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
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[0050] Implementation 1: Such as figure 1 As shown, the whole of the jet ROV trencher is divided into the following parts: 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 cable detection system to detect the buried depth of the submarine pipeline and the horizontal offset of the submarine pipeline relative to the ROV, and provide accurate subsea pipeline position information for the automatic cleaning of the jet-assisted ROV trencher; ROV body The whole is an integrated metal frame, the structure is as simple and light as possible, and it provides installation and support for the various components 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 system consists of 6...
Example
[0051] Implementation 2: Such as figure 2 As shown, the jet ROV trencher system has a total of 10 propellers, of which 4 horizontal forward propellers, 4 longitudinal propellers, and 2 lateral propellers. The thrust formula generated by each thruster of the jet ROV trencher system is as follows:
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[0057] The thruster calibration test can be carried out according to each thruster, and each parameter can be calibrated, which lays the foundation for the calculation of the whole machine and the dynamic modeling.
Example
[0058] Implementation 3: Such as image 3 As shown, the thrust of each propeller is sorted, and the mass of the dredge is set to m, and the forward motion acceleration is a, then:
[0059] ma=f Left forward thrust +f Right forward thrust -f Left side friction -f Friction on the right -f Water resistance -f Jet reaction force *cos45 (6)
[0060] In order to ensure that the dredger can move in the direction of the subsea pipeline, it can be adjusted by the side thruster. If the current course is maintained, the following formula is used:
[0061] f Left side force = F Right side force (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.
[0063] f Back vertical force +f Forward vertical force +mg=f Jet reaction force cos45 (8)
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