Submarine pipeline suspension monitoring device and submarine pipeline suspension monitoring method

Abstract

The application discloses a kind of seabed pipeline suspension monitoring devices, it is related to seabed pipeline monitoring technical field, including data acquisition device and at least one first ultrasonic sensor array, each first ultrasonic sensor array is fixedly arranged on the outer wall of seabed pipeline, and each first ultrasonic sensor array includes at least two first ultrasonic sensors, adjacent two first ultrasonic sensors have interval along the axis direction of seabed pipeline, and each first ultrasonic sensor can emit and receive ultrasonic wave reflected from seabed, each first ultrasonic sensor is connected with data acquisition device communication.The time difference between each first ultrasonic sensor emission and reception ultrasonic wave reflected from seabed is calculated to obtain the distance between seabed pipeline and seabed, the distance change between seabed pipeline at different positions in length direction and seabed is obtained, and the monitoring of seabed pipeline suspension state is further realized, and ultrasonic sensor can make measurement data more accurate.

Description

Technical Field

[0001] This invention relates to the field of submarine pipeline monitoring technology, and in particular to a submarine pipeline suspension monitoring device and a submarine pipeline suspension monitoring method. Background Technology

[0002] With the increasing prevalence of submarine pipelines across the country, their number has also increased dramatically. These pipelines need to be kept in their designated positions and protected from movement caused by ocean currents, geological changes, and other factors. MEMS sensors are primarily used for attitude monitoring. MEMS sensor arrays, composed of MEMS sensors, are widely used in monitoring submarine pipelines and cables due to their simple structure and ease of packaging. Existing technologies, such as patent CN112461233B – a submarine cable fault monitoring system based on a MEMS sensor array – use the MEMS sensors on the array to reconstruct the state data of multiple points on the submarine cable in three dimensions. This allows for graphical visualization of the cable's shape at a given moment, and combined with the cable's initial position information, a judgment is made regarding the cable's condition.

[0003] However, the accuracy of the three-dimensional reconstruction formed by MEMS sensor array is not as high as that of ultrasonic distance monitoring, and there is currently no device for monitoring the suspended state of subsea pipelines based on ultrasonic waves. Therefore, it is necessary to design a device for monitoring the suspended state of subsea pipelines based on ultrasonic waves. Summary of the Invention

[0004] The purpose of this invention is to provide a device and method for monitoring the suspended state of subsea pipelines, so as to solve the problems existing in the prior art, and to make the monitoring of the suspended state of subsea pipelines highly accurate and the device simple and convenient to install.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention provides a suspended monitoring device for subsea pipelines, comprising a data acquisition device and at least one first ultrasonic sensor array. Each first ultrasonic sensor array is fixedly mounted on the outer wall of the subsea pipeline, and each first ultrasonic sensor array includes at least two first ultrasonic sensors. Adjacent first ultrasonic sensors are spaced apart along the axial direction of the subsea pipeline, and each first ultrasonic sensor is capable of emitting ultrasonic waves and receiving ultrasonic waves reflected back from the seabed. Each first ultrasonic sensor is communicatively connected to the data acquisition device, and the data acquisition device is capable of acquiring time interval data of ultrasonic wave emission and reception by each first ultrasonic sensor.

[0007] Preferably, the system further includes at least two second ultrasonic sensor arrays. One end of each second ultrasonic sensor array is fixedly connected to the outer wall of the subsea pipeline, and the other end of each second ultrasonic sensor array is fixedly connected to the seabed. The second ultrasonic sensor arrays are arranged along the axial direction of the subsea pipeline, and there is a gap between adjacent second ultrasonic sensor arrays. Each second ultrasonic sensor array includes at least one second ultrasonic sensor. The vertical height of adjacent second ultrasonic sensors from the seabed is different. Each second ultrasonic sensor can emit ultrasonic waves and receive ultrasonic waves reflected back from the seabed. Each second ultrasonic sensor is communicatively connected to the data acquisition device.

[0008] Preferably, each of the first ultrasonic sensor arrays has a first fixing member fixedly disposed at both ends, and each of the first fixing members is detachably fixedly connected to the outer wall of the subsea pipeline.

[0009] Preferably, the first fixing member includes a first pipe clamp seat and at least one first clamp, each of the first clamps is fixedly disposed on the first pipe clamp seat, and each of the first clamps is capable of clamping and fixing one end of the first ultrasonic sensor array or releasing the clamp on the first ultrasonic sensor array. The first pipe clamp seat is magnetic and can be magnetically adsorbed and fixed to the outer wall of the subsea pipeline.

[0010] Preferably, the system also includes multiple MEMS sensors, each of which is fixedly mounted on the outer wall of the subsea pipeline. Each MEMS sensor is communicatively connected to the data acquisition device, and the data measured by each MEMS sensor can form the three-dimensional shape of the subsea pipeline at each moment.

[0011] Preferably, the first clamp includes an upper pipe clamp, a lower pipe clamp, and at least one locking bolt. The lower pipe clamp is fixedly connected to the first pipe clamp seat. The upper pipe clamp is disposed on the side of the lower pipe clamp away from the first pipe clamp seat, and one side of the upper pipe clamp and one side of the lower pipe clamp are rotatably connected around a first axis. The end of the lower pipe clamp away from the first axis has at least one threaded hole, and the upper pipe clamp has at least one through hole. The locking bolt has a threaded portion and a limiting portion. The size of the limiting portion is larger than the size of the through hole. The threaded portion can pass through one of the through holes and be threadedly connected to one of the threaded holes, thereby enabling the upper pipe clamp and the lower pipe clamp to clamp or release one end of the first ultrasonic sensor array.

[0012] Preferably, the second ultrasonic sensor array is fixedly connected to a fixing ring, which is sleeved on the outer wall of the subsea pipeline and is detachably fixedly connected to the subsea pipeline.

[0013] Preferably, the fixing ring includes a first semicircular ring and a second semicircular ring. One end of the first semicircular ring is rotatably connected to one end of the second semicircular ring, and there is a gap between the other ends of the first semicircular ring and the other ends of the second semicircular ring. At least one threaded rod is provided at the end of the first semicircular ring away from the second semicircular ring. The threaded rod is rotatably connected to the first semicircular ring around a second axis. At least one fixing support is fixedly provided at the end of the second semicircular ring away from the first semicircular ring. An installation groove is provided on the fixing support. The threaded rod can rotate into the installation groove around the second axis. A nut is threadedly connected to the threaded rod on the side of the fixing support away from the first semicircular ring. The nut can prevent the threaded rod from coming out of the installation groove.

[0014] Preferably, the first ultrasonic sensor array includes at least one sensor group, and each sensor group can be connected end to end in sequence. Each sensor group includes a fixed tube, the first ultrasonic sensor, and the MEMS sensor. The fixed tube has a mounting hole on its side wall. The MEMS sensor is fixedly disposed in the fixed tube, and the first ultrasonic sensor is fixedly installed in the mounting hole.

[0015] The present invention also provides a method for monitoring subsea pipeline suspension based on the above-described subsea pipeline suspension monitoring device, comprising the following steps:

[0016] Step 1: Enable each of the first ultrasonic sensors to complete its first transmission and reception of ultrasonic waves, and collect the time interval data of the first transmission and reception of ultrasonic waves by each of the first ultrasonic sensors through the data acquisition device, and use it as the initial interval time.

[0017] Step two: Each of the first ultrasonic sensors completes at least one transmission and reception of ultrasonic waves. The time interval data of each transmission and reception of ultrasonic waves by the first ultrasonic sensor is collected by the data acquisition device as the interval time for each transmission. The distance change between each position of the subsea pipeline and the seabed is calculated based on the interval time for each transmission and the initial interval time. If the distance change exceeds a set threshold, an early warning of the subsea pipeline being suspended is issued.

[0018] The present invention achieves the following technical effects compared to the prior art:

[0019] This novel subsea pipeline suspension monitoring device uses multiple first ultrasonic sensors along the length of the subsea pipeline. The distance between the subsea pipeline and the seabed is calculated by measuring the time difference between the ultrasonic waves emitted and received by each sensor. By placing first ultrasonic sensors along different lengths of the subsea pipeline, the device can determine the change in distance between the pipeline and the seabed at different locations along its length, thus enabling monitoring of the pipeline's suspension status. The use of first ultrasonic sensors ensures more accurate measurement data, and the operator only needs to fix the array of first ultrasonic sensors onto the subsea pipeline, making installation and operation simple and convenient.

[0020] Furthermore, one end of the second ultrasonic sensor array is fixed to the seabed, and the other end is fixedly connected to the seabed pipeline. Therefore, when the seabed pipeline moves relative to the seabed, it will trigger changes in the monitoring data of each second ultrasonic sensor on the second ultrasonic sensor array. By observing the changes in the data of each second ultrasonic sensor, the suspension state of the seabed pipeline relative to the seabed can be further determined, making the monitoring of the suspension state more accurate.

[0021] Furthermore, the first ultrasonic sensor array can be detachably fixed to the outer wall of the subsea pipeline by the first fastener, which makes the installation and removal of the first ultrasonic sensor array simple and convenient.

[0022] Furthermore, the first pipe clamp is fixed to the subsea pipeline by magnetic attraction. The first pipe clamp can be separated from the subsea pipeline by using a demagnetizing device. It is also fixed by clamping the first ultrasonic sensor array with the first clamp, making the installation method simple and convenient.

[0023] Furthermore, multiple MEMS sensors are installed, and the data from each MEMS sensor is used to reconstruct the three-dimensional shape of the subsea pipeline. This allows for secondary confirmation of the suspended state of the subsea pipeline, and the constructed three-dimensional shape of the subsea pipeline makes it easier for operators to observe its changes more intuitively.

[0024] Furthermore, the first clamp adopts an upper pipe clamp and a lower pipe clamp for holding and fixing, which is simple to operate, and the clamping force between the upper pipe clamp and the lower pipe clamp can be adjusted through the threaded connection of the tightening bolt, making its structure stable and reliable.

[0025] Furthermore, the second ultrasonic sensor array is connected to the submarine pipe via a fixing ring, making its installation simple and convenient.

[0026] Furthermore, the fixing ring is fixed to the subsea pipeline by clamping the first semicircular ring and the second semicircular ring. The connection method is simple and easy to operate. The fixing support is fixed by tightening and loosening the threaded rod and the nut. The clamping force between the first semicircular ring and the second semicircular ring can be adjusted to ensure that the fixing ring is stably and firmly fixed to the subsea pipeline.

[0027] Furthermore, both the first ultrasonic sensor and the MEMS sensor are fixed on the fixed pipe, which has a simple structure, few parts, reduced cost, and is easy to install. The first ultrasonic sensor array can be fixed on the seabed pipeline to complete the fixation of the first ultrasonic sensor and the MEMS sensor, and the installation operation is also simple and convenient.

[0028] The method for monitoring suspended subsea pipelines provided by this invention uses ultrasonic sensors to make the measurement data more accurate. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 A schematic diagram of the overall structure of the submarine pipeline suspension monitoring device provided by the present invention;

[0031] Figure 2 This is a schematic diagram of the structure of the first fixing component in the submarine pipeline suspension monitoring device provided by the present invention.

[0032] Figure 3 This is a schematic diagram of the overall structure of the fixed ring in the submarine pipeline suspension monitoring device provided by the present invention.

[0033] Figure 4 This is a schematic diagram of the fixed ring connection structure in the submarine pipeline suspension monitoring device provided by the present invention;

[0034] Figure 5 A schematic diagram of the overall structure of the first ultrasonic sensor array in the submarine pipeline suspension monitoring device provided by the present invention;

[0035] Figure 6 This is a schematic diagram of the hose connection in the submarine pipeline suspension monitoring device provided by the present invention.

[0036] Figure 7 This is a schematic diagram of the MEMS sensing cabin installation structure in the submarine pipeline suspension monitoring device provided by the present invention.

[0037] In the diagram: 100-Subsea pipeline suspension monitoring device; 1-First ultrasonic sensor array; 11-Fixed pipe; 12-First ultrasonic sensor; 13-MEMS sensor; 14-Hose; 2-Subsea pipeline; 3-Second ultrasonic sensor array; 4-First fixing component; 41-First pipe clamp seat; 42-Upper pipe clamp; 43-Lower pipe clamp; 44-Locking bolt; 5-Fixing ring; 51-First semi-circular ring; 52-Second semi-circular ring; 53-Threaded rod; 54-Fixed support; 541-Mounting groove; 55-Shaft; 6-Cement base station; 7-Lifting ring; 8-MEMS sensor cabin; 81-Insert plate; 82-Mounting slide. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] The purpose of this invention is to provide a monitoring device for suspended subsea pipelines to solve the problems existing in the prior art, so as to achieve high accuracy in monitoring the suspended state of subsea pipelines and to make the device simple and convenient to install.

[0040] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] Example 1

[0042] This embodiment provides a submarine pipeline suspension monitoring device 100, such as... Figure 1As shown, the system includes a data acquisition device and at least one first ultrasonic sensor array 1. Each first ultrasonic sensor array 1 is fixedly mounted on the outer wall of the subsea pipeline 2, and each first ultrasonic sensor array 1 includes at least two first ultrasonic sensors 12. Adjacent first ultrasonic sensors 12 are spaced apart along the axial direction of the subsea pipeline 2, and each first ultrasonic sensor 12 can emit ultrasonic waves and receive ultrasonic waves reflected back from the seabed. Each first ultrasonic sensor 12 is communicatively connected to the data acquisition device. By setting multiple first ultrasonic sensors 12 along the length of the subsea pipeline 2, the distance between the subsea pipeline 2 and the seabed can be calculated by the time difference between the ultrasonic waves emitted and received by each first ultrasonic sensor 12. By setting first ultrasonic sensors 12 along different length directions of the subsea pipeline 2, the change in the distance between the subsea pipeline 2 and the seabed at different positions along the length direction can be obtained, thereby realizing the monitoring of the suspended state of the subsea pipeline 2. The use of first ultrasonic sensors 12 can make the measurement data more accurate, and the operator only needs to fix each first ultrasonic sensor array 1 to the subsea pipeline 2, making the installation and operation simple and convenient.

[0043] Specifically, the MEMS sensor array composed of MEMS sensors 13 is existing technology. Due to the limitations of MEMS sensor array deployment, it is difficult to deploy more MEMS sensors 13 within a limited distance. The measurement accuracy of the sensor array is linked to the number of sensors, which leads to a certain limitation in its measurement accuracy within a fixed length. However, the first ultrasonic sensor 12 does not have this limitation.

[0044] Specifically, the data acquisition device can communicate with the satellite network communication equipment in the buoy, and the data acquisition device can transmit the data collected by each of the first ultrasonic sensor array 1 and the data collected by each of the second ultrasonic sensor array 3 to the satellite network communication equipment. The satellite network communication equipment can wirelessly connect with the shore control unit, and the satellite network communication equipment can wirelessly transmit the received data to the shore control unit, thereby realizing real-time monitoring of the suspended state of the subsea pipeline 2.

[0045] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1As shown, the subsea pipeline suspension monitoring device 100 also includes at least two second ultrasonic sensor arrays 3. One end of each second ultrasonic sensor array 3 is fixedly connected to the outer wall of the subsea pipeline 2, and the other end of each second ultrasonic sensor array 3 is fixedly connected to the seabed. The second ultrasonic sensor arrays 3 are arranged along the axial direction of the subsea pipeline 2, and there is a gap between adjacent second ultrasonic sensor arrays 3. Each second ultrasonic sensor array 3 includes at least one second ultrasonic sensor. Each second ultrasonic sensor can emit ultrasonic waves and receive ultrasonic waves reflected back from the seabed. Each second ultrasonic sensor is communicatively connected to a data acquisition device. Since one end of the second ultrasonic sensor array 3 is fixed to the seabed and the other end is fixedly connected to the subsea pipeline 2, the movement of the subsea pipeline 2 relative to the seabed will trigger changes in the monitoring data of each second ultrasonic sensor on the second ultrasonic sensor array 3. By observing the changes in the data of each second ultrasonic sensor, the suspension state of the subsea pipeline 2 relative to the seabed can be further determined, making the monitoring of the suspension state more accurate.

[0046] Specifically, the second ultrasonic sensor array 3 and the first ultrasonic sensor array 1 are configured with the same structure, forming a modular structural component, which can reduce manufacturing costs and make it less likely to have misinstallation problems due to structural differences.

[0047] Specifically, a cement base station 6 is fixedly connected to the end of the second ultrasonic sensor array 3 away from the seabed pipeline 2. The cement base station 6 can sink into the seabed under its own weight and maintain its fixed position, thus facilitating the fixation of the end of the second ultrasonic sensor array 3 away from the seabed pipeline 2.

[0048] Specifically, the fixed connection between the cement base station 6 and the second ultrasonic sensor array 3 can be a detachable connection, which facilitates connection and disassembly, or it can be fixed together by welding.

[0049] Specifically, the two ends of the second ultrasonic sensor array 3 are spaced apart in the vertical height direction.

[0050] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1 As shown, each of the first ultrasonic sensor arrays 1 has a first fixing member 4 fixedly installed at both ends, and each first fixing member 4 is detachably fixed to the outer wall of the subsea pipeline 2. The first ultrasonic sensor array 1 can be detachably fixed to the outer wall of the subsea pipeline 2 through the first fixing member 4, which makes the installation and removal of the first ultrasonic sensor array 1 simple and convenient.

[0051] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1As shown, the first fixing member 4 includes a first pipe clamp seat 41 and at least one first clamp. Each first clamp is fixedly disposed on the first pipe clamp seat 41, and each first clamp can clamp and fix one end of the first ultrasonic sensor array 1 or release the clamp on the first ultrasonic sensor array 1. The first pipe clamp seat 41 is magnetic and can be magnetically attracted and fixed to the outer wall of the subsea pipeline 2. The first pipe clamp seat 41 is fixed to the subsea pipeline 2 by magnetic attraction. The first pipe clamp seat 41 can be separated from the subsea pipeline 2 by using a demagnetizing device. The installation method is simple and convenient because the first clamp is used to fix the first ultrasonic sensor array 1.

[0052] Specifically, the second ultrasonic sensor array 3 and the fixed ring 5 can also be fixedly connected by the structure of the first fixing member 4.

[0053] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1 As shown, the subsea pipeline suspension monitoring device 100 also includes multiple MEMS sensors 13. Each MEMS sensor 13 is fixedly installed on the outer wall of the subsea pipeline 2. Each MEMS sensor 13 is communicatively connected to a data acquisition device, and the data measured by each MEMS sensor 13 can form the three-dimensional shape of the subsea pipeline 2 at each moment. The multiple MEMS sensors 13 allow for the reconstruction of the three-dimensional shape of the subsea pipeline 2 through the data from each MEMS sensor 13, enabling secondary confirmation of the suspension status of the subsea pipeline 2. Furthermore, the constructed three-dimensional shape of the subsea pipeline 2 facilitates more intuitive observation of its changes by the operator.

[0054] Specifically, the MEMS sensor 13 can also read the suspension angle and deformation degree of the subsea pipeline 2 in real time, providing guidance for subsequent maintenance and repair.

[0055] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1 As shown, the first clamp includes an upper pipe clamp 42, a lower pipe clamp 43, and at least one locking bolt 44. The lower pipe clamp 43 is fixedly connected to the first pipe clamp seat 41. The upper pipe clamp 42 is located on the side of the lower pipe clamp 43 away from the first pipe clamp seat 41, and one side of the upper pipe clamp 42 and one side of the lower pipe clamp 43 are rotatably connected around a first axis. The end of the lower pipe clamp 43 away from the first axis has at least one threaded hole, and the upper pipe clamp 42 has at least one through hole. The locking bolt 44 has a threaded part and a limiting part. The limiting part is larger than the through hole. The threaded part can pass through a through hole and be threadedly connected to a threaded hole, thereby clamping or releasing one end of a first ultrasonic sensor array 1 between the upper pipe clamp 42 and the lower pipe clamp 43. The first clamp uses the upper pipe clamp 42 and the lower pipe clamp 43 for clamping and fixing, which is simple to operate. The clamping force between the upper pipe clamp 42 and the lower pipe clamp 43 can be adjusted through the threaded connection of the locking bolt, and its structure is stable and reliable.

[0056] Specifically, a handle is fixedly installed on the limiting part to facilitate the operator's rotation for installation and disassembly.

[0057] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1 As shown, the second ultrasonic sensor array 3 is fixedly connected to a fixing ring 5, and the fixing ring 5 is detachably fixedly connected to the subsea pipeline 2. The second ultrasonic sensor array 3 is connected to the subsea pipeline through the fixing ring 5, which makes its installation simple and convenient.

[0058] Specifically, at least one lifting ring 7 is also fixedly installed on the fixed ring 5 to facilitate the lifting operation of the hoisting equipment during installation.

[0059] Specifically, the lifting ring 7 is welded to the fixed ring 5.

[0060] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1 As shown, the fixing ring 5 includes a first semicircular ring 51 and a second semicircular ring 52. One end of the first semicircular ring 51 is rotatably connected to one end of the second semicircular ring 52, and there is a gap between the other end of the first semicircular ring 51 and the other end of the second semicircular ring 52. At least one threaded rod 53 is provided at the end of the first semicircular ring 51 away from the second semicircular ring 52. The threaded rod 53 is rotatably connected to the first semicircular ring 51 around a second axis. At least one fixing support 54 is fixedly provided at the end of the second semicircular ring 52 away from the first semicircular ring 51. The fixing support 54 has an installation groove 541. The threaded rod 53 can rotate into the installation groove 541 around the second axis. A nut is threadedly connected to the threaded rod 53 on the side of the fixing support 54 away from the first semicircular ring 51. The outer diameter of the nut is larger than the inner diameter of the installation groove 541. The fixing ring 5 is fixed to the subsea pipeline 2 by clamping the first semicircular ring 51 and the second semicircular ring 52. The connection method is simple and easy to operate. The fixing support 54, which is fixed by tightening and loosening the threaded rod 53 and the nut, can realize the adjustment of the clamping force between the first semicircular ring 51 and the second semicircular ring 52, so that the fixing ring 5 is stably and firmly fixed to the subsea pipeline 2.

[0061] Specifically, at least one support plate is fixedly installed on the first semi-circular ring 51. Each support plate has a through hole, and a shaft 55 is inserted through the through hole. The shaft 55 can rotate around the axis of the through hole. One end of each threaded rod 53 is fixedly connected to the shaft 55.

[0062] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1As shown, the first ultrasonic sensor array 1 includes at least one sensor group, which can be connected end-to-end in sequence. Each sensor group includes a fixed tube 11, a first ultrasonic sensor 12, and a MEMS sensor 13. The fixed tube 11 has mounting holes on its side wall. The MEMS sensor 13 is fixedly installed inside the fixed tube 11, and the first ultrasonic sensor 12 is fixedly installed inside the mounting holes. Fixing both the first ultrasonic sensor 12 and the MEMS sensor 13 to the fixed tube 11 results in a simple structure with fewer components, reducing costs and facilitating installation. The first ultrasonic sensor 12 and MEMS sensor 13 can be fixed simply by fixing the first ultrasonic sensor array 1 to the subsea pipeline 2, making the installation operation simple and convenient.

[0063] Specifically, at least one mounting groove 82 is provided inside the fixed tube 11. The MEMS sensor 13 is sealed and fixedly placed inside the MEMS sensing chamber 8, and at least one insert plate 81 is fixedly provided on the MEMS sensing chamber 8. The insert plate 81 can be inserted into a groove to realize the installation of the MEMS sensing chamber 8 inside the fixed tube 11. The insert plate 81 and the mounting groove 82 are interference fit.

[0064] Specifically, the fixing pipe 11 is made of stainless steel-316 to prevent seawater corrosion.

[0065] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1 As shown, a flexible hose 14 is installed between two adjacent sensor groups, with each end of the hose 14 fixedly connected to a sensor group. The two adjacent sensor groups are connected by the hose 14. When there are protrusions attached to the outer wall of the subsea pipeline 2, the connection method of the hose 14 allows the sensor group to fit more closely to the outer wall of the subsea pipeline 2.

[0066] Specifically, hose 14 can withstand large flexible deformation.

[0067] Specifically, hose 14 is a rubber hose, and the material of hose 14 can be EPDM rubber.

[0068] The specific installation steps are as follows:

[0069] Step 1: First, fix each second ultrasonic sensor array 3 to the cement base station 6 and the fixing ring 5, and then use a lifting device to lift the cement base station 6 and the fixing ring 5 and lower them to the designated position on the seabed.

[0070] Step 2: Dispatch divers to the designated location and fix the fixing ring 5 on the seabed pipe 2 to realize the installation and connection of each second ultrasonic sensor array 3. Then, attach the first fixing parts 4 at both ends of each first ultrasonic sensor array 1 to the seabed pipe 2 and keep each first ultrasonic sensor array 1 in contact with the outer wall of the seabed pipe 2.

[0071] Step 3: The data acquisition device begins to collect data and transmits it to the satellite network communication equipment. Then, the data is transmitted wirelessly to the onshore control unit to achieve real-time monitoring of the suspended state of the subsea pipeline 2.

[0072] Example 2

[0073] This invention provides a method for monitoring subsea pipeline suspension based on the subsea pipeline suspension monitoring device 100 in Embodiment 1, comprising the following steps:

[0074] (1) After installation, each first ultrasonic sensor array 1 and each second ultrasonic sensor array 3 completes the first transmission and reception of ultrasonic waves, and the shore control unit receives their respective first interval time and records it as the initial interval time.

[0075] (2) Each first ultrasonic sensor array 1 and each second ultrasonic sensor array 3 continuously transmits and receives ultrasonic waves multiple times over time, and the shore control unit receives each interval time. The shore control unit processes the data according to the different interval times and the initial time and outputs the distance changes between each position of the submarine pipeline 2 and the seabed. If the distance change exceeds the set threshold, the submarine pipeline 2 will be suspended in the air.

[0076] (3) Based on the above distance exceeding the set threshold, the data measured by each MEMS sensor 13 is used to further determine whether the submarine pipeline 2 has been displaced or deformed. If it is determined that the submarine pipeline 2 is suspended, the suspension angle of the submarine pipeline 2 is calculated using the MEMS sensor array and returned to the onshore control unit to complete the monitoring of the suspension of the submarine pipeline 2.

[0077] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A monitoring device for suspended subsea pipelines, characterized in that: The system includes a data acquisition device and at least one first ultrasonic sensor array. Each first ultrasonic sensor array is fixedly mounted on the outer wall of the subsea pipeline, and each first ultrasonic sensor array includes at least two first ultrasonic sensors. Adjacent first ultrasonic sensors are spaced apart along the axial direction of the subsea pipeline. Each first ultrasonic sensor can emit ultrasonic waves and receive ultrasonic waves reflected back from the seabed. Each first ultrasonic sensor is communicatively connected to the data acquisition device, and the data acquisition device can collect the time interval data of each first ultrasonic sensor emitting and receiving ultrasonic waves. It also includes at least two second ultrasonic sensor arrays, one end of each second ultrasonic sensor array is fixedly connected to the outer wall of the subsea pipeline, and the other end of each second ultrasonic sensor array is fixedly connected to the seabed. Each second ultrasonic sensor array is arranged along the axial direction of the subsea pipeline and there is a gap between adjacent second ultrasonic sensor arrays. Each second ultrasonic sensor array includes at least one second ultrasonic sensor. The vertical height of adjacent second ultrasonic sensors from the seabed is different. Each second ultrasonic sensor can emit ultrasonic waves and receive ultrasonic waves reflected back from the seabed. Each second ultrasonic sensor is communicatively connected to the data acquisition device.

2. The subsea pipeline suspension monitoring device according to claim 1, characterized in that: Each of the first ultrasonic sensor arrays has a first fixing member fixedly installed at both ends, and each of the first fixing members is detachably fixedly connected to the outer wall of the submarine pipeline.

3. The subsea pipeline suspension monitoring device according to claim 2, characterized in that: The first fixing member includes a first pipe clamp seat and at least one first clamp. Each first clamp is fixedly disposed on the first pipe clamp seat, and each first clamp is capable of clamping and fixing one end of the first ultrasonic sensor array or releasing the clamp on the first ultrasonic sensor array. The first pipe clamp seat is magnetic and can be magnetically adsorbed and fixed to the outer wall of the subsea pipeline.

4. The subsea pipeline suspension monitoring device according to claim 1, characterized in that: It also includes multiple MEMS sensors, each of which is fixedly mounted on the outer wall of the subsea pipeline. Each of the MEMS sensors is communicatively connected to the data acquisition device, and the data measured by each of the MEMS sensors can form the three-dimensional shape of the subsea pipeline at each moment.

5. The subsea pipeline suspension monitoring device according to claim 3, characterized in that: The first clamp includes an upper pipe clamp, a lower pipe clamp, and at least one locking bolt. The lower pipe clamp is fixedly connected to the first pipe clamp seat. The upper pipe clamp is disposed on the side of the lower pipe clamp away from the first pipe clamp seat, and one side of the upper pipe clamp and one side of the lower pipe clamp are rotatably connected around a first axis. The lower pipe clamp has at least one threaded hole at one end away from the first axis. The upper pipe clamp has at least one through hole. The locking bolt has a threaded portion and a limiting portion. The size of the limiting portion is larger than the size of the through hole. The threaded portion can pass through one of the through holes and be threadedly connected to one of the threaded holes, thereby enabling the upper pipe clamp and the lower pipe clamp to clamp or release one end of the first ultrasonic sensor array.

6. The subsea pipeline suspension monitoring device according to claim 1, characterized in that: The second ultrasonic sensor array is fixedly connected to a fixing ring, which is sleeved on the outer wall of the subsea pipeline and is detachably fixed to the subsea pipeline.

7. The subsea pipeline suspension monitoring device according to claim 6, characterized in that: The fixing ring includes a first semicircular ring and a second semicircular ring. One end of the first semicircular ring is rotatably connected to one end of the second semicircular ring, and there is a gap between the other ends of the first and second semicircular rings. At least one threaded rod is provided at the end of the first semicircular ring away from the second semicircular ring. The threaded rod is rotatably connected to the first semicircular ring around a second axis. At least one fixing support is fixedly provided at the end of the second semicircular ring away from the first semicircular ring. The fixing support has an installation groove. The threaded rod can rotate into the installation groove around the second axis. A nut is threadedly connected to the threaded rod on the side of the fixing support away from the first semicircular ring. The nut can prevent the threaded rod from coming out of the installation groove.

8. The subsea pipeline suspension monitoring device according to claim 4, characterized in that: The first ultrasonic sensor array includes at least one sensor group, and the sensor groups can be connected end to end in sequence. Each sensor group includes a fixed tube, the first ultrasonic sensor, and the MEMS sensor. The fixed tube has a mounting hole on its side wall. The MEMS sensor is fixedly disposed inside the fixed tube, and the first ultrasonic sensor is fixedly installed inside the mounting hole.

9. A method for monitoring a subsea pipeline in suspension based on the subsea pipeline suspension monitoring device according to any one of claims 1 to 8, characterized in that: Includes the following steps, Step 1: Enable each of the first ultrasonic sensors to complete its first transmission and reception of ultrasonic waves, and collect the time interval data of the first transmission and reception of ultrasonic waves by each of the first ultrasonic sensors through the data acquisition device, and use it as the initial interval time. Step two: Each of the first ultrasonic sensors completes at least one transmission and reception of ultrasonic waves. The time interval data of each transmission and reception of ultrasonic waves by the first ultrasonic sensor is collected by the data acquisition device as the interval time for each transmission. The distance change between each position of the subsea pipeline and the seabed is calculated based on the interval time for each transmission and the initial interval time. If the distance change exceeds a set threshold, an early warning of the subsea pipeline being suspended is issued.

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