used for grinding the inner side wall of the pipeline;

the repair unit is used for filling and applying a coating at the defect position of the processed pipeline coating according to preset conditions, and correspondingly arranging a protective layer at the peripheral side of the submarine pipeline to finish the repair of the submarine pipeline coating, and comprises: the device comprises a first coating spraying assembly, a winding assembly, a welding assembly, a second coating spraying assembly, a clamping assembly and a sizing assembly; the first coating spraying component, the winding component and the welding component are loaded on the second pipeline robot, and the second coating spraying component, the clamping component and the glue applying component are loaded on the third pipeline robot; in addition, the first coating spraying assembly is used for spraying a coating on the outer side wall of the pipeline, the second coating spraying assembly is used for spraying a coating on the inner side wall of the pipeline, the welding assembly is used for welding and filling leakage points of the pipeline and welding and fixing joint parts among different pipelines, the winding assembly is used for winding and arranging the protective layer on the outer side wall of the pipeline, the clamping assembly is used for penetrating the liner into the pipeline, and the sizing assembly is used for filling resin into the liner to enable the liner to be adhered and fixed on the inner wall of the submarine pipeline;

and the control unit is connected with the positioning detection unit, the pipeline pretreatment unit and the repair unit and correspondingly controls the opening and closing of the pipeline pretreatment unit and the repair unit.

Images