KR101465734B1 - Method for waste pipe line retrieval - Google Patents

Abstract

The present invention provides a method for collecting a waste pipeline by launching connectors. According to an aspect of the present invention, the method may comprise: a first step of putting a first ROV and a second ROV of a ship in water, and moving the first ROV and the second ROV toward a waste pipeline site; a second step of collecting the remaining oil of a waste pipeline using the first ROV; a third step of dividing the waste pipeline into individual unit pipes using the second ROV; a fourth step of installing connectors in the individual pipes by launching the connectors toward the individual pipes using a launching unit of the second ROV; a fifth step of descending pulling cables, pulling frames, trolleys, and collecting cables into the water using pulling devices of the ship; a sixth step of connecting the collecting cables to the connectors; a seventh step of adjusting the gap between the collecting cables by moving the trolleys in the pulling frames; and an eighth step of collecting the individual pipes by ascending the pulling cables, the pulling frames, the trolleys, the collecting cables, the connectors, and the individual pipes using the pulling devices.

Description

[0001] METHOD FOR WASTE PIPE LINE RETRIEVAL [0002]

The present invention relates to a waste pipeline recovery method using connector firing to recover waste water pipeline left in deep water without seawater contamination.

Pipelines are installed on the seafloor to facilitate transport of fluid, such as crude oil or gas drilled in the sea, to storage tanks or treatment facilities installed at remote locations.

Such pipelines serve to transport crude oil or gas produced at offshore plants to marine or land storage areas.

On the other hand, when the production of crude oil in the oil well is ended, the operation of the pipeline is also stopped and becomes a waste pipeline.

At this time, the waste pipeline whose operation has been suspended is in principle withdrawn, but it is left on the grounds of the difficulty of regulatory inadequacy and recovery work and cost incurrence.

However, the waste pipeline in which the operation is suspended as described above is in a state in which the oil or the like transported therein remains, but when the waste pipeline is excessively corroded and damaged by long-term storage, In the case of heavy objects or fishing activities, if the sea floor is damaged by rubbing and moving on a fishing ground, there is a risk of oil leakage, that is, oil remaining in the inside of the waste pipeline, leaking out and causing an environmental disaster.

In addition, when a new pipeline is to be installed in an area in which the existing pipeline is installed, interference with existing installed pipeline may occur, and it is necessary to arrange the pipeline so as to bypass it. There is a problem that it causes an increase in the number of pixels.

In addition, since the existing pipelines located at the sea floor have a length of several hundred meters to several kilometers, it is very difficult to reliably lift and balance the load of individual pipes even if they are partially cut and lifted into individual pipes. There is a high possibility that problems such as tilting of the pipes and tangling of the lifting cables are likely to occur.

In addition, in the prior art, there is a problem that the means for connecting the individual pipes to the recovery cable must maintain a fixed state so as to withstand a lifting load due to a lifting force and an underwater frictional force.

US Patent 6,292,431

The present application addresses the above problems by providing a method and system for recovering residual oil safely from a waste pipeline located at the seabed and cutting and separating the waste pipeline into individual pipes, It is a problem to provide a waste pipeline recovery method using connector firing capable of mounting a connector on an individual pipe so as to be robust enough to withstand the lifting load of the individual pipe.

The problems of the present application are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a method of operating a first ROV and a second ROV of a ship, the method comprising: inputting a first ROV and a second ROV of the ship into water, step; A second step of recovering residual oil of the waste pipeline by the first ROV; A third step of separating the waste pipeline into individual pipes by the second ROV; A fourth step in which the connector is installed in an individual pipe as the launching unit of the second ROV fires the connector toward the individual pipe; A fifth step of lowering the lifting cable, the lifting frame, the trolley and the recovering cable into water by the lifting device of the ship; A sixth step of connecting the collection cable and the connector; A seventh step of moving the trolley in the lifting frame to adjust the interval of the collection cable; And an eighth step of raising the lifting cable, the lifting frame, the trolley, the recovery cable, the connector and the individual pipes by the lifting device to recover the individual pipes. A method can be provided.

The second step may include the steps of drilling a hole in the pipe wall of the waste pipeline with a drill module of a perforation suction unit provided in the first ROV, And inserting the remaining oil in the waste pipeline by inserting the waste water into the waste pipeline.

In addition, the residual oil sucked in the second step may be recovered to the storage tank via the ROV support means and the pump provided on the ship through the ROV discharge line of the suction module.

The third step may include cutting the waste pipeline with a cutting unit provided in the second ROV to separate the waste pipeline into individual pipes.

The fourth step may include a step of firing the connector to the pipe wall of the individual pipe by the launching unit provided in the second ROV to cause the connector to be stuck to the pipe wall, And securing the connector to the pipe wall by a securing part.

The connector may further include: a lug portion having a ring shape for connection with the return cable; A valve part formed at one side of the lug part to secure explosive force generated by the launching unit to secure propulsion; A connector body formed on the other side of the lug part and having a sharp end so as to penetrate the pipe wall of the individual pipe; And a first fixing part or a second fixing part provided on the connector body part to fix the connector body part to the hole.

In addition, the first attachment portion may include a plurality of visible portions extending in the radial direction in the connector body portion.

Also, the second anchoring portion may include a latch hinged to a recess of the connector body portion; An elastic body applying an elastic force to the latch so that the latch protrudes outward of the recess; And a trigger provided on the connector body around the latch for locking the latch to be seated inside the recess or releasing the latch to protrude by the elastic body.

In the seventh step, in order to adjust the interval of the recovery cable, the load control unit rotates the drum of the winch of the lifting device by a predetermined operation time, and controls the lifting cable wound around the drum, Generating tension on the recovery cable connected to the trolley of the lifting frame on the basis of a cable; Determining a load distribution of the lifting frame by using a load measurement value input to the load sensor of the trolley according to the tension; And moving or stopping the trolley in the lifting frame such that the load distribution is uniformly generated in the lifting frame.

In the eighth step, the lifting device rotates the drum of the lifting device so as to raise the individual pipe to the height of the pipe recovery length of the ship, and the crane provided on the ship lifts the individual And a step of holding the pipe and transferring it to the pipe recovery point.

According to the waste pipeline recovery method using connector firing of the present application, the following effects can be obtained.

First, the residual oil remaining in the interior of the waste pipeline can be safely recovered before the waste pipeline is recovered by using the deep waste pipeline recovery ship. In the subsequent stage, the waste pipeline is cut to a predetermined length to make an individual pipe , It is possible to prevent the outflow of residual oil in advance.

The second ROV is provided with a connector which can be fired by the launching unit. The connector is provided with a lug part for connection with the recovery cable, a valve part formed on one side of the lug part, and a pipe part formed on the other side of the lug part, A connector body portion capable of penetrating the hole and a first or second fixing portion for fixing the connector body portion to the hole, the connector is fired by the firing unit, Accordingly, it is possible to firmly maintain the fastening state between the connector and the individual pipe so as to withstand the lifting force of the individual pipe and the drag force in the water.

Third, since the second ROV launch unit is installed in the individual pipe in such a manner that the connector is fired, the connection time between the individual pipe and the connector can be shortened.

Fourth, by connecting the lifting frame for load balancing of the individual pipes between the recovery cable of the connector of the individual pipe and the lifting cable of the lifting device of the ship, Can be lifted.

Fifth, the lifting frame further includes a trolley and a load sensing sensor for balancing the load, so that the stability of lifting of the individual pipe can be maximized by adjusting the position of the trolley in accordance with the load measurement value of the load sensing sensor.

The effects of the present application are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

FIG. 1 is a flowchart showing a waste pipeline recovery method using connector firing according to an embodiment of the present invention,
FIG. 2 is a schematic view for explaining the first step of FIG. 1,
FIG. 3 is a schematic view for explaining the second step of FIG. 1,
Figs. 4 and 5 are detailed sectional views of the second step shown in Fig. 3,
FIG. 6 is a schematic view for explaining the third step of FIG. 1,
7 is a schematic view for explaining the fourth step of FIG. 1,
8 is a front view of the first connector of the connector of Fig. 7,
Fig. 9 is a schematic view for explaining a method of installing the first connector of Fig. 8,
Fig. 10 is a front view of a portion of the connector of Fig. 7 cut away,
11 and 12 are schematic views for explaining a method of installing the second connector,
13 is a schematic view for explaining the fifth step of FIG. 1,
FIG. 14 is a schematic view for explaining the sixth and seventh steps of FIG. 1,
15 is a schematic diagram for explaining the eighth step of FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. In describing the present embodiment, the same designations and the same reference numerals are used for the same components, and further description thereof will be omitted.

1 is a flowchart showing a waste pipeline recovery method using connector firing according to an embodiment of the present invention.

Referring to FIG. 1, a method for recovering waste pipelines using connector firing according to an embodiment of the present invention includes inputting first and second ROVs (Remotely-Operated Vehicles) of a ship into water, A second step (S20) to an eighth step (S80) that may be performed after the first step (S10), including a first step (S10) of moving the ROV toward the waste pipeline site.

Fig. 2 is a schematic view for explaining the first step S10 of Fig. 1; Fig.

Referring to FIGS. 1 and 2, the first step S10 is to move the first ROV 101, the second ROV 101, and the second ROV 101 toward the working area where the deep-water waste pipeline 1 exists, 110 and the ship 100 equipped with the lifting device 120 are moored to the sea surface S located at the vertical upper portion of the waste pipeline site B after the movement or navigation.

The vessel 100 may be a subsea pipeline retrieval vessel (SPRV).

 Since the method of mooring the ship 100 to the sea surface S can be performed by a method used in a general marine vessel, detailed description of the mooring method can be omitted here.

The ship 100 may have at least one, for example, a first ROV 101, a second ROV 110 and a lifting device 120 in its hull, and the waste pipeline 1 may be provided on the upper deck of the ship 100. [ And a separate pipe 10 (see FIG. 6) cut and separated from the pipe 100 can be loaded.

The lifting device 120 includes at least one lifting towers 121 and 122 disposed at the front and at the rear of the pipe recovery field 130 and at least one lifting tower 122 installed at each lifting tower 121 and 122, A winch 123 with a drum that can be wound, or a hoisting device. Various towers, guide sheaves, brakes, and the like may be provided on the lifting towers 121 and 122 to correspond to the path of the lifting cable.

A lifting frame (200) may be suspended at the end of the lifting cable (124) of the lifting device (120).

The ship 100 is connected to a crane 140 or a trolley device (for example, a high-load water horizontal moving device) for loading and unloading the individual pipes 10 lifted by the lifting device 120 toward the pipe recovery field 130 City).

In the present embodiment, it is described that the individual pipe 10 is moved horizontally and downward by the crane 140, but a normal trolley unit may be used.

The ship 100 also includes an ROV connection line 119 for supplying various sources (e.g., power, communication signal, and hydraulic pressure) to the second ROV 110, An ROV discharge line 102 composed of a plurality of fluid transfer lines to simultaneously perform an ROV operation, a drilling function, and a residual oil discharge function, And ROV support means 118, 103 of the hoist type.

In particular, the ROV support means 103 for the first ROV 101 is provided with a pump 104, which can be sucked and recovered through the remaining oil price ROV discharge line 102 while serving to wind and loose the ROV discharge line 102, As shown in FIG. Here, the suction port of the pump 104 is connected to the ROV discharge line 102 and the discharge port of the pump 104 is connected to the storage tank 105 through a piping facility.

The storage tank 105 collectively refers to a remaining oil storage means located near the pipe recovery field 130 or an installation space such as an upper deck, and may include various pipes, valves, flow meters, and the like.

In addition, the first and second ROVs 101 and 110 may be manufactured in the form of one ROV (not shown), but in the description of the present embodiment, the two ROVs 101 and 110 will be described.

The first ROV 101 may be configured to perform a function of recovering residual oil.

The second ROV 110 cuts the individual pipe 10 from the waste pipeline 1 and fires the connector 300 to the pipe wall of the individual pipe 10 or forms a curved hole, And may be configured to perform the function of connecting the connector to the hole.

For example, the first ROV 101 may include a perforation suction unit 400 to realize the residual oil recovery function, and the description of the perforation suction unit 400 can be described in detail with reference to FIGS. 4 and 5 .

The second ROV 110 includes units 500, 600, 700, a plurality of connectors 300, a plurality of connectors (not shown), a plurality of connectors 300), and a loading device (not shown) for transferring and loading one of them to the launching unit 600, respectively or successively.

Basically, the first and second ROVs 101 and 110 correspond to a frame in which a levitation or position control device is installed, a plurality of robot arms installed in the frame, that is, a manipulator, and an end effector of the manipulator (400, 500, 600, 700), respectively.

That is, the units 400, 500, 600, and 700 may include a perforation suction unit 400, a cutting unit 500, a firing unit 600, and a gripper rotating unit 700.

The perforation suction unit 400 can take a role of sucking and recovering residual oil in the interior of the waste pipeline 1 after piercing the pipe wall of the waste pipeline 1 with the drill module and the suction module .

The cutting unit 500 may be an underwater working plasma cutter or an underwater work equipment (e.g., a laser cutter) in which cutting and melting are simultaneously performed, or a pipe cutter such as a wire saw.

The launching unit 600 may fire the connector 300 toward the pipe wall of the individual pipe 10 to play the role of causing the connector 300 to be stuck to the pipe wall.

A plurality of the gripper rotating units 700 may be provided so that one unit catches the shackle of the collecting cable so that the hole of the connector 300 and the hole of the shackle coincide with each other and the other unit holds the shackle pin for shackle And the shackle pin can be inserted into the aligned hole. To this end, the gripper unit 700 may include a gripper for gripping an object and a rotating device for rotating the gripper to adjust the position or angle of the gripper. Here, the shackle pin may be a general connecting means configured to have a resilient step formed on the shackle pin for easy fastening of the deep sea shackle, and to hold the shackle pin by the elastic step after inserting the shackle pin into the shackle hole or the like. have.

Of course, the manipulator of the second ROV 110 may control the angle of the joint of the manipulator or the rotational motion of the manipulator.

3 is a schematic view for explaining the second step S20 of FIG.

1 and 3, the second step S20 is performed by the first ROV 101 connected to the ROV support means 103 on the ship 100 side via the ROV discharge line 102, 1) may be recovered.

Here, the second step S20 includes the steps of drilling a hole in the pipe wall of the waste pipeline 1 with the drill module of the perforation suction unit 400 provided in the first ROV 101, And inserting a suction pipe of the suction module of the perforation suction unit 400 to suck residual oil in the interior of the waste pipeline 1.

The remaining oil sucked in the second step S20 is supplied to the storage tank (not shown) via the ROV support means 103 and the pump 104 provided in the ship 100 via the ROV discharge line 102 of the suction module 105). ≪ / RTI >

These processes can be described in detail with reference to FIG. 4 and FIG.

4 and 5 are detailed sectional views of the second step S20 shown in Fig. 3, in which the unit body 410, the drill module 420 installed in the unit body 410, and the suction module 430 are represented .

Referring to FIG. 4, the unit body 410 includes a drill controller 411 and a suction controller 412 inside a unit body 410 as a box-shaped frame.

Here, the drill controller 411 may perform a drill function by receiving various sources (e.g., power source, communication signal, hydraulic pressure) through the ROV discharge line 102. The drill controller 411 may be connected to various operation motors 413, 414, 415, and 416 installed in the unit body 410 and the hole position detection sensor 417.

In addition, the suction controller 412 includes at least one electronic valve (not shown) for receiving and supplying the various supply sources, so that residual oil can be sucked into the ROV discharge line 102 when the electromagnetic valve is closed, As shown in FIG.

The box-shaped frame of the unit body 410 may include a water milling 401 coupled to the rim of the opening of the box-shaped frame that can be seated on top of the waste pipeline 1. In this case, the water milling unit 401 is configured to allow the remaining water RO of the waste pipeline 1 to flow into the outer space of the unit main body 410, The watertight operation can be performed.

A pair of main LM guides 402 and 403 are provided inside the box-shaped frame of the unit main body 410. The pair of main LM guides 402 and 403 can be reciprocated by the first transfer device 404 along the main LM guides 402 and 403. [ A main moving platform 405 is provided. Sliding blocks (not shown) coupled to the main LM guides 402 and 403 are provided at the bottom of the main moving platform 405 at the bottom of the main moving platform 405. In addition, a ball screw block (not shown) is provided between the sliding blocks, and the ball screw block is coupled to the screw shaft of the first transfer device 404. Since the screw shaft is rotatably coupled to the rotating shaft of the first actuating motor 413 mounted on the box-shaped frame of the unit body 410, the power of the first actuating motor 413 causes the main moving platform The reciprocating motion of the piston 405 can be performed.

The drill module 420 is disposed on one side of the main moving platform 405, that is, on the left side, and the suction module 430 is disposed on the other side, that is, the right side.

The drill module 420 includes a first sub LM guide 421 disposed on one side of the main movement platform 405 and disposed perpendicularly to the main LM guides 402 and 403 and a second sub LM guide 421 disposed on the first sub LM guide 421 A first sub-moving platform 423 slidably operated by the second operating motor 414 and the second moving device 422, a third operating motor 415 provided on the first sub-moving platform 423, 3 operating motor 415. In this embodiment,

The perforation suction unit 400 can receive the force of the manipulator of the first ROV 101 of FIG. 3 and can maintain a state of being in close contact with the outer circumferential surface of the waste pipeline 1.

The drill module 420 of the perforation suction unit 400 maintains the stop state after the horizontal movement F1 by the first transfer device 404 and then rotates the linear drill bit 418 while rotating the second transfer device It is possible to perforate the hole 1a in the pipe wall of the waste pipeline 1 by lowering the straight drill bit 418 by the sliding operation F2 (e.g., vertical movement) of the pipe 422.

A small amount of residual oil RO of the waste pipeline 1 can flow into the inner space of the unit main body 410 through the hole 1a but the opening of the box frame of the unit main body 410 and the opening of the waste pipeline 1, a small amount of residual oil (RO) introduced into the inner space by the water milling 401 located between the outer circumferential surfaces of the water mills 401 and 401 may not be released into water.

Meanwhile, the suction unit 430 of the perforation suction unit 400 can receive the suction force of the pump 104 of FIG. 3 through the ROV discharge line 102. A small amount of residual oil RO introduced into the inner space of the unit main body 410 can be recovered through the suction pipe 431 of the suction unit 430 by such a suction force.

The suction unit 430 of the perforation suction unit 400 includes a second sub LM guide 434 disposed on the other side of the main movement platform 405 and perpendicular to the main LM guides 402 and 403, A second sub-moving platform 436 slidably operated by the fourth actuating motor 416 and the third moving device 435 based on the guide 434 and a second sub- A hole position detection sensor 417 installed at the suction pipe head 432 to sense the position of the hole 1a and a suction pipe 431 connected to the inlet hole of the suction pipe head 432, And a suction line 433 piped between the suction hole of the suction pipe head portion 432 and the suction controller 412. Here, the hole position detecting sensor 417 may be constituted by a conventional object recognizing device such as an optical type, a laser type, or the like. Further, the suction line 433 may be a corrugated tubular member or a flexible industrial hose or the like.

The suction module 430 of the perforation suction unit 400 can be operated after the straight drill bit 418 of the drill module 420 is lifted and horizontally moved out of the hole 1a. The elevation of the straight drill bit 418 is enabled by the second conveying device 422 and the horizontal movement of the straight drill bit 418 in the left direction may be possible by the first conveying device 404.

The suction module 430 of the perforation suction unit 400 can be stopped at a position where the hole position detection sensor 417 finds the hole 1a during horizontal movement by the first transfer device 404.

The suction pipe 431 of the suction module 430 can be inserted into the hole 1a due to the sliding operation F3 of the third transfer device 435 (e.g., vertical movement).

When the suction pipe 431 receives the suction force of the pump 104 of FIG. 3 through the ROV discharge line 102, the suction pipe 431 sucks the residual oil RO inside the waste pipeline 1 by the suction force .

The sucked remaining oil RO is moved toward the suction pipe 431, the suction pipe head 432, the suction line 433, the suction controller 412 and the ROV discharge line 102, Can be recovered to the storage tank 105 via the means 103 and the pump 104. [

6 is a schematic diagram for explaining the third step S30 of FIG.

Referring to FIGS. 1 and 6, the third step S30 may be a step of separating the waste pipeline 1 into unit individual pipes 10 by the second ROV 110. The third step S30 may include cutting the waste pipeline 1 by the cutting unit 500 provided in the second ROV 110 and separating the waste pipeline 1 into individual pipes 10.

That is, the second ROV 110 allows the cutting unit 500 to reach the pipe cutting position of the waste pipeline 1 through the control of the operation of the manipulator (e.g., angle control).

Here, the manipulator of the second ROV 110 is operable to cut the waste pipeline 1 using a pipe cutter, such as a water-cutting plasma cutter or wire saw corresponding to the cutting unit 500 have.

For example, when cutting unit 500 is a plasma cutter, cutting heat is applied to one side of a waste pipeline 1 in a cutting unit 500, which is moved by a manipulator of a second ROV 110 A process in which the second ROV 110 is moved by a distance between the pipe cutting positions P1 and P2 in a plasma thermal spraying stop state of the cutting unit 500, The individual pipe 10 can eventually be cut and separated from the waste pipeline 1 by the process of re-injecting the cutting plasma heat toward the pipe cutting position P2 on the other side of the waste pipeline 1.

7 to 10, the third step S40 is a schematic view, a structural view, or a cross-sectional view for explaining the third step S40.

Referring to FIGS. 1 and 7, the fourth step S40 is a step in which the launching unit 600 of the second ROV 110 fires the connector 300 toward the individual pipe 10, May be installed in the individual pipes 10. Here, since the launching unit 600 is hinged to the frame of the second ROV 110 and has an attitude control device (not shown) provided at the hinged portion, a lighting device, an image monitoring device, and the like, The tilt and rotation of a gun or a cannon of the launch unit 600 can be performed so that the tactile firing of the connector 300 can be performed.

That is, in the fourth step S40, the connector 300 is fired toward the pipe wall of the individual pipe 10 by the launching unit 600 provided in the second ROV 110 so that the connector 300 is caught in the pipe wall And fixing the connector 300 to the pipe wall by the first fixing part or the second fixing part of the connector 300, which will be described later in the course of embedding.

The connector 300 collectively refers to the first connector 300a of Figs. 8 and 9 and the second connector 300b of Figs. 10 to 12 and will hereinafter be referred to as a first connector 300a or a second connector 300b ), But they can all be understood as launchable connecting means which are the same technical idea, and the same reference numerals can be used for the same configurations in the first connector 300a and the second connector 300b.

FIG. 8 is a front view of the first connector of the connector of FIG. 7, and FIG. 9 is a schematic view for explaining a method of installing the first connector of FIG.

8, the first connector 300a may include a lug portion 301, a valve portion 302, a connector body portion 303, a first anchoring portion 310, and a chain connecting ring portion 304 have.

The lug part 301 may be formed in an annular shape or a ring shape for connection with a recovery cable extended from a trolley of a lifting frame or a shackle provided at an end of the recovery cable.

The lug portion 301 is relatively large in comparison with the size of the connector body portion 303 and can also serve as a stopper for stopping the first connector 300a through contact with the pipe wall of the individual pipe.

The valve portion 302 is formed at one side of the lug portion 301, that is, at the upper portion of the lug portion 301, and has a hemispherical shape or a portion closer to the center side than the outer side portion so as to prevent the explosive force generated in the launching unit, It can be formed into a recessed shape.

The connector body portion 303 is formed at the other side of the lug portion 301, that is, at the lower portion of the lug portion 301, and has an end 305 made of a sharp and hard material so as to penetrate the pipe wall of the individual pipe, . ≪ / RTI >

The first fixing part 310 is formed such that a hole is formed in the connector body part 303 such that the impact point of the pipe wall ruptures due to collision with the sharp end 305 and burrs in the inner end edge of the hole. And may be provided in a plurality of the connector body portions 303 so as to be fixed to such holes or burrs.

Here, the first anchoring portion 310 may be a plurality of visible portions extending in the radial direction from the surface of the connector body portion 303. Here, the shape or the shape of the visible portion of the first fixing portion 310 may be variously modified or manufactured within a range that the protruding portion or the jaw may be formed and fixed, so that the contents of the drawings are only examples, .

Referring to FIG. 9, the launching unit 600 includes a cannon 601 composed of a device for generating a propulsive energy by ejecting a fluid filled in a high pressure in a moment or generating an explosive force using a gunpowder , The first connector 300a can be fired.

Here, the operation mode or shape of the cannon 601 may be variously modified or manufactured within a range capable of generating an impact force such that the first connector 300a or the like is fired at a high speed, The contents of the drawings are only examples, and the present invention is not limited thereto.

In order to prevent the first connector 300a from being erroneously blown or lost, the first unit 300a may be freely rotatably wound around a drum that is freely rotatable within the launch unit 600, A chain 602 which can be separated or cut by a chain releasing means (not shown) provided inside the chain connecting ring portion 304 of the first connector 300a can be provided, Can be connected.

The connector body portion 303 of the first connector 300a emitted from the cannon 601 by the launching unit 600 collides with the pipe wall of the individual pipe 10 using the end portion 305, . The hole H may be a partially ruptured or cut shape unlike the hole drilled by the drill, and a roughly shaped burr T may be formed at the inner end rim of the hole H. [

After the end 305 of the connector body portion 303 passes through the hole H, a plurality of first anchoring portions 310 contact the surface of the hole H or the burr T and are fixed .

Thereafter, the chain 602 is cut by the chain releasing means (not shown) of the launching unit 600, so that the installation of the first connector 300a to the individual pipe 10 can be completed.

Also, by repeating the process of moving the second ROV with the launch unit 600 to another point of the individual pipe 10 and then firing the remaining first connector 300a, the plurality of first connectors 300a Can be installed in the individual pipes 10 in a state in which the spacing distance is maintained.

FIG. 10 is a front view of a portion of the connector of FIG. 7 cut away, and FIGS. 11 and 12 are schematic views for explaining a method of installing the second connector.

Referring to FIG. 10, the second connector 300b may be fired in the same manner as the firing unit 600 described above.

The second connector 300b includes the lug portion 301, the valve portion 302, the connector body portion 303, and the chain connecting ring portion 304. Since these configurations are the same as those described above, May be omitted in order to avoid redundant description, and the following description will be made with reference to the second fixing portion 320 in detail.

The second anchoring portion 320 includes a latch 323 hinged to a joint 322 provided in a recess 321 of the connector body portion 303. A stopper 324 is formed at one end of the latch 323 and a latching protrusion 325 is formed at the other end of the latch 323.

The second fastening part 320 includes an elastic body 326 for applying an elastic force to the latch 323 so that the latch 323 can be protruded to the outside of the recess 321. One end of the spring is connected to the latch 323 and the other end of the spring is connected to the connector body 303 at the periphery of the recess 321. The elastic body 326 is a spring Can be connected.

The second fastening portion 320 is provided with the latch 323 for the purpose of locking the latch 323 to be seated inside the recess 321 or releasing the latch 323 to protrude by the elastic body 326. [ And a trigger 327 (trigger) mounted on the connector body portion 303 toward the upper side of the latch 323, for example.

The trigger 327 is engaged with the trigger 327 so as to project outward from the outer surface of the connector body 303. The trigger 327 is engaged with the trigger sliding hole 303a of the connector body 303, And a spring 328 inserted into the trigger sliding hole 303a above the trigger 327. The spring 328 is inserted into the trigger sliding hole 303a.

The lower end 327a of the trigger 327 can assume the role of temporarily locking the latching jaw 325 of the latch 323 as it receives the elastic force of the spring 328 and moves downward .

The operation principle of the second fixing portion 320 having such a configuration can be explained with reference to FIGS. 11 and 12. FIG.

Referring to Fig. 11, the second connector 300b from the cannon is fired by the launching unit toward the pipe wall of the individual pipe 10.

The second connector 300b, which is being moved by firing, is stuck in the pipe wall of the individual pipe 10, so that the hole H and burr T can be formed in the pipe wall as described above.

At this time, since the contact between the upper edge H1 of the hole H and the push portion 329 of the second fixing portion 320 is made and the contact force thereof is larger than the elastic force of the spring 328, Is moved upward.

12, the lower end 327a of the trigger 327 can be pulled out of the latching jaw 325 of the latch 323 due to the upward movement of the trigger 327. As shown in FIG.

In this case, the elasticity of the elastic body 326 causes the latch 323 to pivot relative to the joint 322, so that the latch 323 protrudes outward from the outer surface of the connector body 303 as if unfolded.

Also, the rotation of the latch 323 can be stopped in accordance with the contact between the stopper 324 and the shape of the recess 321.

The protruded latch 323 contacts the burr T of the lower edge of the hole H to exert a frictional force and when the lifting force is transmitted upwardly in a subsequent step, H) in order to prevent them from escaping.

Thus, the second connector 300b can be completely mounted on the individual pipe 10, and by repeating this, the plurality of second connectors 300b can be installed in the individual pipe 10 in a state in which the separation distance is maintained .

The design criteria of the first and second connectors 300b described above can be determined so that a fixed state can be established so as to withstand the lifting force of the individual pipes and the drag force in the water, Through which the connector material, size and shape can be determined.

13 is a schematic diagram for explaining the fifth step (S50) of FIG.

1 and 13, the fifth step S50 is to move the lifting cable 124, the lifting frame 200, the trolley 210 and the recovery cable 220 ) To the water.

As described above, the ship 100 is supported by the lifting towers 121 and 122 for the lifting device 120, the winch 123, the lifting cable 124, the lifting frame 200, the trolley 210, A load sensor 205 (for example, a sensor block body provided with a load cell) provided at the bottom of each trolley 210 and a sensor block body 205 provided at the bottom of the sensor block body of the load sensor 205 And a shackle 225 provided at an end of the recovery cable 220 to be connected to the connector 300 of the individual pipe 10 .

Here, the lifting frame 200 is suspended from a plurality of lifting cables 124.

The plurality of trolleys 210 are disposed in the lifting frame 200 so as to maintain a predetermined interval at the initial position and can be moved along the rails of the lifting frame 200 in a longitudinal direction of the lifting frame 200 And is electrically connected to the load control unit 230 of the ship 100 so that the movement of the trolley 210 can be controlled.

The load sensor 205 of each trolley 210 is also electrically connected to the load controller 230 so as to input a load measurement value to the load controller 230.

In addition, the shackle 225 and the recovery cable 220 can move together with the movement of each trolley 210.

The winch 123 of the lifting device 120 rotates its drum in the cable down direction and in this case the lifting cable 124 is unrolled from the drum and consequently the lifting frame 200 And the trolley 210, the load sensing sensor 205, the hook 211, the recovery cable 220 and the shackle 225 based on them can also be moved toward the deep sea where the individual pipes 10 are present.

14 is a schematic view for explaining the sixth step S60 and the step S70 in Fig.

Referring to FIGS. 1 and 14, the sixth step S60 is a step of connecting the withdrawal cable 220 and the connector 300, and the shackle 225, which is the aforementioned connecting means, may be used for connection. The process of unlocking and locking the shackle 225 may be performed by the gripper rotating unit 700 of the second ROV 110, or may be performed by inserting a deep-water diver (not shown).

That is, the hole of the shackle 225 of the collecting cable 220 is aligned with the hole of the lug portion of the connector 300, the shackle pin is inserted into the aligned hole, The inserted state can be maintained by the elastic step.

In addition, the present embodiment is not limited to the shackle 225, and various means such as a clamping device capable of attachably connecting a heavy load and a cable to each other can be applied.

The seventh step S70 may be a step of moving each trolley 210 in the lifting frame 200 to adjust the interval of the collection cable 220.

7, the load controller 230 rotates the drum of the winch 123 of the lifting device 120 by a predetermined operation time to adjust the interval of the collection cable 220, A process of generating tension may be performed on the lifting cable 124 wound on the drum and the withdrawal cable 220 connected to the trolley 210 of the lifting frame 200 based on the lifting cable 124. In step S70 of FIG. 7, a load distribution of the lifting frame 200 is determined using a load measurement value input to the load sensing sensor 205 of the trolley 210 according to the tension. And moving or stopping the trolley 210 in the lifting frame 200 so that the load distribution is uniformly generated in the lifting frame 200. [

The load control unit 230 controls the operation of the lifting device 120 so that the lifting force for the test operation for grasping the load distribution is transmitted to the lifting cable 124, The lifting frame 200, the trolley 210, the claw 211, the recovery cable 220, the shackle 225, the connector 300 and the individual pipes 10, respectively. At this time, the lifting device 120 rotates and stops the drum of the winch 123 of the lifting device 120 by a predetermined operation time.

In this case, the tension corresponding to the tensioning of the withdrawal cable 220 can be transmitted to the load detection sensor 205 through the withdrawal cable 220, the hook 211, and the sensor block body. The load sensing sensor 205 may convert the load measurement value corresponding to the transmitted tension into an electrical signal and input the electrical signal to the load controller 230.

The load controller 230 compares the load measurement values inputted from the load sensor 205 of each trolley 210 by a load distribution detection algorithm (not shown) provided in the load controller 230 and processes the comparison results. For example, according to the load distribution detection algorithm, the load measurement values of the load sensing sensors 205 of the trolleys 210 input by the load control unit 230 are uniformly adjusted for each trolley 210, (Not shown) of each trolley 210 so as to correspond to the calculated value, and outputs the trolley movement control signal to the drive control unit (not shown) of each trolley 210 And to cause each trolley 210 to be moved to the target position.

The drive control unit of each trolley 210 rotates the roller of the motor operation type of the trolley 210 corresponding to the inputted trolley movement control signal and can stop the movement after moving to the target position of the trolley 210. [

Here, the roller of the trolley 210 may be a gear-shaped roller, and the rails of the lifting frame 200 coupled to the rollers of the trolley 210 may be formed in a gear shape. In each trolley 210, Further, it is possible to stop the operation after moving to the target position, and the stopping state can be firmly maintained by the brake means.

The operation of each of the trolleys 210 may be a load balancing control of the trolleys 210 capable of safely lifting the individual pipes 10.

In this case, when the load balancing control of the trolley 210 is completed, the individual pipe 10 can be spaced apart from each of the collection cables 220 that can be safely lifted while being kept horizontal. In this case, The time-sharing cables 220 may not be twisted with each other.

In addition, the load balancing control of each trolley 210 can also occur during lifting of the individual pipes 10, for example, due to the drag force of the seawater in the water or friction with the seawater, i.e. drag force, 10 or the stabilization and tension of the lifting frame 200 may occur.

In this case, by the manual control of the operator or the predetermined automatic control process (not shown) of the load control unit 230, the drive control unit of each trolley 210 is finely The control of the rollers of the trolley 210 is carried out by the operation of the trolley 210 so that the individual pipes 10 can be reliably lifted toward the ship 100. [

15 is a schematic diagram for explaining the eighth step S80 of FIG.

Referring to FIGS. 1 and 15, the eighth step S80 includes a lifting cable 124, a lifting frame 200, a trolley 210, a withdrawal cable 220, a connector 300, And raising the individual pipes 10 toward the ship 100 to recover the individual pipes 10.

That is, in the eighth step S80, the winch 123 of the lifting device 120 is lifted so that the lifting device 120 lifts the individual pipe 10 to the height of the pipe recovery bay 130 of the ship 100. [ Rotating the drum of the ship 100 in a cable rising direction and moving the crane 140 of the ship 100 to the pipe recovery bay 130 by holding the individual pipe 10 reaching the height.

The individual pipes 10 can then be separated from the crane 140 and loaded and recovered in the pipe recovery bay 130 of the ship 100.

By repeating the second to eighth steps S20 to S80, all the remaining individual pipes from the waste pipeline 1 can be all recovered toward the pipe recovery field 130 of the ship 100. [

It will be apparent to those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or scope of the invention as defined in the appended claims. . Therefore, the above-described embodiments are to be considered as illustrative rather than restrictive, and thus the present application is not limited to the above description, but may be modified within the scope of the appended claims and equivalents thereof.

1: waste pipeline 10: individual pipe
100: Ship 101: First ROV
110: second ROV 120: lifting device
121, 122: lifting tower 124: lifting cable
130: pipe recovery station 140: crane
200: lifting frame 210: trolley
220: recovery cable 230: load control unit
300, 300a, 300b: Connector 303: Connector body part
310: first fixing part 320: second fixing part
400: Perforation suction unit 500: Cutting unit
600: launch unit 700: gripper rotation unit

Claims (10)

A first step of putting the first ROV and the second ROV of the ship into water and moving the first ROV and the second ROV toward the waste pipeline site;
A second step of recovering residual oil of the waste pipeline by the first ROV;
A third step of separating the waste pipeline into individual pipes by the second ROV;
A fourth step in which the connector is installed in an individual pipe as the launching unit of the second ROV fires the connector toward the individual pipe;
A fifth step of lowering the lifting cable, the lifting frame, the plurality of trolleys disposed in the lifting frame, and the withdrawal cable connected to the plurality of trolleys by the lifting device of the ship;
A sixth step of connecting the collection cable and the connector;
A seventh step of moving the trolley in the lifting frame to adjust an interval between the recovery cables connected to the trolley; And
And an eighth step of raising the lifting cable, the lifting frame, the trolley, the recovery cable, the connector and the individual pipes by the lifting device to recover the individual pipes. . The method according to claim 1,
The second step includes the steps of: drilling a hole in a pipe wall of the waste pipeline by a drill module of a perforation suction unit provided in the first ROV; inserting a suction pipe of the suction module of the perforation suction unit into the perforated hole And suctioning residual oil in the interior of the waste pipeline. 3. The method of claim 2,
Wherein the residual oil sucked in the second step is recovered to the storage tank via the ROV support means and the pump provided on the ship through the ROV discharge line of the suction module. . The method according to claim 1,
Wherein the third step comprises cutting the waste pipeline with a cutting unit provided in the second ROV and separating the waste pipeline into individual pipes. The method according to claim 1,
The fourth step may include a step of firing the connector to the pipe wall of the individual pipe by the launching unit provided in the second ROV, thereby causing the connector to be stuck to the pipe wall, and the first fixing part or the second fixing part Wherein the connector is fixed to the pipe wall by means of the connector. 6. The method of claim 5,
The connector includes a lug portion having a ring shape for connection with the return cable;
A valve part formed at one side of the lug part to secure explosive force generated by the launching unit to secure propulsion;
A connector body formed on the other side of the lug part and having a sharp end so as to penetrate the pipe wall of the individual pipe; And
And a first securing portion or a second securing portion provided on the connector body portion to fix the connector body portion to the hole. The method according to claim 6,
Wherein the first attachment portion includes a plurality of visible portions extending radially in the connector body portion. The method according to claim 6,
The second attachment portion includes a latch hinged to a recess of the connector body portion;
An elastic body applying an elastic force to the latch so that the latch protrudes outward of the recess;
And a connector firing including a trigger mounted on the connector body around the latch for the purpose of locking the latch to be seated inside the recess or releasing the latch to protrude by the elastic body Waste pipeline recovery method. The method according to claim 1,
In the seventh step, the load control unit rotates the drum of the winch of the lifting device by a predetermined operation time so as to adjust the interval between the collection cables, so that the lifting cable wound around the drum and the lifting cable Generating tension on the return cable connected to the trolley of the lifting frame on the basis of the tension of the lifting cable;
Determining a load distribution of the lifting frame by using a load measurement value input to the load sensor of the trolley according to the tension; And
And moving or stopping the trolley in the lifting frame such that the load distribution is uniformly generated in the lifting frame. The method according to claim 1,
Wherein the lifting device rotates the drum of the lifting device such that the lifting device raises the individual pipe to the height of the pipe recovery length of the ship, and the crane provided on the ship reaches the height of the individual pipe And transferring the collected waste water to the pipe recovery port side to load the collected waste water.

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