CN115285294B - Intelligent monitoring system and method for mud-laying point of deep sea pipe - Google Patents
Intelligent monitoring system and method for mud-laying point of deep sea pipe Download PDFInfo
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- CN115285294B CN115285294B CN202210623260.9A CN202210623260A CN115285294B CN 115285294 B CN115285294 B CN 115285294B CN 202210623260 A CN202210623260 A CN 202210623260A CN 115285294 B CN115285294 B CN 115285294B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 238000010276 construction Methods 0.000 claims abstract description 8
- 230000000694 effects Effects 0.000 claims abstract description 4
- 238000011084 recovery Methods 0.000 claims description 30
- 238000004891 communication Methods 0.000 claims description 20
- 230000003287 optical effect Effects 0.000 claims description 20
- 239000013307 optical fiber Substances 0.000 claims description 6
- 238000004064 recycling Methods 0.000 claims description 6
- 238000003032 molecular docking Methods 0.000 claims description 4
- 239000000969 carrier Substances 0.000 claims description 3
- ZPQWZDPOLXVMOU-ZETCQYMHSA-N (2s)-2-amino-5-[(n'-prop-2-enylcarbamimidoyl)amino]pentanoic acid Chemical compound OC(=O)[C@@H](N)CCCNC(N)=NCC=C ZPQWZDPOLXVMOU-ZETCQYMHSA-N 0.000 claims 10
- 238000005516 engineering process Methods 0.000 abstract description 2
- 108091008721 AR-V7 Proteins 0.000 description 14
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/03—Pipe-laying vessels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
- Pipeline Systems (AREA)
Abstract
The invention discloses an intelligent monitoring system and method for a mud-laying point of a deep sea pipe, comprising the following steps: the pipe laying ship lowers the unmanned ship to the sea surface through the hoisting assembly; the ARV berthing assembly is placed under the ARV berthing assembly to a certain depth through an ARV receiving and releasing system on the unmanned ship; autonomous navigation of the underwater robot ARV to the mud-landing point of the sea pipe; the underwater robot ARV transmits video data of monitoring the mud laying point of the sea pipe to an ARV berthing assembly, the ARV berthing assembly transmits the video data to the unmanned ship, and the unmanned ship and the pipe laying ship transmit the data through wireless carrier waves; when the pipe laying ship carries out pipe laying operation, the unmanned ship is kept at the position right above the ARV of the underwater robot, so that the real-time transmission effect of underwater monitoring data can be ensured; after the construction is finished, the unmanned boat is recovered through the hoisting assembly. The invention realizes intelligent and automatic mud-landing monitoring, improves the capability of the deep water pipeline laying technology in China, and breaks through the problem of high cost of the traditional mud-landing monitoring.
Description
Technical Field
The invention relates to the technical field of sea pipe laying, in particular to an intelligent monitoring system and method for a mud-applying point of deep water sea pipe laying.
Background
With the development of deep water ocean oil and gas resources, the deep water submarine pipeline laying construction is greatly increased. The domestic 1500 m water depth is mature by the shallow S-shaped pipe laying technology, the mud-adhering point monitoring is used as a key ring of the sea pipe laying operation, the important functions of accurately positioning the sea pipe and detecting the buckling of the sea pipe are exerted in the sea pipe laying, and the mud-adhering point monitoring mainly comprises the following two modes according to different water depths under the prior art condition: the water depth is within 200 meters and is monitored by releasing ROV in a pipelaying ship; the water depth of greater than 200 meters is monitored by the MSV releasing ROV. In shallow sea pipe laying, because the mud-landing point is close to the pipe-laying ship, the pipe-laying ship can be used as an ROV to support a mother ship, but in deep sea pipe laying, because the mud-landing point is far away from the pipe-laying ship, the ROV needs to use the MSV with the DP function as the mother ship to monitor the mud-landing point position and buckling of the sea pipe, the monitoring cost is high, and a professional ROV pilot is needed, so that the risk of ship cross operation is increased, and the sea pipe laying cost is greatly increased.
Disclosure of Invention
The invention aims to provide an intelligent monitoring system and an intelligent monitoring method for a mud-landing point paved on a deep sea pipe, which realize an intelligent and automatic mud-landing point monitoring system and break through the problem of high cost of traditional mud-landing point monitoring.
In order to achieve the purpose of the invention, the invention provides an intelligent monitoring system and method for a mud-laying point of a deep sea pipe, comprising the following steps:
s1, a pipe-laying ship lowers an unmanned ship to the sea surface through a hoisting assembly, and the unmanned ship automatically sails to the position above a designed and preset sea pipe mud-landing point;
s2, the ARV berthing assembly is connected to the unmanned ship through an optical fiber umbilical cable by means of an ARV receiving and releasing system on the unmanned ship;
S3, the autonomous remote control underwater robot ARV is separated from the ARV stopping assembly, and the underwater robot ARV autonomously navigates to the sea pipe mud-landing point;
S4, the ARV berthing assembly and the underwater robot ARV are both provided with an optical communication system, the underwater robot ARV transmits video data monitored by mud paving points of sea pipes to the ARV berthing assembly through the optical communication system, the ARV berthing assembly transmits the video data to the unmanned ship through the optical fiber umbilical cable, and data transmission is carried out between the unmanned ship and the pipelaying ship through wireless carriers;
S5, when the pipe laying ship carries out pipe laying operation, the underwater robot ARV moves along with the change of a mud-landing point in the submarine pipeline laying process, the unmanned ship and the ARV berthing assembly move together, and the unmanned ship is kept at a position right above the underwater robot ARV, so that the real-time transmission effect of underwater monitoring data can be guaranteed;
S6, after construction is finished, the underwater robot ARV automatically navigates to the ARV stopping assembly to complete recovery, the unmanned ship recovers the ARV stopping assembly through the ARV collecting and releasing system, slowly navigates to the range of the pipelaying ship, and recovers the unmanned ship through the hoisting assembly.
As a preferable technical scheme of the invention, the ARV parking assembly comprises a body frame, the optical communication system is fixedly connected to the body frame, and infinite charging equipment, a recovery guide rod and a first locking device are arranged at the bottom end of the body frame.
As a preferable technical scheme of the invention, the underwater robot ARV comprises an ARV body, the optical communication system is fixedly connected to the ARV body, a wireless charging device, a recovery guide sleeve and a second locking device are arranged at the top end of the ARV body, the wireless charging device is adapted to the infinite charging equipment, the recovery guide sleeve is adapted to the recovery guide rod, and the second locking device is adapted to the first locking device.
As a preferable technical scheme of the invention, the optical communication system is used for carrying out video high-bandwidth real-time data transmission through optics within a certain distance, the infinite charging equipment and the wireless charging device are used for carrying out wireless charging on the parked underwater robot ARV, the recycling guide rod and the recycling guide sleeve are used for providing guidance for recycling the underwater robot ARV, and the first locking device and the second locking device are used for fixedly connecting the underwater robot ARV with the ARV parking assembly.
As a preferable technical scheme of the invention, in the step S3, the ARV stopping assembly is arranged at the position obliquely above the ARV of the underwater robot, so that the underwater optical communication video can be transmitted and received in real time.
In step S6, the underwater robot ARV is sailed to the seabed for standby, after the sea condition is improved and the recovery condition is satisfied, the underwater robot ARV is sailed to the vicinity of the pipe-laying ship on the water surface, recovery is completed through the hoisting assembly, and the ARV berthing assembly and the unmanned ship complete advanced recovery under the sea condition permission condition.
Compared with the prior art, the invention provides the intelligent monitoring system and the intelligent monitoring method for the mud-spreading point of the deep sea pipe, which have the following beneficial effects:
By adopting the unmanned ship with the pipe-laying ship and the ARV docking assembly and the underwater robot ARV for intelligent monitoring operation of the mud-carrying point, the traditional MSV and ROV monitoring method of the multifunctional construction ship is replaced, expensive ship cost and professional ROV pilot operation are not needed, the dependence on large ships is reduced, the engineering construction cost is greatly reduced, the potential safety hazards caused by ship cross operation are reduced, and the construction efficiency and reliability are improved.
Drawings
FIG. 1 is a schematic diagram of an intelligent monitoring system for a mud-laying point of a sea pipe;
Fig. 2 is a schematic diagram of monitoring and transmitting optical communication data of a mud-spreading point of a sea pipe according to the invention.
The device comprises a pipe laying ship 1, a hoisting assembly 2, an unmanned ship 3, a sea pipe mud-landing point 4, an ARV collecting and releasing system 5, an ARV stopping assembly 6, an underwater robot ARV 7 and an optical communication system 8.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-2, an embodiment of the present invention provides an intelligent monitoring system and method for a mud-laying point of a deep sea pipe, comprising the following steps:
S1, a pipe-laying ship 1 lowers an unmanned ship 3 to the sea surface through a hoisting assembly 2, and the unmanned ship 3 automatically sails to the position above a designed and preset sea pipe mud-landing point 4;
S2, the ARV berthing assembly 6 is connected to the unmanned ship 3 through an optical fiber umbilical cable by means of the ARV receiving and releasing system 5 on the unmanned ship 3 to a certain depth;
s3, an autonomous remote control underwater robot ARV7 is separated from the ARV stopping assembly 6, and the underwater robot ARV7 autonomously navigates to the sea pipe mud landing point 4;
S4, the ARV berthing assembly 6 and the underwater robot ARV7 are both provided with an optical communication system 8, the underwater robot ARV7 transmits video data of sea pipe laying mud point monitoring to the ARV berthing assembly 6 through the optical communication system 8, the ARV berthing assembly 6 transmits the video data to the unmanned ship 3 through the optical fiber umbilical cable, and data transmission is carried out between the unmanned ship 3 and the pipelaying ship 1 through wireless carriers;
S5, when the pipe laying ship 1 carries out pipe laying operation, the underwater robot ARV7 moves along with the change of mud landing points in the submarine pipeline laying process, the unmanned ship 3 and the ARV stopping assembly 6 also move together, and the unmanned ship 3 is kept at a position right above the underwater robot ARV7, so that the real-time transmission effect of underwater monitoring data can be guaranteed;
S6, after construction is finished, the underwater robot ARV7 independently navigates to the ARV berthing assembly 6 to complete recovery, the unmanned ship 3 is used for recovering the ARV berthing assembly 6 through the ARV receiving and releasing system 5, slowly navigates to the range of the pipelaying ship 1, and carries out recovery of the unmanned ship 3 through the hoisting assembly 2.
In one embodiment of the invention, the ARV dock assembly 6 comprises a body frame to which the optical communication system 8 is fixedly connected, the bottom end of the body frame being provided with an unlimited charging device, a recovery guide bar and a first locking means.
In one embodiment of the present invention, the underwater robot ARV7 includes an ARV body, the optical communication system 8 is fixedly connected to the ARV body, a wireless charging device, a recovery guide sleeve and a second locking device are disposed at the top end of the ARV body, the wireless charging device is adapted to the unlimited charging device, the recovery guide sleeve is adapted to the recovery guide rod, and the second locking device is adapted to the first locking device.
In one embodiment of the invention, the optical communication system 8 is used for video high-bandwidth real-time data transmission by optics within a certain distance, the unlimited charging equipment and the wireless charging device are used for wirelessly charging the parked underwater robot ARV7, the recovery guide rod and the recovery guide sleeve are used for providing guidance for the recovery of the underwater robot ARV7, and the first locking device and the second locking device are used for fixedly connecting the underwater robot ARV7 to the ARV parking assembly 6.
In one embodiment of the present invention, in step S3, the ARV docking assembly 6 is located obliquely above the underwater robot ARV7, so as to ensure that the underwater optical communication video can be transmitted and received in real time.
In one embodiment of the present invention, in step S6, the sea condition does not meet the recovery requirement, the underwater robot ARV7 is sailed to the seabed for standby, after the sea condition is improved and the recovery condition is met, the underwater robot ARV7 is sailed to the vicinity of the pipe-laying ship 1 on the water surface, and then the recovery is completed through the hoisting assembly 2, and the ARV docking assembly 6 and the unmanned ship 3 complete the advanced recovery under the sea condition allowable condition.
The present invention is not limited to the above-mentioned embodiments, and any person skilled in the art, based on the technical solution of the present invention and the inventive concept thereof, can be replaced or changed within the scope of the present invention.
Claims (6)
1. An intelligent monitoring system and method for a mud-laying point of a deep sea pipe are characterized by comprising the following steps:
S1, a pipe laying ship (1) lowers an unmanned ship (3) to the sea surface through a hoisting assembly (2), and the unmanned ship (3) automatically sails to the position above a designed and preset sea pipe mud-landing point (4);
S2, the ARV berthing assembly (6) is connected to a certain depth through an ARV retraction system (5) on the unmanned ship (3), and the ARV berthing assembly (6) is connected to the unmanned ship (3) through an optical fiber umbilical cable;
S3, an autonomous remote control underwater robot ARV (7) is separated from the ARV stopping assembly (6), and the underwater robot ARV (7) autonomously navigates to the sea pipe mud-landing point (4);
S4, the ARV berthing assembly (6) and the underwater robot ARV (7) are both provided with an optical communication system (8), the underwater robot ARV (7) transmits video data monitored by a mud laying point of a sea pipe to the ARV berthing assembly (6) through the optical communication system (8), the ARV berthing assembly (6) transmits the video data to the unmanned ship (3) through the optical fiber umbilical cable, and the unmanned ship (3) and the pipelaying ship (1) perform data transmission through wireless carriers;
S5, when the pipe laying ship (1) carries out pipe laying operation, the underwater robot ARV (7) moves along with the change of mud landing points in the submarine pipeline laying process, the unmanned ship (3) and the ARV berthing assembly (6) move together, and the unmanned ship (3) is kept at a position right above the underwater robot ARV (7), so that the underwater monitoring data can achieve a real-time transmission effect;
S6, after construction is finished, the underwater robot ARV (7) independently navigates to the ARV berthing assembly (6) to complete recovery, the unmanned ship (3) is used for recovering the ARV berthing assembly (6) through the ARV receiving and releasing system (5), slowly navigates to the range of the pipelaying ship (1), and the unmanned ship (3) is recovered through the hoisting assembly (2).
2. The intelligent monitoring system and method for the mud-laying point of the deep sea pipe according to claim 1, wherein the intelligent monitoring system is characterized in that:
The ARV berthing assembly (6) comprises a body frame, the optical communication system (8) is fixedly connected to the body frame, and infinite charging equipment, a recovery guide rod and a first locking device are arranged at the bottom end of the body frame.
3. The intelligent monitoring system and method for the mud-laying point of the deep sea pipe according to claim 2, wherein the intelligent monitoring system is characterized in that:
The underwater robot ARV (7) comprises an ARV body, the optical communication system (8) is fixedly connected to the ARV body, a wireless charging device, a recovery guide sleeve and a second locking device are arranged at the top end of the ARV body, the wireless charging device is adapted to infinite charging equipment, the recovery guide sleeve is adapted to the recovery guide rod, and the second locking device is adapted to the first locking device.
4. The intelligent monitoring system and method for the mud-laying point of the deep water sea pipe according to claim 3, wherein the intelligent monitoring system is characterized in that:
The optical communication system (8) is used for carrying out video high-bandwidth real-time data transmission through optics within a certain distance, the unlimited charging equipment and the wireless charging device are used for carrying out wireless charging on the parked underwater robot ARV (7), the recycling guide rod and the recycling guide sleeve are used for providing guidance for recycling the underwater robot ARV (7), and the first locking device and the second locking device are used for fixedly connecting the underwater robot ARV (7) with the ARV parking assembly (6).
5. The intelligent monitoring system and method for the mud-laying point of the deep sea pipe according to claim 1, wherein the intelligent monitoring system is characterized in that:
in step S3, the ARV docking assembly (6) is located obliquely above the underwater robot ARV (7), so as to ensure that the underwater optical communication video can be sent and received in real time.
6. The intelligent monitoring system and method for the mud-laying point of the deep sea pipe according to claim 1, wherein the intelligent monitoring system is characterized in that:
In step S6, the sea condition does not meet the recovery requirement, the underwater robot ARV (7) is sailed to the seabed for standby, after the sea condition is improved and the recovery condition is met, the underwater robot ARV (7) is sailed to the water surface to the vicinity of the pipelaying ship (1), recovery is completed through the hoisting assembly (2), and the ARV berthing assembly (6) and the unmanned ship (3) complete recovery in advance under the sea condition permission condition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210623260.9A CN115285294B (en) | 2022-06-01 | 2022-06-01 | Intelligent monitoring system and method for mud-laying point of deep sea pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210623260.9A CN115285294B (en) | 2022-06-01 | 2022-06-01 | Intelligent monitoring system and method for mud-laying point of deep sea pipe |
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| Publication Number | Publication Date |
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| CN115285294A CN115285294A (en) | 2022-11-04 |
| CN115285294B true CN115285294B (en) | 2024-08-16 |
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| CN202210623260.9A Active CN115285294B (en) | 2022-06-01 | 2022-06-01 | Intelligent monitoring system and method for mud-laying point of deep sea pipe |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB201009044D0 (en) * | 2010-05-28 | 2010-07-14 | Acergy Norway As | Subsea position control system for elongate articles |
| CN103407548A (en) * | 2013-08-13 | 2013-11-27 | 中国海洋石油总公司 | Quick release method and device of anchor chain for permanently mooring on-water floating type platform |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2704250B1 (en) * | 1993-04-21 | 1995-06-30 | Coflexip | Method and device for continuously laying and burying a flexible underwater pipe. |
| JP2001080574A (en) * | 1999-09-17 | 2001-03-27 | Fujikura Ltd | Method of guiding and installing burying machine to subaqueous cable |
| GB2520670B (en) * | 2013-09-23 | 2018-10-10 | Saab Seaeye Holdings Ltd | A system for monitoring a remote underwater location |
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2022
- 2022-06-01 CN CN202210623260.9A patent/CN115285294B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB201009044D0 (en) * | 2010-05-28 | 2010-07-14 | Acergy Norway As | Subsea position control system for elongate articles |
| CN103407548A (en) * | 2013-08-13 | 2013-11-27 | 中国海洋石油总公司 | Quick release method and device of anchor chain for permanently mooring on-water floating type platform |
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| CN115285294A (en) | 2022-11-04 |
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