A submarine pipeline coating repair device and repair method

Abstract

The invention discloses a submarine pipeline coating repair device and a repair method, the method comprising: S01, locating a submarine pipeline coating defect position and obtaining coating defect position information; S02, obtaining a coating defect image according to the coating defect position information, and then judging the defect situation according to the coating defect image to obtain a judgment result; S03, processing the pipeline coating defect position according to a preset condition according to the judgment result and the coating defect position information; S04, applying a coating to the processed pipeline coating defect position according to the preset condition, and then correspondingly arranging a protective layer on the outer peripheral side of the submarine pipeline to complete the submarine pipeline coating repair; the scheme cleverly combines the located submarine pipeline defect image to judge the defect type, so that when the submarine pipeline coating defect is an external force damage defect or a coating modification peeling defect, etc., different repair strategies can be used for repair, so that the structural reliability, service life and stability of the repaired area can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of submarine pipeline maintenance, and in particular to a submarine pipeline coating repair device and a repair method. Background Art

[0002] As an important part of cross-sea water supply system and offshore oil and gas system, submarine pipeline is immersed in seawater all year round. Therefore, in order to improve service life and stability, anti-corrosion coating is usually applied on the surface of submarine pipeline, and sacrificial anode system is established to ensure the anti-corrosion ability of submarine pipeline. For some special media, anti-corrosion coating is also applied on the inner wall of the pipeline. However, due to the complex operating environment of submarine pipelines, the coating on its surface may be wounded by external forces due to the collision of seabed sand or other debris, resulting in coating defects. It is also possible that the pipeline will corrode from the inside to the outside due to the influence of the internal medium, especially between the joints of different pipelines. Since the pipeline is fixed by welding, the coating on the surface of the pipeline may be damaged due to the high temperature of welding or the service life may be reduced due to the high temperature, which will cause pipeline corrosion after the coating fails. The current damage repair methods for pipeline coatings mostly rely on manual or remotely controlled underwater robots for assistance. The strategy is relatively general, and the repair goals are mostly only for restoration, without further strengthening of the repair area. The secondary construction pipeline area is prone to other uncertain factors that lead to the durability of the area being less than expected. Therefore, how to improve the repair durability of the pipeline coating and at the same time, when the coating is repaired, it can be simply and conveniently treated with secondary protection, which is a very realistic research topic. Summary of the invention

[0003] In view of this, an object of the present invention is to provide a submarine pipeline coating repair device and a repair method which are reliable in implementation, flexible in operation and have strong durability in the repair area.

[0004] In order to achieve the above technical objectives, the technical solution adopted by the present invention is:

[0005] A method for repairing a submarine pipeline coating, used for repairing an anti-corrosion coating of a submarine pipeline, comprising:

[0006] S01. Locate the coating defect position of the submarine pipeline and obtain the coating defect position information;

[0007] S02, acquiring a coating defect image according to the coating defect position information, and then judging the defect situation according to the coating defect image to obtain a judgment result;

[0008] S03. According to the judgment result and the coating defect location information, the pipeline coating defect location is processed according to the preset conditions;

[0009] S04. Apply coating to the treated pipeline coating defect position according to preset conditions, and then set a protective layer on the outer peripheral side of the submarine pipeline to complete the submarine pipeline coating repair.

[0010] As a possible implementation mode, further, the coating defect position information of the present solution includes the coordinate position of the coating defect located on the submarine pipeline body, and the origin position referenced by the coordinate position is set according to a preset condition;

[0011] The judgment result includes: coating external force damage defect and / or coating corrosion peeling defect.

[0012] As a preferred implementation option, preferably, in the present solution S03, processing the pipeline coating defect position according to the preset conditions includes:

[0013] According to the coating defect location information and preset conditions, the coating within the preset range of the pipeline coating defect location is removed.

[0014] In addition, as a preferred implementation option, preferably, in this solution S03, when the judgment result is a coating external force damage defect, and the coating defect position information corresponds to the outer wall of the pipe body between the two ends of the submarine pipeline, the method for processing the pipeline coating defect position according to the preset conditions is:

[0015] According to the coating defect location information, further determine whether there is leakage at the coating defect location;

[0016] When there is no leakage point, the coating within the preset range of the pipeline coating defect position is removed according to the coating defect position information and the preset conditions;

[0017] S04 includes:

[0018] Spraying the coating on the cleaned pipeline area so that the newly applied coating and the original coating retained on the outer side wall of the pipeline cover the preset anti-corrosion area on the outer side wall of the pipeline;

[0019] A protective layer is wrapped around the outer circumference of the submarine pipeline corresponding to the coating application to complete the submarine pipeline coating repair.

[0020] In addition, as a preferred implementation option, preferably, in the present solution S03, when the judgment result is a coating corrosion peeling defect and the coating defect position information corresponds to pointing between different submarine pipeline connection parts, the method for processing the pipeline coating defect position according to the preset conditions is:

[0021] According to the coating defect location information, further determine whether there is leakage at the coating defect location;

[0022] When there is a leakage point, the coating on the inner and outer walls of the pipeline within the preset range of the pipeline coating defect position is removed according to the preset conditions based on the coating defect position information, and the rusted area of ​​the leakage point is pre-treated;

[0023] S04 includes:

[0024] Fill the rust spots on the submarine pipelines at the coating defect locations;

[0025] Spray coating on the cleaned pipeline area so that the newly applied coating and the original coating retained on the inner and outer walls of the pipeline cover the preset anti-corrosion areas on the inner and outer walls of the pipeline;

[0026] A protective layer is wrapped around the outer circumference of the submarine pipeline corresponding to the coating application to complete the submarine pipeline coating repair.

[0027] As a preferred implementation option, preferably, this solution S03 also includes:

[0028] When there is a leakage point, evaluate and judge the leakage point according to the preset conditions;

[0029] When the judgment result is that the leakage point is located in the welding part between different submarine pipeline connection parts and the leakage point is larger than the preset specification, the leakage point is also polished and cleaned so that the main part of the preset range of the leakage point is removed, and the removed main part covers the rusted area of ​​the leakage point.

[0030] As a preferred implementation option, preferably, in the present solution S04, the method of filling the rust spots on the submarine pipeline at the coating defect location is welding filling.

[0031] As a preferred implementation option, preferably, in this solution S04, when the leakage point is located at the welding part between different submarine pipeline connection parts and the leakage point is larger than the preset specification, S03 also includes:

[0032] Grind and remove the welding parts within the preset area of ​​the leakage point;

[0033] S04 includes:

[0034] Fill the leaking point after grinding and cleaning by welding, and then grind it to make the filling area flush with the inner wall or outer wall of the submarine pipeline;

[0035] Spraying the coating on the cleaned inner wall area of ​​the pipeline so that the newly applied coating and the original coating retained on the inner wall of the pipeline cover the preset anti-corrosion area on the inner wall of the pipeline;

[0036] A gasket is inserted into the welding part between different submarine pipeline connection parts and resin is filled at both ends of the gasket so that the gasket is bonded and fixed to the inner wall of the submarine pipeline. At the same time, the part of the resin that exceeds the two ends of the gasket is shaped so that its surface is curved;

[0037] Re-weld the removed welds between different submarine pipeline connections;

[0038] Spraying the coating on the cleaned outer wall area of ​​the pipeline so that the newly applied coating and the original coating retained on the outer wall of the pipeline cover the preset anti-corrosion area on the outer wall of the pipeline;

[0039] A protective layer is wrapped around the outer circumference of the submarine pipeline corresponding to the coating application to complete the submarine pipeline coating repair.

[0040] As a preferred implementation option, preferably, in the present solution S01, locating the coating defect position of the submarine pipeline and obtaining the coating defect position information includes:

[0041] Deploy a pipeline robot equipped with an image acquisition unit and capable of traveling along the outer side wall of a submarine pipeline;

[0042] According to the deployment position of the pipeline robot, the positioning coordinate origin is set according to the preset conditions;

[0043] The pipeline robot is driven to move along the outer wall of the seabed pipeline, and the image of the side wall of the seabed pipeline is captured in real time by the image acquisition unit, and the movement information of the pipeline robot is acquired in real time and the movement trajectory information of the pipeline robot is established in combination with the coordinate origin;

[0044] After pre-processing the image captured by the image acquisition unit in real time, the image is imported into the detection neural network for recognition processing, the recognition result is output and the recognition result is associated with the moving trajectory of the pipeline robot;

[0045] The recognition result is obtained. When the recognition result indicates that there is a coating defect, the recognition result, the image captured by the image acquisition unit, and the position of the pipeline robot corresponding to the image are correlated and output to generate coating defect position information.

[0046] Based on the above, the present invention also provides a submarine pipeline coating repair device, which includes:

[0047] A positioning detection unit, used to locate the coating defect position of the submarine pipeline and obtain the coating defect position information, which includes a first pipeline robot that can travel on the outer side wall of the submarine pipeline and an image acquisition unit loaded on the first pipeline robot, and a server loaded with a detection neural network and used to detect and judge the image captured by the image acquisition unit. The server is also used to record the travel trajectory of the pipeline robot and to obtain the coating defect image according to the coating defect position information, and then judge the defect situation according to the coating defect image to obtain a judgment result;

[0048] A pipeline preprocessing unit, used for processing the pipeline coating defect position according to preset conditions based on the judgment result and the coating defect position information, comprising a second pipeline robot for traveling on the outer wall of the pipeline and a third pipeline robot for traveling in the pipeline, and a first polishing assembly loaded on the second pipeline robot and a second polishing assembly loaded on the third pipeline robot; wherein the first polishing assembly is used for polishing the outer wall of the pipeline, and the second polishing assembly is used for polishing the inner wall of the pipeline;

[0049] A repair unit, used to fill and apply coatings to the processed pipeline coating defect positions according to preset conditions, and to set a protective layer on the outer peripheral side of the submarine pipeline to complete the submarine pipeline coating repair, which includes: a first coating spraying assembly, a winding assembly, a welding assembly, a second coating spraying assembly, a clamping assembly and a gluing assembly; wherein the first coating spraying assembly, the winding assembly and the welding assembly are all loaded and set on the second pipeline robot, and the second coating spraying assembly, the clamping assembly and the gluing assembly are all loaded and set on the third pipeline robot; in addition, the first coating spraying assembly is used to spray the coating on the outer wall of the pipeline, the second coating spraying assembly is used to spray the coating on the inner wall of the pipeline, the welding assembly is used to weld and fill the pipeline leakage points and weld and fix the joints between different pipelines, the winding assembly is used to wind the protective layer on the outer wall of the pipeline, the clamping assembly is used to penetrate the liner into the interior of the pipeline, and the gluing assembly is used to fill the liner with resin so that the liner is bonded and fixed to the inner wall of the submarine pipeline;

[0050] The control unit is connected with the positioning detection unit, the pipeline pretreatment unit and the repair unit and controls the opening and closing of the operations thereof accordingly.

[0051] By adopting the above technical scheme, the present invention has the following beneficial effects compared with the prior art: the scheme of the present invention cleverly locates the position of the submarine pipeline coating defect, and then determines the defect type in combination with the located submarine pipeline defect image, and implements different targeted repair schemes according to the determined defect type, so that when the submarine pipeline coating defect is an external force damage defect or a coating modification peeling defect, different repair strategies can be adopted for repair, and at the same time, the coating repair area is structurally strengthened by setting a protective layer, thereby improving the structural reliability of the repaired area and improving its service life and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0053] Figure 1 It is a schematic diagram of the implementation process of the scheme method of the present invention;

[0054] Figure 2 It is a simplified schematic diagram of the structure of the submarine pipeline in the solution of the present invention when it is in normal use;

[0055] Figure 3 It is a schematic diagram of the case where the outer wall of the submarine pipeline in the solution of the present invention is damaged by external force on the coating;

[0056] Figure 4 It is a schematic diagram of the outer side wall of the submarine pipeline after the coating is damaged by external force and repaired in the solution of the present invention;

[0057] Figure 5 This is one of the schematic diagrams of the case where the coating of the submarine pipeline in the solution of the present invention is leaking due to corrosion damage;

[0058] Figure 6 It is a simplified schematic diagram of stopping the transportation of the fluid in the pipeline and treating the coating and the leakage point when the coating of the submarine pipeline is damaged by rust and leaks in the solution of the present invention;

[0059] Figure 7 This is one of the simplified schematic diagrams of the submarine pipeline after repair when the coating of the submarine pipeline is damaged by rust and leaks in the solution of the present invention;

[0060] Figure 8 yes Figure 7 A schematic diagram of the enlarged local structure at point A in the middle;

[0061] Fig. 9This is the second simplified schematic diagram of the submarine pipeline after repair when the coating of the submarine pipeline is damaged by rust and leaks in the solution of the present invention;

[0062] Fig.10 yes Fig. 9 A magnified schematic diagram of the local structure at B in the middle;

[0063] Fig.11 It is a schematic diagram of the simplified connection principle of the device of the present invention. DETAILED DESCRIPTION

[0064] The present invention will be further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present invention, but are not intended to limit the scope of the present invention. Similarly, the following examples are only partial embodiments of the present invention rather than all embodiments, and all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0065] like Figure 1 As shown, this embodiment provides a method for repairing a submarine pipeline coating, which is used for repairing an anti-corrosion coating of a submarine pipeline, and includes:

[0066] S01. Locate the coating defect position of the submarine pipeline and obtain the coating defect position information;

[0067] S02, acquiring a coating defect image according to the coating defect position information, and then judging the defect situation according to the coating defect image to obtain a judgment result;

[0068] S03. According to the judgment result and the coating defect location information, the pipeline coating defect location is processed according to the preset conditions;

[0069] S04. Apply coating to the treated pipeline coating defect position according to preset conditions, and then set a protective layer on the outer peripheral side of the submarine pipeline to complete the submarine pipeline coating repair.

[0070] Among them, in order to facilitate the timely recording and feedback of accurate information on the coating defect position during positioning, the coating defect position information described in this scheme includes the coordinate position of the coating defect located on the submarine pipeline body, and the origin position referenced by the coordinate position is set according to preset conditions.

[0071] Specifically, in this solution S01, locating the coating defect position of the submarine pipeline and obtaining the coating defect position information includes:

[0072] S011. deploying a pipeline robot equipped with an image acquisition unit and capable of traveling on the outer side wall of a submarine pipeline;

[0073] S012. According to the deployment position of the pipeline robot, the positioning coordinate origin is set according to preset conditions (for example, a marked point is manually selected on the pipeline as the origin, or a reference object is selected as the origin in other ways);

[0074] S013, driving the pipeline robot to move along the outer wall of the seabed pipeline, and at the same time, using the image acquisition unit to capture the image of the side wall of the seabed pipeline in real time, and acquiring the movement information of the pipeline robot in real time and establishing the movement trajectory information of the pipeline robot in combination with the coordinate origin;

[0075] S014, pre-processing the image captured by the image acquisition unit in real time, importing it into the detection neural network for recognition processing, outputting the recognition result and associating the recognition result with the moving trajectory of the pipeline robot;

[0076] S015. Obtain the recognition result. When the recognition result indicates that there is a coating defect, the recognition result, the image captured by the image acquisition unit, and the position of the pipeline robot corresponding to the image are correlated and output to generate coating defect position information.

[0077] As for the training of the detection neural network, this solution can mark the images of pipelines with coating defects to see whether they have defects, input the marking results and the pipeline images into the neural network as training sets, and then select some pipeline images for marking, and import them into the trained neural network as verification data for verification. Finally, after the neural network is trained and verified, a converged neural network, namely the detection neural network, is obtained.

[0078] The judgment results described in S02 of this solution include: coating external force damage defects and / or coating corrosion and peeling defects.

[0079] The judgment result can be assisted manually or with the aid of a neural network. When using a judgment neural network, the training of the neural network can also be obtained by referring to the training of the detection neural network, that is, after marking the defect type of the pipeline image with coating defects, the marking result and the pipeline image are input into the neural network as a training set, and then some pipeline images with coating defects are selected to mark the defect type, and then imported into the trained neural network as verification data for verification. Finally, after the neural network is trained and verified, a converged neural network is obtained, namely, the judgment neural network.

[0080] Since the repair of coating defects is often not limited to local repair of a single defect location, in order to ensure the durability after repair, it is usually necessary to perform secondary construction on the coating within a preset range of the coating defect area. As a better implementation option, preferably, in this solution S03, processing the pipeline coating defect location according to preset conditions includes:

[0081] According to the coating defect location information and preset conditions, the coating within the preset range of the pipeline coating defect location is removed.

[0082] Combination Figures 2 to 4 As shown in one of the coating defect situations of this embodiment, it shows a submarine pipeline 1, a coating 2 attached to its outer wall and inner wall, and a cement weight layer 3. When the coating defect 4 of the submarine pipeline 1 is located on the outer wall of the submarine pipeline 1, in this solution S03, the judgment result is a coating external force damage defect, and the coating defect position information corresponds to the outer wall of the pipe body between the two ends of the submarine pipeline. The method for processing the pipeline coating defect position according to the preset conditions is:

[0083] According to the coating defect location information, further determine whether there is leakage at the coating defect location;

[0084] When there is no leakage point, the coating within the preset range of the pipeline coating defect position is removed according to the coating defect position information and the preset conditions;

[0085] S04 includes:

[0086] Spraying the coating on the cleaned pipeline area so that the newly applied coating and the original coating retained on the outer side wall of the pipeline cover the preset anti-corrosion area on the outer side wall of the pipeline;

[0087] A protective layer 5 is wound around the outer circumference of the submarine pipeline corresponding to the coating to complete the submarine pipeline coating repair; wherein the protective layer 5 may be a glass fiber tape pre-coated with an adhesive.

[0088] exist Figure 2 Based on the above, further combining Figures 5 to 8 As shown in one, in addition to the above examples, as another coating defect situation of this embodiment, it shows a submarine pipeline 1, a coating 2 attached to its outer wall and inner wall, and a cement weight layer 3. When the coating defect of the submarine pipeline 1 is a rust defect 6 and is located between the two ends of the submarine pipeline 1, as a better implementation option, preferably, in this solution S03, when the judgment result is a coating rust peeling defect and the coating defect position information corresponds to pointing to between the two ends of the submarine pipeline, the method for processing the pipeline coating defect position according to the preset conditions is:

[0089] According to the coating defect location information, further determine whether there is leakage at the coating defect location;

[0090] When there is a leakage point, the coating on the inner and outer walls of the pipeline within the preset range of the pipeline coating defect position is removed according to the preset conditions based on the coating defect position information, and the rusted area of ​​the leakage point is pre-treated;

[0091] S04 includes:

[0092] Fill the rust spots on the submarine pipelines at the coating defect locations;

[0093] Spray coating on the cleaned pipeline area so that the newly applied coating and the original coating retained on the inner and outer walls of the pipeline cover the preset anti-corrosion areas on the inner and outer walls of the pipeline;

[0094] A protective layer 5 is wound around the outer circumference of the submarine pipeline corresponding to the coating to complete the submarine pipeline coating repair; wherein the protective layer 5 may be a glass fiber tape pre-coated with an adhesive.

[0095] exist Figure 2 Based on the above, further combining Fig. 9 or Fig.10 As shown, in addition to the above examples, as another coating defect situation of this embodiment, it shows a submarine pipeline 1, a coating 2 attached to its outer wall and inner wall, and a cement weight layer 3. When the coating defect of the submarine pipeline 1 is a rust defect 6 and is located between different submarine pipeline 1 connections, as a better implementation option, preferably, in this solution S03, the judgment result is a coating rust peeling defect, and the coating defect position information corresponds to pointing to between different submarine pipeline connections. The method for processing the pipeline coating defect position according to the preset conditions is:

[0096] According to the coating defect location information, further determine whether there is leakage at the coating defect location;

[0097] When there is a leakage point, evaluate and judge the leakage point according to the preset conditions;

[0098] When the judgment result is that the leakage point is located at the welding part between different submarine pipeline connection parts and the leakage point is larger than the preset specification, the coating on the inner and outer walls of the pipeline within the preset range of the pipeline coating defect position is removed according to the coating defect position information and the preset conditions, and the leakage point is also polished and cleaned so that the main part of the preset range of the leakage point is removed, and the removed main part covers the rusted area of ​​the leakage point. At the same time, the welding part within the preset area of ​​the leakage point is also polished and removed.

[0099] S04 includes:

[0100] Fill the leaking point after grinding and cleaning by welding, and then grind it to make the filling area flush with the inner wall or outer wall of the submarine pipeline;

[0101] Spraying the coating on the cleaned inner wall area of ​​the pipeline so that the newly applied coating and the original coating retained on the inner wall of the pipeline cover the preset anti-corrosion area on the inner wall of the pipeline;

[0102] A gasket is inserted into the welding part between different submarine pipeline connection parts and resin is filled at both ends of the gasket so that the gasket is bonded and fixed to the inner wall of the submarine pipeline. At the same time, the part of the resin that exceeds the two ends of the gasket is shaped so that its surface is curved;

[0103] Re-weld the removed welds between different submarine pipeline connections;

[0104] Spraying the coating on the cleaned outer wall area of ​​the pipeline so that the newly applied coating and the original coating retained on the outer wall of the pipeline cover the preset anti-corrosion area on the outer wall of the pipeline;

[0105] The protective layer 5 is wound around the outer circumference of the submarine pipeline corresponding to the coating to complete the submarine pipeline coating repair, wherein the protective layer 5 can be a glass fiber tape pre-coated with adhesive.

[0106] Among them, the pad includes:

[0107] The first liner 8 is made of elastic material and is disposed around the inside of the submarine pipeline 1 and corresponds to the location of the leakage point and is attached to the inner wall of the submarine pipeline 1. In order to improve the fit, the first liner 8 is coated with adhesive at the portion close to the inner wall of the submarine pipeline 1. When the submarine pipeline 1 is welded and filled, the first liner 8 is welded and fixed to the area where the leakage point of the submarine pipeline 1 is located.

[0108] The second liner 8 is an annular structure, which is parallelly inserted between the connecting parts of different submarine pipelines 1. An avoidance groove 72 is provided in the axial middle part thereof corresponding to the first liner 8, and a coating 71 is also coated on the peripheral side away from the side wall of the submarine pipeline 1. In order to prevent the first liner 8 from transferring too much heat to the second liner 8 during welding filling, causing the coating 71 on the second liner 8 to crack, peel off or other adverse conditions, a heat insulation layer 81 is provided between the avoidance groove 72 and the first liner 8. The heat insulation layer 81 can be a heat insulation coating, heat insulation adhesive or heat insulation pad made of a low thermal conductivity material; grooves 74 are also provided on the side walls of the second liner 8 at both ends close to the inner wall of the submarine pipeline 1, and an O-ring is sleeved on the groove 74. In this scheme, after the resin fills the liner, an adhesive block 9 is formed.

[0109] Combination Fig.11 As shown, based on the above, this embodiment also provides a submarine pipeline coating repair device, which includes:

[0110] A positioning detection unit, used to locate the coating defect position of the submarine pipeline and obtain the coating defect position information, which includes a first pipeline robot that can travel on the outer side wall of the submarine pipeline and an image acquisition unit loaded on the first pipeline robot, and a server loaded with a detection neural network and used to detect and judge the image captured by the image acquisition unit. The server is also used to record the travel trajectory of the pipeline robot and to obtain the coating defect image according to the coating defect position information, and then judge the defect situation according to the coating defect image to obtain a judgment result;

[0111] A pipeline preprocessing unit, used for processing the pipeline coating defect position according to preset conditions based on the judgment result and the coating defect position information, comprising a second pipeline robot for traveling on the outer wall of the pipeline and a third pipeline robot for traveling in the pipeline, and a first polishing assembly loaded on the second pipeline robot and a second polishing assembly loaded on the third pipeline robot; wherein the first polishing assembly is used for polishing the outer wall of the pipeline, and the second polishing assembly is used for polishing the inner wall of the pipeline;

[0112] A repair unit, used to fill and apply coatings to the processed pipeline coating defect positions according to preset conditions, and to set a protective layer on the outer peripheral side of the submarine pipeline to complete the submarine pipeline coating repair, which includes: a first coating spraying assembly, a winding assembly, a welding assembly, a second coating spraying assembly, a clamping assembly and a gluing assembly; wherein the first coating spraying assembly, the winding assembly and the welding assembly are all loaded and set on the second pipeline robot, and the second coating spraying assembly, the clamping assembly and the gluing assembly are all loaded and set on the third pipeline robot; in addition, the first coating spraying assembly is used to spray the coating on the outer wall of the pipeline, the second coating spraying assembly is used to spray the coating on the inner wall of the pipeline, the welding assembly is used to weld and fill the pipeline leakage points and weld and fix the joints between different pipelines, the winding assembly is used to wind the protective layer on the outer wall of the pipeline, the clamping assembly is used to penetrate the liner into the interior of the pipeline, and the gluing assembly is used to fill the liner with resin so that the liner is bonded and fixed to the inner wall of the submarine pipeline;

[0113] The control unit is connected with the positioning detection unit, the pipeline pretreatment unit and the repair unit and controls the opening and closing of the operations thereof accordingly.

[0114] It should be noted that the device of this embodiment is a combined invention, which is formed by loading and combining multiple existing pipeline construction components and monitoring components in the field; therefore, the specific structure and principle will not be further elaborated.

[0115] The above descriptions are only some embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any equivalent device or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for repairing submarine pipeline coating, used for repairing submarine pipeline anti-corrosion coating, characterized in that: It includes: S01, locating the coating defect position of the submarine pipeline and obtaining the coating defect position information, wherein the coating defect position information includes the coordinate position of the coating defect located on the submarine pipeline body, and the origin position referenced by the coordinate position is set according to a preset condition; S02. Acquire a coating defect image according to the coating defect position information, and then judge the defect situation according to the coating defect image to obtain a judgment result, which includes a coating external force damage defect and / or a coating corrosion peeling defect; S03. According to the judgment result and the coating defect location information, the pipeline coating defect location is processed according to the preset conditions; S04. Apply coating to the treated pipeline coating defect position according to preset conditions, and then set a protective layer on the outer peripheral side of the submarine pipeline to complete the submarine pipeline coating repair; Among them, in S03, when the judgment result is a coating external force damage defect and the coating defect position information corresponds to the outer wall of the pipe body between the two ends of the submarine pipeline, the method for processing the pipeline coating defect position according to the preset conditions is: According to the coating defect location information, further determine whether there is leakage at the coating defect location; When there is no leakage point, the coating within the preset range of the pipeline coating defect position is removed according to the coating defect position information and the preset conditions; When the judgment result is a coating external force damage defect, S04 includes: Spraying the coating on the cleaned pipeline area so that the newly applied coating and the original coating retained on the outer side wall of the pipeline cover the preset anti-corrosion area on the outer side wall of the pipeline; Wrapping a protective layer around the outer circumference of the submarine pipeline corresponding to the coating to complete the submarine pipeline coating repair; In S03, when the judgment result is a coating corrosion peeling defect and the coating defect position information corresponds to pointing between different submarine pipeline connection parts, the method for processing the pipeline coating defect position according to the preset conditions is: According to the coating defect location information, further determine whether there is leakage at the coating defect location; When there is a leakage point, the coating on the inner and outer walls of the pipeline within the preset range of the pipeline coating defect position is removed according to the preset conditions based on the coating defect position information, and the rusted area of ​​the leakage point is pre-treated; When the judgment result is a coating corrosion and peeling defect, S04 includes: Fill the rust spots on the submarine pipelines at the coating defect locations; Spray coating on the cleaned pipeline area so that the newly applied coating and the original coating retained on the inner and outer walls of the pipeline cover the preset anti-corrosion areas on the inner and outer walls of the pipeline; A protective layer is wrapped around the outer circumference of the submarine pipeline corresponding to the coating application to complete the submarine pipeline coating repair.

2. The method for repairing submarine pipeline coating according to claim 1, characterized in that: In S03, the processing of the pipeline coating defect position according to the preset conditions includes: According to the coating defect location information and preset conditions, the coating within the preset range of the pipeline coating defect location is removed.

3. The method for repairing submarine pipeline coating according to claim 1, characterized in that: S03 also includes: When there is a leakage point, evaluate and judge the leakage point according to the preset conditions; When the judgment result is that the leakage point is located in the welding part between different submarine pipeline connection parts and the leakage point is larger than the preset specification, the leakage point is also polished and cleaned so that the main part of the preset range of the leakage point is removed, and the removed main part covers the rusted area of ​​the leakage point.

4. The method for repairing submarine pipeline coating according to claim 3, characterized in that: In S04, the method for filling the rust spots on the submarine pipeline at the coating defect location is welding.

5. The method for repairing submarine pipeline coating according to claim 4, characterized in that: When the leakage point is located at the welding part between different submarine pipeline connection parts and the leakage point is larger than the preset specification, S03 also includes: Grind and remove the welding parts within the preset area of ​​the leakage point; S04 includes: Fill the leaking point after grinding and cleaning by welding, and then grind it to make the filling area flush with the inner wall or outer wall of the submarine pipeline; Spraying the coating on the cleaned inner wall area of ​​the pipeline so that the newly applied coating and the original coating retained on the inner wall of the pipeline cover the preset anti-corrosion area on the inner wall of the pipeline; A gasket is inserted into the welding part between different submarine pipeline connection parts and resin is filled at both ends of the gasket so that the gasket is bonded and fixed to the inner wall of the submarine pipeline. At the same time, the part of the resin that exceeds the two ends of the gasket is shaped so that its surface is curved; Re-weld the removed welds between different submarine pipeline connections; Spraying the coating on the cleaned outer wall area of ​​the pipeline so that the newly applied coating and the original coating retained on the outer wall of the pipeline cover the preset anti-corrosion area on the outer wall of the pipeline; A protective layer is wrapped around the outer circumference of the submarine pipeline corresponding to the coating application to complete the submarine pipeline coating repair.

6. The method for repairing submarine pipeline coating according to any one of claims 1 to 5, characterized in that: In S01, the location of the coating defect of the submarine pipeline is located, and the coating defect location information is obtained, including: Deploy a pipeline robot equipped with an image acquisition unit and capable of traveling along the outer side wall of a submarine pipeline; According to the deployment position of the pipeline robot, the positioning coordinate origin is set according to the preset conditions; The pipeline robot is driven to move along the outer wall of the seabed pipeline, and the image of the side wall of the seabed pipeline is captured in real time by the image acquisition unit, and the movement information of the pipeline robot is acquired in real time and the movement trajectory information of the pipeline robot is established in combination with the coordinate origin; After pre-processing the image captured by the image acquisition unit in real time, the image is imported into the detection neural network for recognition processing, the recognition result is output and the recognition result is associated with the moving trajectory of the pipeline robot; The recognition result is obtained. When the recognition result indicates that there is a coating defect, the recognition result, the image captured by the image acquisition unit, and the position of the pipeline robot corresponding to the image are correlated and output to generate coating defect position information.

7. A submarine pipeline coating repair device, which is applied with the submarine pipeline coating repair method according to any one of claims 1 to 5, characterized in that: It includes: A positioning detection unit, used to locate the coating defect position of the submarine pipeline and obtain the coating defect position information, which includes a first pipeline robot that can travel on the outer side wall of the submarine pipeline and an image acquisition unit loaded on the first pipeline robot, and a server loaded with a detection neural network and used to detect and judge the image captured by the image acquisition unit. The server is also used to record the travel trajectory of the pipeline robot and to obtain the coating defect image according to the coating defect position information, and then judge the defect situation according to the coating defect image to obtain a judgment result; A pipeline preprocessing unit, used for processing the pipeline coating defect position according to preset conditions based on the judgment result and the coating defect position information, comprising a second pipeline robot for traveling on the outer wall of the pipeline and a third pipeline robot for traveling in the pipeline, and a first polishing assembly loaded on the second pipeline robot and a second polishing assembly loaded on the third pipeline robot; wherein the first polishing assembly is used for polishing the outer wall of the pipeline, and the second polishing assembly is used for polishing the inner wall of the pipeline; A repair unit, used to fill and apply coatings to the processed pipeline coating defect positions according to preset conditions, and to set a protective layer on the outer peripheral side of the submarine pipeline to complete the submarine pipeline coating repair, which includes: a first coating spraying assembly, a winding assembly, a welding assembly, a second coating spraying assembly, a clamping assembly and a gluing assembly; wherein the first coating spraying assembly, the winding assembly and the welding assembly are all loaded and set on the second pipeline robot, and the second coating spraying assembly, the clamping assembly and the gluing assembly are all loaded and set on the third pipeline robot; in addition, the first coating spraying assembly is used to spray the coating on the outer wall of the pipeline, the second coating spraying assembly is used to spray the coating on the inner wall of the pipeline, the welding assembly is used to weld and fill the pipeline leakage points and weld and fix the joints between different pipelines, the winding assembly is used to wind the protective layer on the outer wall of the pipeline, the clamping assembly is used to penetrate the liner into the interior of the pipeline, and the gluing assembly is used to fill the liner with resin so that the liner is bonded and fixed to the inner wall of the submarine pipeline; The control unit is connected with the positioning detection unit, the pipeline pretreatment unit and the repair unit and controls the opening and closing of the operations thereof accordingly.

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