WO2018014394A1 - 一种无人船用海底检管器发射器组件 - Google Patents

一种无人船用海底检管器发射器组件 Download PDF

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Publication number
WO2018014394A1
WO2018014394A1 PCT/CN2016/095115 CN2016095115W WO2018014394A1 WO 2018014394 A1 WO2018014394 A1 WO 2018014394A1 CN 2016095115 W CN2016095115 W CN 2016095115W WO 2018014394 A1 WO2018014394 A1 WO 2018014394A1
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WIPO (PCT)
Prior art keywords
valve
tube
detector
pressure
unmanned
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PCT/CN2016/095115
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English (en)
French (fr)
Inventor
杨越
Original Assignee
杨越
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Publication date
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Publication of WO2018014394A1 publication Critical patent/WO2018014394A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/46—Launching or retrieval of pigs or moles
    • 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
    • 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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Abstract

一种无人船用海底管检器发射器组件，包括：管道基础(14)，呈雪橇状，具有多个向上延伸的引导杆(16)以及斜撑(24)，斜撑(24)用于固定一个连接到管道(28)一端的向上的衬套或法兰(26)；无人船用管检器发射器(12)，可下降到管道基础(14)，管检器发射器(12)包括多个由套管(22)向下连接到引导杆(16)的漏斗状物(20)组成的对口引导(18)。该海底检管器发射器组件用于无人船上的相关检测，能够解决检测范围小、检测精度低的技术问题。

Description

一种无人船用海底检管器发射器组件 技术领域
本发明涉及一种发射器组件，尤其是无人船用海底检管器发射器组件。
背景技术
检管器是一种借助自身动力或在油、气流推动下，在管道内部运动，用于清洁管壁或者监测管道内部状况的工具，按其功能可以分为两类，第一类是以管道清污为目的的普通检管器；第二类是以管道内检测为主的智能检管器，后者用的领域和范围更宽。智能检管器组件在无人船上用途很广泛，而其发射器组件是很关键的组件，对于管道检测的精度和范围有着很大的影响。目前发射器组件存在检测范围小，检测精度低的问题。
发明内容
本发明的目的在于提供一种无人船用海底管检器发射器组件，包括：管道基础，呈雪橇状，具有多个向上延伸的引导杆以及斜撑，斜撑用于固定一个连接到管道一端的向上的衬套或法兰；无人船用管检器发射器，可下降到管道基础，管检器发射器包括多个由套管向下连接到引导杆的漏斗状物组成的对口引导。
优选的，法兰布置在引导杆相对一侧，从而使得无人船用管检器发射器与管道紧密配合，还包括连接到法兰的直立的管道三通，一端连接到管道三通，并且另一端连接到海底井口的水平管道段。
优选的，还包括连接到管道三通的隔离或截断阀，允许流体在管道和管道 段中流动，隔离或截断阀可以通过一个远程操作载具操作，将机械接头部分安置在隔离或截断阀上方，用于连接一个配对的无人船用管检器发射器的接头部分，隔离阀与发射管连接，机械接头部分的配对接头部分位于隔离阀的下方。
优选的，机械接头是一个套爪接头。
优选的，无人船用管检器发射器包括一个附在上部外框架的对口引导，上部外框架包括一个环状或者眼状起重机绳连接装置。
优选的，无人船用管检器发射器包括一个上管检器舱，沿竖直方向连接到直径减小的发射管上，用于储存多个无人船用管检器。
优选的，上管检器舱的内径比无人船用管检器的外径大，发射管的内径等于无人船用管检器的外径。
优选的，还包括无人船用管检器闸，可操作的位于上管检器舱的底端以及发射管上面，无人船用管检器闸位于一个发射位置和一个预备位置间，包括一个上叉和一个下叉，两者间隔开大约一个无人船用管检器的长度，上管检器舱内径在或稍微高于下叉处逐渐缩小。
优选的，还包括液压气缸，与无人船用管检器闸连接，并在发射和预备位置切换无人船用管检器闸，液压气缸和无人船用管检器闸均安装在衬套的孔内，将封闭元件安装到衬套从而提供到液压气缸和管检器闸的入口。
优选的，包括压力储存器，由一端有开口的圆柱状气罐和可移动的内活塞组成，压力储存器在活塞与开口相对的一面设置一个填充入口，用于提供压力储存器里的填充物，第一管道连管连接开口并延伸穿过封闭元件，封闭元件连接内部带有穿孔的上部舱法兰，上部舱法兰连接到上管检器舱的上端，阀与第一管道连管连接并位于第一管道连管的末端，延伸穿过封闭元件，第二管道连管提供发射管和第一管道连管间的流体流通，第二管道连管连接到隔离阀上方的发射管，单向阀安装在第二管道连管中，第二管道连管与压力储存器流体流通。
优选的，管检器发射器包括一个由一个在一端有开口的圆柱状气缸和一个 可移动的内活塞组成的清除储压器，清除储压器包括一个充满入口，设置在内活塞与开口相对的一边，用来提供清除储压器里的填充物，第三个管道连管连接到开口和发射管，第三管道连管提供发射管和清除储压器间的流体流通。
优选的，管检器发射器还包括一个倒转的盛液盘，盛液盘具有一个铰式连接的底门，倒转盛液盘包括一个位于机械接头上方密封在发射管周围的顶板，多个侧壁连接到顶板并延伸到机械接头的下方，底门能够密封地与多个侧壁配合，从而在倒转盛液盘里面形成密闭的闭合体。
优选的，还具有预选的第一程序阀门和第二程序阀门，用于通过在第一管道连管里检测到的管道压力控制管检器发射器的发射操作，程序阀门的操作压力为匹配管道的压力特征，一旦检测到程序阀门预设的压力设定值，第一程序阀门发射信号到一个控制阀，操作液压气缸控制管检器闸的位置，当活塞杆向外移动时，上叉在枢轴上向前转同时下叉向后转使得最低的管检器被推动或压下进入直径减小的发射管，第二程序阀门在检测到其较低的压力预设值时，发送信号到一个第二控制阀，操作液压操作的阀操纵器，阀操纵器打开连接到第一管道连管的阀，第二控制阀允许阀在压力下降后关闭。
将本发明的海底检管器发射器组件用于无人船上的相关检测，检测范围小，检测精度低。
根据下文结合附图对本发明具体实施例的详细描述，本领域技术人员将会更加明了本发明的上述以及其他目的、优点和特征。
附图说明
后文将参照附图以示例性而非限制性的方式详细描述本发明的一些具体实施例。附图中相同的附图标记标示了相同或类似的部件或部分。本领域技术人员应该理解，这些附图未必是按比例绘制的。本发明的目标及特征考虑到如下结合附图的描述将更加明显，附图中：
图1是一个连接到海底管道的无人船用海底管检器发射器组件的剖面视图；
图2A-2D是显示无人船用海底管检器发射器组件安装到管道顺序的剖面视图；
图3A-3C是显示无人船用海底管检器发射器的管检器发射顺序的剖面视图；
图4A和4B是显示无人船用海底管检器发射器回收到表面顺序的剖面视图；
图5A-5E是显示将无人船用海底管检器发射器安装在一个典型的有U型接头连接到海底井口的已有海底管道上顺序步骤的剖视图。
具体实施方式
一般指定参考标记10为无人船用海底管检器发射器组件并作出详细描述，现在具体参考附图讨论。参考图1，无人船用海底管检器发射器组件10包括一个降低到一个管道基础14上的管检器发射器12。优选地，管道基础14具有多个向上延伸的引导杆16并且管检器发射器12包括对应数目的由套管22向下连接到引导杆的漏斗状物20组成的对口引导18。需理解其他形式的对齐辅助可以用来取代引导杆16和对口引导18。
优选的，管道基础14是一个雪橇状的结构，具有斜撑24，用来固定一个连接到管道28一端的向上的衬套或法兰26。法兰26相对引导杆16布置，从而使得管检器发射器12与管道28紧密配合。优选地，一个直立的管道三通30连接到法兰26，如图1所示。一个水平的管道段32的一端连接到管道三通30，并且典型的另一端连接到海底井口。
仍然参考图1，一个隔离或截断阀34连接到管道三通30的某一个位置，即使无人船用管检器发射器12没有被连到管道基础14上，仍然允许流体在管道28和管道段32中流动。优选的，隔离或截断阀34可以通过一个远程操作载具操作。一个机械接头部分36a安置在截断阀34上方，用于连接一个配对的无人船用管检器发射器12的接头部分36b。优选地，机械接头36(图2B)是一个套爪接头。
管检器发射器12包括一个附在上部外框架38的对口引导18。框架38包括一个起重机绳连接装置40，所示为一个环或眼，用于如下描述的竖直提升或降低无人船用管检器发射器12。
仍然参考图1，无人船用管检器发射器12包括一个上管检器舱42，优选地沿竖直方向连接到直径减小的发射管43上，用于储存多个无人船用管检器44。如图1所示，上管检器舱42的内径比管检器44的外径大，而发射管43的内径约等于管检器44的外径，其原因下面将解释。一个隔离阀46连接到发射管43，机械接头36的配对接头部分36b在隔离阀46的下方。
无人船用管检器闸48可操作的位于上管检器舱42的低端以及发射管43上面。无人船用管检器闸48位于一个发射位置(图3A)和一个预备位置(图1)间。无人船用管检器闸48包括一个上叉48a和一个下叉48b，两者间隔开大约一个无人船用管检器的长度，理由将在下面解释。本领域技术人员理解，上管检器舱42内径在或稍微高于下叉48b处逐渐缩小。一个液压气缸54连接到无人船用管检器闸48并在发射和预备位置切换无人船用管检器闸48。优选地，液压气缸54和无人船用管检器闸48安装在衬套92的孔92a里面。一个封闭元件94，例如一个盲法兰，安装到衬套92提供入口到液压气缸54和管检器闸48。
仍然参考图1，一个压力储存器由一端有开口60的圆柱状气罐58和可移动的内活塞62组成。尽管没有显示，压力储存器在活塞62与开口60相对的一面设置一个填充入口，用于提供压力储存器里的填充物，优选使用氮气。第一管道连管64连接开口60并延伸穿过封闭元件66。封闭元件66连接内部带有穿孔68a的上部舱法兰68。上部舱法兰68连接到上管检器舱42的上端。阀70，优选一个球阀，连接到第一管道连管64。优选的，阀70位于第一管道连管64的末端并延伸穿过封闭元件66，如图1所示。需理解阀70可以是任何形式的可以被远程控制阀操作的二通阀。
第二管道连管72提供发射管43和第一管道连管64间的流体流通。第二管道连管72连接到隔离阀46上方的发射管43。一个单向阀74安装在第二管道连 管72里因此在第二管道连管里的流体只允许以从发射管43到第一管道连管64的方向流动。需理解第二管道连管72与压力储存器有流体流通。
仍然参考图1，管检器发射器12包括一个由一个在一端有开口80的圆柱状气缸78和一个可移动的内活塞82组成的清除储压器76。清除储压器76包括一个充满入口84用来提供清除储压器里的填充物，优选使用氮气，在内活塞82与开口80相对的一边。第三个管道连管86连接到开口80并至发射管43。第三管道连管86提供发射管43和清除储压器76间的流体流通。
参考图1，管检器发射器12包括一个倒转的盛液盘88，它有一个铰式连接的底门90。优选地，倒转盛液盘88包括一个位于机械接头36上方密封在发射管43周围的顶板88a。多个侧壁88b连接到顶板88a并延伸下来至机械接头36下方，其原因下面将解释。底门90能够密封地与多个侧壁88b配合形成一个密闭的闭合在倒转盛液盘88里面。
仍然参考图1，预选的第一和第二程序阀门50和52，对应的，优选地控制管检器发射器12的发射操作通过在第一管道连管64里检测到的管道压力。程序阀门50、52优选泄压阀。每个程序阀门50和52的操作压力选择成匹配管道28的压力特征。优选地，第一程序阀门50有比第二程序阀门52设置得高点的压力。一检测到它预设的压力设定值，第一程序阀门50发射信号到一个控制阀96，优选为一个四通阀，操作液压气缸54控制着管检器闸48的位置。换句话说，第一程序阀门50作为触发器动作并给控制阀96发信号来打开和关闭液压气缸54上的口使活塞杆进出移动。当活塞杆向外移动，上叉48a在枢轴上向前转同时下叉向后转使得最低的管检器44’被推动或压下进入直径减小的发射管，其原因下面将解释。
第二程序阀门52，在检测到它较低的压力预设值时，发送信号到一个第二控制阀98，优选为四通阀，操作一个液压操作的阀操纵器99，例如液压气缸。阀操纵器99打开连接到第一管道连管64的阀70。第二控制阀98将允许阀70在压力下降后关闭，如下面将解释的。
管检器发射器12在管道基础14上的安装顺序现在将具体参考图2A-2D详细描述。在降下管检器发射器12前，多个管检器44被通过上部舱法兰68的孔68a安装在管检器舱42里面在去掉封闭元件66和悬挂的阀70后。储压器56和76充满带压气体。管检器发射器12的功能参数在下降到海底之前最好测试过。
如图2A所示，管检器发射器12通过浮船上的一根提升绳L下降到管道基础14。倒转盛液盘88的底门90在打开位置。一个远程操纵潜水器(ROV)(未显示)优选引导管检器发射器12的多个对口引导18来着陆在多个引导杆16上如图2B所示。ROV使配对接头部分36b配对到机械接头部分36a并对密封压力测试。ROV打开管检器发射器12和管道28、32之间的隔离阀46和截断阀34来使压力储存器和清除储压器76里面的压力与管道28、32的压力相等如图2D中显示的内活塞62和82所指示。需要理解压力储存器和清除储压器76里的氮气充满压力比管道压力小时的管道压力对储压器56和76填充。海底管检器发射器组件10现在就安装好并可以操作。
管检器发射顺序现在具体参考图3A-3C详细描述。管道操作员开始管检器发射顺序通过控制一个井口阀门(未显示)减小产物流动来降低管道28、32的压力，至第一程序阀门50的设定值。尽管不被要求，可能有必要设置管检器发射器12去要求一个或更多循环在一定时间限制内降到一个阈值压力来开始管检器发射顺序。管道28、32里的压力下降通过出发控制阀96的第一程序阀门50检测。控制阀96操作液压气缸54来移动管检器闸48从预备位置(图2D)到如图3A中所示的发射位置。在发生位置管检器闸48的下叉48b绕枢轴向后旋转允许最低的管检器44’从管检器舱42释放。上叉48a推动或压着最低的管检器44’进入直径减小的发射管43。需理解管检器44有与发射管43的内径大致相等的直径来在发射管43里形成密封。
参考图3B，管道里压力的进一步降低被触发控制阀98的第二程序阀门52检测到。控制阀98操作阀门操纵器99打开连接到第一管道连管64在管检器舱43顶部的阀70。当发70打开，压力储存器(在关闭井口阀门前充压到近似管 道压力)里的压力被释放到管检器舱42。该压力作用在最低管检器44’上并压着最低管检器44’穿过发射管43并进入管道28如图3B所示。理解下面的很重要，当管检器44’在发射管43里形成了密封，从压力储存器的压力不被允许从最低的管检器44’旁边穿过，相反地压着它进入管道28。还需要理解管道28的直径最好与发射管43的直接相等。还需理解的重要的是，当管检器舱42的直径比发射管43和管检器44的直径打，压力储存器的压力可以从管检器44旁穿过来施加压力到最低的管检器44’在发射管43里面。
参考图3C，井口阀打开来增加管道压力至井口压力。第一管道连管64里的压力上升到管道和井口压力的水平。管道压力上升至井口压力驱动发射的管检器44’穿过管道28并再充压于压力储存器。第一管道连管64里的压力升高也循环管检器闸48至预备位置允许所有剩余的管检器48下降一个管检器长度。管检器发射器12再一次准备好在管检器闸48发射下一个管检器44，相应下一次管道压力的循环下降。管检器发射顺序被重复直到最后一个管检器44已经被从海底管检器发射器组件10发射。
需理解本发明的一个重要特征是，控制和激发器(程序阀门50和52，控制阀96和98，液压气缸54和阀门操纵器99)是通过储存在压力储存器56里的能量驱动的，并且该能量储存在每次管检器发射器12被暴露在井口压力时恢复。
在所有的管检器44已经被从海底管检器发射器组件10发射后，管检器发射器12在ROV(未显示)的帮助下被收回到水面舰船(未显示)。ROV将提升绳L从水面舰船附加到提升眼40上。参考图4A和4B，隔离阀46和管道截断阀34被ROV关闭将管检器发射器12从管道28、32隔离。压力储存器56里的压力被通过关闭隔离阀46隔离由于第二管道连管72连接到隔离阀46上的发射管43。对压力储存器56里气体的隔离防止了在管道23、32释放时的扩展和压缩。机械或套爪接头36被ROV松开，水上舰船提升管检器发射器12离开管道建成14。清除储压器76里储存的压力打破真空在套爪接头36分开时。清除储压器76里充的氮气提供推动流体从清除储压器76出去的力并克服在分离套 爪接头36时可能存在的真空锁。管检器发射器12被提升到水上舰船如图4B所示。管检器发射器12带着接近海水底部压力的管道产物被回收到舰船甲板。管道产物可以然后被安全的转移到合适的处理位置。
需理解当套爪接头36被分开是，封闭在隔离阀46和截断阀43间的油或产物流体将试图上升到水面由于它比水轻。产物流体将上升进入倒置盛液盘88并封闭在那里。底门90被ROV关闭来包含产物液体在盛液盘88里。
在水面，管检器舱42被重新装入管检器44。任何封闭在管检器发射器12的液体被清除，储压器56和76充满压缩气体如果需要。在功能性测试管检器发射器12后，管检器发射器12准备好再调配。
海底管检器发射器组件10被设计和配置成可以由无人船部署，来使与维护和清洗海底管道28相关的总费用最小。管检器发射器42能储存多个独立的管检器44并单个的发射管检器44进入管道28。因此，需要辅助船再装满管检器44的频率被减小。
另一个该海底管检器发射器组件10的好处是它不需要独立的能源脐带。相反的，管检器发射器12从管道储存井口压力在压力储存器56里并且然后使用压力储存器56的压力去发射每个管检器44。管检器发射器12也用管道操作压力对压力储存器56再充压在每次管检器发射后。另一个该海底管检器发射器组件10的好处是管检器发射器12被控制而没有用从主平台的特设的脐带控制线。一个如上面描述的压力检测液压逻辑回路省去了专门的控制脐带的需要通过对管道28里的压力下降或压力变化的编码顺序的检测。
需要理解阀70已经被安置在管检器舱42里来使保持对外在环境压力密封的数目最小。因此，任何从阀70阀杆的泄漏都在管检器舱42里发生并且不会逃逸至外环境。需进一步理解的是，该海底管检器发射器组件10的设计限制了管道压力到截断阀34和隔离阀46阀杆的轴和套爪接头36的边界穿透。这也使污染外在环境的风险最小化。
图5A-5E显示了一种修改已经存在的连接海底井口树T到一个管道P的倒 置的U形连接管J的方法，从而本发明的管检器发射器12可以被远程安装到管道P上。这个技术也可以用在其它类型的连接管上。
参考图5A和5B，U形连接管J有短长度的管道102，在它的两端有向下的接头衬套104和106。管道P有一个向上的接头衬套108。管道P包括一个管道阀110和一个管道末端泥垫112来支撑管道末端衬套108。海底井口树T包括一个向上的接头衬套114。向下的接头衬套104和106分别连接到向上的接头衬套108和114，如图5A所示。
U形连接管J被回收到水面通过一般的远程控制技术如图5B所示。一个管检器发射器引导基础116被特别的设计来静止在海底上并提供对管道末端衬套108的牵引。管检器发射器引导基础116，有多个引导杆118，被从水面部署并安装在向上的管道接头衬套108的中心周围，如图5C所示。
在水面上，U行连接管J的管道末端被修改来安装一个可通过管检器的三通120(图5D)替换原有的90度弯头122(图5B)。三通120然后被安上截断阀124和向上的接头衬套126。修改了的U形连接管J’然后被从水面部署并再次练到海底井口树T和管道P。管检器发射器12现在可以从水面部署，通过引导基础116对齐，并被连接到修改的U形连接管J’的向上的接头衬套126，如图5E所示。管检器发射器12的操作与上面描述的一样。
虽然本发明已经参考特定的说明性实施例进行了描述，但是不会受到这些实施例的限定而仅仅受到附加权利要求的限定。本领域技术人员应当理解可以在不偏离本发明的保护范围和精神的情况下对本发明的实施例能够进行改动和修改。

Claims (6)

  1. 一种无人船用海底管检器发射器组件(10)，其特征在于包括：
    管道基础(14)，呈雪橇状，具有多个向上延伸的引导杆(16)以及斜撑(24)，所述斜撑(24)用于固定一个连接到管道(28)一端的向上的衬套或法兰(26)；无人船用管检器发射器(12)，可下降到所述管道基础(14)，所述管检器发射器(12)包括多个由套管(22)向下连接到引导杆的漏斗状物(20)组成的对口引导(18)，还包括无人船用管检器闸(48)，可操作的位于上管检器舱(42)的底端以及发射管(43)上面，所述无人船用管检器闸(48)位于一个发射位置和一个预备位置间，包括一个上叉(48a)和一个下叉(48b)，两者间隔开大约一个无人船用管检器的长度，所述上管检器舱(42)内径在或稍微高于下叉(48b)处逐渐缩小。
  2. 根据权利要求1所述的一种无人船用海底管检器发射器组件(10)，其特征在于：还包括液压气缸(54)，与所述无人船用管检器闸(48)连接，并在发射和预备位置切换无人船用管检器闸(48)，所述液压气缸(54)和无人船用管检器闸(48)均安装在衬套(92)的孔(92a)内，将封闭元件(94)安装到衬套(92)从而提供到液压气缸(54)和管检器闸(48)的入口。
  3. 根据权利要求1所述的一种无人船用海底管检器发射器组件(10)，其特征在于：包括压力储存器，由一端有开口(60)的圆柱状气罐(58)和可移动的内活塞(62)组成，所述压力储存器在活塞(62)与所述开口(60)相对的一面设置一个填充入口，用于提供压力储存器里的填充物，第一管道连管(64)连接开口(60)并延伸穿过封闭元件(66)，所述封闭元件(66)连接内部带有穿孔(68a)的上部舱法兰(68)，所述上部舱法兰(68)连接到上管检器舱(42)的上端，阀(70)与第一管道连管(64)连接并位于第一管道连管(64)的末端，延伸穿过封闭元件(66)，第二管道连管(72)提供发射管(43)和第一管道连管(64)间的流体流通，所述第二管道连管(72)连接到隔离阀(46) 上方的所述发射管(43)，单向阀(74)安装在第二管道连管(72)中，所述第二管道连管(72)与压力储存器流体流通。
  4. 根据权利要求1所述的一种无人船用海底管检器发射器组件(10)，其特征在于：所述管检器发射器(12)包括一个由一个在一端有开口(80)的圆柱状气缸(78)和一个可移动的内活塞(82)组成的清除储压器(76)，所述清除储压器(76)包括一个充满入口(84)，设置在内活塞(82)与开口(80)相对的一边，用来提供清除储压器里的填充物，第三个管道连管(86)连接到开口(80)和发射管(43)，所述第三管道连管(86)提供发射管(43)和清除储压器(76)间的流体流通。
  5. 根据权利要求1所述的一种无人船用海底管检器发射器组件(10)，其特征在于：所述管检器发射器(12)还包括一个倒转的盛液盘(88)，所述盛液盘(88)具有一个铰式连接的底门(90)，所述倒转盛液盘(88)包括一个位于机械接头(36)上方密封在发射管(43)周围的顶板(88a)，多个侧壁(88b)连接到顶板(88a)并延伸到机械接头(36)的下方，所述底门(90)能够密封地与多个侧壁(88b)配合，从而在倒转盛液盘(88)里面形成密闭的闭合体。
  6. 根据权利要求1所述的一种无人船用海底管检器发射器组件(10)，其特征在于：还具有预选的第一程序阀门(50)和第二程序阀门(52)，用于通过在第一管道连管(64)里检测到的管道压力控制管检器发射器(12)的发射操作，所述程序阀门(50，52)的操作压力为匹配管道(28)的压力特征，一旦检测到程序阀门(50，52)预设的压力设定值，第一程序阀门(50)发射信号到一个控制阀(96)，操作液压气缸(54)控制管检器闸(48)的位置，当活塞杆向外移动时，上叉(48a)在枢轴上向前转同时下叉向后转使得最低的管检器(44’)被推动或压下进入直径减小的发射管，所述第二程序阀门(52)在检测到其较低的压力预设值时，发送信号到一个第二控制阀(98)，操作液压操作的阀操纵器(99)，所述阀操纵器(99)打开连接到第一管道连管(64)的阀(70)，第二控制阀(98)允许阀(70)在压力下降后关闭。
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