WO2018000544A1

WO2018000544A1 - Method for maintaining unmanned shipborne pipeline

Info

Publication number: WO2018000544A1
Application number: PCT/CN2016/095110
Authority: WO
Inventors: 杨越
Original assignee: 杨越
Priority date: 2016-06-26
Filing date: 2016-08-14
Publication date: 2018-01-04
Also published as: CN105909912A

Abstract

A method for maintaining unmanned shipborne pipeline, comprising the following steps: conveying a device used for repairing a damaged pipeline (P) out of a work column above the damaged pipeline (P) in a floating cabin; positioning the damaged location of the pipeline (P); deploying the device lowered to the seabed; lowering pipeline support frames (F) to the seabed and distributing same to specified locations; placing a jacking package deployment basket (30) of multiple jacking package components (J); lowering a mold loading frame (R) to the seabed; a dredger works; repeating the same steps to each of the jacking package components (J); inflating the jacking package components (J) to lift the pipeline (P) off the seabed; lowering a rope used for repairing the damaged section of the pipeline (P) and a hose basket; lowering a davit line to the seabed, picking up the davit line and dragging same towards the pipeline repairing rope, and connecting the davit line to the rope; lowering a pipeline end preparation tool (90) and a compressor weigher (92) to the seabed, and then carrying out corresponding maintenance.

Description

Unmanned ship pipeline maintenance method

Technical field

The invention relates to a maintenance method, in particular to a pipeline maintenance method carried by an unmanned ship in maintenance of a submarine oil and gas pipeline.

Background technique

The repair of the top support package is to install the fastener-top pack component outside the pipeline at the leaking part to achieve the purpose of repairing the pipeline leakage. The maintenance technology of the top support pack component has been maturely applied in the maintenance of land and seabed oil and gas pipelines. According to the application of the top-loading package assembly technology in submarine oil and gas pipelines, the most critical component of the current maintenance technology is the subsea pipeline top support package. Most of the top bracket components are made in two halves and are fixed to the pipe by bolting or welding when used, so they can be divided into welded and bolted. The welded top support package can improve the repair reliability and the bolt connection is more convenient.

For the maintenance of submarine pipelines in China's vast seas, the current method is to install and repair underwater submersibles in Repulse Bay. For deep water areas, the submarine pipelines are referred to the working vessels, and the pipeline damages are pretreated directly on the working vessels. Repair and install the top pack component of the pipeline. However, in the case of extremely low visibility of water turbidity, the above two methods have obvious drawbacks. Due to the need to arrange support ships, personnel, maintenance equipment and other auxiliary equipment to the maintenance site, and after the operation is completed, support ships, personnel, maintenance equipment and The recovery of other auxiliary equipment is therefore costly and economical.

The domestic manufacturer's top-loading package components are mainly used in terrestrial oil and gas pipelines. When used for temporary maintenance, the oil and gas pipelines can be normally sealed for 2-3 months to ensure that oil and gas are not leaked at the seals around the top tray assembly. The top carrier assembly can be welded to the pipe as a whole. Domestic manufacturers have not yet produced equipment for submarine oil and gas pipeline top-loading package components. The domestic equipment technology of overseas submarine oil and gas pipelines is relatively mature. With the rapid development of unmanned ship technology, some special structure top-loading package components have been developed. On unmanned ships, the repair of submarine pipelines can be completed without the need for staffing, using unmanned ships and maintenance top-loading kits and appropriate auxiliary equipment. It is not necessary to lift the pipeline to the unmanned ship for pre-treatment, saving time. And economic costs.

Summary of the invention

The object of the present invention is to provide a method for repairing an unmanned ship pipeline, comprising the following steps:

(1) transporting the equipment for repairing the damaged pipeline (P) out of the working column above the damage pipeline (P) in the floating tank, the floating tank comprising a crane for lowering different parts of the equipment to the working column, floating The cabin is parked or dynamically positioned directly above the damaged portion of the pipeline (P);

(2) Using the external detection technology of the unmanned ship to locate the damaged position of the pipeline (P);

(3) The unmanned ship is equipped with a camera and a lamp, so that the operator on the floating cabin observes the seabed and the damaged pipeline (P), and the unmanned ship performs the detection of the submarine pipeline and the general inspection of the broken portion and the damaged portion;

(4) Deployment of equipment placed on the sea floor usually involves all parts of the equipment to the sea floor. Once it falls on the sea floor, a quick release lock will be released and the suspension line will return to the surface of the water;

(5) The pipeline support frame (F) is lowered to the seabed through a subsequent deployment process to perform sonar detection, the unmanned ship is close to the pipe support frame (F) and the container is repositioned until the coordinates of the suspension line transmitter answering machine are Within the target area of the pipe support frame;

(6) The unmanned ship distributes the pipe support frame (F) to its designated position, rotates to correctly position the pipe support frame (F) on the seabed, the suspension column line relaxes and returns to the water surface, and the remaining pipe support frame (F) adopts a similar way to lower;

(7) The container is then placed to deploy a top tray deployment basket containing a plurality of top tray assemblies (J), the unmanned boat approaching the deployment basket and monitoring its position on the sea floor;

(8) The unmanned ship removes all the top bag assembly (J) from the basket and moves the basket to the surface, and the unmanned ship repositions the top bag assembly (J) to its predetermined position;

(9) Lower the mold loading frame (R) to the sea floor;

(10) The dredger package (D) is installed on the deck of the upper unmanned ship's upper deck, and the second unmanned ship is placed and swung to the installation position of the top support package (J) to activate the dredger (D) ;

(11) using a second unmanned ship operator to operate the nozzle to cause the selected dredger to work, and the dredger continues to work until it is visually observed that a sufficiently large-sized capsule container has been excavated;

(12) Using a second unmanned ship actuator to tow the dredger nozzle, measuring the excavation depth of the bladder container by a second unmanned ship actuator, excavating the capsule container and properly positioning the top tray assembly J connection;

(13) The first unmanned boat swims toward the top support assembly (J) and removes the rod and then removes the rope from the top bracket assembly base member, the first unmanned ship carrying the towline in the pipeline (P Passing through the rod below, then releasing the rod and relocating itself to the other side of the line (P);

(14) The first unmanned ship free line (P), dragging the top tray assembly (J) under the pipeline (P) into the bladder container, when the top bracket assembly guide frame is fixed to the pipeline (P) When the first unmanned ship stops;

(15) Repeat the same steps for each top tray assembly (J);

(16) inflating the top tray assembly (J), and the pipeline (P) is lifted off the sea floor;

(17) installing the pipe support frame (F) under the pipeline (P);

(18) The first unmanned ship places the pipe bracket gauge (G) on each pipe support frame (F);

(19) The first unmanned boat is pushed at the rear end to complete the test tool from the mold docking R by the cutting die (C);

(20) Lower the ropes and hose baskets used to repair the damaged section of the pipeline (P);

(21) The suspension line is lowered to the bottom of the sea. The first unmanned ship picks up the suspension line and drags it to the pipeline repairing rope and connects the suspension line to the rope. Then the damaged section of the pipeline (P) is returned. The water surface, the center top pack assembly is allowed to open in multiple valves The top bag is broken under its own weight, and then these center top pack components (J) are removed from the stacking area;

(22) The pipe end preparation tool and the compressor are replayed to the bottom of the sea, and the first unmanned ship detects their position on the seabed and performs corresponding maintenance.

Preferably, the equipment deployed on the sea floor comprises a circular and crank clamp weighing (B, W), and the floating cabin can be repositioned until the coordinates of the transmitter transponder of the suspension line are in the target area of the corresponding fixture weighing, the container Reposition to replay the remaining fixtures to the bottom of the sea.

Preferably, the top tray assembly (J) comprises a substantially flat bottom comprising a rail frame, the top tray assembly (J) comprising a top tray (j) connected to the upper surface of the flat bottom, the rod member being attached to the dragline, Drag the tether to the flat bottom.

Preferably, the mold loading frame (R) has a pair of cutting dies.

Preferably, a plurality of pipe rack gauges (G) are arranged from the tank to the sea floor.

Preferably, the first unmanned boat and the second unmanned ship are combined with the spunlace bar in a collecting tube at different positions of the top tray assembly (J).

Preferably, the cutting die (C) comprises a plurality of guiding probes, further comprising a PAR assembly, the guiding probes on the cutting die (C) being in line with the funnel on the boundary plate of the PAR component.

The above as well as other objects, advantages and features of the present invention will become apparent to those skilled in the <

DRAWINGS

Some specific embodiments of the present invention are described in detail below by way of example, and not limitation. The same reference numbers in the drawings identify the same or similar parts. Those skilled in the art should understand that the drawings are not necessarily drawn to scale. The objects and features of the present invention will become more apparent in consideration of the following description in conjunction with the accompanying drawings.

Figure 1 is a diagram showing a Haitian pipeline with a weighted unfolding pile clamp, a crank clamp weighing, a top bracket assembly and a pipe support frame;

Figure 2 is a perspective view of the cable clamp weighing;

Figure 3 is a perspective view of the crank clamp weighing;

Figure 4 shows a side view of the pipe support frame;

Figure 5 is a diagrammatic view showing the unfolding top bag assembly and the pipe bracket gauge;

Figure 6 is a perspective view of the top carrier assembly;

Figure 7 is a perspective view of the loading frame;

Figure 8 is a perspective view showing a pipe bracket gauge;

Figure 9 is a side view of the dredger assembly mounted on the unmanned ship during the dredging operation;

Figure 10A is a diagrammatic view of the top tray assembly installed under the pipeline;

Figure 10B is a front elevational view of the top pack assembly at a flat position for supporting the pipeline;

Figure 11 is a graphical view of the pipe support at the location of the drag down into the pipeline;

Figure 12 is a side view of a pipe support frame with a flat top support and a support line;

Figure 13 is a side elevational view of the conduit for connecting and receiving the assembly;

Figure 14 is a perspective view of a warehouse for accommodating a pipe joint and a receiving assembly;

Figure 15 is a side view of an unmanned boat connected to a pipe add-on and containing components;

Figure 16 is a view taken along line 16-16 of Figure 13;

Figure 17 is a side view of the cutting die;

Figure 18 is a view taken along line 18-18 of Figure 17;

Figure 19 is a side view of the pipe end preparation tool and the compressor that is lowered to the sea floor;

Figure 20 is a side view of a pipe end preparation tool with an expanded air bag, wherein an air bag is inserted into the cutting end of the pipeline;

Figure 21 is a side view of a bobbin with an expanded adhering air bag;

Figure 22 is a side view of a rope for carrying a spool on a docking die;

Figure 23 is a side view of the bobbin on the docking die;

Figure 24 is a side view of the bobbin dragged to the end of the pipe.

detailed description

The invention relates to a method of repairing a subsea pipeline P. It should be understood that the method can be operated in conjunction with a diver or a remotely operated unmanned ship; however, the following description designs the steps involved in repairing a pipeline with an unmanned ship in deep water, using ROV due to the increasing difficulty associated with deep water repair.

Although not shown in the drawings, the apparatus for repairing the damaged pipeline P carries out the work column above the damage pipeline P in the floating tank. The floatation compartment includes a crane for lowering different parts of the equipment to the work column. The buoyant tank is moored or dynamically positioned directly above the damaged portion of the pipeline P. As a preliminary step in the repair operation, the damaged position of the pipeline P must be located. External detection techniques using unmanned vessels can be located. The unmanned boat is equipped with a camera and a light (not shown) to allow an operator on the floating cabin to observe the sea floor and the damaged pipeline P. Unmanned vessels perform submarine pipeline detection and general inspection of broken and damaged parts. It should be understood that the equipment for repair may vary depending on the size of the pipeline P and the seabed conditions. Once the damaged portion of the pipeline P is detected, a plurality of clamps are weighed with an unmanned ship tool crank w mounted thereon over which the cable b is mounted, both of which are lowered and placed along the pipeline P, as shown in the figure 1, 2, 3 respectively indicate round fixture weighing B And the crank fixture weighs W.

The equipment deployed on the sea floor is usually the same for all parts of the equipment, and all parts must be placed on the sea floor. The subordinate process will be explained with reference to lowering the circular fixture weighing B. The round clamp weighing B is lifted by the crane on the buoyant tank and falls off the boat through the suspension column and the suspension string. A transponder (not shown) is attached to the pylon line so that the depth of the circular fixture weigh B cannot be monitored as it is lowered. Lower the round fixture weighing B to approximately 10 meters above the sea floor. The unmanned boat waits for the circular fixture to weigh B down to approximately 10 meters above the sea floor. Once the sonar is detected between the transponder and the unmanned ship, the ROV will fly to the circular fixture to weigh B and position it on the sea floor. Once on the bottom of the sea, a quick release lock (not shown) is released and the sling line is returned to the surface. It should be understood that quick release locks are well known in the remotely operated locomotive industry and are therefore not specifically shown here.

The circular and crank gripping scales B and W are lowered to the approximate positions shown in Figure 1, respectively. In order to ensure proper placement of the fixture weighs B and W on the sea floor, the floatation compartment can be repositioned until the coordinates of the transmitter transponder of the suspension line are within the target zone of the corresponding fixture weigh. The container is repositioned to reproduce the remaining fixtures to the bottom of the sea.

The pipe support F shown in Figure 4 is typically lowered to the sea floor by a subsequent deployment process. Once the sonar detection is performed, the unmanned vessel will be near the pipe support frame F and the container will be repositioned until the coordinates of the pylon transmitter transponder are within the target area of the pipe support frame. The unmanned boat distributes the pipe support frame F to its designated position and uses the operation to rotate the pipe support frame F. Once the pipe support frame F is properly positioned on the sea floor, the sling line F will relax and return to the surface of the water, while the remaining pipe support frame F is lowered in a similar manner. Figure 1 shows that the pipe support frame F is first placed on the sea floor together with the jig weighs W and B.

The container is then placed for deployment of a top tray deployment basket 30 (Fig. 5) comprising a plurality of top tray assemblies J as shown in FIG. The unmanned boat approaches the deployment basket 30 and monitors its position on the sea floor as described above. The unmanned boat removes all of the top pack components J from the basket 30 and moves the basket 30 to the surface. The unmanned boat repositions the top tray assembly J to its predetermined position as shown in FIG.

A perspective view of the top tray assembly J is shown in FIG. The top carrier assembly J includes a substantially flat bottom 32 that includes a rail frame 34. The top tray assembly J includes a top tray j connected to the upper surface of the flat bottom 32. The rod 40 is attached to the dragline 42 and the dragline 42 is attached to the flat bottom 32.

Referring to Figure 7, the mold carrier R is lowered to the sea floor. Although not shown in Fig. 7, the mold loading rack R has a pair of cutting dies, which will be described below. Referring to Figure 5, a plurality of pipe support gauges G (Fig. 8) are arranged from the nacelle to the sea floor.

Referring to Figure 9, dredger package D, typically used for subsea operations with unmanned vessels, is mounted on a second unmanned vessel and is set up as an unmanned vessel 2 on the deck of the tank. The unmanned boat 2 is placed and swung to the mounting position of the top tray assembly J. Dredger nozzle 36 is placed in a position connected to the pipe P, using a unmanned ship manipulator. The dredger D is activated, as shown in Figure 9, and the unmanned boat 2 manipulator is used to operate the spout 36 to cause the selected dredger to operate. The dredger continues to work until a capsule container 38 of sufficient size can be visually observed to have been excavated. The dredger nozzle 36 is dragged using an unmanned boat 2 actuator. The depth of excavation of the bladder container 8 is measured by an unmanned boat 2 actuator. A similar bladder container 38 is excavated at another location below the pipeline P and is coupled to a suitably positioned jacking kit J.

Referring to Figures 6 and 10A, a first unmanned boat, hereinafter referred to as an unmanned vessel 1, swims to the top pack assembly J and removes the rod 40 and then removes the cord 42 from the top pack assembly base member 32. . The unmanned vessel 1 passes the rod 40 under the line P with an attached tow rope. The unmanned vessel 1 releases the lever 40 and repositions itself to the other side of the pipeline P where it retracts the lever 40 with its actuator. The unmanned vessel 1 is free of the pipeline P, and the top pallet assembly J below the pipeline P is pulled into the bladder container 38 as shown in Fig. 10A. When the top tray assembly guide frame 34 is fixed to the pipeline P, the unmanned vessel 1 is stopped. Repeat the same steps for each top tray assembly J.

Referring to Figures 10B and 11, the line P is lifted off the sea floor by inflating the top tray assembly J. Each unmanned boat is equipped with a water spur (not shown), which is typical in the industry. The unmanned ship 1 and the spunlace bar are combined in the top tray assembly J in the collecting pipe 33 of the position J-1 (Fig. 10B), while the unmanned ship 2 and the spunlace bar are in the top supporting bag assembly J at J The manifolds 33 at the +1 position are combined. The water pump on each unmanned boat is activated to maximize the inflation of the top bag j to 1 meter. Once inflated, the top pack inflation valve (not shown) is closed by the unmanned boat actuator and the spunlace rod is removed. The top bag j at positions J-2 and J+2 is similarly inflated with the top bag j at the last inflated positions J-3 and J+3. In a preferred embodiment of the invention, positions J-1 and J+1 are equally spaced from "0", with data "0" indicating the midpoint of the length of the damaged pipeline that needs to be repositioned. The other pair of locations is similarly spaced about the "0" data points.

Referring to Figure 11, the pipe support frame F is then mounted below the line P in the manner shown below. The unmanned vessel 2 operates the crank w to release the crank cable 44 and the unmanned boat 1 wraps the cable 44 around the cable b and then reaches the pipeline. The manipulator 1 is used to pass the unmanned vessel 1 through a rod (not shown) at the end of the crank cable 44 under the line P. The unmanned vessel 1 swims to the other end of the pipeline P and contracts the rod. The unmanned vessel 1 moves to the pipe support frame F and connects the crank cable 44 to the drag hooks 46 on the pipe support frame F (Fig. 4). The unmanned ship 1 checks the operation of the cable to ensure that the cable 44 can be properly placed around the cable b but is not obstructed. The unmanned vessel 1 establishes a pipe stop 50 on the table 48 of the pipe support F for receiving the line P. Referring to Figure 11, the unmanned boat 2 operates to stop the strands w within the cable 44 and the unmanned vessel 1 observes the drag of the duct support frame F. When the pipe stopper 50 on the table 48 of the pipe support frame F comes into contact with the pipe P, the twisted wire w is stopped. The unmanned vessel 1 inserts the second duct stop 50' onto the table 48 or engages the table 48 until the duct stop 50' cannot be inserted vertically into the duct stop opening (not shown). The cable 44 is released from the strand w such that the unmanned vessel 1 is able to remove the push-pull eye from the hook 46 of the pipe support F. Once released, the unmanned ship 1 releases the line 44 and no The person boat 2 contracts the cable 44 over the strand w. The same process is included when pushing another pipe support F below the pipeline P. It is not necessary to use the cable b when the strand w can directly push the pipe support F below the pipe P.

The unmanned vessel 1 places the pipe rack gauge G at each pipe support frame F. The pipe support frame F is placed at the position of J-2, J+2, J-3, J+3 as shown in FIG. The unmanned vessel 1 is connected to the pipe support frame F at the position J-2 and meshes with its spun bar in the collecting pipe 51 (Fig. 12) of the pipe support frame F. The unmanned boat 2 is similarly located at the pipe support F at position J+2. The water pump of the unmanned vessel 1 is operated to inflate the inflatable bag 52 (Fig. 12) to a pressure of 0.3 bar or a height difference of 1000 mm. Once this height is reached, the valve closes. The unmanned vessel 2 similarly inflates the inflatable bag 52 of the pipe support F at position J+2. The unmanned vessel 1 is then repositioned to the pipe support F at position J-3. The unmanned ship 1 is connected to the pipe support frame F and meshes with the collecting pipe 51 together with the spun bar. The operating water pump inflates the inflatable bag 52 to a pressure of 0.3 bar or a height difference of 900 mm, at which point the valve is closed. The unmanned boat 2 is repositioned to the pipe support frame F at position J+3 and connected to the structure. The water pump is operated on the unmanned boat 2 to inflate the inflatable bag to a height difference of 900 mm, at which time the valve is closed. The unmanned vessel 1 then confirms each of the pipe support frame positions J+2, J-2, J+3 and J-3 at each pipe support frame.

Referring to Figure 13, a pipe connection and receiving (PAR) assembly, generally designated 60, is unrolled and attached to gauge 64 (Fig. 14) using a conventional procedure as previously described to be coupled to the work column. The PAR component 60 will be described in detail in conjunction with the co-pending application entitled "Pipeline Connection and Receiving Components". The applicant's content of the above-mentioned co-pending application is incorporated herein by reference. With the assistance of the unmanned boat, the PAR component 60 is lowered to the bottom of the sea. The unmanned boat releases the sling line from the PAR assembly 60. The sling line is returned to the surface of the water and the second PAR assembly 60 is deployed in the same manner.

Referring to Figure 15, the unmanned boat 2 is moved to and engaged with the first PAR assembly 60. The unmanned vessel 1 releases the lock 63 of the PAR assembly 60 from the docking struts 65 on the library 64 (Fig. 14) (Fig. 13). The unmanned boat 2 protrudes upward and is unwound from the PAR assembly 60 of the library 64. Referring to Figures 15 and 16, unmanned boat 2 swims to line P and is positioned at PAR assembly 60 that rides across line P. When the position of the PAR assembly 60 is determined to be thick, the unmanned boat 2 places its pressure-bearing projections within the female connector 70 on the PAR assembly 60. The hydraulic pressure from the unmanned vessel 2 operates the front clamping cylinder 66 on the PAR assembly 60 so that the line P can be gripped. The same procedure is used for the rear clamping cylinder 68. A visual inspection is performed using the unmanned vessel 1 to ensure that the fixture wall 72 (Fig. 16) has been closed and that the PAR assembly 60 is still in line with the pipeline P. The unmanned boat 2 is then released from the PAR assembly 60. The steps are repeated to mount the second PAR assembly 60.

The unmanned vessel 1 swims towards the mold carrier R (Fig. 7) and engages its positive docking probe in the negative docking cone of the cutting die C (Fig. 17). A double belt spur (not shown) from the mold docking station R is engaged by the unmanned vessel 1 in the female receiver 74 on the cutting die C. When a small forward thrust is applied, the plurality of metal ring connectors 76 (Fig. 7) of the mold docking station R are loosened from each other. The double belt squeezing is loosened from the female receiver 74 and returned to the mold docking station Inside the capsule. The unmanned boat 1 is pushed at the rear end to detach the cutting mold C from the mold docking station R. After the unmanned vessel 1 swims to the PAR assembly 60, the position at which the unmanned vessel 2 moves into can provide a visual observation of whether or not to collimate.

Referring to Figures 17 and 18, the cutting die C includes a plurality of guiding probes 78. The guide probe on the cutting die C is in line with the funnel on the boundary plate 82 of the PAR assembly 60. The unmanned boat 1 travels forward and meshes with the guide probe 78 within the leak 80. The metal ring pin 86 (Fig. 17) is locked to the metal ring connector 84 (Fig. 13) when a small forward pressure is applied. A small amount of back pressure is applied by the unmanned vessel 1 to ensure that the metal ring connector 84 is locked. The spurs are loosened and dragged. The unmanned boat 2 swims back to the mold docking station R to open the next cutting mold C and docking. The unmanned boat 1 is separated from the cutting mold C, and then swam toward the mold docking station R for observation. By installing the second cutting die C on the second PAR assembly 60, the roles of the unmanned ship 1 and the unmanned ship 2 are exchanged.

The ropes (not shown) used to repair the damaged section of the pipeline P are lowered using conventional procedures. The repair cord includes a pair of slings with snap hooks attached to one end of the stud cable. The repair rope is lowered to the bottom of the sea and the suspension cable is relaxed. The unmanned vessel 1 contracts one end of the sling and places it under the line P, then releases it. The unmanned vessel 1 swims to the other end of the pipeline P and contracts the sling and frees a short distance from the pipeline P before swimming back and over the pipeline P until the sling is tightened. One end of the sling passes again through the lower end of the line P and is released from the unmanned ship actuator. The unmanned vessel 1 picks up the sling at the other end of the pipeline P and clamps the snap hook on the body of the sling. The unmanned vessel 1 releases the sling and swims to the next section of the rope and then repeats the above steps. The cable is loosened from the repaired rope and returned to the surface.

The hose basket (not shown) is lowered from the boat to the bottom of the sea. The hose is bundled with a 20-meter polypropylene rope onto the suspension cable. The unmanned boat 1 swims to the hose basket and changes back to the mud cutting hose whip. The unmanned vessel 1 swims to the PAR assembly 60 and pierces the mud hose into the cutting die C and holds it in place. The unmanned vessel 1 moves to the docking cone and docks and pierces the multi-purpose belt spur. The unmanned boat 2 moves to the PAR assembly 60 and is fixed in place to observe the cutting of the pipeline P. The PAR tapping cylinder 88 (Fig. 13) extends from the unmanned boat unit 1 until the cutting die C is in the correct position. The cutting operation on the line P is then performed using the cutting die C. The unmanned boat 2 visually confirms that the pipe is being cut. The PAR tap cylinder 88 is then retracted by approximately 100 mm and the line P is cut for one second. The PAR taps the cylinders until they are in the fully closed position. The unmanned ship 1 is separated from the multi-purpose belt of the cutting die C.

The same steps are performed on the other PAR assembly 60 to cut the pipeline P a third time. Once the third section of line P is supported, the damaged section of line P will still be supported by the top tray assembly J at positions J-1 and J+1. The unmanned boat 2 contracts the cutting die C and releases the multi-purpose belt embossing from the PAR assembly 60. The unmanned boat 2 is then separated from the cutting die C. The hose basket returns to the surface.

The suspension line is lowered to the bottom of the sea. The unmanned vessel 1 picks up the suspension line and drags it to the pipeline repairing rope. The unmanned boat 1 connects the suspension line to the rope. The damaged section of line P then returns to the surface of the water. Multi-channel at the J-1 and J+1 at the center top pack assembly The valve opening allows the top bag j to rupture under its own weight. These center top pack components J are then removed from the stacking area.

Referring to Figure 19, the pipe end preparation tool 90 and the compressor weigh 92 are lowered to the sea floor. Unmanned ships 1 detect their position on the sea floor. As shown in Figure 19, the line end preparation tool 90 remains on the sea floor. The unmanned vessel 1 releases the fastened air bag 94, and the air bag is attached to the end preparation tool 90. The air bag 94 is inflated by the unmanned boat 1 until the elasticity of the air bag can support the seabed weight of the pipe end preparation tool 90. The air valve of the air bag 94 is closed when the compressor weighing sling is tightened. The pylon cable 96 is untwisted and returned to the surface of the water.

Referring to Figure 20, the positive docking probe of the unmanned vessel 1 and the female docking cone on the pipe end preparation tool 90. The unmanned vessel 1 and the end preparation tool 90 flow to the open end of the pipeline P. The unmanned boat 1 manipulating the end preparation tool until it is fully inserted into the pipe section. The spurs of the unmanned vessel 1 are placed in the female receiver of the pipe end preparation tool 90. Unmanned boat 2 visual confirmation operation. Using the hydraulic pressure from the unmanned vessel 1, the pipe end preparation tool 90 is locked and then operated so that the tool can be rotated at least 360 degrees. In a preferred embodiment of the invention, the pipe end preparation tool 90 grinds the recess into the outer end face of the pipe to provide a sealing surface for the scoop portion, as will be described below. With the squeezing loosened and the unmanned boat 1 moving backwards, the end preparation tool 90 is released from the line P. The unmanned vessel 1 swims to the end of the pipe end to prepare the pick-up end of the tool 90 and releases the docking probe to release it from the end turning tool 90. The pylon line is lowered to the bottom of the sea, wherein the unmanned boat 2 breaks the line at the lifting point of the end preparation tool 93. The unmanned boat 2 then draws air from the air bag 94 to transfer the weight to the sling line 96. The pipe end preparation tool 90 and the compression weigh 92 return to the surface of the water.

The unmanned vessel 1 swims to the cutting die C on the PAR assembly 60 and engages the positive docking probe into the female docking cone. The metal ring connector 84 is loosened and the unmanned boat 1 is pierced from the rear to separate the cutting die C from the PAR assembly 60. The unmanned vessel 1 carries the cutting module C on the loading rack R, while the unmanned boat 2 observes the metal ring lock. The same steps are repeated to remove the second cutting module C from the second PAR assembly 60. The module carrier R then returns to the surface.

Once the mold loading rack R is ready, the cutting mold C is removed and replaced by the loading mold D. The loading of the stencil D will be described in conjunction with the co-pending application entitled "PAR ASSEMBLY", which is incorporated herein by reference. The loading frame R carries the loading mold D and is thereafter lowered to the sea floor. The unmanned vessel 1 swims to the loading module D and engages its positive module probe within the cross section of the female module. The loading mold D is loosened from the mold loading block and the unmanned ship 1 is stabbed backward to separate the loading mold D from the loading mold R. The unmanned vessel 1 swims toward the PAR assembly 60 and stabs forward when a guide probe (not shown) on the loading mold and the funnel 80 (Fig. 13) on the PAR section plate 82 are in line. The unmanned boat 1 stabs forward until the shoe connector 84 is fully entered. The unmanned boat 2 completes visual confirmation. The same step is then performed to mount a second loading mold D on the second PAR assembly 60.

The vertical and horizontal angles of the line ends can be visually measured using a semi-circular gauge (not shown) and recorded using a tensioning line (not shown) attached to the two loading dies D. If the pipe end needs to be aligned, the unmanned ship will use the torque tool (no Loaded into the drive screw cylinder 100 of the pipe support frame F (Fig. 12), the saddle pipe stops 50 and 50' of the trolley 48 are driven in the lateral direction. The torque tool can be operated in forward or reverse direction using the hydraulic pressure from the unmanned vessel 1 until visually confirmed by the unmanned vessel 2 that the required side displacement has been reached. Vertical adjustment can be made by inflating or deflation of the water pack 52 in the pipe support F until it is confirmed that the desired height change has been achieved. The same process can be followed to adjust the second line end. The tensioning wire is released from the loading mold D when the re-adjusting step has been completed.

Referring to Figure 21, spool 102 and compressor weigh 104 are lowered to the sea floor. In a preferred embodiment of the invention, the spool 102 nests the

elements

102a and 102b. Each of the

nesting elements

102a and 102b includes an end clamping and sealing assembly 102c for clamping and sealing one end of the line P, respectively. The spool 102 also includes a central slide connector 102d having one end coupled to the nesting member 102a.

The unmanned vessel 1 monitors the position of the subsea compressor for weighing. The unmanned boat 1 then releases the tied air bag downwards, and the air bag is mounted on the bobbin 102. The air bag 106 is inflated by the unmanned boat opening the valve 110 on the compressor weigh 104. The valve 110 is closed when the spool 102 begins to rise and the load is transferred from the sling line 96 to the compressor weighing hook 108. The sling line 96 is released and returns to the surface of the water.

The unmanned boat 2 moves to the first PAR assembly 60 and is connected to a positive loading probe within the female loading cone. The multi-way squeezing of the unmanned vessel 2 is placed on the female receiver on the PAR assembly 60. The unmanned boat 1 is moved onto the loading mold D on the first PAR assembly 60. The unmanned vessel 1 contracts the loading shoe (not shown) from the loading column 112. The unmanned vessel 1 swims to the guiding hopper 114 of the corresponding bobbin 102 while the unmanned vessel 2 simultaneously operates a suitable crank (not shown) to release it on the loading module D using the hydraulic pressure from the unmanned vessel 2. The loading shoe is inserted into the guiding funnel 114 and pushed back all the way. The unmanned vessel 1 relaxes the handle of the loading tray and pulls the rope to withdraw the large needle from the lower loading base. This causes the handle to fall, but still continues to get stuck on the rope. The handle is removed from the rope. The unmanned vessel 1 moves to the lower portion of the guiding funnel and relaxes the gripping needle for the upper loading shoe. The unmanned vessel 1 moves to the upper part of the funnel and contracts the front pull rope for the upper end loading shoe. The unmanned vessel 1 is propelled upward while performing the appropriate stranding on the loading mold to release it using the hydraulic pressure from the unmanned vessel 2. The unmanned vessel 1 continues to advance until the upper loading base is pushed out of the guiding funnel and engaged with the lower loading base on the upper lip of the funnel. The unmanned vessel 1 is moved back onto the loading mold D on the PAR assembly 60. The unmanned boat 1 uses the handle to retract the next loading base from the loading column. Repeat the same steps for the base. The same steps are performed on the second PAR component 60. The unmanned boat 2 moves to the PAR assembly 60 and engages the positive loading probe within the negative loading section. As shown in FIG. 22, the striking cylinder 88 extends sufficiently along the PAR assembly 60 using hydraulic pressure from the unmanned vessel 2. Similarly, the striking cylinder 88 of the second PAR assembly 60 is fully extended by the unmanned vessel 1. Unmanned boat 1 and unmanned boat 2 are released from PAR assembly 60. The unmanned vessel 1 and the unmanned vessel 2 are moved to an appropriate position for observing the loading of the bobbin 102 on the loading mold D. At the same time, four strands are operated, and four strands are pulled in the bobbin 102. From unmanned boat 1 and unmanned boat 2 The hydraulic pressure is applied to the four strands. The spool 102 is dragged inwardly until the spool guide funnel 114 is positioned approximately 500 mm above the loading post 112. The unmanned vessel 1 and the unmanned vessel 2 can visually determine the vertical distance between the guiding funnel 114 and the loading column 112. If desired, the striking cylinder 88 of the PAR assembly 60 can be retracted until the loading mold D has been moved to the desired amount of information from the time of vision. The crank is activated to be dragged onto the loading column 112 on the guiding funnel 114. Once the loading column 112 is engaged on the guiding funnel 114, the rope is relaxed.

Referring to Figure 23, the spool 102 is dragged along the entire path leading to the loading mold D. As seen in Figure 24, the striking cylinder 88 is dragged over the PAR assembly 60 until the spool 102 and the pipe end are all engaged. The unmanned vessel 1 is coupled to the bobbin nesting assembly 102a and is hydraulically coupled to the pipe end with the clamping end and seal assembly 102c. The unmanned boat 1 is then moved to another scoop-like nesting assembly 102b and joined. The unmanned vessel 1 is hydraulically engaged with the second end clamp and seal assembly 102c at the pipe end.

The line P is now repaired and the test is completed on the seal of the scoop connected to the line P. Once the test is complete, the device usually returns back to the surface. The lifting pack 52 of the pipe support frame F releases the gas and the pipe support frame F is pulled out from below the pipe P, and then the pipe P stays on the top pack assembly J. The top bag j is sent that odd so that the pipeline P stays on the sea floor. The top pack assembly J is then pulled from the container in the lower portion of the line P and returned to the surface of the water.

The present invention has been described with reference to the specific illustrative embodiments, and is not limited by the scope of the appended claims. It will be appreciated by those skilled in the art that the embodiments of the invention can be modified and modified without departing from the scope and spirit of the invention.

Claims

An unmanned ship-line maintenance method includes the following steps:

(1) transporting the equipment for repairing the damaged pipeline (P) out of the working column above the damage pipeline (P) in the floating tank, the floating tank comprising a crane for lowering different parts of the equipment to the working column, floating The cabin is parked or dynamically positioned directly above the damaged portion of the pipeline (P);

(2) Using the external detection technology of the unmanned ship to locate the damaged position of the pipeline (P);

(3) The unmanned ship is equipped with a camera and a lamp, so that the operator on the floating cabin observes the seabed and the damaged pipeline (P), and the unmanned ship performs the detection of the submarine pipeline and the general inspection of the broken portion and the damaged portion;

(4) Deployment of equipment placed on the sea floor usually involves all parts of the equipment to the sea floor. Once it falls on the sea floor, a quick release lock will be released and the suspension line will return to the surface of the water;

(5) The pipeline support frame (F) is lowered to the seabed through a subsequent deployment process to perform sonar detection, the unmanned ship is close to the pipe support frame (F) and the container is repositioned until the coordinates of the suspension line transmitter answering machine are Within the target area of the pipe support frame;

(6) The unmanned ship distributes the pipe support frame (F) to its designated position, rotates to correctly position the pipe support frame (F) on the seabed, the suspension column line relaxes and returns to the water surface, and the remaining pipe support frame (F) adopts a similar way to lower;

(7) then placing a container for deploying a top tray deployment basket (30) containing a plurality of top tray assemblies (J), the unmanned boat approaching the deployment basket (30) and monitoring its position on the sea floor;

(8) The unmanned ship removes all the top bag assembly (J) from the basket (30) and moves the basket (30) to the surface of the water, and the unmanned ship repositions the top bag assembly (J) to its predetermined position;

(9) Lower the mold loading frame (R) to the sea floor;

(10) The dredger package (D) is installed on the deck of the upper unmanned ship's upper deck, and the second unmanned ship is placed and swung to the installation position of the top support package (J) to activate the dredger (D) ;

(11) The second unmanned ship operator is used to operate the nozzle (36) to cause the selected dredger to work, and the dredger continues to work until a sufficiently large sized capsule (38) has been visually observed. ;

(12) Using a second unmanned ship actuator to drag the dredger nozzle (36), and measuring the depth of excavation of the capsule (38) by the second unmanned ship actuator, the capsule container (38) is excavated And connected to the appropriately positioned top tray assembly J;

(13) The first unmanned boat swims toward the top support assembly (J) and removes the rod (40) and then removes the cord (42) from the top pack assembly base member (32), the first unmanned The boat carries the towline below the line (P) through the rod (40), then releases the rod (40) and repositions itself to the other side of the line (P);

(14) The first unmanned ship free line (P), dragging the top tray assembly (J) under the line (P) into the capsule container (38), when the top tray assembly guide frame (34) is fixed When the pipeline (P) is on, the first unmanned ship stops;

(15) Repeat the same steps for each top tray assembly (J);

(16) inflating the top tray assembly (J), and the pipeline (P) is lifted off the sea floor;

(17) installing the pipe support frame (F) under the pipeline (P);

(18) The first unmanned ship places the pipe bracket gauge (G) on each pipe support frame (F);

(19) The first unmanned boat is pushed at the rear end to complete the test tool from the mold docking R by the cutting die (C);

(20) Lower the ropes and hose baskets used to repair the damaged section of the pipeline (P);

(21) The suspension line is lowered to the bottom of the sea. The first unmanned ship picks up the suspension line and drags it to the pipeline repairing rope and connects the suspension line to the rope. Then the damaged section of the pipeline (P) is returned. The water surface, the center top pack assembly is allowed to open under the weight of the multi-way valve, and then the center top pack assembly (J) is removed from the stacking area;

(22) Lower the pipe end preparation tool (90) and the compressor weigh (92) to the bottom of the sea. The first unmanned ship detects their position on the sea floor and performs corresponding maintenance.
The method for repairing an unmanned shipboard pipeline according to claim 1, wherein the equipment deployed on the seabed comprises a circular and crank clamp weighing (B, W), and the floating cabin can be repositioned until the suspension The coordinates of the emitter transponder of the bar are in the target zone where the corresponding fixture is weighed, and the container is repositioned to reproduce the remaining fixtures to the bottom of the sea.
A method for repairing an unmanned shipline pipeline according to claim 1, wherein said top carrier assembly (J) comprises a substantially flat bottom (32) including a rail frame (34), a top carrier assembly (J) includes a top support (j) attached to the upper surface of the flat bottom (32), the rod (40) attached to the dragline (42), and the drag reel (42) attached to the flat bottom (32).
The unmanned ship-line maintenance method according to claim 1, wherein the mold loading frame (R) has a pair of cutting dies.
The unmanned ship pipeline maintenance method according to claim 1, characterized in that the plurality of pipe rack gauges (G) are arranged from the cabin to the sea floor.
The unmanned ship-line maintenance method according to claim 1, characterized in that: the first unmanned ship and the second unmanned ship and the collecting pipe of the spunlace rod at different positions of the top supporting bag assembly (J) 33) combined together.
A method of unmanned ship-borne pipeline according to claim 1, wherein said cutting die (C) comprises a plurality of guiding probes (78), further comprising a PAR component (60), said cutting die ( The guiding probe on C) is in line with the funnel on the boundary plate (82) of the PAR assembly (60).