WO2018014393A1 - Ensemble lanceur de dispositif d'inspection de pipeline sous-marin mis en œuvre par un navire sans pilote - Google Patents

Ensemble lanceur de dispositif d'inspection de pipeline sous-marin mis en œuvre par un navire sans pilote Download PDF

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Publication number
WO2018014393A1
WO2018014393A1 PCT/CN2016/095114 CN2016095114W WO2018014393A1 WO 2018014393 A1 WO2018014393 A1 WO 2018014393A1 CN 2016095114 W CN2016095114 W CN 2016095114W WO 2018014393 A1 WO2018014393 A1 WO 2018014393A1
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WO
WIPO (PCT)
Prior art keywords
detector
tube
valve
pipe
unmanned
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Application number
PCT/CN2016/095114
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English (en)
Chinese (zh)
Inventor
杨越
Original Assignee
杨越
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Publication date
Application filed by 杨越 filed Critical 杨越
Publication of WO2018014393A1 publication Critical patent/WO2018014393A1/fr

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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E21B47/001—Survey of boreholes or wells for underwater installation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027—Cleaning the internal surfaces; Removal of blockages
    • B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B23/00—Apparatus for displacing, setting, locking, releasing or removing tools, packers or the like in boreholes or wells
    • E21B23/08—Introducing or running tools by fluid pressure, e.g. through-the-flow-line tool systems
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B37/00—Methods or apparatus for cleaning boreholes or wells

Definitions

  • the present invention relates to a transmitter assembly, and more particularly to an unmanned marine submersible detector assembly.
  • the checker is a tool that is used to clean the pipe wall or monitor the internal condition of the pipe by its own power or under the push of oil and air. It can be divided into two categories according to its function.
  • the first type is the pipeline.
  • the second type is a smart tube detector based on in-pipe inspection, which has a wider field and scope.
  • the intelligent checker assembly is widely used on unmanned ships, and its transmitter assembly is a critical component that has a large impact on the accuracy and range of pipeline inspection. At present, the transmitter component has a problem that the detection range is small and the detection accuracy is low.
  • the object of the present invention is to provide a submarine pipe inspection device transmitter assembly for an unmanned ship, comprising: a pipe foundation having a sled shape, a plurality of upwardly extending guiding rods and a diagonal bracing for fixing one end connected to the pipe
  • the upward bushing or flange the unmanned ship inspection device launcher can be lowered to the pipe foundation, and the pipe inspection device includes a plurality of counter guides consisting of a funnel that is downwardly connected to the guide rod by the sleeve.
  • the flange is disposed on the opposite side of the guide rod such that the unmanned vessel inspection device is closely mated with the pipe, and further includes an upright pipe tee connected to the flange, one end connected to the pipe tee, and the other One end is connected to the horizontal pipe section of the subsea wellhead.
  • the pipe tee also includes an isolation or shut-off valve connected to the pipe tee, allowing fluid to be in the pipe and pipe
  • the flow, isolation or shut-off valve in the section can be operated by a remotely operated carrier that positions the mechanical joint portion above the isolation or shut-off valve for connection to the joint portion of a paired unmanned marine surveyor transmitter, isolation valve and The launch tube is connected, and the mating joint portion of the mechanical joint portion is located below the isolation valve.
  • the mechanical joint is a collet joint.
  • the unmanned vessel inspection launcher includes a counter guide attached to the upper outer frame, the upper outer frame including an annular or eye crane cable attachment.
  • the unmanned marine inspection device transmitter includes an upper inspection chamber coupled to the reduced diameter launch tube in a vertical direction for storing a plurality of unmanned marine inspection devices.
  • the inner diameter of the upper inspection chamber is larger than the outer diameter of the unmanned marine inspection device, and the inner diameter of the transmitting tube is equal to the outer diameter of the unmanned marine inspection device.
  • the utility model further comprises an unmanned ship inspection device gate, which is operatively located at a bottom end of the upper inspection device compartment and above the launching tube, and the unmanned vessel inspection device gate is located between a launching position and a preparatory position, including an upper portion
  • the fork and a lower fork are spaced apart by a length of about one unmanned marine inspection device, and the inner diameter of the upper inspection chamber is gradually reduced at or slightly above the lower fork.
  • the utility model further comprises a hydraulic cylinder, which is connected with the unmanned ship inspection device gate, and switches the unmanned marine inspection device gate at the transmitting and preparatory positions, and the hydraulic cylinder and the unmanned marine inspection device gate are installed in the hole of the bushing.
  • the closure element is mounted to the bushing to provide access to the hydraulic cylinder and the inspector gate.
  • the pressure accumulator comprises a cylindrical gas tank having an opening at one end and a movable inner piston, and the pressure accumulator is provided with a filling inlet on the opposite side of the piston from the opening for providing a filling in the pressure accumulator a first pipe connection connecting the opening and extending through the closing element, the closing element connecting the upper hatch flange having a perforation inside, the upper tank flange being connected to the upper end of the upper inspection chamber, the valve being connected to the first pipe connection And located at the end of the first pipe connecting pipe, extending through the closing element, the second pipe connecting pipe provides fluid circulation between the launch pipe and the first pipe connecting pipe, and the second pipe connecting pipe is connected to the launching pipe above the isolation valve, the single pipe The valve is mounted in the second conduit connection and the second conduit connection is in fluid communication with the pressure reservoir.
  • the tube detector transmitter includes a cylindrical cylinder having an opening at one end and a A removable internal piston consisting of a purge accumulator, the purge accumulator includes a full inlet disposed on the opposite side of the inner piston from the opening for providing clearance of the fill in the accumulator, and a third conduit connection To the opening and the launch tube, the third conduit connection provides fluid communication between the launch tube and the purge accumulator.
  • the tube detector transmitter further comprises an inverted liquid tray having a hinged bottom door, the inverted liquid tray comprising a top plate sealed around the mechanical tube and surrounding the tube, the plurality of sides The wall is attached to the top panel and extends below the mechanical joint, and the bottom door is sealingly engageable with the plurality of side walls to form a closed closure within the inverted liquid tray.
  • the operating pressure of the program valve is matching pipe
  • the first program valve sends a signal to a control valve
  • the hydraulic cylinder controls the position of the inspection device gate.
  • the piston rod moves outward, the upper fork is at Pivoting forward and the lower fork rotating backwards so that the lowest pipe inspection device is pushed or pressed into the reduced diameter launch tube, and the second program valve sends a signal when it detects its lower pressure preset value.
  • a hydraulically operated valve manipulator is operated, the valve manipulator opens a valve connected to the first pipe connection, and the second control valve allows the valve to close after the pressure drops.
  • the subsea detector transmitter assembly of the present invention is used for related detection on an unmanned ship, and the detection range is small, and the detection precision is low.
  • Figure 1 is a cross-sectional view of a submarine tube detector launcher assembly connected to a subsea pipeline;
  • 2A-2D are cross-sectional views showing the sequence in which the unmanned marine subsea detector launcher assembly is installed into the pipeline;
  • 3A-3C are cross-sectional views showing the firing sequence of the detector of the unmanned marine subsea detector launcher
  • 4A and 4B are cross-sectional views showing the sequence of surface recovery of the unmanned submarine tube detector launcher
  • 5A-5E are cross-sectional views showing sequential steps of installing an unmanned submarine tube detector launcher on a typical subsea pipeline having a U-shaped joint connected to a subsea wellhead.
  • the generally designated reference numeral 10 is an unmanned marine subsea detector transmitter assembly and is described in detail with reference now to the drawings.
  • the unmanned subsea detector launcher assembly 10 includes a tube detector launcher 12 that is lowered onto a duct foundation 14.
  • the duct foundation 14 has a plurality of upwardly extending guide rods 16 and the tube detector launcher 12 includes a corresponding number of counter guides 18 consisting of a funnel 20 that is downwardly connected to the guide rod by the sleeve 22. It is to be understood that other forms of alignment assistance can be used in place of the guide bar 16 and the counter guide 18.
  • the duct foundation 14 is a sled-like structure having braces 24 for securing an upward bushing or flange 26 that is coupled to one end of the duct 28.
  • the flange 26 is disposed relative to the guide rod 16 such that the tube detector 12 is mated with the tube 28.
  • an upright pipe tee 30 is coupled to the flange 26 as shown in FIG.
  • One end of a horizontal pipe section 32 is connected to the pipe tee 30 and the other end is typically connected to the subsea wellhead.
  • an isolation or shutoff valve 34 is coupled to a location of the conduit tee 30, allowing fluid to be in the conduit 28 and the conduit segment even if the unmanned vessel inspection device 12 is not attached to the conduit foundation 14. Flowing in 32.
  • the isolation or shutoff valve 34 can be operated by a remotely operated carrier.
  • a mechanical joint portion 36a is disposed above the shutoff valve 34 for connection to the joint portion 36b of a paired unmanned marine surveyor launcher 12.
  • the mechanical joint 36 (Fig. 2B) is a collet joint.
  • the tube detector transmitter 12 includes an counter guide 18 attached to the upper outer frame 38.
  • the frame 38 includes a crane rope attachment 40, shown as a ring or eye, for vertically lifting or lowering the unmanned vessel inspection vessel 12 as described below.
  • the unmanned marine inspection vessel launcher 12 includes an upper inspection vessel compartment 42, preferably connected in a vertical direction to the reduced diameter launching tube 43 for storing a plurality of unmanned marine vessel inspections. 44.
  • the inner diameter of the upper tube inspection chamber 42 is larger than the outer diameter of the tube detector 44, and the inner diameter of the emission tube 43 is approximately equal to the outer diameter of the tube detector 44, the reason of which will be explained below.
  • An isolation valve 46 is coupled to the launch tube 43 and the mating joint portion 36b of the mechanical joint 36 is below the isolation valve 46.
  • the unmanned vessel inspection gate 48 is operatively located at the lower end of the upper inspection chamber 42 and above the launch tube 43.
  • the unmanned vessel inspection gate 48 is located between a launch position (Fig. 3A) and a preparatory position (Fig. 1).
  • the unmanned vessel inspector gate 48 includes an upper fork 48a and a lower fork 48b spaced apart by about the length of an unmanned marine survey, as will be explained below.
  • a hydraulic cylinder 54 is coupled to the unmanned vessel inspection gate 48 and switches the unmanned marine inspection gate 48 at the launch and standby positions.
  • the hydraulic cylinder 54 and the unmanned vessel inspection gate 48 are mounted within the bore 92a of the bushing 92.
  • a closure member 94 such as a blind flange, is mounted to the liner 92 to provide access to the hydraulic cylinder 54 and the detector gate 48.
  • a pressure reservoir is comprised of a cylindrical gas canister 58 having an opening 60 at one end and a movable inner piston 62.
  • the pressure reservoir is provided with a fill inlet on the opposite side of the piston 62 from the opening 60 for providing a fill in the pressure reservoir, preferably using nitrogen.
  • the first conduit connection 64 connects the opening 60 and extends through the closure member 66.
  • the closure element 66 connects the upper compartment flange 68 with a perforation 68a therein.
  • Upper hatch flange 68 is coupled to the upper end of upper inspector compartment 42.
  • a valve 70 preferably a ball valve, is coupled to the first conduit connection 64.
  • the valve 70 is located at the end of the first conduit connection 64 and extends through the closure member 66, as shown in FIG. It is to be understood that the valve 70 can be any form of two-way valve that can be operated by a remote control valve.
  • the second conduit connection 72 provides fluid communication between the launch tube 43 and the first conduit connection 64.
  • the second conduit connection 72 is connected to the launch tube 43 above the isolation valve 46.
  • a check valve 74 is installed in the second pipe The fluid in the tube 72 thus in the second conduit connection is only allowed to flow in a direction from the launch tube 43 to the first conduit connection 64. It is to be understood that the second conduit connection 72 is in fluid communication with the pressure reservoir.
  • the tube detector 12 includes a purge accumulator 76 comprised of a cylindrical cylinder 78 having an opening 80 at one end and a movable inner piston 82.
  • the purge accumulator 76 includes a fill inlet 84 for providing a purge of the fill in the accumulator, preferably using nitrogen, on the opposite side of the inner piston 82 from the opening 80.
  • a third conduit connection 86 is connected to the opening 80 and to the launch tube 43. The third conduit connection 86 provides fluid communication between the launch tube 43 and the purge accumulator 76.
  • the tube detector 12 includes an inverted liquid pan 88 having a hinged bottom door 90.
  • the inverted drip pan 88 includes a top plate 88a that is sealed around the launch tube 43 above the mechanical joint 36.
  • a plurality of side walls 88b are attached to the top plate 88a and extend below the mechanical joint 36 for reasons explained below.
  • the bottom door 90 is sealingly engageable with the plurality of side walls 88b to form a closed closure within the inverted liquid pan 88.
  • the preselected first and second programmed valves 50 and 52 correspondingly, preferably control the launching operation of the inspector emitter 12 through the conduit pressure detected in the first conduit connection 64.
  • the program valves 50, 52 are preferably pressure relief valves. The operating pressure of each of the program valves 50 and 52 is selected to match the pressure characteristics of the conduit 28.
  • the first program valve 50 has a higher pressure than the second program valve 52.
  • the first programmed valve 50 Upon detecting its preset pressure set point, the first programmed valve 50 sends a signal to a control valve 96, preferably a four-way valve, which controls the position of the check valve 48.
  • the first program valve 50 acts as a trigger and signals the control valve 96 to open and close the port on the hydraulic cylinder 54 to move the piston rod in and out.
  • the piston rod moves outward, the upper fork 48a is pivoted forward while the lower fork is rotated rearward so that the lowest gauge 44' is pushed or depressed into the reduced diameter launch tube for reasons explained below.
  • the second program valve 52 upon detecting its lower pressure preset value, sends a signal to a second control valve 98, preferably a four-way valve, operating a hydraulically operated valve manipulator 99, such as a hydraulic cylinder.
  • the valve manipulator 99 opens the valve 70 that is connected to the first conduit connection 64.
  • the second control valve 98 will allow the valve 70 to close after the pressure drops, as will be explained below.
  • the tube detector 12 is lowered to the tube foundation 14 by a lift cord L on the pontoon.
  • the bottom door 90 of the liquid pan 88 is inverted in the open position.
  • a remotely operated submersible (ROV) (not shown) preferably directs a plurality of counter guides 18 of the tube detector 12 to land on the plurality of guide bars 16 as shown in Figure 2B.
  • the ROV pairs the mating joint portion 36b to the mechanical joint portion 36a and tests the seal pressure.
  • the ROV opens the isolation valve 46 and the shutoff valve 34 between the tube detector transmitter 12 and the conduits 28, 32 to equalize the pressure in the pressure reservoir and purge accumulator 76 to the pressure of the conduits 28, 32 as shown in Figure 2D.
  • the inner pistons 62 and 82 are indicated.
  • the tube inspection sequence is now described in detail with particular reference to Figures 3A-3C.
  • the pipeline operator begins the tube inspection sequence to reduce the pressure of the tubes 28, 32 by controlling a wellhead valve (not shown) to reduce product flow to the set value of the first program valve 50.
  • a wellhead valve not shown
  • the pressure drop in the conduits 28, 32 is detected by the first program valve 50 of the departure control valve 96.
  • Control valve 96 operates hydraulic cylinder 54 to move meter gate 48 from the ready position (Fig. 2D) to the launch position as shown in Fig. 3A.
  • Rotation of the lower fork 48b of the position detector gate 48 about the pivot axis allows the lowest gauge 44' to be released from the detector compartment 42.
  • the upper fork 48a pushes or presses the lowest tube detector 44' into the reduced diameter launch tube 43.
  • the tube detector 44 has a diameter substantially equal to the inner diameter of the launch tube 43 to form a seal in the launch tube 43.
  • a further decrease in pressure in the conduit is detected by the second program valve 52 that triggers the control valve 98.
  • the control valve 98 operates the valve manipulator 99 to open the valve 70 that is coupled to the first conduit connection 64 at the top of the inspection chamber 43.
  • the pressure reservoir charges to the approximate tube before closing the wellhead valve
  • the pressure in the road pressure is released to the inspection chamber 42. This pressure acts on the lowest gauge 44' and presses the lowest gauge 44' through the launch tube 43 and into the conduit 28 as shown in Figure 3B.
  • the tube detector 44' forms a seal in the launch tube 43, the pressure from the pressure reservoir is not allowed to pass by the side of the lowest tube detector 44', instead it is pressed against the tube 28 .
  • the diameter of the conduit 28 is preferably directly equal to that of the launch tube 43. It is also important to understand that when the diameter of the tube inspection chamber 42 is greater than the diameter of the launch tube 43 and the tube detector 44, the pressure of the pressure reservoir can be passed from the side of the tube detector 44 to apply pressure to the lowest tube inspection.
  • the device 44' is inside the launch tube 43.
  • the wellhead valve is opened to increase the line pressure to the wellhead pressure.
  • the pressure in the first conduit connection 64 rises to the level of the pipeline and wellhead pressure.
  • the pipe pressure rises to the wellhead pressure to drive the fire detector 44' through the pipe 28 and is repressurized to the pressure reservoir.
  • the increase in pressure in the first conduit connection 64 also circulates the inspection valve gate 48 to the preparatory position to allow all of the remaining detectors 48 to descend one gauge length.
  • the tube detector 12 is again ready to fire the next tube detector 44 at the tube gate 48, corresponding to the next cycle of tube pressure drop.
  • the tube inspection sequence is repeated until the last tube detector 44 has been fired from the subsea detector transmitter assembly 10.
  • control and energizers are driven by energy stored in pressure reservoir 56. And this energy is stored each time the tube detector 12 is exposed to wellhead pressure.
  • the tube detector transmitter 12 is retracted to a surface vessel (not shown) with the aid of an ROV (not shown).
  • the ROV attaches the hoisting rope L from the surface vessel to the lifting eye 40.
  • the isolation valve 46 and the conduit shut-off valve 34 are closed by the ROV to isolate the inspection vessel launcher 12 from the conduits 28,32.
  • the pressure in the pressure reservoir 56 is isolated by closing the isolation valve 46 as the second conduit connection 72 is connected to the launch tube 43 on the isolation valve 46. Isolation of the gas in the pressure reservoir 56 prevents expansion and compression when the conduits 23, 32 are released.
  • the mechanical or collet joint 36 is released by the ROV and the watership lift tube detector launcher 12 exits the duct 14 .
  • the pressure stored in the purge accumulator 76 breaks the vacuum when the collet joint 36 is separated.
  • the purge of nitrogen in the accumulator 76 provides a force to push the fluid out of the purge accumulator 76 and overcomes the separation sleeve.
  • a vacuum lock that may be present when the jaw joint 36 is present.
  • the inspector transmitter 12 is lifted to the watership vessel as shown in Figure 4B.
  • the tube detector 12 is recycled to the ship deck with pipe products near the bottom of the seawater. The pipe product can then be safely transferred to a suitable processing location.
  • the inspector compartment 42 On the surface of the water, the inspector compartment 42 is reloaded into the inspector 44. Any liquid enclosed in the tube detector 12 is purged and the accumulators 56 and 76 are filled with compressed gas if desired. After functional testing of the tube detector 12, the tube detector 12 is ready for re-provisioning.
  • the subsea detector launcher assembly 10 is designed and configured to be deployable by an unmanned boat to minimize the overall cost associated with maintaining and cleaning the subsea pipeline 28.
  • the tube detector transmitter 42 can store a plurality of individual tube detectors 44 and a single firing tube detector 44 enters the tubes 28. Therefore, the frequency at which the auxiliary ship is required to refill the pipe inspection unit 44 is reduced.
  • the subsea tube detector assembly 10 does not require a separate energy umbilical cord.
  • the tube detector 12 stores the wellhead pressure from the tubing in the pressure accumulator 56 and then uses the pressure of the pressure accumulator 56 to fire each of the tubes 44.
  • the tube detector 12 also represses the pressure reservoir 56 with pipe operating pressure after each tube inspection.
  • Another benefit of the subsea tube detector assembly 10 is that the tube detector 12 is controlled without the use of an ad hoc umbilical control line from the main platform.
  • a pressure sensing hydraulic logic circuit as described above eliminates the need for special control of the umbilical cord through the detection of the pressure sequence of the pressure drop or pressure change in the conduit 28.
  • valve 70 has been placed in the inspector compartment 42 to minimize the number of external environmental pressure seals. Therefore, any leakage from the valve stem of valve 70 occurs in the inspection chamber 42 and does not escape to the outside environment. It is further understood that the design of the subsea detector launcher assembly 10 limits the penetration of conduit pressure to the boundary of the spool and collet joint 36 of the shutoff valve 34 and the isolation valve 46 stem. This also minimizes the risk of polluting the external environment.
  • Figures 5A-5E show a modification of an existing connected subsea wellhead tree T to a pipe P.
  • the U-shaped connection tube J is placed so that the tube detector transmitter 12 of the present invention can be remotely mounted to the pipe P. This technique can also be used on other types of connecting tubes.
  • the U-shaped connecting tube J has a short length of pipe 102 with downward joint bushings 104 and 106 at its ends.
  • the pipe P has an upward joint bushing 108.
  • the pipe P includes a pipe valve 110 and a pipe end mud pad 112 to support the pipe end bushing 108.
  • the subsea wellhead tree T includes an upward joint bushing 114.
  • the downward joint bushings 104 and 106 are connected to the upward joint bushings 108 and 114, respectively, as shown in Fig. 5A.
  • the U-shaped connecting pipe J is recovered to the surface of the water through a general remote control technique as shown in Fig. 5B.
  • a tube detector launcher base 116 is specifically designed to rest on the sea floor and provide traction to the pipe end bushing 108.
  • the tube detector guides the foundation 116 with a plurality of guide rods 118 that are deployed from the surface of the water and mounted around the center of the upward pipe joint bushing 108, as shown in Figure 5C.
  • the end of the U-line connecting tube J is modified to replace a conventional 90-degree elbow 122 (Fig. 5B) through a tee 120 (Fig. 5D) of the tube.
  • the tee 120 is then placed with a shutoff valve 124 and an upward joint bushing 126.
  • the modified U-shaped connecting pipe J' is then deployed from the surface of the water and retrained to the subsea wellhead tree T and the pipe P.
  • the tube detector 12 can now be deployed from the surface of the water, aligned by the guide base 116, and connected to the upward joint bushing 126 of the modified U-shaped connecting tube J', as shown in Figure 5E.
  • the operation of the tube detector 12 is the same as described above.

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  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mining & Mineral Resources (AREA)
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  • Environmental & Geological Engineering (AREA)
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  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
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  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
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Abstract

L'invention concerne un ensemble (10) lanceur de dispositif d'inspection de pipeline sous-marin (12) mis en œuvre par un navire sans pilote, comprenant : une base de pipeline en forme de traîneau (14) dotée d'une pluralité d'arbres de guidage (16) s'étendant vers le haut et d'un support incliné (24), le support incliné (24) étant utilisé pour fixer un manchon ou une bride montant (26) relié à une extrémité d'un pipeline (28). Le lanceur de dispositif d'inspection de pipeline (12) mis en œuvre par le navire sans pilote peut être abaissé jusqu'aux fondations de pipeline (14). Le lanceur de dispositif d'inspection de pipeline (12) comprend un guide d'alignement d'ouverture (18) constitué d'une pluralité de tubes de gainage (22) formant une liaison descendante avec une partie en forme d'entonnoir d'un arbre de guidage (16). L'ensemble (10) lanceur de dispositif d'inspection de pipeline sous-marin (12) est utilisé pour effectuer l'inspection et l'évaluation d'un navire sans pilote, et offre une portée et une précision limitées d'inspection et d'évaluation.
PCT/CN2016/095114 2016-07-17 2016-08-14 Ensemble lanceur de dispositif d'inspection de pipeline sous-marin mis en œuvre par un navire sans pilote WO2018014393A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610561842.3A CN106014380A (zh) 2016-07-17 2016-07-17 一种无人船用海底检管器发射器组件
CN201610561842.3 2016-07-17

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WO2018014393A1 true WO2018014393A1 (fr) 2018-01-25

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CN106014381A (zh) * 2016-07-17 2016-10-12 杨越 一种无人船用海底检管器发射器组件

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CN106014381A (zh) * 2016-07-17 2016-10-12 杨越 一种无人船用海底检管器发射器组件

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US6022421A (en) * 1998-03-03 2000-02-08 Sonsub International, Inc, Method for remotely launching subsea pigs in response to wellhead pressure change
CN101017105A (zh) * 2006-02-07 2007-08-15 俞洪燕 气液多相流分离整流装置及其测量装置
CN202946930U (zh) * 2012-12-05 2013-05-22 浙江大学舟山海洋研究中心 一种自供电海底管道在线检漏设备
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CN203718380U (zh) * 2014-02-25 2014-07-16 刘涛 一种海底管道检测器投放装置
CN204387693U (zh) * 2014-10-10 2015-06-10 韩义同 一种海底管道检测器回收装置
CN106014381A (zh) * 2016-07-17 2016-10-12 杨越 一种无人船用海底检管器发射器组件

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