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Jet flow-type ROV-type (Remote Operated Vehicle-type) trencher used for rapidly clearing sludge above offshore pipeline

A trencher, sea pipe technology, applied in the direction of earthmoving machine/shovel, construction, etc., can solve the problems of heavy trencher, high power and cost, and the system cannot be self-stabilized, and achieves high operating efficiency and saving. Operating cost, effect of expanding cleaning capacity

Active Publication Date: 2019-04-09
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If a cable-operated robot (ROV) is used to carry a trencher to clean the sea pipes, it cannot meet the requirements. On the one hand, the trencher is heavy (24 tons), and the current domestic and foreign ROVs cannot carry such heavy equipment. Specially developed, both power and cost are very high; on the other hand, when the trencher clears the silt, it will generate a large reaction force, which will cause the system to be unable to stabilize itself

Method used

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  • Jet flow-type ROV-type (Remote Operated Vehicle-type) trencher used for rapidly clearing sludge above offshore pipeline
  • Jet flow-type ROV-type (Remote Operated Vehicle-type) trencher used for rapidly clearing sludge above offshore pipeline
  • Jet flow-type ROV-type (Remote Operated Vehicle-type) trencher used for rapidly clearing sludge above offshore pipeline

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0050] Implementation 1: If figure 1As shown, the jet-type ROV trencher is divided into the following parts as a whole: the spray arm is arranged on the front side of the trencher, and the distance and pitch angle of the two spray arms can be adjusted according to the actual task requirements to achieve the best effect ;The pipeline detection sensor adopts the TSS pipe cable detection system to detect the burial depth of the sea pipe and the horizontal offset of the sea pipe relative to the ROV, and provide accurate sea pipe position information for the automatic cleaning of the jet-assisted ROV trencher; the ROV body The whole is an integrated metal frame, the structure is as simple and light as possible, providing installation and support for each component of the system; the buoyancy material provides a certain buoyancy for the jet-assisted ROV trencher to ensure the safe and stable operation of the ROV underwater; The propeller system is composed of 6 propellers horizontal...

Embodiment 2

[0051] Implementation 2: If figure 2 As shown, the jet-type ROV trencher system has a total of 10 thrusters, including 4 horizontal thrusters, 4 longitudinal thrusters, and 2 lateral thrusters. The thrust formula generated by each propeller of the jet-type ROV trencher system is as follows:

[0052]

[0053]

[0054]

[0055]

[0056]

[0057] The propeller calibration test can be carried out according to each propeller, and the parameters can be calibrated, laying the foundation for the calculation and dynamic modeling of the whole machine.

Embodiment 3

[0058] Implementation 3: If image 3 As shown, the thrust of each propeller is sorted out, the mass of the dredger is set to m, and the forward motion acceleration is a, then:

[0059] ma=f 左前向推力 + f 右前向推力 -f 左侧摩擦力 -f 右侧摩擦力 -f 水阻力 -f 喷射反作用力 *cos45 (6)

[0060] In order to ensure that the dredger can move in the direction of the detection sea pipe, it can be adjusted through the lateral thruster. If the current heading is maintained, the following formula is given:

[0061] f 左侧向力 = f 右侧向力 (7)

[0062] In order to ensure the normal operation of the dredger, it is necessary to ensure that the dredger is in contact with the seabed, as follows:

[0063] f 后垂向力 + f 前垂向力 +mg=f 喷射反作用力 cos45 (8)

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Abstract

The invention discloses a jet flow-type ROV-type (Remote Operated Vehicle-type) trencher used for rapidly clearing sludge above an offshore pipeline, and the trencher is used for rapidly clearing thesludge above a buried offshore oil pipeline. The jet flow-type ROV-type trencher comprises a skid, a buoyance material, a ROV body and a jet flow-type ROV-type trencher control system, wherein the ROVbody is of an integrated metal framework as a whole, and is used for installing and supporting all components of a system; the buoyance material is located at the upper part of the ROV body, and is used for providing certain buoyancy for the trencher; the skid is located at the bottom part of the ROV body; the jet flow-type ROV-type trencher control system consists of a controller of the trencher, an attitude sensor, an offshore pipeline detection sensor, a power pack, a servo valve box, a propeller system, a high-pressure pump and jet arms, and is connected with the interior of the ROV body;and the controller is used for performing control planning on the working path and the working performance of the trencher according to information provided by all the sensors. According to the jet flow-type ROV-type trencher disclosed by the invention, a new solution is provided for excavation and clearing of the offshore oil pipeline, and meanwhile, smooth clearing and implementation of offshore oil engineering are guaranteed.

Description

technical field [0001] The invention relates to a jet-type ROV trencher. The system is a system capable of quickly clearing the mud above buried offshore oil pipelines, and belongs to the field of offshore operation machinery. Background technique [0002] Abandoned offshore oil pipelines need to be cleaned, excavated, and recycled in about ten years. Sea pipes in shallow seas are usually buried about 1 meter shallow on the seabed and covered with thicker silt. The traditional sludge cleaning method uses a mud cleaning ship to clean the sludge on the sea pipe, and then uses a pipe ship to pull up the sea pipe, recover it and cut it into sections. This method is expensive, mainly because of the need for cleaning the sludge above the sea pipe. Large ships support the trenching machine to work underwater, and the daily work cost is nearly more than 200,000 yuan. If a cable-operated robot (ROV) is used to carry a trencher to clean the sea pipes, it cannot meet the requirements...

Claims

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Application Information

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IPC IPC(8): E02F5/28
CPCE02F5/28E02F5/287
Inventor 魏延辉王文杰杨鹏飞郑志刘静田晨光刘俊男刘东东牛家乐李强强
Owner HARBIN ENG UNIV
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