CN116951179A - Underwater continuous laying method for pipelines with and without counterweight - Google Patents
Underwater continuous laying method for pipelines with and without counterweight Download PDFInfo
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- CN116951179A CN116951179A CN202210397389.2A CN202210397389A CN116951179A CN 116951179 A CN116951179 A CN 116951179A CN 202210397389 A CN202210397389 A CN 202210397389A CN 116951179 A CN116951179 A CN 116951179A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 91
- 230000000903 blocking effect Effects 0.000 claims abstract description 43
- 230000008569 process Effects 0.000 claims abstract description 11
- 230000008859 change Effects 0.000 claims abstract description 5
- 230000007704 transition Effects 0.000 claims description 10
- 238000003466 welding Methods 0.000 claims description 8
- 230000001012 protector Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 description 10
- 238000002347 injection Methods 0.000 description 9
- 239000007924 injection Substances 0.000 description 9
- 238000004364 calculation method Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/12—Laying or reclaiming pipes on or under water
- F16L1/16—Laying or reclaiming pipes on or under water on the bottom
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/12—Laying or reclaiming pipes on or under water
- F16L1/20—Accessories therefor, e.g. floats, weights
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/12—Laying or reclaiming pipes on or under water
- F16L1/20—Accessories therefor, e.g. floats, weights
- F16L1/202—Accessories therefor, e.g. floats, weights fixed on or to vessels
- F16L1/205—Pipe-laying ships
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/12—Laying or reclaiming pipes on or under water
- F16L1/20—Accessories therefor, e.g. floats, weights
- F16L1/202—Accessories therefor, e.g. floats, weights fixed on or to vessels
- F16L1/207—Pipe handling apparatus
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/12—Laying or reclaiming pipes on or under water
- F16L1/20—Accessories therefor, e.g. floats, weights
- F16L1/23—Pipe tensioning apparatus
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/18—Network design, e.g. design based on topological or interconnect aspects of utility systems, piping, heating ventilation air conditioning [HVAC] or cabling
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2113/00—Details relating to the application field
- G06F2113/14—Pipes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Geometry (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Computer Networks & Wireless Communication (AREA)
- Pure & Applied Mathematics (AREA)
- Mathematical Optimization (AREA)
- Mathematical Analysis (AREA)
- Computational Mathematics (AREA)
- Underground Or Underwater Handling Of Building Materials (AREA)
Abstract
The application relates to an underwater continuous laying method for pipelines with and without counterweight, which comprises the following steps: carrying out underwater laying of non-counterweight pipelines, wherein the laying length is simulated and analyzed according to routing wave flow conditions, water depth change trend and simulation software, so that pipeline laying stress, strain and local buckling of the pipelines are in an allowable range in the process of launching; the non-counterweight pipeline is internally provided with a first water blocking structure in advance, and a one-way air release valve is arranged on the first water blocking structure; paving a counterweight pipeline, wherein a second water blocking structure is pre-installed in the counterweight pipeline, and water is injected into the paved non-counterweight pipeline, so that air in the non-counterweight pipeline is discharged to the direction of the counterweight pipeline through a one-way air release valve, and in the process of air discharge, air pressure pushes the first water blocking structure to move to the direction of the counterweight pipeline until the air in the non-counterweight pipeline is discharged between the first water blocking structure and the second water blocking structure through the one-way air release valve; the application can meet the engineering quality and reduce the cost.
Description
Technical Field
The application belongs to the technical field of ocean engineering, and particularly relates to an underwater continuous laying method for a pipeline with or without a counterweight.
Background
Typically the subsea pipeline is either entirely non-weighted or entirely weighted. The general no counter weight pipeline is applicable to wave current condition better, and the water depth is 0 ~ 25 meters's engineering project, and the area counter weight pipeline can carry out counter weight thickness design according to specific engineering condition. If one project has both a non-weighted pipeline and a weighted pipeline, the pipeline is laid after one pipeline is laid, and finally the pipeline is connected. However, the method is undoubtedly added with a marine connector, and the construction difficulty and risk are high whether the marine connector is lifted out of the sea to be welded on water or connected in a submarine expansion bend mode.
Considering that the cost of the concrete counterweight is high, combining project routing wave flow conditions and water depth and the current domestic submarine pipeline counterweight-free construction case, the application creatively provides a counterweight-free and counterweight-equipped installation scheme, reduces the pipeline purchasing cost and reduces the pipeline laying difficulty and engineering risk.
Disclosure of Invention
The application solves the technical problems by adopting the following technical scheme:
an underwater continuous laying method for pipelines with and without counterweight comprises the following steps:
the underwater sequential laying of the non-counterweight pipelines is carried out, and the laying length is simulated and analyzed according to the routing wave flow condition, the water depth change trend and simulation software, so that the pipeline laying stress, strain and local buckling of the pipelines in the launching process are within the allowable range; the non-counterweight pipeline is internally provided with a first water blocking structure in advance, and a one-way air release valve is arranged on the first water blocking structure;
and paving the counterweight pipelines, wherein a second water blocking structure is arranged in the counterweight pipelines in advance, and water is injected into the paved non-counterweight pipelines, so that air in the non-counterweight pipelines is discharged to the counterweight pipelines through the one-way air release valve, and in the exhaust process, the air pressure can push the first water blocking structure to move to the direction of the counterweight pipelines until the air in the non-counterweight pipelines is discharged to a space between the first water blocking structure and the second water blocking structure through the one-way air release valve.
Furthermore, the non-counterweight pipelines and the counterweight pipelines are welded one by one through the assembly line on the pipe-laying ship, and the pipelines are horizontally laid on the sea floor after the welding is finished through moving the pipe-laying ship.
Furthermore, a transition protector is arranged on the non-counterweight pipeline to realize the transition of different pipe diameters of the non-counterweight pipeline and the counterweight pipeline, so that the non-counterweight pipeline and the counterweight pipeline can pass through the tensioner.
Further, the first water blocking structure can freely move in the non-counterweight pipeline and can prevent water from passing through.
Further, the second water blocking structure is installed in the weight pipe and can block water from passing through.
Further, the simulation software adopts OFFPIPE software.
The application has the advantages and positive effects that:
through intensive research on route wave flow conditions and water depth change trends, the method provided by the application analyzes pipeline laying stress, strain and local buckling in detail, can realize laying of a submarine pipeline without counterweight and with counterweight, and meanwhile, the laying mode is feasible, can meet engineering quality, reduces cost and minimizes engineering risks.
Drawings
The technical solution of the present application will be described in further detail below with reference to the accompanying drawings and examples, but it should be understood that these drawings are designed for the purpose of illustration only and thus are not limiting the scope of the present application. Moreover, unless specifically indicated otherwise, the drawings are intended to conceptually illustrate the structural configurations described herein and are not necessarily drawn to scale.
Fig. 1 is a schematic illustration showing steps in connection between a weighted pipe and a non-weighted pipe according to an embodiment of the present application;
FIG. 2 is a schematic illustration showing a step-by-step process when a weighted pipe is connected to a non-weighted pipe according to an embodiment of the present application;
FIG. 3 is a schematic illustration showing a step-wise process of connecting a weighted pipe to a non-weighted pipe according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a joint between a mounted counterweight pipe and a non-counterweight pipe according to an embodiment of the application.
Detailed Description
First, it should be noted that the following detailed description of the specific structure, characteristics, advantages, and the like of the present application will be given by way of example, however, all descriptions are merely illustrative, and should not be construed as limiting the present application in any way. Furthermore, any single feature described or implicit in the embodiments referred to herein may still be combined or truncated in any way between such features (or equivalents thereof) to obtain still further embodiments of the application that may not be directly referred to herein.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
Example 1
The application provides an underwater continuous laying method for pipelines with and without counterweight, which comprises the following steps:
the underwater sequential laying of the non-counterweight pipelines is carried out, and the laying length is simulated and analyzed according to the routing wave flow condition, the water depth change trend and simulation software, so that the pipeline laying stress, strain and local buckling of the pipelines in the launching process are within the allowable range; the non-counterweight pipeline is internally provided with a first water blocking structure in advance, and a one-way air release valve is arranged on the first water blocking structure;
and paving the counterweight pipelines, wherein a second water blocking structure is arranged in the counterweight pipelines in advance, and water is injected into the paved non-counterweight pipelines, so that air in the non-counterweight pipelines is discharged to the counterweight pipelines through the one-way air release valve, and in the exhaust process, the air pressure can push the first water blocking structure to move to the direction of the counterweight pipelines until the air in the non-counterweight pipelines is discharged to a space between the first water blocking structure and the second water blocking structure through the one-way air release valve.
Specifically, welding the non-counterweight pipelines and the counterweight pipelines one by one through a production line on a pipe-laying ship, and horizontally placing the pipelines to the sea floor through moving the pipe-laying ship after the welding; installing a transition protector on the non-counterweight pipeline to realize the transition of different pipe diameters of the non-counterweight pipeline and the counterweight pipeline so that the non-counterweight pipeline and the counterweight pipeline can pass through the tensioner; the first water blocking structure can freely move in the non-counterweight pipeline and can prevent water from passing through; the second water blocking structure is arranged in the counterweight pipeline and can prevent water from passing through; the simulation software adopts OFFPIPE software.
Example 2
The embodiment takes the tail water sea drainage engineering of a sewage treatment plant in a Yijiang county-Kong economic technology development area as an example for illustration:
after the counterweight of the front 6Km of the project is cancelled, in the range of the front 3Km, the pipeline can be normally laid in a full water state according to the routing water depth, and the stress of the pipeline is in the allowable range through simulation and analysis of OFFPIPE software; however, water cannot be filled between KP3 and KP6, so that the pipeline is excessively stressed due to the full water, buckling damage occurs, the water injection quantity needs to be controlled, the water is accurately injected, and the stability of the pipeline is ensured;
when the pipe-laying ship is used for water injection and laying during construction, when the ship is moved every time, water injection is started when the root welding of the next pipeline is finished, the total length of the water injection and laying pipeline is 5885m, and the water injection liquid level height in the rising pipe is calculated by OFFPIPE and is within the range of 0 m-6 m, so that the normal laying stress requirement of the pipeline is met.
Installing water blocking balls realizes water blocking construction of different pipe sections: the weight of the pipeline without the counterweight is light under water, and if a certain amount of air exists in the pipeline, the pipeline can not sink, and the pipeline floats upwards; the back 7Km is the counter weight pipeline, if the inside water injection of counter weight pipeline, then pipeline weight increases, and the pipeline buckling is caused to the pipeline buckling that the pipeline is gone into to the pipe laying ship stinger, and the stinger damage consequently, needs to prevent water to enter into the counter weight pipeline through the structure that blocks water, and specific method is:
the method for controlling the air position at the joint of the non-counterweight pipelines and the counterweight pipelines is adopted for continuous paving: the position of the air column is controlled by adopting a mode of double water blocking balls and one-way valves, so that the method of original expansion bend and slow exhaust to the near shore section is replaced, the construction period is saved compared with the method of installing the expansion bend, and the cost is lower; specifically, the scheme is that a check valve (DN 150 opening pressure is 2 KPa) is arranged in the middle of the first water blocking structure and is used for exhausting air and preventing air from leaking, and a second water blocking ball is arranged in the counterweight pipe to prevent water from entering the counterweight pipe.
The different pipe diameters of the non-counterweight pipe and the counterweight pipe are in smooth transition on the tensioner: because the pipe diameters of the non-counterweight pipe and the counterweight pipe are different, the pipe diameter of the non-counterweight pipe is 1219mm, the pipe diameter of the counterweight pipe is 1379mm, the tensioner transition is needed to be considered, and the transition protector is bound on the non-counterweight pipe, so that the smooth transition of the non-counterweight pipe and the counterweight pipe with different pipe diameters is realized, and the non-counterweight pipe and the counterweight pipe smoothly pass through the tensioner.
To sum up, the general flow of the construction of the present embodiment involving the position near KP6 where the pipeline is located is as follows:
(1) the KP5.841, 5.878 and 5.915 is provided with 3t buoys (reciprocal 7/10/13 non-weighted pipelines, pipe numbers 466/469/472);
(2) KP5.951 welded non-weighted pipe (4 non-weighted pipe, pipe number 475) of the first water-blocking ball 1 with one-way bleed valve;
(3) continuously welding 3 non-counterweight pipelines; (tube numbers 476-478);
(4) continuously welding 7 weight pipelines (the pipeline numbers 479-485);
(5) after the third pontoon is filled with water, the middle oil pipeline 681 is disassembled to control water injection equipment at the near shore section (a blind plate can be installed in advance but water is kept to be filled);
(6) welding a counterweight pipeline (8 th counterweight pipeline and pipeline number 486) with the second water blocking ball 2, and closing an underwater valve by the medium oil pipeline 681, and sealing a blind plate to ensure water tightness;
(7) and continuing the normal laying procedure, and arranging the diver to observe the contact condition of the tail end of the stinger after 18 weight pipelines are laid.
It should be noted that, when the counterweight pipe is connected with the non-counterweight pipe, the step-by-step schematic diagrams are shown in fig. 1-3, after the counterweight pipe is installed for draining, the air in the non-counterweight pipe a is discharged to the direction of the counterweight pipe through the one-way air release valve, and in the process of exhausting, the air pressure pushes the first water blocking structure to move to the direction of the counterweight pipe B until the air pressures at both sides of the first water blocking structure and the second water blocking structure reach equilibrium, see fig. 4 in particular.
After the pipeline is installed, the installation effect is verified regularly:
(1) 2021-1-23-16:30, KP6.248 was first validated, at a water depth of 31m
The 498 th crossing of the working line is being assembled, and according to the underwater exploratory contact condition, the pipeline is about 1m away from the S12 carrier roller and about 0.7m away from the S11 carrier roller, and is matched with the calculation result of 8m of inflow water in a contrasting way; at present, the first water blocking ball is positioned at 26m under water, and is also provided with 4 pipes apart from the mud touch, the second water blocking ball is positioned at 7m under water, and is also provided with 12 pipes apart from the mud touch;
(2) 2021-1-24-8:00, KP6.506 second verification
The 519 th crossing of the working line is being assembled, the distance between the pipeline and the S12 carrier roller is about 0.6m, the distance between the pipeline and the S11 carrier roller is about 0.4m, and the distance between the pipeline and the S10 carrier roller is about 0.25 m;
(3) 2021-1-25-10:00, KP6.966, a third verification, at a water depth of 31m
The 556 th crossing of the working line is being assembled, the pipeline is about 0.6m away from the S12 carrier roller, about 0.4m away from the S11 carrier roller, about 0.25m away from the S10 carrier roller, and the total length 278m of the bent section is basically consistent with the theoretical calculation of 0.8m, 0.5m, 0.3m and 278.2 m;
through the submerged exploration, the sinking amount of the water injection non-counterweight pipeline on the seabed is 1m, the sinking amount of the counterweight pipeline is 200mm, and from another aspect, the water blocking ball is verified to block water: if the counterweight pipeline is filled with water, the counterweight pipeline is heavier than the water injection non-counterweight pipeline, and the two pipelines have height differences at present, so that the water blocking ball is difficult to move backwards; the pipeline mud-applying point data and the stinger data are consistent with calculation, and through three continuous days of diving exploration, the method provided by the application has the advantages that compared with other methods, the efficiency is improved, the cost is reduced, the installation risk is reduced to the minimum, a new construction method is provided for similar projects in future, the technology creatively adopts a mode of double water-blocking balls and one-way valves to block water flow to control the position of an air column, continuous laying is ensured to replace the original gas pipeline expansion bend, the construction period is saved compared with the expansion bend and a short section, the cost is lower, and success in actual construction is achieved, and a large amount of cost and construction period are saved.
The foregoing examples illustrate the application in detail, but are merely preferred embodiments of the application and are not to be construed as limiting the scope of the application. All equivalent changes and modifications within the scope of the present application are intended to be covered by the present application.
Claims (6)
1. The underwater continuous laying method for the pipelines with and without the counterweight is characterized by comprising the following steps of:
the underwater sequential laying of the non-counterweight pipelines is carried out, and the laying length is simulated and analyzed according to the routing wave flow condition, the water depth change trend and simulation software, so that the pipeline laying stress, strain and local buckling of the pipelines in the launching process are within the allowable range; the non-counterweight pipeline is internally provided with a first water blocking structure in advance, and a one-way air release valve is arranged on the first water blocking structure;
and paving the counterweight pipelines, wherein a second water blocking structure is arranged in the counterweight pipelines in advance, and water is injected into the paved non-counterweight pipelines, so that air in the non-counterweight pipelines is discharged to the counterweight pipelines through the one-way air release valve, and in the exhaust process, the air pressure can push the first water blocking structure to move to the direction of the counterweight pipelines until the air in the non-counterweight pipelines is discharged to a space between the first water blocking structure and the second water blocking structure through the one-way air release valve.
2. The underwater continuous laying method for the pipelines with and without the counterweight according to claim 1, characterized in that: the non-counterweight pipelines and the counterweight pipelines are welded one by one through a production line on the pipe-laying ship, and the pipelines are flatly laid on the sea floor through moving the pipe-laying ship after the welding.
3. The underwater continuous laying method for the pipelines with and without the counterweight according to claim 1, characterized in that: and installing a transition protector on the non-counterweight pipeline to realize the transition of different pipe diameters of the non-counterweight pipeline and the counterweight pipeline, so that the non-counterweight pipeline and the counterweight pipeline can pass through the tensioner.
4. The underwater continuous laying method for the pipelines with and without the counterweight according to claim 1, characterized in that: the first water blocking structure can freely move in the non-counterweight pipeline and can prevent water from passing through.
5. The underwater continuous laying method for the pipelines with and without the counterweight according to claim 1, characterized in that: the second water blocking structure is installed in the counterweight pipe and can prevent water from passing through.
6. The underwater continuous laying method for the pipelines with and without the counterweight according to claim 1, characterized in that: the simulation software adopts OFFPIPE software.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210397389.2A CN116951179A (en) | 2022-04-15 | 2022-04-15 | Underwater continuous laying method for pipelines with and without counterweight |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210397389.2A CN116951179A (en) | 2022-04-15 | 2022-04-15 | Underwater continuous laying method for pipelines with and without counterweight |
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| Publication Number | Publication Date |
|---|---|
| CN116951179A true CN116951179A (en) | 2023-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210397389.2A Pending CN116951179A (en) | 2022-04-15 | 2022-04-15 | Underwater continuous laying method for pipelines with and without counterweight |
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