Efficient subsea pipeline detection equipment

Abstract

The invention discloses efficient subsea pipeline detection equipment, and relates to the technical field of underwater pipeline detection, the efficient subsea pipeline detection equipment comprises an ROV rack and a propeller arranged on the ROV rack, and the propeller comprises rotatably arranged blades; the isolation plate is used for isolating aquatic plants; the driving motor is used for driving the blades; the first end of the elastic piece is fixedly arranged at the end of the output shaft of the driving motor, and the second end of the elastic piece is coaxial and fixedly connected with the blade. The high-efficiency subsea pipeline detection equipment can complete optical and magnetic detection of the subsea pipeline exposed out of the seabed or buried in sediments, performs tracking detection on the pipeline, and avoids the problems of low efficiency, high cost and low flexibility caused by repeated back-and-forth vertical pipeline crossing detection; normal operation of the propeller can be effectively guaranteed by adjusting the distance between the blades and the isolation plate, near-bottom detection is carried out by combining an ROV with a high-definition camera and a magnetometer, the detection precision is improved, and interference of other factors is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater pipeline detection, and in particular to a high-efficiency submarine pipeline detection device. Background Art

[0002] Submarine pipeline detection refers to the process of detecting and monitoring submarine pipelines through various technical means. This work is crucial to ensuring the safety and stability of submarine infrastructure, especially in the fields of oil, gas and communications. Sonar technology or remotely operated vehicles (ROVs) are usually used for detection.

[0003] In conjunction with publication number CN106405662A, publication date 2017-02-15, an underwater pipeline detector based on an underwater robot is disclosed, including an above-water control device and an underwater detection device; the above-water control device is connected to the underwater detection device via an umbilical cable; the underwater detection device is arranged on the underwater robot, and is used to detect the position and burial depth of the submarine pipeline; the above-water control device is used to control the operation of the underwater detection device.

[0004] However, in the prior art including the above patents, in the work area with relatively complex seabed environment, the magnetic anomaly generated by the pipeline is often buried in the background field. As the distance between the umbilical cable and the survey ship increases, the detected magnetic anomaly will also be greatly attenuated, increasing the difficulty of the survey. There are problems such as low accuracy, high measurement cost, and low flexibility. Summary of the invention

[0005] The purpose of the present invention is to provide an efficient submarine pipeline detection equipment to solve the above problems.

[0006] In order to achieve the above-mentioned object, the present invention provides the following technical solutions: an efficient submarine pipeline detection equipment, comprising an ROV frame and a propeller arranged thereon, wherein the propeller comprises a blade arranged to rotate;

[0007] Isolation boards for isolating aquatic plants;

[0008] a drive motor for driving the blades;

[0009] An elastic member whose first end is fixedly arranged on the end of the output shaft of the driving motor and whose second end is coaxial with and fixedly connected to the blade;

[0010] Wherein, the second end of the elastic member is pressed to form a speed difference with the first end so that the elastic member is twisted and the distance between the blade and the isolation plate is increased.

[0011] Preferably, the blade is slidably arranged at the end of the output shaft of the driving motor, and a clamping block which is engaged with the output shaft is arranged on the blade.

[0012] Preferably, a scraper is provided on the blade, and when the distance between the blade and the isolation plate is the largest, the scraper extends out of the edge of the blade.

[0013] Preferably, a fixed block for squeezing and pushing the scraper is rotatably arranged on the isolation plate.

[0014] Preferably, it also includes an annular baffle fixedly arranged at the propeller port, on which a plurality of debris removal impellers for winding aquatic plants are rotatably arranged in a circular array.

[0015] Preferably, it also includes a guide plate fixedly arranged on the annular baffle, which has a hollow structure and forms a flushing channel for guiding the flow direction between the guide plate and the arc surface of the annular baffle, and the inner diameter of the flushing channel decreases along the flow direction.

[0016] Preferably, it further comprises an underwater high-speed camera for detecting the pipeline, and the underwater high-speed camera is located on the flushing path of the flushing channel.

[0017] Preferably, a crushing roller is rotatably arranged inside the annular baffle.

[0018] Preferably, it further comprises a driving gear fixedly arranged at the end of the driving motor, and the propeller further comprises a driven gear rotatably arranged and meshing with the driving gear, and the driven gear moves synchronously with the crushing roller.

[0019] Preferably, a driven wheel meshing with the crushing roller is rotatably arranged on the annular baffle, and the driven wheel is linked with the driven gear through a transmission belt.

[0020] In the above technical scheme, the present invention provides an efficient submarine pipeline detection equipment, which has the following beneficial effects: it can complete optical and magnetic detection of submarine pipelines exposed on the seabed or buried in sediments, and track and detect the pipelines, avoiding the inefficiency, high cost and low flexibility problems caused by multiple round-trip vertical crossing pipeline detection, and the normal operation of the thruster can be effectively guaranteed by adjusting the spacing between the blades and the isolation plate. Combined with the ROV equipped with a high-definition camera and a magnetometer to carry out near-bottom detection, the detection accuracy is improved and interference from other factors is avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0022] Figure 1 An overall three-dimensional schematic diagram provided for an embodiment of the present invention;

[0023] Figure 2 A schematic diagram of the structure of a propeller provided in an embodiment of the present invention;

[0024] Figure 3 A schematic diagram of the internal structure of a propeller provided in an embodiment of the present invention;

[0025] Figure 4 A schematic diagram of the water flow guiding state of the blades, annular baffles and guide plates provided in an embodiment of the present invention;

[0026] Figure 5 A schematic diagram of the structure of a driven gear and a crushing roller provided in an embodiment of the present invention;

[0027] Figure 6 A schematic diagram of the blade and scraper structure provided in an embodiment of the present invention;

[0028] Figure 7 A schematic diagram of the scraper and inclined block structure provided in an embodiment of the present invention;

[0029] Figure 8 This is a schematic diagram of the blade and elastic member structure provided in an embodiment of the present invention.

[0030] Description of reference numerals:

[0031] 1. ROV frame; 2. Propeller; 21. Casing; 22. Guide plate; 221. Annular baffle; 222. De-impuring impeller; 23. Isolation plate; 231. Fixed block; 232. Transmission block; 24. Driving motor; 241. Block; 242. Convex ring; 243. Groove; 25. Driving gear; 26. Elastic member; 27. Blade; 271. Scraper; 272. Bevel block; 273. Elastic arc piece; 28. Driven gear; 281. Drive belt; 282. Driven wheel; 29. ​​Crushing roller; 3. Vertical thruster; 4. Underwater high-speed camera; 5. Scanning camera; 6. Flash; 7. Altimeter. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0033] like Figure 1-8 As shown, an efficient submarine pipeline detection equipment includes an ROV frame 1 and a propeller 2 arranged thereon, wherein the propeller 2 includes a blade 27 arranged to rotate;

[0034] An isolation board 23 for isolating aquatic plants;

[0035] A drive motor 24 for driving the blades 27;

[0036] The first end of the elastic member 26 is fixedly arranged at the end of the output shaft of the driving motor 24, and the second end of the elastic member 26 is coaxial with and fixedly connected to the blade 27;

[0037] The second end of the elastic member 26 is compressed to form a speed difference with the first end so that the elastic member 26 is twisted and the distance between the blade 27 and the isolation plate 23 is increased.

[0038] Specifically, it also includes a vertical thruster 3, a scanning camera 5, a flash 6 and an altimeter 7 arranged in the ROV frame 1. The electronic components involved are all common technical knowledge known to those skilled in the art and will not be described in detail here.

[0039] Furthermore, the specific steps of using this detection equipment are as follows:

[0040] Step 1: Initial survey line layout. Find out the original laying position and direction of the pipeline, and design a survey line that passes through the area where the pipeline is located and is perpendicular to the extension direction of the pipeline. Use the device to conduct near-bottom observation and magnetic detection;

[0041] Step 2: Cable location inversion: Conduct boundary identification research based on the ISDV method on the magnetic data to infer the cable location while eliminating the influence of the seabed topography;

[0042] Step 3: Cable signal identification: Analyze the magnetic signals near the cable to distinguish the magnetic anomalies caused by the cable from those caused by other interference factors;

[0043] Step 4: Submarine pipeline tracking. Control the detection equipment to run along the possible extension direction of the cable, analyze the magnetic detection results at all times, adjust the forward direction of the detection equipment, and ensure that the detection equipment can repeatedly pass through the submarine cable during operation;

[0044] Step 5: Set up interval measurement lines. Along the extension direction of the pipeline, set up a measurement line perpendicular to the pipeline every 2 km to control the detection quality;

[0045] Step 6: Draw the submarine cable route. Perform ISDV boundary identification on each survey line, find the intersection of the detection equipment's track and the submarine cable, and draw the submarine cable route.

[0046] Furthermore, during step 4, since the detection equipment runs along the extension direction of the cable, and in order to ensure the accuracy of the detection data, it is necessary to lurk and approach the submarine cable. During normal operation, the drive motor 24 outputs torque and drives the first end of the elastic member 26 to rotate. The elastic member 26 is a memory metal member with a large elastic modulus. Therefore, when the first end rotates, the elastic member 26 only slightly deforms and drives the blade 27 fixed at the second end to rotate. When the blade 27 rotates, it generates propulsion force on the water flow, so that the detection equipment can operate. The isolation plate 23 can block larger foreign objects, but foreign objects such as water plants or kelp will enter through the gap. When the foreign objects are entangled in the blades 27 of the propeller 2, the blades 27 are subjected to pressure and gradually entangled by the foreign objects and stop rotating. At this time, the second end of the elastic member 26 gradually stops rotating, while the first end continues to output torque due to the drive motor 24 and keeps rotating. A speed difference is formed between the second end and the first end of the elastic member 26, causing the elastic member 26 to twist and shrink in the axial direction, thereby pulling the blades 27 close to the output shaft of the drive motor 24. At this time, the distance between the blades 27 and the isolation plate 23 is increased, and foreign objects such as water plants entangled on the isolation plate 23 and the blades 27 are torn off, thereby ensuring the normal operation of the propeller 2.

[0047] In the above technology, optical and magnetic detection of submarine pipelines exposed on the seabed or buried in sediments can be completed, and the pipelines can be tracked and detected, avoiding the inefficiency, high cost and low flexibility problems caused by multiple round-trip vertical crossing of pipeline detection. The spacing adjustment of the blades 27 and the isolation plate 23 can effectively ensure the normal operation of the thruster 2. Combined with the ROV equipped with a high-definition camera and a magnetometer to carry out near-bottom detection, the detection accuracy is improved and interference from other factors is avoided.

[0048] As an embodiment further provided by the present invention, the blade 27 is slidably disposed at the end of the output shaft of the driving motor 24, and a clamping block 241 that is engaged with the output shaft is disposed on the blade 27.

[0049] Specifically, a groove 243 is provided on the output shaft, and a convex ring 242 which is interference fit with the groove 243 is fixedly provided on the block 241. When the elastic member 26 is twisted, it contracts in the axial direction. At this time, the elastic member 26 deforms and stores energy, and at the same time drives the blade 27 close to the output shaft of the drive motor 24. The distance between the blade 27 and the isolation plate 23 increases, and the convex ring 242 is squeezed into the groove 243 and engaged, so that the position of the block 241 is locked, and the elastic member 26 remains in a contracted state. When foreign matter such as water plants is no longer entangled on the elastic member 26, the elastic member 26 loses the resistance to pressure, so that the deformation energy storage of the elastic member 26 is released, and it escapes from the groove 243, and drives the blade 27 to return to a position close to the isolation plate 23.

[0050] As another embodiment further provided by the present invention, a scraper 271 is provided on the blade 27 , and when the distance between the blade 27 and the isolation plate 23 is the largest, the scraper 271 extends out of the edge of the blade 27 .

[0051] Specifically, a fixed block 231 for squeezing and pushing the scraper 271 is rotatably provided on the isolation plate 23. The scrapers 271 are symmetrically slidably provided at the edges of both sides of the blade 27, and an elastic arc piece 273 is provided between the two scrapers 271. The scraper 271 also includes an inclined block 272, and a plurality of transmission blocks 232 are provided on the fixed block 231. When the blade 27 is in a normal operating state, the blade 27 is close to the isolation plate 23. At this time, the transmission block 232 on the fixed block 231 presses against the inclined block 272, and the inclined block 272 is guided by the surface of the transmission block 232 to slide, so that the scraper 271 is contracted in the blade 27, so that the elastic arc piece 273 is in a deformation energy storage state. When the distance between the blade 27 and the isolation plate 23 increases to a limit, the blade 27 moves away from the fixed block 231, so that the inclined block 272 moves away from the transmission block 232. The inclined block 272 is no longer blocked by the transmission block 232. When the elastic arc piece 273 is released after storing energy, the scraper 271 pops out to the outside of the edge of the blade 27, thereby cutting the water plants and other debris entangled with the blade 27. In addition, due to the increase in the distance between the blade 27 and the isolation plate 23, the water plants are stretched straight, which is more conducive to the cutting of the scraper 271.

[0052] As another embodiment further provided by the present invention, it also includes an annular baffle 221 fixedly arranged at the port of the propeller 2, on which a plurality of debris removal impellers 222 for winding aquatic plants are rotatably arranged in a circular array.

[0053] Specifically, the annular baffle 221 is located at the periphery of the isolation plate 23, and the horizontal projection of the impeller 222 partially overlaps with the blade 27. When the blade 27 rotates normally, the direction of the water flow pushed by the blade 27 is as follows: Figure 4 In the state shown, the water flows out along the channel formed by the inner wall of the annular baffle 221, thereby driving the debris removal impeller 222 to rotate, and the cut aquatic plants on the blades 27 are wrapped around the debris removal impeller 222, which can effectively play a role in cleaning and avoid secondary entanglement of the aquatic plants.

[0054] As another embodiment further provided by the present invention, it also includes a guide plate 22 fixedly arranged on the annular baffle 221, which has a hollow structure and forms a flushing channel for guiding the flow direction between the guide plate 22 and the arc surface of the annular baffle 221, and the inner diameter of the flushing channel decreases along the flow direction.

[0055] Specifically, the guide plate 22 is a bucket-shaped structure, and the water flow is as follows. Figure 4The state shown in the figure, and the axis of the bucket-shaped structure is coaxial with the blade 27 and the isolation plate 23. The water flow is pushed by the rotating blade 27. When passing through the guide plate 22, the water flow is divided into a propulsion water flow located in the middle of the guide plate 22 and a flushing water flow flowing out to the surroundings along the flushing channel. Among them, the propulsion water flow is mainly the vortex generated at the axis of the blade 27, with a large flow rate, which can provide sufficient propulsion for the propeller 2, and can also push the water plants and debris to prevent the debris from entering the blade 27; while the flushing water flow drives the water flow to spread from the blade 27 to the surroundings, and washes away the cut water plants and other debris through the water flow to prevent the debris from being retained for a long time.

[0056] As another embodiment further provided by the present invention, it also includes an underwater high-speed camera 4 for detecting the pipeline, and the underwater high-speed camera 4 is located on the flushing path of the flushing channel.

[0057] Specifically, the underwater high-speed camera 4 can obtain a large amount of optical information on the seabed. The staff can analyze the location information of the underwater pipeline and control the mother ship and the detection equipment to track the pipeline by combining the optical information and the measured three-component data of the magnetic field. Due to the large amount of sediment on the seabed and the low visibility, it often interferes with the observation of the staff, but the flushing channel formed between the guide plate 22 and the annular baffle 221 can flush the surface of the camera, flushing away the sediment within the field of view, making the field of view clearer and improving the detection accuracy.

[0058] As another embodiment further provided by the present invention, a crushing roller 29 is rotatably disposed inside the annular baffle 221 .

[0059] Specifically, a motor or turbine may be provided to drive the crushing roller 29 to keep rotating. When the aquatic plants are entangled on the impeller 222 , the crushing roller 29 starts to rotate and draws the aquatic plants in, thereby crushing the aquatic plants to avoid affecting the normal operation of the propeller 2 .

[0060] As another embodiment further provided by the present invention, it also includes a driving gear 25 fixedly arranged at the end of the driving motor 24, and the propeller 2 also includes a driven gear 28 which is rotatably arranged and meshes with the driving gear 25, and the driven gear 28 and the crushing roller 29 keep synchronous movement.

[0061] Specifically, a driven wheel 282 meshing with the crushing roller 29 is rotatably provided on the annular baffle 221, and the driven wheel 282 is linked with the driven gear 28 through the transmission belt 281. The propeller 2 also includes a housing 21, and the driven gear 28 is rotatably provided on the housing 21. When the driving motor 24 rotates normally, it drives the driving gear 25, and the driving gear 25 drives the driven gear 28 to rotate. The driven gear 28 drives the driven wheel 282 to rotate through the transmission belt 281. When the driven wheel 282 rotates, it drives the crushing roller 29 to rotate. The driven wheel 282 and the crushing roller 29 rotate in opposite directions, and the generated vortices turn in opposite directions, thereby generating a force pointing between the two vortices, guiding the floating water plants, sucking the water plants in, and crushing them.

[0062] Working principle: The specific steps of using this detection equipment are as follows:

[0063] Step 1: Initial survey line layout. Find out the original laying position and direction of the pipeline, and design a survey line that passes through the area where the pipeline is located and is perpendicular to the extension direction of the pipeline. Use the device to conduct near-bottom observation and magnetic detection;

[0064] Step 2: Cable location inversion: Conduct boundary identification research based on the ISDV method on the magnetic data to infer the cable location while eliminating the influence of the seabed topography;

[0065] Step 3: Cable signal identification: Analyze the magnetic signals near the cable to distinguish the magnetic anomalies caused by the cable from those caused by other interference factors;

[0066] Step 4: Submarine pipeline tracking. Control the detection equipment to run along the possible extension direction of the cable, analyze the magnetic detection results at all times, adjust the forward direction of the detection equipment, and ensure that the detection equipment can repeatedly pass through the submarine cable during operation;

[0067] Step 5: Set up interval measurement lines. Along the extension direction of the pipeline, set up a measurement line perpendicular to the pipeline every 2 km to control the detection quality;

[0068] Step 6: Draw the submarine cable route. Perform ISDV boundary identification on each survey line, find the intersection of the detection equipment's track and the submarine cable, and draw the submarine cable route.

[0069] During step 4, since the detection equipment runs along the extension direction of the cable, and in order to ensure the accuracy of the detection data, it is necessary to lurk and approach the submarine cable. When foreign objects are entangled in the blades 27 of the propeller 2, the blades 27 are subjected to pressure and gradually entangled by the foreign objects and stop rotating. At this time, the second end of the elastic member 26 gradually stops rotating, while the first end is continuously output torque by the drive motor 24 and keeps rotating. A speed difference is formed between the second end and the first end of the elastic member 26, so that the elastic member 26 is twisted and shrinks in the axial direction, thereby pulling the blades 27 close to the output shaft of the drive motor 24. The convex ring 242 is squeezed into the groove 243 for locking, so that the position of the block 241 is locked, and the elastic member 26 remains in a contracted state. When the distance between the blade 27 and the isolation plate 23 increases to the limit, the blade 27 moves away from the fixed block 231, so that the inclined block 272 moves away from the transmission block 232, and the inclined block 272 is no longer blocked by the transmission block 232. When the elastic arc piece 273 is released, the scraper 271 pops out to the outside of the edge of the blade 27, thereby cutting the waterweed and other debris entangled with the blade 27. The direction of the water flow pushed by the blade 27 is as follows: Figure 4 In the state shown, the water flows out along the channel formed by the inner wall of the annular baffle 221, thereby driving the impeller 222 to rotate, and the waterweed cut on the blade 27 is wound around the impeller 222. When the driving motor 24 rotates normally, it drives the driving gear 25, and the driving gear 25 drives the driven gear 28 to rotate. The driven gear 28 drives the driven wheel 282 to rotate through the transmission belt 281. When the driven wheel 282 rotates, it drives the crushing roller 29 to rotate. The driven wheel 282 and the crushing roller 29 rotate in opposite directions, and the vortexes generated turn in opposite directions, thereby generating a force pointing between the two vortices, guiding the floating waterweeds, sucking the waterweeds in and crushing them.

[0070] The water flow is pushed by the rotating blades 27. When passing through the guide plate 22, the water flow is divided into a propulsion water flow located in the middle of the guide plate 22 and a flushing water flow flowing out to the surroundings along the flushing channel. Among them, the propulsion water flow is mainly the vortex generated at the axis of the blade 27. The flow rate is relatively large, which can provide sufficient propulsion force for the propeller 2, and can also push the aquatic plants and debris to prevent the debris from entering the blades 27; while the flushing water flow drives the water flow to diffuse from the blades 27 to the surroundings, and the flushing channel formed between the guide plate 22 and the annular baffle 221 can flush the camera surface and flush away the mud and sand within the field of view, which can make the field of view clearer and improve the detection accuracy.

[0071] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An efficient submarine pipeline detection device, comprising an ROV frame (1) and a thruster (2) arranged thereon, characterized in that: The propeller (2) comprises rotatably arranged blades (27); An isolation board (23) for isolating aquatic plants; A drive motor (24) for driving the blades (27); An elastic member (26) having a first end fixedly disposed on the end of an output shaft of a driving motor (24), and a second end coaxially and fixedly connected to a blade (27); The second end of the elastic member (26) is pressed to form a speed difference with the first end so that the elastic member (26) is twisted and the distance between the blade (27) and the isolation plate (23) is increased.

2. The efficient submarine pipeline detection equipment according to claim 1 is characterized in that: The blade (27) is slidably arranged at the end of the output shaft of the driving motor (27), and a clamping block (241) that is clamped and matched with the output shaft is arranged on the blade (27).

3. The efficient submarine pipeline detection equipment according to claim 1 is characterized in that: The blade (27) is provided with a scraper (271), and when the distance between the blade (27) and the isolation plate (27) is the largest, the scraper (271) extends beyond the edge of the blade (27).

4. The high-efficiency submarine pipeline detection equipment according to claim 3 is characterized in that: A fixed block (231) for squeezing and pushing the scraper (271) is rotatably arranged on the isolation plate (23).

5. The efficient submarine pipeline detection equipment according to claim 1 is characterized in that: It also includes an annular baffle (221) fixedly arranged at the port of the propeller (2), on which a plurality of debris-removing impellers (222) for winding around waterweeds are rotatably arranged in a circumferential array.

6. The efficient submarine pipeline detection equipment according to claim 5, characterized in that: It also includes a guide plate (22) fixedly arranged on the annular baffle (221), which has a hollow structure and forms a flushing channel for guiding the flow direction between the guide plate and the arc surface of the annular baffle (221), and the inner diameter of the flushing channel decreases along the flow direction.

7. The efficient submarine pipeline detection equipment according to claim 1, characterized in that: It also comprises an underwater high-speed camera (4) for detecting the pipeline, and the underwater high-speed camera (4) is located on the flushing path of the flushing channel.

8. The efficient submarine pipeline detection equipment according to claim 5, characterized in that: A crushing roller (29) is rotatably arranged inside the annular baffle (221).

9. The efficient submarine pipeline detection equipment according to claim 8, characterized in that: It also includes a driving gear (25) fixedly arranged at the end of the driving motor (24), and the propeller (2) also includes a driven gear (28) which is rotatably arranged and meshes with the driving gear (25), and the driven gear (28) and the crushing roller (29) move synchronously.

10. The efficient submarine pipeline detection equipment according to claim 9, characterized in that: A driven wheel (282) is rotatably arranged on the annular baffle (221) and is meshed with the crushing roller (29) for transmission, and the driven wheel (282) is linked with the driven gear (28) via a transmission belt (281).

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