CN219475828U - Submarine pipeline internal inspection system - Google Patents
Submarine pipeline internal inspection system Download PDFInfo
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- CN219475828U CN219475828U CN202320309021.6U CN202320309021U CN219475828U CN 219475828 U CN219475828 U CN 219475828U CN 202320309021 U CN202320309021 U CN 202320309021U CN 219475828 U CN219475828 U CN 219475828U
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- pipeline
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
The utility model relates to the technical field of submarine pipeline maintenance, in particular to an submarine pipeline internal detection system, which aims to solve the problem of inaccurate positioning during internal detection of a submarine pipeline. The utility model comprises an overwater reference platform, an underwater submarine and a pipeline internal inspection robot; the underwater reference platform is provided with a receiving matrix, the underwater submarine comprises a flowmeter, a submarine cabin, a first signal transmitter and a magnetic source signal sensor, and the pipeline internal inspection robot comprises a magnetic source positioning beacon; the receiving array receives the sound wave signal transmitted by the first signal transmitter, and the magnetic source signal sensor is used for receiving the signal of the magnetic source positioning beacon; the flow rate meter is used for measuring the water flow speed. The underwater submarine is used for secondary positioning, and the blocking of a metal pipeline to a low-frequency magnetic induction signal is avoided, so that the position of the defect inside the pipeline is accurately recorded, and the problem of inaccurate position caused by inertial positioning and log wheel positioning is avoided.
Description
Technical Field
The utility model relates to the technical field of submarine pipeline maintenance, in particular to an submarine pipeline internal inspection system.
Background
The existing pipeline internal detection robot generally adopts inertial positioning, log wheel positioning, low-frequency magnetic induction signal positioning and other modes to record positions. The low-frequency magnetic induction signal can be shielded and blocked by the metal pipeline wall to a certain extent, in the practical application process, the signal propagation distance is short, the furthest positioning distance is not more than 10m, the current induction signal receiving device is only suitable for being held on land or carried on a vehicle to receive the low-frequency magnetic induction signal, and when the submarine pipeline is internally detected, the magnetic induction signal receiving device cannot be arranged on a water surface carrier to receive the positioning magnetic signal of the detection robot in the pipeline due to the influence of the submarine depth, so that the position determination can only be carried out by adopting modes such as inertial positioning, log wheel positioning and the like. The inertial positioning and the log wheel positioning have the problems of inaccurate positioning, large accumulated error and the like due to factors such as sliding and the like. Namely, when the submarine pipeline is internally detected, the existing positioning mode has the problem of inaccurate positioning.
Disclosure of Invention
The utility model aims to provide an internal detection system for a submarine pipeline, which aims to solve the problem of inaccurate positioning during internal detection of the submarine pipeline.
In order to solve the technical problems, the technical scheme provided by the utility model is as follows:
an internal inspection system for a submarine pipeline comprises an on-water reference platform, an underwater submarine and an internal pipeline inspection robot; the water reference platform is connected with the underwater vehicle through a cable; the underwater reference platform is provided with a receiving matrix, the underwater submarine comprises a flowmeter, a submarine cabin, a first signal transmitter and a magnetic source signal sensor, wherein the first signal transmitter and the magnetic source signal sensor are arranged in the submarine cabin, and the pipeline internal inspection robot comprises a magnetic source positioning beacon; the receiving array receives the sound wave signal transmitted by the first signal transmitter, and the magnetic source signal sensor is used for receiving the signal of the magnetic source positioning beacon; the flow velocity meter is arranged on the upper surface of the submarine bay and is used for measuring the water flow velocity.
Further, the water reference platform is set as an unmanned ship, and the water reference platform further comprises a satellite navigation device, wherein the satellite navigation device is used for acquiring coordinates of the water reference platform in real time.
Further, the underwater vehicle further comprises underwater propellers, two underwater propellers are in a group, and six groups of underwater propellers are respectively arranged on the upper surface, the lower surface, the left surface, the right surface, the front surface, the rear surface and the rear surface of the underwater vehicle cabin.
Further, the underwater vehicle further comprises an attitude sensor, wherein the attitude sensor is used for collecting the three-dimensional attitude of the underwater vehicle cabin.
Further, the underwater vehicle further comprises a laser radar and a single-beam sounding sonar, wherein the laser radar and the single-beam sounding sonar are arranged on the side face of the advancing direction of the underwater vehicle cabin and used for detecting the advancing direction.
Further, the underwater vehicle further comprises a light supplementing lamp and a camera; the light supplementing lamp and the camera are arranged on the lower surface of the submarine cabin.
Further, the underwater vehicle further comprises a depth gauge for locating the underwater position of the submarine bay.
Further, the underwater vehicle comprises at least two flow velocity meters which are respectively arranged on the upper surface and the lower surface of the underwater vehicle cabin.
Further, the underwater vehicle further comprises an air pump and a suspension cabin, wherein at least four suspension cabins are connected to the front, rear, left and right sides of the underwater vehicle cabin; the air pump is communicated with the underwater vehicle cabin and is used for inflating the underwater vehicle cabin to adjust the water quantity in the underwater vehicle cabin.
Further, the underwater vehicle further comprises a controller; the controller is connected with the underwater propeller, the air pump, the attitude sensor, the laser radar, the single-beam sounding sonar, the camera, the depth gauge, the flowmeter, the first signal transmitter and the magnetic source signal sensor and is used for collecting signals and controlling the operation of the underwater propeller and the air pump.
In summary, the technical effects achieved by the utility model are as follows:
the submarine pipeline internal inspection system provided by the utility model comprises an on-water reference platform, an underwater submarine and a pipeline internal inspection robot; the water reference platform is connected with the underwater vehicle through a cable; the underwater reference platform is provided with a receiving matrix, the underwater submarine comprises a flowmeter, a submarine cabin, a first signal transmitter and a magnetic source signal sensor, wherein the first signal transmitter and the magnetic source signal sensor are arranged in the submarine cabin, and the pipeline internal inspection robot comprises a magnetic source positioning beacon; the receiving array receives the sound wave signal transmitted by the first signal transmitter, and the magnetic source signal sensor is used for receiving the signal of the magnetic source positioning beacon; the flow velocity meter is arranged on the upper surface of the submarine bay and is used for measuring the water flow velocity.
The submarine pipeline internal inspection system provided by the utility model performs secondary positioning through the underwater submarine vehicle, so that the problem of inaccurate position caused by inertial positioning and log wheel positioning is avoided, and the problem that a metal pipeline shields and blocks low-frequency magnetic induction signals, so that a pipeline internal inspection robot can adopt the low-frequency magnetic induction signals to perform positioning, thereby accurately recording the position of the internal defect of the pipeline.
Specifically, the position of the underwater reference platform is taken as an origin, the relative position of the underwater vehicle and the underwater reference platform is determined through signal transmission of the receiving matrix and the first signal transmitter, and then the coordinate point of the underwater vehicle can be determined, namely, one-time positioning is realized; and then the relative positions of the underwater vehicle and the pipeline internal inspection robot are determined through the magnetic source positioning beacon and the magnetic source signal sensor, so that the coordinate point of the pipeline internal inspection robot relative to the water reference platform is determined, and the secondary positioning is realized. The underwater vehicle is equivalent to the underwater vehicle as a relay station for signal transmission, and the problem of limited propagation distance of the low-frequency magnetic signal is avoided.
Meanwhile, the flow velocity meter can judge the submarine water flow velocity, so that the underwater vehicle can select proper propulsion velocity to keep small velocity difference with the pipeline internal inspection robot, interference of water flow on the relative positions of the underwater vehicle and the pipeline internal inspection robot is reduced, and inaccurate positioning caused by unsynchronized positioning or position deviation of the underwater vehicle and the pipeline internal inspection robot is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a subsea pipeline inspection system according to an embodiment of the present utility model;
FIG. 2 is a top view of the underwater vehicle;
fig. 3 is a bottom view of the underwater vehicle.
Icon: 100-a water reference platform; 200-underwater vehicle; 300-a pipeline internal inspection robot; 110-receiving a matrix; 120-satellite navigation device; 210-a flow rate meter; 220-a submarine bay; 230-underwater propeller; 240-a light supplementing lamp; 250-camera; 260-suspension cabin; 270-controller.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Some embodiments of the present utility model are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
The existing pipeline internal detection robot generally adopts inertial positioning, log wheel positioning, low-frequency magnetic induction signal positioning and other modes to record positions, and the positioning modes have the problems of limited signal propagation distance or inaccurate positioning, so that accurate recording of the positions is affected.
In view of the above, the present utility model provides an internal inspection system for a subsea pipeline, comprising a water reference platform 100, an underwater vehicle 200, and a pipeline internal inspection robot 300; the water reference platform 100 is connected with the underwater vehicle 200 through a cable; the underwater reference platform 100 is provided with a receiving matrix 110, the underwater vehicle 200 comprises a flowmeter 210, a submerged cabin 220, a first signal transmitter and a magnetic source signal sensor which are arranged in the submerged cabin 220, and the pipeline internal inspection robot 300 comprises a magnetic source positioning beacon; the receiving matrix 110 receives the acoustic wave signal transmitted by the first signal transmitter, and the magnetic source signal sensor is used for receiving the signal of the magnetic source positioning beacon; the flow rate meter 210 is installed on the upper surface of the underwater vehicle 220 for measuring the water flow rate.
The submarine pipeline internal inspection system provided by the utility model performs secondary positioning through the underwater vehicle 200, avoids shielding and blocking of a low-frequency magnetic induction signal by a metal pipeline, and enables the pipeline internal inspection robot 300 to perform positioning by adopting the low-frequency magnetic induction signal, thereby accurately recording the position of the defect in the pipeline, and further avoiding the problem of inaccurate position caused by adopting inertial positioning and log wheel positioning.
Specifically, the position of the underwater vehicle 200 is determined by taking the position of the underwater reference platform 100 as an origin and transmitting signals of the receiving array 110 and the first signal transmitter, so that the coordinate point of the underwater vehicle 200 can be determined, namely, one-time positioning is realized; and then the relative positions of the underwater vehicle 200 and the pipeline internal inspection robot 300 are determined through the magnetic source positioning beacon and the magnetic source signal sensor, so that the coordinate point of the pipeline internal inspection robot 300 relative to the water reference platform 100 is determined, and the secondary positioning is realized. The underwater vehicle 200 is equivalent to being used as a relay station for signal transmission, and the problem of limited propagation distance of the low-frequency magnetic signal is avoided.
Meanwhile, the flow velocity meter 210 can determine the submarine water flow velocity, so that the underwater vehicle 200 can select a proper propulsion velocity to keep a small velocity difference with the pipeline internal inspection robot 300, interference of water flow on the relative positions of the submarine water flow and the pipeline internal inspection robot is reduced, and positioning inaccuracy caused by the asynchronism or position deviation of the submarine water flow and the pipeline internal inspection robot is reduced.
The structure and shape of the subsea pipeline internal inspection system according to the present embodiment will be described in detail with reference to fig. 1 to 3:
in an alternative to this embodiment, as shown in fig. 1, the water reference platform 100 is configured as an unmanned ship, including a receiving matrix 110 and a satellite navigation device 120. The satellite navigation device 120 is used for obtaining coordinates of the on-water reference platform 100 in real time so as to determine a position and automatically navigate. The receiving matrix 110 cooperates with the first signal transmitter for receiving the acoustic signals transmitted by the first signal transmitter to determine the relative position of the aquatic reference platform 100 and the underwater vehicle 200.
In an alternative to this embodiment, as shown in fig. 2 and 3, underwater vehicle 200 further includes a controller 270, underwater mover 230, attitude sensor, lidar, single beam sounding sonar, light supplement lamp 240, camera 250, depth gauge, air pump, and levitation pod 260. The controller 270 is connected with the underwater propeller 230, the air pump, the attitude sensor, the laser radar, the single beam sounding sonar, the camera 250, the depth gauge, the flowmeter 210, the first signal emitter and the magnetic source signal sensor, and is used for collecting signals and controlling the operation of the underwater propeller 230 and the air pump.
Specifically, two underwater propulsors 230 are used as a group, and six groups of underwater propulsors 230 are respectively arranged on six surfaces of the underwater vehicle 220, namely, the upper surface, the lower surface, the left surface, the right surface, the front surface, the rear surface and the rear surface, are used for realizing propulsion and posture adjustment of the underwater vehicle 220, so that the underwater vehicle 220 and the pipeline internal inspection robot 300 keep good relative positions to ensure accurate positioning. As shown in fig. 2 and 3, the underwater propulsors 230 on the upper and lower sides of the underwater vehicle 220 are arranged in a cross shape, when the underwater vehicle is propelled downwards, the underwater propulsors 230 on the lower side can be propelled upwards to adjust the submerging gesture, and the gesture adjustment can be performed by starting the underwater propulsors 230 on the side, and when in operation, the working state of the underwater propulsors 230 can be adjusted by the controller 270 according to the gesture parameters of the underwater vehicle 220.
In this embodiment, the attitude sensor is used to collect the three-dimensional attitude of the underwater vehicle 220, and when the attitude deviation is found, the underwater propeller 230 is controlled in time to adjust the attitude.
In this embodiment, at least one flow rate meter 210 is disposed on the upper surface of the underwater vehicle 220 for detecting the flow rate, so as to adjust the propulsion power of the underwater propeller 230, so that the underwater vehicle 200 and the pipeline interior inspection robot 300 can keep moving synchronously, the positioning accuracy is ensured, and the positioning error can be reduced to the greatest extent when the underwater vehicle 200 and the pipeline interior inspection robot move synchronously. Meanwhile, the working state of the underwater propeller 230 is adjusted according to the submerging process and the water flow condition in the detecting process, so that the underwater vehicle 200 operates stably and the underwater vehicle 200 is prevented from deviating perpendicular to the length direction of the submarine pipeline. Further, a flow rate meter 210 is disposed on the lower surface of the underwater cabin 220, and the attitude can be more precisely controlled by the underwater propeller 230 by integrating the data of the upper flow rate meter 210 and the lower flow rate meter 210, so as to avoid the attitude deviation caused by the difference between the upper flow rate and the lower flow rate. During the detection process, the corresponding underwater propeller 230 is started by the data of the flowmeter 210, so that the underwater vehicle 200 is prevented from being deviated due to the impact of water flow. That is, by providing the flow rate meter 210, the deviation of the attitude of the underwater vehicle 220 can be reduced, and the stable attitude of the underwater vehicle 220 can be maintained.
In this embodiment, the lidar and the single-beam sounding sonar are disposed on the side surface of the forward direction of the submarine bay 220, and are used for detecting the forward direction, so as to avoid collision with an obstacle.
In this embodiment, the light-compensating lamps 240 and the camera 250 are disposed on the lower surface of the submarine bay 220, specifically, the two light-compensating lamps 240 are disposed on two sides of the camera 250, so as to enhance the submarine illumination, improve the imaging quality of the camera 250, facilitate the observation of the submarine condition, and check the external condition of the submarine pipeline. The depth gauge is used to locate the underwater position of the submarine bay 220, and assist the submerging process of the submarine bay 220, so as to avoid excessive submerging caused by inaccurate identification of the camera 250.
In this embodiment, four suspension tanks 260 are connected to four sides of the submerged cabin 220, and the underwater propellers 230 on the sides are disposed on two sides of the suspension tanks 260; the air pump is communicated with the underwater vehicle 220, and is used for inflating the underwater vehicle 220 to adjust the water quantity in the underwater vehicle 220, and the total weight of the underwater vehicle 200 is changed by changing the water quantity in the underwater vehicle 220, so that the underwater vehicle 200 is sunk, floated or kept suspended, and in the detection process, the energy consumption can be reduced by keeping the suspended state, the stability of the posture is facilitated, and the positioning accuracy is further ensured.
The in-line inspection robot 300 performs inspection of the inside of the pipeline by X-ray imaging.
The working process of the submarine pipeline internal inspection system provided by the embodiment is as follows:
the pipeline inspection robot 300 moves along the pipeline, and performs flaw detection through X-rays, and the position of the pipeline inspection robot 300 is preliminarily obtained in an inertial positioning or log wheel positioning mode for the underwater vehicle 200 to approach the pipeline inspection robot 300.
When underwater vehicle 200 arrives near pipeline inspection robot 300, both communicate via magnetic source signal sensors and magnetic source positioning beacons to determine the mutual position of both.
The underwater vehicle 200 communicates with the aquatic reference platform 100 via the first signal transmitter and the receiving matrix 110 to determine the mutual position of the two.
Specifically, with the coordinates of the water reference platform 100 as the origin, the coordinate point of the underwater vehicle 200 can be determined, and then the position of the pipeline internal inspection robot 300 relative to the water reference platform 100 is determined according to the relative positions of the underwater vehicle 200 and the pipeline internal inspection robot 300, and finally the geographic coordinates of the pipeline internal inspection robot 300 are determined, so that the defect position can be accurately marked when the pipeline defect is found, and the accurate maintenance is convenient.
In an alternative of this embodiment, the first signal transmitter is configured as an ultrashort baseline transponder, the water reference platform 100 is configured with a transmitting transducer, and the signal is transmitted by the transmitting transducer, and the ultrashort baseline transponder feeds back the signal, so that the position of the underwater vehicle 200 is finally determined under the acceptance of the receiving matrix 110.
When the underwater vehicle 200 and the pipeline internal inspection robot 300 run synchronously and the posture is stable and kept at a constant speed, inaccurate positioning caused by position deviation of the underwater vehicle 200 under the influence of water flow can be avoided, positioning is more accurate, and the purpose can be effectively achieved by matching the flowmeter 210, the underwater propeller 230 and the posture sensor, so that disturbance of an submarine pipeline internal inspection system is reduced as much as possible.
When the underwater vehicle 200 is sailing synchronously with the above-water reference platform 100, the accuracy of positioning is further improved. The underwater vehicle 200 controls the navigation parameters through the speedometer, the underwater propulsion 230 and the attitude sensor, and the above-water reference platform 100 can control the navigation parameters through the satellite navigation device 120.
The submarine pipeline internal inspection system provided by the embodiment uses the underwater vehicle 200 as a signal relay station through the above-water reference platform 100 as a reference point, so that the position of the pipeline internal inspection robot 300 relative to the above-water reference platform 100 can be accurately determined, the accurate positioning of pipeline defects is ensured, and reliable data support is provided for pipeline maintenance. Meanwhile, the stability of the system is ensured through the arrangement of the flowmeter 210 so as to improve the positioning accuracy, reduce the interference of the complex submarine environment on the underwater vehicle 200 and ensure more reliable positioning data.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model.
Claims (10)
1. An submarine pipeline internal inspection system is characterized by comprising an overwater reference platform (100), an underwater vehicle (200) and a pipeline internal inspection robot (300);
the water reference platform (100) is connected with the underwater vehicle (200) through a cable;
the underwater vehicle (200) comprises a flow rate meter (210), a submerged cabin (220), a first signal transmitter and a magnetic source signal sensor which are arranged in the submerged cabin (220), wherein a receiving matrix (110) is arranged on the underwater reference platform (100), and the pipeline internal inspection robot (300) comprises a magnetic source positioning beacon;
the receiving matrix (110) receives the sound wave signals transmitted by the first signal transmitter, and the magnetic source signal sensor is used for receiving the signals of the magnetic source positioning beacons;
the flowmeter (210) is mounted on the upper surface of the submarine bay (220) and is used for measuring the water flow speed.
2. The subsea pipeline internal inspection system according to claim 1, characterized in that the above water reference platform (100) is arranged as an unmanned ship, further comprising a satellite navigation device (120), the satellite navigation device (120) being adapted to acquire coordinates of the above water reference platform (100) in real time.
3. The subsea pipeline inspection system according to claim 2, wherein the underwater vehicle (200) further comprises underwater thrusters (230), two of the underwater thrusters (230) are arranged in a group, and six groups of the underwater thrusters (230) are respectively arranged on six surfaces of the underwater vehicle (220) up, down, left, right, front, rear.
4. A subsea pipeline inspection system according to claim 3, characterized in that the underwater vehicle (200) further comprises an attitude sensor for collecting the three-dimensional attitude of the submarine bay (220).
5. The subsea pipeline inner inspection system according to claim 4, characterized in that the underwater vehicle (200) further comprises a lidar and a single beam sounding sonar, which are arranged at the side of the forward direction of the submarine bay (220) for detecting the forward direction.
6. The subsea pipeline inspection system of claim 5, characterized in that the underwater vehicle (200) further comprises a light supplement lamp (240) and a camera (250); the light supplementing lamp (240) and the camera (250) are arranged on the lower surface of the submarine bay (220).
7. The subsea pipeline inspection system according to claim 6, wherein the underwater vehicle (200) further comprises a depth gauge for locating the underwater position of the submarine bay (220).
8. The subsea pipeline inner inspection system according to claim 7, characterized in that the underwater vehicle (200) comprises at least two of the flowmeters (210), the two flowmeters (210) being arranged on the upper and lower surfaces of the submarine bay (220), respectively.
9. The subsea pipeline inspection system according to claim 8, wherein the underwater vehicle (200) further comprises an air pump and a suspension pod (260), at least four of the suspension pods (260) being connected to four sides of the underwater vehicle (220);
the air pump is in communication with the submarine bay (220) for inflating the submarine bay (220) to regulate the amount of water in the submarine bay (220).
10. The subsea pipeline inner inspection system according to claim 9, characterized in that the subsea submarine (200) further comprises a controller (270);
the controller (270) is connected with the underwater propeller (230), the air pump, the attitude sensor, the laser radar, the single beam sounding sonar, the camera (250), the depth gauge, the flowmeter (210), the first signal emitter and the magnetic source signal sensor, and is used for collecting signals and controlling the operation of the underwater propeller (230) and the air pump.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320309021.6U CN219475828U (en) | 2023-02-24 | 2023-02-24 | Submarine pipeline internal inspection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320309021.6U CN219475828U (en) | 2023-02-24 | 2023-02-24 | Submarine pipeline internal inspection system |
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| Publication Number | Publication Date |
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| CN219475828U true CN219475828U (en) | 2023-08-04 |
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| CN202320309021.6U Active CN219475828U (en) | 2023-02-24 | 2023-02-24 | Submarine pipeline internal inspection system |
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- 2023-02-24 CN CN202320309021.6U patent/CN219475828U/en active Active
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