CN115978465A - Submarine pipeline detection method and system based on unmanned ship carrying ROV - Google Patents
Submarine pipeline detection method and system based on unmanned ship carrying ROV Download PDFInfo
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Abstract
The invention belongs to the field of pipeline detection, and particularly relates to a submarine pipeline detection method and system based on an ROV-carrying unmanned ship, aiming at solving the problem that the positioning accuracy of a pipeline detection robot in the prior art is insufficient. The invention comprises the following steps: generating a navigation route of the unmanned ship based on a circuit diagram of the target submarine pipeline; the unmanned ship runs according to a navigation route and releases a remote-control unmanned submersible vehicle ROV; the unmanned ship scans the target submarine pipeline in real time in a sound wave multi-beam scanning and side scanning mode to obtain reflected sound waves; after the scanning of the unmanned ship is finished, the remote control unmanned submersible vehicle ROV carries out short-range scanning on the target submarine pipeline; recording the position of the unmanned ship and the relative position between the ROV and the position of the unmanned ship in real time; and carrying out position matching on the reflected sound waves and the ROV detection data to obtain a combined detection image. The invention realizes automatic external detection of the whole submarine pipeline line and accurate positioning of the detected abnormal position.
Description
Technical Field
The invention belongs to the field of pipeline detection, and particularly relates to a submarine pipeline detection method and system based on an unmanned ship carrying an ROV.
Background
The external detection of the submarine pipeline aims to master the external condition of the pipeline and the state of the pipeline on the seabed, and the main contents comprise the topography condition and the water depth of the submarine pipeline, the burial depth, the route and the trend of the submarine pipeline, the scouring condition around the pipeline, the presence or absence of exposed suspension, the displacement and external force damage, the condition of an external anticorrosive coating, the damage condition of the outer wall of the pipeline and the damage condition thereof, the soil corrosion condition and the like.
The external detection modes generally adopted in the prior art are two types, one type is an engineering geophysical prospecting mode, and the external detection of the conventional submarine pipeline is carried out by using methods such as a shallow profiler, multi-beam bathymetry, a side scan sonar system, magnetic detection and the like. The other type is a diving detection mode, underwater detection operation is carried out by a diver or an ROV, and the main methods comprise underwater visual detection, underwater magnetic powder inspection, underwater conventional ultrasonic longitudinal wave inspection, conventional ultrasonic transverse wave inspection, eddy current inspection, ultrasonic diffraction time difference method, magnetic flux leakage inspection, underwater alternating current field detection, underwater ray inspection and the like.
Conventional ROV detection usually involves finding a rough target area for launch, approaching the ROV to the target pipeline by a manual remote control, and finding an abnormal area. The conventional method for detecting the outside of the pipeline by the ROV usually has to be manually operated and only can discretely detect the submarine pipeline, the accurate position of the ROV corresponding to the external pipeline cannot be obtained, and the automatic detection of the outside of the whole pipeline cannot be realized.
Disclosure of Invention
In order to solve the above problems in the prior art, that is, due to the conventional method for detecting the outside of a pipeline by an ROV, the conventional method must be manually operated and only discretely inspect the submarine pipeline, and the precise position of the ROV corresponding to the external pipeline cannot be obtained, so that the automatic inspection of the outside of the whole pipeline cannot be realized. The invention provides a submarine pipeline detection method based on an unmanned ship carrying an ROV, which comprises the following steps:
step S100, generating a navigation route of the unmanned ship based on a circuit diagram of a target submarine pipeline;
step S200, selecting an ROV launching position based on the navigation route of the unmanned ship;
step S300, the unmanned ship runs according to the navigation route, and the remote control unmanned submersible vehicle ROV is released at the ROV releasing position;
s400, scanning a target submarine pipeline by the unmanned ship in real time in a sound wave multi-beam scanning and side scanning mode to obtain reflected sound waves;
step S500, after the scanning of the unmanned ship is finished, the remote control unmanned submersible ROV carries out short-range scanning on the target submarine pipeline in one or more modes of underwater image detection, underwater magnetic powder inspection, underwater conventional ultrasonic longitudinal wave inspection, conventional ultrasonic transverse wave inspection, eddy current inspection, ultrasonic diffraction time difference method, magnetic flux leakage inspection, underwater alternating current field detection and underwater ray inspection to obtain ROV detection data;
recording the position of the unmanned ship and the relative position between the ROV and the position of the unmanned ship in real time;
and S600, carrying out position matching on the reflected sound waves and the ROV detection data based on the relative position to obtain a combined detection image.
In some preferred embodiments, the unmanned boat's sailing route includes an along-pipeline stage, an along-unilateral stage, and a reentry scan stage;
the pipeline following stage is specifically that the pipeline following stage sails from a first end of a target pipeline to a second end of the target pipeline from the position of the target pipeline on the water surface, and defines the sailing direction of the pipeline following stage as a positive direction and the opposite direction of the positive direction as a negative direction;
the first side distance along the position of the single-side stage, in particular along the target pipeline after the pipeline stage
Sailing in the negative direction and then moving in the positive direction from the second side of the position of the target pipeline; l represents the distance above the water surface in the single-sided stage, d represents the depth;
and a turning-back scanning stage, specifically, after the unilateral stage, the unmanned ship sails back and forth at the first side of the position of the target pipeline and the second side of the position of the target pipeline, moves a preset distance in the forward direction in the forward/backward direction each time, and the forward/backward routes are parallel and are at equal intervals each time.
In some preferred embodiments, when the waveform of the reflected sound wave display is smaller than a preset threshold or no expected sound wave is observed, the retrace scanning stage is replaced by a retrace scanning stage with a set included angle, specifically, the position of the target pipeline is cut by the preset included angle of the going/returning route.
In some preferred embodiments, the ROV is a light duty ROV with a maximum working depth of 1000m, connected to the unmanned boat by a 50-power umbilical.
In some preferred embodiments, the unmanned vehicle comprises a vehicle body and a remotely controlled unmanned submersible vehicle ROV, wherein the vehicle body is provided with a power device and a communication positioning device; the submarine pipeline three-dimensional point cloud data acquisition system comprises a submarine body, a load cabin, a detection sound wave and a detection sound wave, wherein the load cabin is arranged at the bottom of the submarine body and is used for installing submarine detection equipment, the submarine detection equipment sends out the detection sound wave downwards in real time, the detection sound wave is reflected to generate a reflected sound wave after contacting a submarine pipeline, and the submarine detection equipment positions the submarine pipeline according to the reflected sound wave and forms submarine pipeline three-dimensional point cloud data; the remote-control unmanned submersible vehicle ROV is arranged in the load cabin through an ROV retracting device, and the remote-control unmanned submersible vehicle ROV is provided with an acousto-optic detection device and an ultra-short baseline underwater positioning device.
In some preferred embodiments, the unmanned ship obtains the position of the unmanned ship through the positioning function of the GPS/beidou system, and communicates with the shore-end upper computer through a wireless network.
In some preferred embodiments, the remote-controlled unmanned submersible vehicle ROV obtains the ROV position by obtaining the relative position between the ROV and the unmanned ship position, and combining the unmanned ship position obtained by the GPS \ beidou system;
and when the ROV position approaches the target submarine pipeline, starting short-range scanning, and when the distance of the relative position is greater than a preset communication threshold, controlling the unmanned ship to move towards the ROV direction of the unmanned remotely-operated vehicle until the distance of the relative position is less than a preset reliable communication threshold.
In some preferred embodiments, the unmanned vehicle travels according to the sailing route, and further includes a step of autonomously avoiding an obstacle, specifically:
acquiring environmental information on a navigation route of the unmanned ship through a sensor;
judging whether an obstacle exists on the initial navigation route or not based on the environment information;
if the obstacle exists, judging whether the obstacle is a static obstacle or not according to the environmental information in a preset time period;
if the barrier is a static barrier, replanning a new navigation route through an A-x algorithm;
the new feasible route is obtained by calculating an expected angle according to the initial navigation route and generating a new navigation route based on the expected angle;
if the barrier is a dynamic barrier, calculating an expected angle based on the navigation route, predicting the driving direction of the barrier by a VO method and regenerating a new navigation route;
determining obstacle avoidance directions through maritime regulations based on the new navigation route;
and calculating an accelerator rudder angle through a controller based on the obstacle avoidance direction, and executing the accelerator rudder angle to enable the unmanned ship to run along a new navigation route.
In some preferred embodiments, the unmanned vehicle travels according to the sailing route, and further comprises the step of autonomous control when the unmanned vehicle is out of communication:
s1, the unmanned ship is driven out, and the working states of a power supply, a switch, an industrial personal computer and an antenna of the unmanned ship are monitored in real time;
s2, if the working states of the power supply, the switch, the industrial personal computer and the antenna are normal, the UDP heartbeat packet detects whether the upper computer at the bank end is communicated;
s3, if the shore end upper computer is not communicated, reconnecting until the unmanned ship is successfully communicated with the upper computer, and performing autonomous control or hovering in situ before the unmanned ship is successfully communicated;
s4, if the shore end upper computer is successfully communicated, the shore end upper computer obtains real-time data and displays the real-time data through a human-computer interaction interface, and the operation is switched to S6;
s5, if the working states of the power supply, the exchanger, the industrial personal computer and the antenna are abnormal, entering the boat end for autonomous control, sending an interface control instruction to the unmanned boat by the shore end upper computer, and turning to S6;
s6, judging whether connection is successful and whether interface control is switched by the shore end upper computer, if so, turning to S7, and if not, turning to S1;
and S7, the shore end upper computer sends a navigation control command to navigate through the interface, and the unmanned ship executes the navigation control command, namely the interface control command.
In another aspect of the present invention, a submarine pipeline detection and detection system based on an unmanned vehicle carrying an ROV is provided, where the system includes:
a sailing route generation module configured to generate a sailing route of the unmanned ship based on a layout of the target subsea pipeline;
the ROV launching position selecting module is configured to select an ROV launching position based on the navigation route of the unmanned ship;
the remote control unmanned underwater vehicle ROV launching module is configured to drive an unmanned ship according to the navigation route and release the remote control unmanned underwater vehicle ROV at the ROV launching position;
the real-time detection module comprises an unmanned ship scanning unit and an ROV scanning unit;
the unmanned ship scanning unit is configured to scan a target submarine pipeline in real time by a sound wave multi-beam scanning mode and a side scanning mode to obtain reflected sound waves;
the ROV scanning unit is configured to remotely control the ROV to carry out short-range scanning on a target submarine pipeline in one or more modes of underwater image detection, underwater magnetic powder inspection, underwater conventional ultrasonic longitudinal wave inspection, conventional ultrasonic transverse wave inspection, eddy current inspection, ultrasonic diffraction time difference method, magnetic flux leakage inspection, underwater alternating current field detection and underwater ray detection after the scanning of the unmanned ship is finished, so as to obtain ROV detection data;
the position recording module is configured to record the position of the unmanned ship and the relative position between the ROV and the position of the unmanned ship in real time;
and the image integration module is configured to perform position matching on the reflected sound waves and the ROV detection data based on the relative position to obtain a combined detection image.
The invention has the beneficial effects that:
(1) According to the invention, by arranging the ROV with the magnetic source beacon, the automatic external detection of the whole submarine pipeline is realized, and the position where the abnormality is detected is accurately positioned.
(2) Compared with the sea engineering ship with shallow draft, the unmanned ship can automatically detect the submarine pipelines, improve the detection efficiency of the submarine oil and gas pipelines in the shallow sea, and reduce the cost and the detection period. .
(3) According to the invention, the corrosion, exposure and damage conditions of the submarine pipeline are summarized and processed for a long time, the submarine pipeline network detection and management system adopts an artificial intelligence algorithm to carry out prediction simulation on the pipeline section which does not have faults, the corrosion rate of the pipeline is analyzed, and the damage occurrence time is predicted.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 is a schematic flow chart of a submarine pipeline detection method based on an unmanned vehicle carrying an ROV according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an unmanned surface vehicle in an embodiment of the invention;
FIG. 3 is a schematic illustration of the detection of a target subsea pipeline by an ROV in an embodiment of the present invention;
FIG. 4 is a schematic view of an embodiment of the present invention traveling along a pipeline stage;
FIG. 5 is a schematic view of an embodiment of the present invention navigating along a single-sided phase;
FIG. 6 is a schematic illustration of a navigation during a foldback scan phase in an embodiment of the invention;
FIG. 7 is a graph of the effect of reflected sound waves obtained by an unmanned boat in an embodiment of the present invention;
FIG. 8 is a schematic diagram illustrating a turn-back scanning stage navigation for cutting a target pipeline at a predetermined included angle according to an embodiment of the present invention;
fig. 9 is a schematic flow chart of autonomous obstacle avoidance according to an embodiment of the present invention;
fig. 10 is a flowchart illustrating autonomous control when contact is lost according to an embodiment of the present invention.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
The invention provides a submarine pipeline detection method based on an unmanned ship carrying an ROV (remote operated vehicle). The method is characterized in that the ROV with a magnetic source beacon is arranged, and the position of a detection robot in a pipeline is accurately positioned in a relay positioning mode, so that a detection image in the pipeline can be combined with a specific position and can be jointly analyzed with an image detected from the outside, and the fault positioning efficiency and accuracy can be improved.
The invention discloses a submarine pipeline detection method based on an unmanned ship carrying an ROV, which comprises the following steps:
step S100, generating a navigation route of the unmanned ship based on a circuit diagram of a target submarine pipeline;
step S200, selecting an ROV launching position based on the navigation route of the unmanned ship;
step S300, the unmanned ship runs according to the navigation route, and releases the remote-control unmanned underwater vehicle ROV at the ROV throwing position;
s400, scanning the target submarine pipeline by the unmanned ship in real time in a sound wave multi-beam scanning and side scanning mode to obtain reflected sound waves;
step S500, after the scanning of the unmanned ship is finished, the remote control unmanned submersible ROV carries out short-range scanning on the target submarine pipeline in one or more modes of underwater image detection, underwater magnetic powder inspection, underwater conventional ultrasonic longitudinal wave inspection, conventional ultrasonic transverse wave inspection, eddy current inspection, ultrasonic diffraction time difference method, magnetic flux leakage inspection, underwater alternating current field detection and underwater ray inspection to obtain ROV detection data; step S500, recording the positions of the unmanned ship, the ROV and the pipeline internal detector in real time;
recording the position of the unmanned ship and the relative position between the ROV and the position of the unmanned ship in real time;
and S600, carrying out position matching on the reflected sound waves and the ROV detection data based on the relative position to obtain a combined detection image.
In order to more clearly describe the method for detecting a subsea pipeline based on an unmanned vehicle equipped with an ROV according to the present invention, the following describes the steps in the embodiment of the present invention in detail with reference to fig. 1.
The submarine pipeline detection method based on the unmanned ship carrying the ROV comprises the following steps S100-S600, and the steps are described in detail as follows:
step S100, generating a navigation route of the unmanned ship based on a circuit diagram of a target submarine pipeline;
in the embodiment, the sailing route of the unmanned boat comprises an along-pipeline stage, an along-single-side stage and a turn-back scanning stage;
the pipeline following stage is as shown in fig. 4, specifically, the pipeline following stage sails from a first end of the target pipeline to a second end of the target pipeline from the position of the target pipeline on the water surface, and defines the sailing direction of the pipeline following stage as a positive direction and the opposite direction as a negative direction;
the along-one-sided stage is shown in FIG. 5, specifically the first-side distance of the location along the target pipeline after the along-line stage
Sailing in the negative direction and then moving in the positive direction from the second side of the position of the target pipeline; l represents the distance above the water surface in the single-sided stage and d represents the depth; (ii) a
The turning-back scanning stage is as shown in fig. 6, and specifically, after the one-side stage, the unmanned ship makes round trips at the first side of the position of the target pipeline and the second side of the position of the target pipeline, moves a preset distance in the forward direction in the round trips/return direction each time, and the round trips/return routes each time are parallel and have equal intervals.
In this embodiment, when the waveform projection displayed by the reflected sound wave is smaller than the preset threshold or no desired sound wave is observed, such as the definition or radian of the projection in fig. 7 does not reach the expectation, the turning-back scanning stage is replaced by a turning-back scanning stage with an included angle, specifically, a position where the forward/backward route cuts the target pipeline with the preset included angle, as shown in fig. 8.
Step S200, selecting an ROV launching position based on the navigation route of the unmanned ship;
in this embodiment, the unmanned vehicle comprises a vehicle body and a remote-control unmanned submersible vehicle ROV, wherein the vehicle body is provided with a power device and a communication positioning device; the submarine pipeline three-dimensional point cloud data acquisition system comprises a submarine body, a load cabin, a detection sound wave and a detection sound wave, wherein the load cabin is arranged at the bottom of the submarine body and is used for installing submarine detection equipment, the submarine detection equipment sends out the detection sound wave downwards in real time, the detection sound wave is reflected to generate a reflected sound wave after contacting a submarine pipeline, and the submarine detection equipment positions the submarine pipeline according to the reflected sound wave and forms submarine pipeline three-dimensional point cloud data; the remote-control unmanned submersible vehicle ROV is arranged in the load cabin through an ROV retracting device, and the remote-control unmanned submersible vehicle ROV is provided with an acousto-optic detection device and an ultra-short baseline underwater positioning device. The unmanned ship can be driven by a diesel engine and carries a scanning device of a side scan sonar, a shallow profiler and an ocean magnetometer. The ship is more than 15 meters long, has a positioning function based on a GPS/Beidou system, and can adopt a remote control and automatic control mode. The cruise and seafloor scan operations may be performed for a given sea area. The data collected includes: seawater elevation, submarine topography, submarine magnetic data, sea surface oil film condition, submarine pipeline burial depth, anticorrosive coating damage degree and pipeline surrounding condition.
As shown in fig. 2, the communication positioning system GPS2 is arranged at the front end of the hull, the short-baseline transponder is arranged behind the communication positioning system GPS2, the ballast water tank is arranged behind the short-baseline transponder (which receives data to calculate the relative position of the ROV and the unmanned boat), the front moon pool is arranged behind the ballast water tank, and the threading hole is arranged on the left side of the front moon pool; the two A-shaped frames are symmetrically arranged, and can be arranged according to actual conditions in other embodiments;
a ship control equipment cabin is arranged at the rear side close to the front end of the hull, a cockpit is arranged at the rear side of the ship control equipment cabin, ship bottom mounting holes are formed in the front side and the rear side of the cockpit, a measuring equipment main cabin is arranged at the left side, and a power supply and communication main cabin is arranged at the right side;
a communication positioning system GPS1 is arranged at the front side close to the tail end of the boat body, an anti-rolling gyroscope is arranged at the front side of the communication positioning system GPS1, threading holes are formed in two sides of the anti-rolling gyroscope, and a side hanging point is arranged on the outer side of each threading hole; the outer side of each side hanging point (namely the outer side of the boat body) is provided with a side wing (in the invention, the side wing is preferably in a streamline shape (specifically, for example, the head is in a shuttle shape, and the tail is in a cylinder shape), in other embodiments, the tail end of the side wing is provided with a threading hole, and the front side of the threading hole is provided with a short-base line transponder; and a lifting point is arranged on the front side of the anti-rolling gyroscope.
In this embodiment, the ROV is a light-duty ROV with a maximum working depth of 1000m, and is connected to the unmanned boat through an umbilical line with 50 power. The detection tool carried by the ROV comprises an acousto-optic detection device, a mechanical arm, a ray detector and a magnetic leakage detector.
Step S300, the unmanned ship runs according to the navigation route, and releases the remote-control unmanned underwater vehicle ROV at the ROV throwing position; (ii) a
In this embodiment, the unmanned surface vehicle travels according to the navigation route, and further includes a step of autonomously avoiding an obstacle, as shown in fig. 9, specifically:
acquiring environmental information on a navigation route of the unmanned ship through a sensor;
judging whether an obstacle exists on the initial navigation route or not based on the environment information;
if the obstacle exists, judging whether the obstacle is a static obstacle or not according to the environmental information in a preset time period;
if the barrier is a static barrier, replanning a new navigation route through an A-x algorithm;
the new feasible route is obtained by calculating an expected angle according to the initial navigation route and generating a new navigation route based on the expected angle;
if the barrier is a dynamic barrier, calculating an expected angle based on the navigation route, predicting the driving direction of the barrier by a VO method and regenerating a new navigation route;
determining obstacle avoidance directions through maritime regulations based on the new navigation route;
and calculating an accelerator rudder angle through a controller based on the obstacle avoidance direction, and executing the accelerator rudder angle to enable the unmanned ship to run along a new navigation route.
In this embodiment, the unmanned boat travels according to the sailing route, and further includes a step of autonomous control when loss of connection occurs, as shown in fig. 10:
s1, enabling the unmanned ship to run out, and monitoring working states of a power supply, a switch, an industrial personal computer and an antenna of the unmanned ship in real time;
s2, if the working states of the power supply, the switch, the industrial personal computer and the antenna are normal, the UDP heartbeat packet detects whether the upper computer at the bank end is communicated;
s3, if the shore end upper computer is not communicated, reconnecting until the unmanned boat is successfully communicated with the upper computer, and performing autonomous control or hovering in situ before the unmanned boat is successfully communicated with the upper computer;
s4, if the shore end upper computer is successfully communicated, the shore end upper computer obtains real-time data and displays the real-time data through a human-computer interaction interface, and the operation is switched to S6;
s5, if the working states of the power supply, the exchanger, the industrial personal computer and the antenna are abnormal, entering the boat end for autonomous control, sending an interface control instruction, and turning to S6;
s6, judging whether the connection is successful and the interface operation is switched, if so, turning to S7, and if not, turning to S1;
and S7, controlling navigation through an interface, sending a navigation control command by the shore end upper computer, and executing the navigation control command by the unmanned ship.
S400, scanning the target submarine pipeline by the unmanned ship in real time in a sound wave multi-beam scanning and side scanning mode to obtain reflected sound waves;
step S500, after the scanning of the unmanned ship is finished, the remote control unmanned submersible ROV carries out short-range scanning on the target submarine pipeline in one or more modes of underwater image detection, underwater magnetic powder inspection, underwater conventional ultrasonic longitudinal wave inspection, conventional ultrasonic transverse wave inspection, eddy current inspection, ultrasonic diffraction time difference method, magnetic flux leakage inspection, underwater alternating current field detection and underwater ray inspection to obtain ROV detection data;
in the embodiment, the unmanned ship obtains the position of the unmanned ship through the positioning function of the GPS/Beidou system and the tide file, and communicates with the shore-end upper computer through a wireless network;
the ROV obtains the position of the ROV by acquiring the relative position between the ROV and the position of the unmanned ship and combining the position of the unmanned ship obtained by a GPS/Beidou system;
and when the ROV position approaches the target submarine pipeline, starting short-range scanning, and when the distance of the relative position is greater than a preset communication threshold, controlling the unmanned ship to move towards the ROV direction of the unmanned remotely-operated vehicle until the distance of the relative position is less than a preset reliable communication threshold.
And S600, carrying out position matching on the reflected sound waves and the ROV detection data based on the relative position to obtain a combined detection image.
A second embodiment of the present invention, comprising a method of using the present invention to assist in the accurate positioning of a test ball within a pipe, is shown in fig. 3;
acquiring reflected sound waves and ROV detection data by the method as step S100-step S500;
arranging a low-frequency electromagnetic wave receiving and positioning device for the ROV, wherein the low-frequency electromagnetic wave receiving and positioning device is arranged adjacent to the ultra-short baseline underwater positioning device;
sending the detection ball arranged in the pipeline and provided with the low-frequency magnetic induction transmitter into the pipeline;
receiving magnetic induction signals sent by the internal detection ball through a low-frequency electromagnetic wave receiving and positioning device to obtain a second relative position of the internal detection ball and the ROV, and based on the second relative position and the ROV position, accurately positioning the internal detection ball relative to the target submarine pipeline;
the ROV is set to advance at the same speed as the internal detection ball, the internal detection ball detects whether the inside of the pipeline is damaged or not while being cleaned, and accurate positioning and accurate internal detection images are obtained in real time.
Traditional inside detection ball advances with preset speed inside the pipeline, through magnetic leakage, mode such as X-ray flaw detection method scans the pipe wall and detects, but inside detection ball only confirms the position through the inertial positioning of taking certainly or the method of odometer wheel location, consequently unable accurate location trouble place, can align the image that obtains with the image that the outside detected through this embodiment, improve the degree of accuracy that detects out the trouble, and detection efficiency.
The ROV obtains the second relative position of the pipeline internal detector through the magnetic induction signal, specifically, the pipeline internal detector obtains the coarse positioning of the pipeline internal detector through the mode of inertial positioning or odometer wheel positioning, the ROV moves to the 10 m range of the coarse positioning of the pipeline internal detector and makes a tour, when the pipeline internal detector receives the signal of the magnetic source beacon of the ROV, the ROV sends a position feedback signal, and the ROV records the included angle and the strength of the position feedback signal and transmits the position feedback signal to the unmanned ship.
Although the foregoing embodiments describe the steps in the above sequential order, those skilled in the art will understand that, in order to achieve the effect of the present embodiments, the steps may not be executed in such an order, and may be executed simultaneously (in parallel) or in an inverse order, and these simple variations are within the scope of the present invention.
The submarine pipeline detection system based on the unmanned ship carrying the ROV in the third embodiment of the invention comprises:
a sailing route generation module configured to generate a sailing route of the unmanned ship based on a layout of the target subsea pipeline;
the ROV launching position selecting module is configured to select an ROV launching position based on the navigation route of the unmanned ship;
the remote control unmanned submersible ROV launching module is configured to drive the unmanned ship according to the navigation route and release the remote control unmanned submersible ROV at the launching position;
the real-time detection module comprises an unmanned ship scanning unit and an ROV scanning unit;
the unmanned ship scanning unit is configured to scan the target submarine pipeline in real time by means of sound wave multi-beam scanning and side scanning to obtain reflected sound waves;
the ROV scanning unit is configured to remotely control the ROV to carry out short-range scanning on a target submarine pipeline in one or more modes of underwater image detection, underwater magnetic powder inspection, underwater conventional ultrasonic longitudinal wave inspection, conventional ultrasonic transverse wave inspection, eddy current inspection, ultrasonic diffraction time difference method, magnetic flux leakage inspection, underwater alternating current field detection and underwater ray detection after the scanning of the unmanned ship is finished, so as to obtain ROV detection data;
the position recording module is configured to record the position of the unmanned ship and the relative position between the ROV and the position of the unmanned ship in real time;
and the image integration module is configured to perform position matching on the reflected sound waves and the ROV detection data based on the relative position to obtain a combined detection image. It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process and related description of the system described above may refer to the corresponding process in the foregoing method embodiments, and will not be described herein again.
It should be noted that, the submarine pipeline detection system based on the unmanned ship equipped with an ROV provided in the foregoing embodiment is only illustrated by dividing the functional modules, and in practical applications, the above functions may be distributed by different functional modules as needed, that is, the modules or steps in the embodiments of the present invention are further decomposed or combined, for example, the modules in the foregoing embodiments may be combined into one module, or may be further split into multiple sub-modules, so as to complete all or part of the above described functions. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the modules or steps, and are not to be construed as unduly limiting the present invention.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes and related descriptions of the storage device and the processing device described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
Those of skill in the art will appreciate that the various illustrative modules, method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that programs corresponding to the software modules, method steps may be located in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. To clearly illustrate this interchangeability of electronic hardware and software, various illustrative components and steps have been described above generally in terms of their functionality. Whether these functions are performed in electronic hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing or implying a particular order or sequence.
The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can be within the protection scope of the invention.
Claims (10)
1. A submarine pipeline detection method based on an unmanned ship carrying an ROV (remote operated vehicle), which is characterized by comprising the following steps:
step S100, generating a navigation route of the unmanned ship based on a circuit diagram of a target submarine pipeline;
step S200, selecting an ROV launching position based on the navigation route of the unmanned ship;
step S300, the unmanned ship runs according to the navigation route, and releases the remote-control unmanned underwater vehicle ROV at the ROV throwing position;
s400, scanning the target submarine pipeline by the unmanned ship in real time in a sound wave multi-beam scanning and side scanning mode to obtain reflected sound waves;
step S500, after the scanning of the unmanned ship is finished, the remote control unmanned submersible ROV carries out short-range scanning on the target submarine pipeline in one or more modes of underwater image detection, underwater magnetic powder inspection, underwater conventional ultrasonic longitudinal wave inspection, conventional ultrasonic transverse wave inspection, eddy current inspection, ultrasonic diffraction time difference method, magnetic flux leakage inspection, underwater alternating current field detection and underwater ray inspection to obtain ROV detection data;
recording the position of the unmanned ship and the relative position between the ROV and the position of the unmanned ship in real time;
and S600, carrying out position matching on the reflected sound waves and the ROV detection data based on the relative position to obtain a combined detection image.
2. The method of claim 1, wherein the sailing route of the unmanned vehicle includes an along-pipeline stage, an along-one-side stage, and a turn-back scanning stage;
the pipeline following stage is specifically that the pipeline following stage sails from a first end of a target pipeline to a second end of the target pipeline from the position of the target pipeline on the water surface, and defines the sailing direction of the pipeline following stage as a positive direction and the opposite direction of the positive direction as a negative direction;
the first side distance along the position of the single-side stage, in particular along the target pipeline after the pipeline stage
Sailing in the negative direction and then moving in the positive direction from the second side of the position of the target pipeline; l represents the distance above the water surface in the single-sided stage and d represents the depth;
and a turning-back scanning stage, specifically, after the unilateral stage, the unmanned ship sails back and forth at the first side of the position of the target pipeline and the second side of the position of the target pipeline, moves a preset distance in the forward direction in the forward/backward direction each time, and the forward/backward routes are parallel and are at equal intervals each time.
3. The method for detecting the submarine pipeline based on the unmanned vehicle equipped with an ROV according to claim 2, wherein when a wave-shaped bulge displayed by the reflected sound wave is smaller than a preset threshold value or no expected sound wave is observed, the turning-back scanning stage is replaced by a turning-back scanning stage with a set included angle, specifically, the position of a target pipeline is cut by the preset included angle of a going/returning route.
4. The method of claim 1, wherein the ROV is a light-duty ROV with a maximum working depth of 1000m, and is connected to the unmanned vehicle through an umbilical line with 50 power.
5. The method for detecting the submarine pipeline according to claim 1, wherein the unmanned ship comprises a ship body and a remotely-controlled unmanned submersible vehicle (ROV), and the ship body is provided with a power device and a communication positioning device; the submarine body is provided with a load cabin at the bottom, the load cabin is used for installing submarine detection equipment, the submarine detection equipment sends detection sound waves downwards in real time, the detection sound waves are reflected to generate reflected sound waves after contacting a submarine pipeline, and the submarine detection equipment positions the submarine pipeline according to the reflected sound waves and forms submarine pipeline three-dimensional point cloud data; the remote-control unmanned submersible vehicle ROV is arranged in the load cabin through an ROV retracting device, and the remote-control unmanned submersible vehicle ROV is provided with an acousto-optic detection device and an ultra-short baseline underwater positioning device.
6. The method as claimed in claim 1, wherein the unmanned vehicle obtains the position of the unmanned vehicle through the positioning function of the GPS/Beidou system and the tide file, and communicates with the shore-end upper computer through a wireless network.
7. The method as claimed in claim 6, wherein the ROV is obtained by acquiring the relative position between the ROV and the position of the unmanned vehicle, and combining the position of the unmanned vehicle obtained by GPS/Beidou system;
and when the ROV position approaches the target submarine pipeline, starting short-range scanning, and when the distance of the relative position is greater than a preset communication threshold, controlling the unmanned ship to move towards the ROV direction of the unmanned remotely-operated vehicle until the distance of the relative position is less than a preset reliable communication threshold.
8. The submarine pipeline detection method based on the unmanned ship carrying the ROV according to claim 1, wherein the unmanned ship runs according to the sailing route, and further comprises the step of avoiding obstacles autonomously, specifically:
acquiring environmental information on a navigation route of the unmanned ship through a sensor;
judging whether an obstacle exists on the initial navigation route or not based on the environment information;
if the obstacle exists, judging whether the obstacle is a static obstacle or not according to the environmental information in a preset time period;
if the barrier is a static barrier, a new navigation route is re-planned through an A-star algorithm;
the new feasible route is obtained by calculating an expected angle according to the initial navigation route and generating a new navigation route based on the expected angle;
if the barrier is a dynamic barrier, calculating an expected angle based on the navigation route, predicting the driving direction of the barrier by a Velocity Obstacle method, and regenerating a new navigation route according to a maritime rule;
determining an obstacle avoidance direction through a maritime affair rule based on the new navigation route;
and calculating an accelerator rudder angle through a controller based on the obstacle avoidance direction, and executing the accelerator rudder angle to enable the unmanned ship to run along a new navigation route.
9. The method for subsea pipeline inspection based on an unmanned vehicle equipped with an ROV according to claim 1, wherein the unmanned vehicle travels along the sailing route, further comprising the step of autonomous control upon loss of connection:
s1, enabling the unmanned ship to run out, and monitoring working states of a power supply, a switch, an industrial personal computer and an antenna of the unmanned ship in real time;
s2, if the working states of the power supply, the switch, the industrial personal computer and the antenna are normal, the UDP heartbeat packet detects whether the upper computer at the bank end is communicated;
s3, if the shore end upper computer is not communicated, reconnecting until the unmanned ship is successfully communicated with the upper computer, and performing autonomous control or hovering in situ before the unmanned ship is successfully communicated;
s4, if the bank end upper computer is successfully communicated, the bank end upper computer obtains real-time data and displays the real-time data through a human-computer interaction interface, and the step is switched to S6;
s5, if the working states of the power supply, the exchanger, the industrial personal computer and the antenna are abnormal, entering the boat end for autonomous control, sending an interface control instruction to the unmanned boat by the shore end upper computer, and turning to S6;
s6, judging whether connection is successful and whether interface control is switched by the shore end upper computer, if so, turning to S7, and if not, turning to S1;
and S7, the shore end upper computer sends a navigation control command to navigate through the interface, and the unmanned ship executes the navigation control command, namely the interface control command.
10. A subsea pipeline inspection and detection system based on an unmanned vehicle carrying an ROV, the system comprising:
a sailing route generation module configured to generate a sailing route of the unmanned ship based on a line diagram of the target subsea pipeline;
the ROV launching position selecting module is configured to select an ROV launching position based on the navigation route of the unmanned ship;
the remote control unmanned underwater vehicle ROV launching module is configured to drive an unmanned ship according to the navigation route and release the remote control unmanned underwater vehicle ROV at the ROV launching position;
the real-time detection module comprises an unmanned ship scanning unit and an ROV scanning unit;
the unmanned ship scanning unit is configured to scan the target submarine pipeline in real time by means of sound wave multi-beam scanning and side scanning to obtain reflected sound waves;
the ROV scanning unit is configured to remotely control the ROV to perform short-range scanning on a target submarine pipeline in one or more modes of underwater image detection, underwater magnetic powder inspection, underwater conventional ultrasonic longitudinal wave inspection, conventional ultrasonic transverse wave inspection, eddy current inspection, ultrasonic diffraction time difference method, magnetic flux leakage inspection, underwater alternating current field detection and underwater ray detection after the scanning of the unmanned ship is completed, so as to obtain ROV detection data;
the position recording module is configured to record the position of the unmanned ship and the relative position between the ROV and the position of the unmanned ship in real time;
and the image integration module is configured to perform position matching on the reflected sound waves and the ROV detection data based on the relative position to obtain a combined detection image.
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| CN107065898A (en) * | 2016-12-06 | 2017-08-18 | 北京臻迪科技股份有限公司 | A kind of unmanned boat navigation control method and system under water |
| KR20180094286A (en) * | 2017-02-15 | 2018-08-23 | 국방과학연구소 | Path Planning System of Unmanned Surface Vehicle for Autonomous Tracking of Underwater Acoustic Target |
| CN114442652A (en) * | 2022-01-21 | 2022-05-06 | 大连海事大学 | Port facility three-dimensional inspection method and system based on air-sea submarine cross-domain collaboration |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107065898A (en) * | 2016-12-06 | 2017-08-18 | 北京臻迪科技股份有限公司 | A kind of unmanned boat navigation control method and system under water |
| KR20180094286A (en) * | 2017-02-15 | 2018-08-23 | 국방과학연구소 | Path Planning System of Unmanned Surface Vehicle for Autonomous Tracking of Underwater Acoustic Target |
| CN114442652A (en) * | 2022-01-21 | 2022-05-06 | 大连海事大学 | Port facility three-dimensional inspection method and system based on air-sea submarine cross-domain collaboration |
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