CN214776471U - Underwater robot for oil-gas pipeline inspection - Google Patents

Abstract

The utility model discloses an underwater robot for oil and gas pipeline inspection, which comprises a shell, a crawler chassis, a propulsion system and a carrying inspection device; the tail part of the shell is provided with an anti-collision guide cover, the left side and the right side of the middle part of the shell are symmetrically provided with two balance floating bodies, and a control towing cable is fixedly arranged on the right front surface of the shell; the propulsion system comprises a water inlet channel and a propeller; the crawler chassis is arranged on the lower abdomen of the shell. The underwater robot for inspecting the oil and gas pipelines is specially designed for shallow sea, turbid and torrent areas and can quickly inspect submarine pipelines.

Description

Underwater robot for oil-gas pipeline inspection

Technical Field

The utility model relates to an underwater robot field, concretely relates to oil gas pipeline patrols and examines and uses underwater robot.

Background

The submarine pipeline is a main artery for offshore oil and gas transportation, is an important component of an offshore oil and gas field, is easily influenced by various complex factors such as fishery activities, geological disasters and the like due to long-term work in a marine complex environment, has the conditions of suspension, plane displacement, pipe body damage and the like, and can cause serious environmental pollution once leakage, thereby causing great threat to the environment and production. On the other hand, the laying history of submarine pipelines in China has been decades, and the early submarine pipelines have or are about to exceed the designed service life. Therefore, the accurate detection of the state and position of the submarine pipeline is very important for preventing and eliminating potential safety hazards.

The traditional annual pipeline inspection method is a working mode of fixed-point inspection of a towed side-scan sonar and an underwater robot. I.e., requiring two contractors to complete separate but associated inspection activities in a single task. The first contractor used a DP1 grade geophysical survey vessel equipped with a towed side scan sonar for acoustic, open water pipeline inspection. The sonar data collected was processed and interpreted to identify the most likely anomalies, and then another contractor was asked to conduct a 500 meter routine visual inspection of each point using a DP2 support vessel and a work-level remotely operated unmanned vehicle (ROV), which was both physically and time consuming.

The Autonomous Underwater Vehicle (AUV) is easy to lose on the seabed, the function is not as reliable as that of an ROV, and the general autonomous underwater vehicle is not suitable for being provided with a large-scale sensor, such as a pipeline tracker and the like, so that the navigation precision of the autonomous underwater vehicle has high requirements, the autonomous underwater vehicle still cannot be supported by a mother ship in high-precision operation, the battery capacity is limited, and the autonomous underwater vehicle needs to be replaced regularly, so that the AUV is suitable for being close to exploration in deep sea.

In contrast, a working grade ROV is an extremely versatile underwater vehicle, but its awkward shape limits speed to 1.5 knots and is susceptible to disturbances in high ocean current conditions. After the acoustic survey activity is finished, the ROV field diving activity is adopted, time is consumed, the effect is not good, and due to misjudgment of side scanning data, it is common that the survey target cannot be found in a diving mode.

With the increasing maturity of acoustic sensors such as multi-beam depth sounders, shallow layer profilers and side scan sonar, the effective distance measurement of the acoustic sensors exceeds 50m, and a detection tool is not a bottleneck for restricting the inspection of seabed oil and gas pipelines. How to carry on these detection tools to carry out long-term, frequent oil gas pipeline inspection operation with high intensity and carry out high-efficient, accurate multi-sensor detection data processing becomes the problem that needs to be solved urgently at present.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art, the utility model provides an oil gas pipeline patrols and examines and uses underwater robot, it is shallow sea, muddy, torrent water field design specially, can patrol and examine submarine pipeline fast.

The utility model discloses the technical scheme who adopts as follows:

an underwater robot for inspecting oil and gas pipelines comprises a shell, a crawler chassis, a propulsion system and a carrying inspection device;

the shell adopts a more smooth hydrodynamic layout, the tail part of the shell is provided with an anti-collision air guide sleeve, the left side and the right side of the middle part of the shell are symmetrically provided with two balance floating bodies which can be disassembled, a plurality of electronic bins are arranged at the lower part of the inner part of an enclosure of the balance floating bodies to form a tumbler stable structure with a light top and a heavy bottom, the top surfaces of the two balance floating bodies are respectively provided with a vertical stabilizing wing, the two vertical stabilizing wings are mutually symmetrical, the top surface of the middle part of the shell is fixedly provided with a lifting hook, the front part of the shell is provided with a rudder, the left side and the right side of the middle part of the rudder are symmetrically provided with two regulating horizontal wings, the inside of the rudder is provided with a rudder controller and a horizontal wing controller, the rudder controller is electrically connected with the rudder and controls the direction of the rudder, the horizontal wing controller is electrically connected with the regulating horizontal wings and controls the regulating horizontal wing to regulate the angle, the top end of the front part of the rudder is provided with an underwater positioning system, a control towing cable is fixedly arranged on the right front surface of the shell, is a photoelectric and tension composite towing cable, and can provide buoyancy and tension as well as power and keep signals transmitted up and down;

the propulsion system comprises a water inlet channel and a propeller, wherein the rear end of the shell is symmetrically provided with a horizontal water inlet channel A, B, the front end of the shell is symmetrically provided with a horizontal water inlet channel C, D, and a horizontal propeller A, B, C, D is fixedly arranged in the horizontal water inlet channel A, B, C, D; four vertical water inlet channels are symmetrically arranged at the front end and the rear end of the shell in the vertical direction, and vertical propellers are fixedly arranged in the four vertical water inlet channels respectively;

furthermore, two strengthening propellers are symmetrically arranged at the lower end of the front part of the shell in an external mode, the strengthening propeller propellers are auxiliary bodies, when the tugboat mode enters a fine detection stage, the tugboat stops, the robot actively detects, the propelling force is small, the strengthening propeller propellers are opened to play a role in boosting when the tugboat is in a straight line navigation, and the strengthening propeller propellers are closed when fine operation is carried out after a target is approached;

the carrying inspection equipment comprises rotary illumination camera devices arranged on the front, the rear, the left and the right of an abdomen under the shell, a forward-looking image sonar arranged in the front of the abdomen under the shell, a seabed ranging collision avoidance sonar arranged at the front end of the bottom of the abdomen under the shell, a shallow stratum profiler arranged behind the seabed ranging sonar, a side scan sonar arranged under a crawler chassis for hanging, a laser scale arranged on the side scan sonar, an ultrahigh resolution static camera arranged on the rear end face of the abdomen under the shell, flash lamps arranged on the left and the right of the ultrahigh resolution static camera, and an ultrahigh resolution 4K camera arranged at the tail end of the shell. The carrying inspection equipment is controlled by the control towrope.

The crawler chassis is arranged on the lower abdomen of the shell.

Furthermore, when the buried pipeline and the submarine cable with the depth more than one meter are detected, the underwater sound detection effect is poor, a TSS440 pipe cable tracker needs to be additionally arranged at the front end of the shell, the TSS440 pipe cable tracker adopts electromagnetic waves which emit specific frequency spectrum combinations to the seabed, and parameters such as the trend, the thickness and the buried depth of the buried pipeline and the submarine cable are calculated by detecting and recovering signals. However, since seawater has strong shielding and attenuation properties to electromagnetic waves, it is necessary to make the antenna as close as possible to the seabed to listen to signals. Because three antenna coils of the TSS440 umbilical cable tracker are heavy and need to keep a distance of more than 2 meters with the parent body in order to prevent electromagnetic signal interference, a buoyancy block is additionally arranged on a suspension arm of the TSS440 umbilical cable tracker to balance weight distribution and prevent the weight of the head and feet from being light.

Furthermore, the shell is made of carbon fiber materials.

Compared with the prior art, the utility model, its beneficial effect does:

1. the characteristics of a common ROV and an AUV are considered, the appearance of the AUV and the control of the ROV greatly improve the efficiency.

2. The system has two functions of quick check and fine check, the problems can be checked by one voyage, and the construction period and the sea cost are saved.

3. The seawater resistance is reduced, the appearance is designed to be in the hydrodynamic layout which is as smooth as the airplane, and the water inlet channel of the propeller is reasonable in layout. The working speed of the acoustic measurement of the pipeline can be estimated to be 5 sections, and the acoustic measurement device can adapt to the highest 6-grade severe sea conditions and is 2-3 times of the inspection speed of an ordinary ROV or AUV.

4. The carbon fiber shell is light and firm, and is convenient for hoisting and placing on and off the ship.

5. The real-time on-line inspection provides seabed inspection data, and the remote measurement data is synchronously transmitted to the water surface monitoring station through optical fibers. When a problem is found, the vehicle can be stopped in time to put in fixed-point detailed examination, and the quick examination can be immediately replied after the fine examination is finished.

6. The optical fiber transmission, the transmission and exchange bandwidth of information and data are large, and the quality of the collected data is high.

7. In order to effectively control the stability of underwater height, the design of an upper enclosure of the nuclear submarine is adopted, adjustable horizontal wings and a rudder are arranged, the angle of the horizontal wings is adjusted at any time according to the numerical value of a submarine ranging sonar, and the underwater submarine smoothly passes through the sea like an airplane.

8. The front section is provided with an elastic anti-collision flow guide cover, so that the resistance is reduced, and the collision is prevented.

9. The abdominal skin is provided with holes at different positions, so that sensors with different functions can be conveniently arranged. And a plurality of sensors are arranged at the same time, so that a plurality of problems are solved by one voyage.

10. 10 high thrust propellers are provided. The 4 horizontal vectors are arranged, are responsible for any angle translation in the horizontal directions such as front and back, left and right and the like, and can turn left and right; in addition, 4 vertical layouts are responsible for ascending and descending movement, the body can be adjusted to climb and pitch postures, and the underwater fixed-point detailed exploration device has stable hovering capability. Two rear reinforced advancing thrusts.

11. The complicated multi-propeller design can effectively overcome the yaw influence of the ocean current on the towed body with the aid of software.

12. The submarine crawling track designed to be in the shape of the aircraft landing gear can form a ground grabbing force under the action of 4 vertical propellers at the back, and a stable and clear video picture is formed by attaching the track to a seabed for approaching observation. Strong currents may exist in some damaged sea areas. The machine can resist strong water flow under the combined action of 4 horizontal vector propellers and 2 strengthening propellers at the tail end.

13. The gravity center and the floating center are reasonably arranged, and the underwater high-speed stable navigation device is suitable for underwater high-speed stable navigation.

14. By adopting control software, the device can turn on site and move left and right, can accurately control the ground clearance, can correct course alignment survey lines, greatly saves the time for turning and aligning the survey lines, and has high measurement accuracy.

15. The three-dimensional image model can also enable a user to better understand the relationship between the pipeline and the auxiliary structure thereof and the seabed, and great convenience is brought to construction and repair.

16. More sensors can be carried. The system comprises the prior sensors (MBES, SSS, HD camera, pipeline tracker), new sensors (UHD static camera, laser scale, three-dimensional laser imager, ultra-high definition camera) and the like.

17. The power is sufficient, and the power supply for complex detection equipment and large operation can be met.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

Fig. 2 is a schematic cross-sectional view of the structure of the embodiment of the present invention.

Fig. 3 is a schematic structural arrangement diagram of a propulsion system according to an embodiment of the present invention.

Fig. 4 is the utility model discloses carry on and patrol and examine equipment structure and arrange the schematic diagram.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention can be embodied in many different forms other than those specifically described herein, and it will be apparent to those skilled in the art that similar modifications can be made without departing from the spirit and scope of the invention, and it is therefore not to be limited to the specific embodiments disclosed below.

Example 1

The present invention will be described in further detail with reference to the accompanying drawings 1-4 and the embodiments thereof.

An underwater robot for inspecting an oil-gas pipeline comprises a shell 1, a crawler chassis 2, a propulsion system and a carrying inspection device;

the shell 1 adopts a more smooth hydrodynamic layout, the tail part of the shell is provided with an anti-collision air guide sleeve 11, the left side and the right side of the middle part of the shell are symmetrically provided with two balance floating bodies 12, the balance floating bodies 12 can be disassembled, a plurality of electronic bins are arranged at the lower part of the inner part of the enclosing shell of the balance floating bodies 12 to form a tumbler stable structure with a light top and a heavy bottom, the top surfaces of the two balance floating bodies 12 are respectively provided with a vertical stabilizing wing 13, the two vertical stabilizing wings are mutually symmetrical, the top surface of the middle part of the shell 1 is fixedly provided with a lifting hook 14, the front part of the shell 1 is provided with a rudder 15, the left side and the right side of the middle part of the rudder 15 are symmetrically provided with two regulating horizontal wings 16, the rudder 15 is internally provided with a rudder controller 17 and a horizontal wing controller 18, the rudder controller 17 is electrically connected with the rudder 15 and controls the direction of the rudder 15, the horizontal wing controller 18 is electrically connected with the regulating horizontal wings 16 and controls the angle of the horizontal wings 16, a short-baseline underwater acoustic positioner 19 is arranged at the top end of the front part of the rudder 15, a satellite water surface positioning antenna 19A is arranged on the top of the rear part of the rudder 15, the short-baseline underwater acoustic positioner 19 and the satellite water surface positioning antenna 19A are both electrically connected with the rudder 15, and a control towing cable 10 is fixedly arranged right in front of the shell 1;

the propulsion system comprises a water inlet channel and a propeller, wherein a horizontal water inlet channel A31 and a horizontal water inlet channel B32 are symmetrically arranged at the rear end of the shell 1, a horizontal water inlet channel C33 and a horizontal water inlet channel D34 are symmetrically arranged at the front end of the shell, and a horizontal propeller A35, a horizontal propeller B36, a horizontal propeller C37 and a horizontal propeller D38 are fixedly arranged in the horizontal water inlet channel A, B, C, D; four vertical water inlet channels 39 are symmetrically arranged at the front end and the rear end of the shell 1 in the vertical direction, and vertical propellers 30 are respectively and fixedly arranged in the four vertical water inlet channels 39;

two strengthening propellers 101 are symmetrically arranged at the lower end of the front part of the shell in an external mode, the strengthening propeller propellers are auxiliary bodies, when the tugboat mode enters a fine detection stage, the tugboat stops at the time, the robot actively detects, the propelling force is small, the strengthening propeller propellers are opened when the tugboat is in a straight line navigation, the strengthening effect is achieved, and the strengthening propeller propellers are closed when fine operation is performed after a target is approached);

the inspection equipment includes rotary illumination cameras 41 provided on the front, rear, left and right sides of the lower abdomen of the housing, a forward-looking image sonar 42 provided in the front part of the lower abdomen of the housing, a submarine ranging and collision avoidance sonar 43 provided on the front end of the bottom surface of the lower abdomen of the housing, a shallow profiler 44 provided behind the submarine ranging sonar, a side scan sonar 45 suspended under a crawler chassis, a laser scale 46 provided on the side scan sonar, an ultra-high resolution still camera 47 provided on the rear end surface of the lower abdomen of the housing, flash lamps 48 provided on the left and right sides of the ultra-high resolution still camera, and an ultra-high resolution 4K camera 49 provided on the rear end of the housing. The carrying inspection equipment is directly purchased by the market, and the structure of the carrying inspection equipment is not described in detail herein.

The crawler chassis 2 is arranged at the lower abdomen part of the shell 1.

In this embodiment, the crawler chassis 2 is a lightweight underwater crawler chassis (patent application No. 2020107070871) produced by Qingdao sea-chasing robot Limited.

In addition, when the buried pipeline and the submarine cable are detected with the buried depth more than one meter, the underwater sound detection effect is poor, the TSS440 pipe cable tracker 5 needs to be additionally arranged at the front end of the shell, the TSS440 pipe cable tracker 5 emits electromagnetic waves with specific frequency spectrum combination to the seabed, and parameters such as the trend, the thickness and the buried depth of the buried pipeline and the submarine cable are calculated by detecting and recovering signals. However, since seawater has strong shielding and attenuation properties to electromagnetic waves, it is necessary to make the antenna as close as possible to the seabed to listen to signals. Because three antenna coils of the TSS440 umbilical cable tracker are heavy and need to keep a distance of more than 2 meters from the parent body in order to prevent electromagnetic signal interference, a buoyancy block 51 is additionally arranged on a suspension arm of the TSS440 umbilical cable tracker to balance weight distribution and prevent the weight of the head and feet from being light.

The flow of using the underwater robot for oil and gas pipeline inspection to perform shallow bottom profiler detection is as follows:

before operation, planning the path of a tugboat according to the coordinates of a construction drawing, hoisting and placing an ROV to a working sea area, carrying out position calibration through a Beidou signal device at the top of the ROV after normal drag and drop entering, carrying out quick common sweeping, releasing a towing cable with a proper length as required, setting the working height above the ground, and then automatically navigating and measuring the buried pipeline. When a suspicious point is found in common sweeping, the tugboat is stopped immediately, a cable car on the tugboat is operated to release a proper long cable, the ROV is controlled to sail backwards to the suspicious position, the height is reduced slowly, the suspicious area is taken a picture in a spiral mode, then the tugboat falls to the ground on one side, water is sprayed from the back of the suspicious area to generate downward ground grabbing force, and the suspicious area is driven by a crawler belt to approach slowly to carry out fine shooting; after shooting, the camera takes off and falls to the other side, and the crawler belt drives the camera to carry out fine shooting, so that detailed and clear video data can be obtained. Then the vehicle is lifted to a proper height above the ground, and the tugboat is continuously started for normal sweeping. And (5) recovering the ROV to the ship after the normal sweep is finished.

The above, only be the concrete implementation of the preferred embodiment of the utility model, but the scope of protection of the utility model is not limited to this, and any technical personnel familiar with this technical field are in the technical scope of the utility model discloses, according to the technical scheme of the utility model and the utility model concept equivalence substitution or change, all should be covered within the scope of protection of the utility model.

Claims (4)

1. The utility model provides an oil gas pipeline patrols and examines and uses underwater robot which characterized in that: the device comprises a shell, a crawler chassis, a propulsion system and a carrying inspection device;

the rear part of the shell is provided with an anti-collision guide cover, the left side and the right side of the middle part of the shell are symmetrically provided with two balance floating bodies, a plurality of electronic bins are arranged on the inner lower part of an enclosure of the balance floating bodies to form a light-top-heavy-bottom structure, the top surfaces of the two balance floating bodies are respectively provided with a vertical stabilizing wing, the two vertical stabilizing wings are mutually symmetrical, a lifting hook is fixedly arranged on the top surface of the middle part of the shell, the front part of the shell is provided with a rudder, the left side and the right side of the middle part of the rudder are symmetrically provided with two regulating horizontal wings, a rudder controller and a horizontal wing controller are assembled in the rudder, the rudder controller is electrically connected with the rudder and controls the direction of the rudder, the horizontal wing controller is electrically connected with the regulating horizontal wings and controls the regulating horizontal wings to regulate the angle, the top end of the front part of the rudder is provided with an underwater positioning system, and a control towing cable is fixedly arranged on the front surface of the shell;

the propulsion system comprises a water inlet channel and a propeller, wherein the rear end of the shell is symmetrically provided with a horizontal water inlet channel A, B, the front end of the shell is symmetrically provided with a horizontal water inlet channel C, D, and a horizontal propeller A, B, C, D is fixedly installed in the horizontal water inlet channel A, B, C, D; four vertical water inlet channels are symmetrically arranged at the front end and the rear end of the shell in the vertical direction, and vertical propellers are fixedly arranged in the four vertical water inlet channels respectively;

the carrying inspection equipment comprises rotary illumination camera devices arranged on the front side, the rear side, the left side and the right side of the lower abdomen of the shell, a three-dimensional front-view sonar arranged in the front part of the lower abdomen of the shell, a seabed ranging sonar arranged at the front end of the bottom surface of the lower abdomen of the shell, a shallow stratum profiler arranged behind the seabed ranging sonar, a side-scan sonar arranged on a crawler chassis, a laser scale arranged on the side-scan sonar, an ultrahigh-resolution static camera arranged on the rear end surface of the lower abdomen of the shell, flash lamps arranged on the left side and the right side of the ultrahigh-resolution static camera and an ultrahigh-resolution 4K camera arranged at the tail end of the shell;

the crawler chassis is arranged on the lower abdomen of the shell.

2. The underwater robot for oil and gas pipeline inspection according to claim 1, wherein: two strengthening propellers are symmetrically arranged at the lower end of the front part of the shell.

3. The underwater robot for oil and gas pipeline inspection according to claim 2, wherein: when the buried depth is larger than more than one meter, the TSS440 pipe cable tracker is additionally arranged at the front end of the shell, and the buoyancy block is additionally arranged on the suspension arm of the TSS440 pipe cable tracker.

4. The underwater robot for oil and gas pipeline inspection according to claim 3, wherein: the shell is made of carbon fiber materials.

Images