Underwater structure detection and cleaning operation system and method applied to deepwater jacket platform

Abstract

The invention discloses an underwater structure detection and cleaning operation system and method applied to a deepwater jacket platform. The underwater structure detection and cleaning operation system comprises a mother ship, a crane, a power repeater, an underwater operation robot and an umbilical cable. The crane is fixed to the gunwale or the stern of a deck of the mother ship, the mother ship lifts the power repeater and the underwater operation robot through an umbilical cable, the underwater operation robot and the power repeater are together laid underwater from the ship, and when the underwater operation robot and the power repeater reach a preset position, the power repeater retracts and releases the underwater operation robot through a built-in underwater winch; when the underwater operation robot works, the underwater operation robot is connected with the power repeater through the photoelectric-hydraulic integrated cable; the power repeater is adopted to play a connecting role in the system, the high-pressure water preparation device, the underwater winch and the photoelectric-hydraulic integrated cable are installed in the power repeater, various requirements for detection and cleaning of the underwater structure of the deepwater oil and gas platform are met, and the economical efficiency of underwater operation is greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of cleaning and testing equipment, and in particular relates to a system and method for underwater structure testing and cleaning of a deepwater jacket platform. Background Art

[0002] The underwater structure of the offshore platform is the basis for the safe operation and maintenance of offshore equipment. As the offshore platform is immersed in seawater for a long time, it is subjected to various harsh environmental conditions and the influence of various factors such as seawater corrosion, structural impact, and mechanical damage, which bring hidden dangers to the safe production of the platform. Therefore, it is necessary to conduct regular inspections of underwater structures. Especially for underwater structures, since they are immersed in water, general damage is not easy to be found, and the inspection is difficult, which makes underwater structure inspection particularly important.

[0003] According to the relevant requirements of classification societies, offshore platforms in service need regular structural inspections to ensure the structural safety of offshore facilities and the safety of the marine environment. The inspection of offshore platforms mainly includes appearance inspection, structural thickness measurement, marine growth height measurement, potential detection, and non-destructive testing. For most inspection operations, to start the inspection work, the marine growth on the surface of the steel structure must be removed first. Therefore, marine growth cleaning and structural inspection are complementary tasks.

[0004] As my country's oil and gas development moves into the deep sea, the operating depth of the jacket platform has increased from the conventional tens of meters to hundreds of meters. The depth of the "Haiji No. 1" jacket platform has even reached more than 300 meters, which has brought about cleaning and inspection operations. At present, the inspection and cleaning of deepwater jackets generally adopts mixed gas diving operations or saturated diving operations, operational ROV operations, etc. The main problems of the above methods are:

[0005] (1) Whether it is mixed gas diving or saturation diving, the operational safety risk is extremely high. Saturation diving is a high-pressure diving operation that uses nitrogen to dissolve in the fat and nerve tissue in the human body and produce an effect similar to "anesthesia". At this time, people often use a certain amount of helium to replace nitrogen and fill it in the diver's oxygen tank. Although this inert gas will not "anesthetize" people like nitrogen, it can dissolve in the blood. After the diver finishes diving, if the decompression is not performed, the helium will remain in the body tissue, forming bubbles, causing serious decompression sickness, and even endangering life. At the same time, the effective operation time per day of saturation diving is very long and the operation efficiency is extremely low.

[0006] (2) Large-scale operational-level remotely operated submersibles (ROVs) are usually equipped with high-pressure water pumps, motors and other equipment due to their large weight and volume. High-pressure water is prepared in situ. The advantage is that the large drag force caused by long-distance water pipes is avoided. The disadvantage is that due to the large size of the equipment, it is difficult to enter the interior of the conductor rack, and the risk of umbilical cable entanglement is extremely high.

[0007] (3) In recent years, relevant institutions at home and abroad have proposed a variety of new wall-climbing robots, which use magnetic adsorption, negative pressure adsorption, etc. to crawl directly from the platform cable deck to the operating area. The main advantages of this solution are good operation stability, flexible equipment that is easy to enter the platform structure, and low equipment cost. However, due to its design concept, this type of robot reduces its load as much as possible. Generally, it does not carry high-pressure water preparation equipment. Instead, the high-pressure water preparation equipment is placed on the platform. The robot body only carries a nozzle and is connected to the preparation equipment through a high-pressure water pipe. However, as the water depth increases, the high-pressure water pipe runs from the top of the platform to the bottom. The long vertical pipeline, on the one hand, under the action of the ocean current, the drag force of the high-pressure water pipe and the umbilical cable increases significantly, and the traction force required by the robot increases, making it difficult to drag; on the other hand, the hundreds of meters of vertical umbilical cables and water pipes face a high risk of entanglement with the platform structure, anode blocks, pipe clamps, etc.

[0008] To solve the problem of underwater structure detection and cleaning of deepwater oil and gas platforms, a single device can hardly meet the needs of underwater structure detection and cleaning of deepwater oil and gas platforms. Therefore, it is necessary to propose a system and method for underwater structure detection and cleaning of deepwater jacket platforms. Summary of the invention

[0009] The present invention provides a system and method for underwater structure detection and cleaning of a deepwater jacket platform, which can solve the deficiencies and problems existing in the prior art.

[0010] To solve the above problems, the technical solution provided by the present invention is as follows:

[0011] The embodiment of the present invention provides an underwater structure detection and cleaning system for a deepwater jacket platform, comprising a mother ship (1), a crane (2), a power relay (3), an underwater operation robot (4) and an umbilical cable; the crane (2) is fixed on the side or stern of the deck of the mother ship (1), and the mother ship (1) suspends the power relay (3) and the underwater operation robot (4) through the umbilical cable; the underwater operation robot (4) and the power relay (3) are deployed underwater from the ship, and when reaching a predetermined position, the power relay (3) retracts and releases the underwater operation robot (4) through a built-in underwater winch; when the underwater operation robot (4) is operating, it is connected to the power relay (3) through an optical-electrical-hydraulic integrated cable (7);

[0012] When the underwater working robot (4) goes to the vicinity of the working platform (8) to perform work, the underwater working robot (4) uses a gravity center adjustment device to adjust the body from a horizontal state to a state parallel to the steel conduit wall of the working platform (8). The propulsion system of the underwater working robot (4) allows the body to float, move underwater, and rotate underwater. After the magnetic wheel chassis (6) at the bottom of the underwater working robot (4) contacts the steel conduit wall, the main magnetic wheels and the auxiliary magnetic wheels of the magnetic wheel chassis (6) are adsorbed on the steel conduit wall. The operating manipulator (5) on the side of the robot (4) is used to perform structural inspection and marine organism cleaning operations on the wall of the steel conduit; after completing the inspection and cleaning operations of an area of ​​the operating platform (8), the underwater operating robot (4) uses the reverse thrust of the propulsion system to offset the adsorption force of the magnetic wheel, so that the magnetic wheel chassis (6) leaves the wall of the steel conduit, and the underwater operating robot (4) returns to a horizontal state; the underwater operating robot (4) uses the propulsion system to return to the bottom of the power repeater (3) and is automatically hooked and fixed to the power repeater (3).

[0013] In a preferred embodiment of the present invention, the power repeater (3) is internally installed with a high-pressure water preparation device, the underwater winch and the photoelectric-hydraulic integrated cable (7), and two or four thrusters are arranged on the outside of the power repeater (3) frame; the power repeater (3) is bow-mounted with multiple sets of high-definition cameras, underwater lights and pan-tilt heads for monitoring the underwater winch, the operation of the underwater working robot (4) on the steel conductor frame structure and the operation of the high-pressure water preparation device.

[0014] In a preferred embodiment of the present invention, the high-pressure water preparation device is used to prepare high-pressure water to meet the high-pressure water supply required by the working manipulator (5) on the side of the underwater working robot (4) when performing cleaning operations.

[0015] In a preferred embodiment of the present invention, the optical-electrical-hydraulic integrated cable (7) is used to provide the underwater working robot (4) with power, communication and water supply for the nozzles it carries. In order to reduce the drag force, a zero-buoyancy cable can be used.

[0016] In a preferred embodiment of the present invention, the propulsion system of the underwater working robot (4) is a propeller.

[0017] In a preferred embodiment of the present invention, the mother ship (1) is a ship with dynamic positioning or a ship with a certain bow positioning capability; a deployment and monitoring system is arranged in the mother ship (1), and the deployment and monitoring system is used to arrange, place and recover the power relay (3) and the underwater operation robot (4); the surface operation monitoring room on the deck of the mother ship (1) is used to command and monitor the underwater environment and operation conditions.

[0018] The embodiment of the present invention provides a method for detecting and cleaning underwater structures of a deepwater jacket platform, which is implemented by using a system for detecting and cleaning underwater structures of a deepwater jacket platform as described in the above embodiment, and includes the following steps:

[0019] Step 1, deployment: first, the A-frame or crane (2) on the deck of the mother ship (1) deploys the power relay (3) and the underwater operation robot (4) together under the water surface at the side or stern;

[0020] Step 2, the underwater working robot (4) is detached: after being deployed to a predetermined underwater working depth, a command is sent to release the hook removal instruction, and the power relay (3) is separated from the underwater working robot (4), and the underwater working robot (4) performs diving positioning and displacement through the propeller; the underwater winch inside the power relay (3) then releases the photoelectric liquid integrated cable (7);

[0021] Step 3, adsorption landing: the underwater working robot (4) is driven by the propeller to float to the vicinity of the wall of the steel conduit to be operated, and the propeller fine-tunes the body and approaches the steel conduit; the built-in high-pressure water preparation device of the power relay (3) is started, and the prepared high-pressure water is transported to the working manipulator (5) carried by the underwater working robot (4) through the integrated optical-electrical-hydraulic cable (7); the working manipulator (5) drives the spraying mechanism to clean a section of marine organisms on the surface of the steel conduit wall to ensure sufficient attachment space for the underwater working robot (4); the underwater working robot (4) uses the center of gravity adjustment device to adjust the body from a horizontal state to a state parallel to the wall of the steel conduit, and the vector-arranged propeller allows the body to move up, down, left, right and rotate; after the magnetic wheel of the body of the underwater working robot (4) contacts the steel conduit, it is adsorbed to the column through the main and auxiliary magnetic wheels;

[0022] Step 4, cleaning and inspection operation: the underwater operation robot (4) relies on the magnetic wheel chassis (6) to walk along the surface of the steel pipe, and uses the high-pressure water nozzle or the row of nozzles to clean the marine organisms on the surface of the steel structure, and the built-in high-pressure water preparation device of the power repeater (3) keeps operating; during the process of cleaning the marine organisms, underwater structure image inspection can be carried out; for the structure of key nodes and anode blocks, further structural inspection is carried out; during the operation, the power repeater (3) adjusts its own horizontal propeller to keep the power repeater (3) facing the direction of the underwater operation robot (4); the camera on the power repeater (3) monitors the operation of the robot and its photoelectric liquid integrated cable (7), so that the operator on the mother ship (1) can observe the surrounding state of the underwater operation robot (4) from an external perspective to prevent the photoelectric liquid integrated cable (7) from being entangled;

[0023] Step 5, single operation is completed: after completing the inspection and cleaning operation of an area, the underwater operation robot (4) uses the reverse thrust of the propeller to offset the adsorption force of the magnetic wheel chassis (6), so that the magnetic wheel chassis (6) leaves the wall of the steel pipe, and the underwater operation robot (4) returns to a horizontal state; the underwater operation robot (4) uses the propulsion system to return to the bottom of the power relay (3) near the water surface;

[0024] Step 6, repeat the operation: according to the operation task, repeat the operation steps 2 to 5;

[0025] Step 7, recovery: After completing all operation tasks, the inspection and cleaning robot (4) returns to the power relay (3) and is automatically hooked and fixed together; then, the power relay (3) and the underwater operation robot (4) are recovered to the surface as a whole through the deployment and recovery system of the mother ship (1), and post-operation maintenance and result evaluation are carried out.

[0026] Compared with the prior art, the embodiments of the present invention provide a system and method for underwater structure detection and cleaning of deepwater jacket platforms, which have the following beneficial effects:

[0027] (1) The present invention gives full play to the respective advantages of various operating equipment and methods, through the top-down multi-level coordinated operating relationship of the surface system, power repeater, underwater system and submersible operating system: compared with the crawling robot deployed from the platform, the vertically deployed water pipes and umbilical cables are transformed into horizontally deployed water pipes and cables, which solves the cable entanglement problem to the greatest extent; compared with the traditional use of repeaters and operating ROVs, the present invention uses floating and wall-climbing robots to reduce the overall size of the robot and facilitate entry into the inner structure of the conductor frame platform. The operating method of the present invention reduces the risk of equipment system cables being entangled with each other and cables being entangled with the conductor frame during underwater operations to the greatest extent, can give full play to the stability of the mother ship and the submersible during operation, ensure the safety of the submersible, greatly reduce the operation time, reduce the possibility of encountering uncertain factors underwater, and the multi-level detection guarantees the balance between accuracy and economy to the greatest extent.

[0028] (2) Traditional underwater cleaning operations require the use of optical cables to power the robot and high-pressure water pipes for spraying. The presence of two cables increases the risk of equipment entanglement and the complexity of cable collection and arrangement. The present invention uses an optical-electrical-hydraulic integrated cable to integrate optical, electrical and liquid signals into one cable, which greatly reduces the complexity of the operation and greatly improves the safety of the operation.

[0029] (3) The equipment system and operation method of the present invention can replace the work of divers and effectively increase the depth of underwater operations. When conducting underwater operations in shallow waters, the present invention can replace the work of divers to a certain extent, greatly reducing the danger of manual operations. At the same time, it can increase the duration of a single operation, increase the effective working time, improve work efficiency, and ensure the economy of the operation. When operating in deep waters, compared with the large-scale operation-level remotely operated submersibles (ROV) that use an in-situ method to prepare high-pressure water, the present invention uses a relay system to prepare high-pressure water underwater, which greatly avoids the large drag force caused by long-distance water pipes, reduces underwater resistance during operations, simplifies the underwater operation process, and improves the convenience of operations. Especially when working inside the conductor frame, the risk of water pipe cable entanglement is greatly reduced.

[0030] (4) The power repeater used in the present invention plays a connecting role in the entire system, providing a basis for the communication and connection between systems at all levels. The top of the power repeater receives the hoisting device and the armored cable to connect the surface system, and the bottom fixes the underwater detection and cleaning robot to connect the underwater system. A high-pressure water preparation device, an underwater winch, and an optoelectronic liquid integrated cable are installed inside the repeater to achieve functional connection between the surface system and the underwater system. Multiple sets of high-definition cameras, underwater lights and pan-tilt heads are installed on the power repeater to monitor the operation of the underwater winch, underwater operation robot and high-pressure water preparation device in real time, and observe the underwater operation environment at the same time, so as to avoid the occurrence of operation accidents caused by underwater emergencies, greatly improve the safety of underwater operations, and improve the economy of operations.

[0031] (5) The present invention provides a novel method for deep-water platform inspection and cleaning. Compared with the traditional method, the novel method can reduce the resistance of the ocean current to the umbilical cable and the high-pressure water pipe to a certain extent through the design of a multi-level method and the coordinated work from top to bottom, so that the underwater operation has the advantage of being more stable. It overcomes the problem that the long-distance vertical pipeline of the wall-climbing robot is greatly increased by the ocean current, and the traction force required for underwater operation is increased, resulting in the difficulty of dragging. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments or 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 invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 and Figure 2A schematic diagram of the deployment status of an underwater structure inspection and cleaning system for a deepwater jacket platform provided in an embodiment of the present application.

[0034] Figure 3 A schematic diagram of a disengaged state of a power repeater used in an underwater structure inspection and cleaning system for a deepwater jacket platform provided in an embodiment of the present application.

[0035] Figure 4 A schematic diagram of the adsorption and landing of an underwater operation robot applied to an underwater structure inspection and cleaning operation system of a deepwater jacket platform provided in an embodiment of the present application.

[0036] Figure 5 A schematic diagram of the cleaning and inspection operation status of an underwater structure inspection and cleaning operation system for a deepwater jacket platform provided in an embodiment of the present application.

[0037] Figure 6 A flow chart of a method for underwater structure inspection and cleaning of a deepwater jacket platform provided in an embodiment of the present application.

[0038] Figure numerals: mother ship 1, crane 2, power repeater 3, underwater operation robot 4, operation manipulator 5, magnetic wheel chassis 6, photoelectric liquid integrated cable 7, operation platform 8. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application. The "upper", "lower", "front", "back", "left", "right", etc. used in the installation position or direction of the structure or parts of the present embodiment are based on the orientation of the given drawings. They are only for the convenience of expression to distinguish the relative positions of the components or directions, and do not represent the orientation of the system or functional components of the present embodiment when in use.

[0040] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, an embodiment of the present invention provides an underwater structure detection and cleaning operation system for a deepwater jacket platform, comprising a mother ship 1, a crane 2, a power repeater 3, an underwater working robot 4 and an umbilical cable; the crane 2 is fixed on the side or stern of the deck of the mother ship 1, and the mother ship 1 suspends the power repeater 3 and the underwater working robot 4 through the umbilical cable; the underwater working robot 4 and the power repeater 3 are deployed underwater from the ship, and when reaching the predetermined position, the power repeater 3 retracts and releases the underwater working robot 4 through the built-in underwater winch; when the underwater working robot 4 is operating, it is connected to the power repeater 3 through the optical-electrical-hydraulic integrated cable 7.

[0041] When the underwater working robot 4 goes to the vicinity of the working platform 8 to work, the underwater working robot 4 uses the center of gravity adjustment device to adjust the body from the horizontal state to the parallel state with the steel conduit wall of the working platform 8. The propulsion system of the underwater working robot 4 can make the body float, move underwater, and rotate underwater, providing power for the robot to move underwater. After the magnetic wheel chassis 6 at the bottom of the underwater working robot 4 contacts the steel conduit wall, the main magnetic wheel and the auxiliary magnetic wheel of the magnetic wheel chassis 6 are adsorbed with the steel conduit wall, and the working manipulator 5 on the side of the underwater working robot 4 is used to perform structural inspection and marine organism cleaning operations on the steel conduit wall; after completing the inspection and cleaning tasks of an area of ​​the working platform 8, the underwater working robot 4 uses the reverse thrust of the propulsion system to offset the magnetic wheel adsorption force, so that the magnetic wheel chassis 6 leaves the steel conduit wall, and the underwater working robot 4 returns to the horizontal state; the underwater working robot 4 uses the propulsion system to return to the bottom of the power relay 3, and is automatically hooked and fixed with the power relay 3. The observation and communication system of the underwater working robot 4 of this embodiment is usually arranged at the bow and stern according to the configuration and working requirements for underwater observation; the working system of the underwater working robot 4 mainly includes a bow working manipulator 5, which can perform structural inspection and marine life cleaning operations.

[0042] The power repeater 3 plays a connecting role. Its top is connected to the umbilical cable through the crane 2, and its lower part fixes the underwater working robot 4. A high-pressure water preparation device, an underwater winch and an optoelectronic and hydraulic integrated cable 7 are installed inside the power repeater 3. Two or four thrusters are arranged on the outside of the power repeater 3 frame; multiple sets of high-definition cameras, underwater lights and pan-tilt heads are installed on the bow of the power repeater 3 to monitor the underwater winch, the underwater working robot 4 working on the steel conductor frame structure, and the operation of the high-pressure water preparation device. The high-pressure water preparation device prepares high-pressure water to meet the high-pressure water supply required by the working manipulator 5 on the side of the underwater working robot 4 for cleaning operations. The optoelectronic and hydraulic integrated cable 7 is used to provide the underwater working robot 4 with electricity, communication and water supply for the nozzle it carries. In order to reduce the drag force, a zero-buoyancy cable can be used.

[0043] The propulsion system of the underwater operation robot 4 is a propeller. The mother ship 1 is a ship with dynamic positioning or a ship with a certain ship bow positioning capability. The mother ship 1 is a ship used to tow a ship, and its main purpose is to tow the operation mother ship to the vicinity of the operation site.

[0044] The mother ship 1 is provided with a deployment and monitoring system, which is used to arrange, place and recover the power repeater 3 and the underwater operation robot 4. The surface operation monitoring room on the deck of the mother ship 1 is used to command and monitor the underwater environment and operation conditions. A system for underwater structure detection and cleaning of a deepwater jacket platform in this embodiment includes a surface system, an underwater system and connecting pipelines. Among them, the surface system includes an operation mother ship 1, a deployment and recovery system, an umbilical cable and a surface operation monitoring room; the underwater system includes a power repeater 3, an underwater operation robot 4, etc., and the power repeater 4 is equipped with a high-pressure water preparation system, an underwater winch and an optoelectronic liquid integrated cable 7 (zero buoyancy cable).

[0045] like Figure 6 As shown, an embodiment of the present invention further provides a method for underwater structure detection and cleaning of a deepwater jacket platform, which is implemented by a system for underwater structure detection and cleaning of a deepwater jacket platform as in the above embodiment, and includes the following steps:

[0046] Step 1, deployment: first, the A-frame or crane 2 on the deck of the mother ship 1 deploys the power relay 3 and the underwater operation robot 4 together under the water surface at the side or stern;

[0047] Step 2, the underwater working robot 4 is detached: after being deployed to a predetermined underwater working depth, a command is sent to release the hook removal command, the power relay 3 is separated from the underwater working robot 4, and the underwater working robot 4 performs diving positioning and displacement through the thruster; the underwater winch inside the power relay 3 then releases the photoelectric liquid integrated cable 7;

[0048] Step 3, adsorption landing: the underwater working robot 4 is driven by the propeller to float to the vicinity of the wall of the steel conduit to be operated, and the propeller fine-tunes the body and approaches the steel conduit; the built-in high-pressure water preparation device of the power relay 3 is started, and the prepared high-pressure water is transported to the working manipulator 5 carried by the underwater working robot 4 through the photoelectric liquid integrated cable 7; the working manipulator 5 drives the spraying mechanism to clean a section of marine organisms on the surface of the steel conduit wall to ensure sufficient attachment space for the underwater working robot 4; the underwater working robot 4 uses the center of gravity adjustment device to adjust the body from a horizontal state to a state parallel to the wall of the steel conduit, and the vector-arranged propeller allows the body to move up, down, left, right and rotate; after the magnetic wheel of the body of the underwater working robot 4 contacts the steel conduit, it is adsorbed to the column through the main and auxiliary magnetic wheels;

[0049] Step 4, cleaning and inspection operation: the underwater operation robot 4 walks along the surface of the steel conduit with the help of the magnetic wheel chassis 6, and uses the high-pressure water nozzle or row nozzle on board to clean the marine organisms on the surface of the steel structure, and the built-in high-pressure water preparation device of the power repeater 3 keeps operating; during the cleaning process of the marine organisms, underwater structure image inspection can be carried out; for the structure of key nodes and anode blocks, further structural inspection is carried out; during the operation, the power repeater 3 adjusts its own horizontal propeller to keep the power repeater 3 facing the direction of the underwater operation robot 4; the camera on the power repeater 3 monitors the operation of the robot and its optoelectronic and liquid integrated cable 7, so that the operator on the mother ship 1 can observe the surrounding state of the underwater operation robot 4 from an external perspective to prevent the optoelectronic and liquid integrated cable 7 from being entangled;

[0050] Step 5, single operation is completed: after completing the inspection and cleaning task of an area, the underwater operation robot 4 uses the reverse thrust of the propeller to offset the adsorption force of the magnetic wheel chassis 6, so that the magnetic wheel chassis 6 leaves the wall of the steel pipe, and the underwater operation robot 4 returns to a horizontal state; the underwater operation robot 4 uses the propulsion system to return to the bottom of the power repeater 3 near the water surface;

[0051] Step 6, repeat the operation: according to the operation task, repeat the operation steps 2 to 5;

[0052] Step 7, recovery: After completing all operation tasks, the detection and cleaning robot 4 returns to the power relay 3 and is automatically hooked and fixed together; then, the power relay 3 and the underwater operation robot 4 are recovered to the surface as a whole through the deployment and recovery system of the mother ship 1, and post-operation maintenance and result evaluation are carried out.

[0053] Although the present invention has been disclosed as above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various modifications and alterations without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. A system for underwater structure inspection and cleaning of deepwater jacket platforms, characterized in that: The invention comprises a mother ship (1), a crane (2), a power relay (3), an underwater operation robot (4) and an umbilical cable; the crane (2) is fixed on the side or stern of the deck of the mother ship (1), and the mother ship (1) suspends the power relay (3) and the underwater operation robot (4) through the umbilical cable; the underwater operation robot (4) and the power relay (3) are deployed underwater from the ship, and when reaching a predetermined position, the power relay (3) retracts and releases the underwater operation robot (4) through a built-in underwater winch; when the underwater operation robot (4) is operating, it is connected to the power relay (3) through an optical-electrical-hydraulic integrated cable (7); When the underwater working robot (4) goes to the vicinity of the working platform (8) to perform work, the underwater working robot (4) uses a gravity center adjustment device to adjust the body from a horizontal state to a state parallel to the steel conduit wall of the working platform (8). The propulsion system of the underwater working robot (4) allows the body to float, move underwater, and rotate underwater. After the magnetic wheel chassis (6) at the bottom of the underwater working robot (4) contacts the steel conduit wall, the main magnetic wheels and the auxiliary magnetic wheels of the magnetic wheel chassis (6) are adsorbed on the steel conduit wall. The operating manipulator (5) on the side of the robot (4) is used to perform structural inspection and marine organism cleaning operations on the wall of the steel conduit; after completing the inspection and cleaning operations of an area of ​​the operating platform (8), the underwater operating robot (4) uses the reverse thrust of the propulsion system to offset the adsorption force of the magnetic wheel, so that the magnetic wheel chassis (6) leaves the wall of the steel conduit, and the underwater operating robot (4) returns to a horizontal state; the underwater operating robot (4) uses the propulsion system to return to the bottom of the power repeater (3) and is automatically hooked and fixed to the power repeater (3).

2. The underwater structure detection and cleaning system for deepwater jacket platform according to claim 1 is characterized in that: The power repeater (3) is internally installed with a high-pressure water preparation device, the underwater winch and the photoelectric-hydraulic integrated cable (7), and two or four thrusters are arranged on the outside of the frame of the power repeater (3); the power repeater (3) is bow-mounted with multiple sets of high-definition cameras, underwater lights and a pan-tilt head for monitoring the underwater winch, the operation of the underwater working robot (4) on the steel conductor frame structure and the operation of the high-pressure water preparation device.

3. The underwater structure detection and cleaning system for deepwater jacket platform according to claim 2 is characterized in that: The high-pressure water preparation device is used to prepare high-pressure water to meet the high-pressure water supply required by the working manipulator (5) on the side of the underwater working robot (4) when performing cleaning operations.

4. The underwater structure detection and cleaning system for deepwater jacket platform according to claim 3 is characterized in that: The photoelectric-hydraulic integrated cable (7) is used to provide the underwater operation robot (4) with power, communication and water supply for the nozzles it carries. In order to reduce the drag force, a zero-buoyancy cable can be used.

5. The underwater structure detection and cleaning system for deepwater jacket platform according to claim 4 is characterized in that: The propulsion system of the underwater working robot (4) is a propeller.

6. The underwater structure detection and cleaning system for deepwater jacket platform according to claim 5 is characterized in that: The mother ship (1) is a ship with dynamic positioning or a ship with a certain bow positioning capability; a deployment and monitoring system is arranged in the mother ship (1), and the deployment and monitoring system is used to arrange, place and recover the power relay (3) and the underwater operation robot (4); the surface operation monitoring room on the deck of the mother ship (1) is used to command and monitor the underwater environment and operation conditions.

7. A method for underwater structure inspection and cleaning of a deepwater jacket platform, implemented by a system for underwater structure inspection and cleaning of a deepwater jacket platform as claimed in claim 6, characterized in that: The following steps are involved: Step 1, deployment: first, the A-frame or crane (2) on the deck of the mother ship (1) deploys the power relay (3) and the underwater operation robot (4) together under the water surface at the side or stern; Step 2, the underwater working robot (4) is detached: after being deployed to a predetermined underwater working depth, a command is sent to release the hook removal instruction, and the power relay (3) is separated from the underwater working robot (4), and the underwater working robot (4) performs diving positioning and displacement through the propeller; the underwater winch inside the power relay (3) then releases the photoelectric liquid integrated cable (7); Step 3, adsorption landing: the underwater working robot (4) is driven by the propeller to float to the vicinity of the wall of the steel conduit to be operated, and the propeller fine-tunes the body and approaches the steel conduit; the built-in high-pressure water preparation device of the power relay (3) is started, and the prepared high-pressure water is transported to the working manipulator (5) carried by the underwater working robot (4) through the integrated optical-electrical-hydraulic cable (7); the working manipulator (5) drives the spraying mechanism to clean a section of marine organisms on the surface of the steel conduit wall to ensure sufficient attachment space for the underwater working robot (4); the underwater working robot (4) uses the center of gravity adjustment device to adjust the body from a horizontal state to a state parallel to the wall of the steel conduit, and the vector-arranged propeller allows the body to move up, down, left, right and rotate; after the magnetic wheel of the body of the underwater working robot (4) contacts the steel conduit, it is adsorbed to the column through the main and auxiliary magnetic wheels; Step 4, cleaning and inspection operation: the underwater operation robot (4) relies on the magnetic wheel chassis (6) to walk along the surface of the steel pipe, and uses the high-pressure water nozzle or the row of nozzles to clean the marine organisms on the surface of the steel structure, and the built-in high-pressure water preparation device of the power repeater (3) keeps operating; during the process of cleaning the marine organisms, underwater structure image inspection can be carried out; for the structure of key nodes and anode blocks, further structural inspection is carried out; during the operation, the power repeater (3) adjusts its own horizontal propeller to keep the power repeater (3) facing the direction of the underwater operation robot (4); the camera on the power repeater (3) monitors the operation of the robot and its photoelectric liquid integrated cable (7), so that the operator on the mother ship (1) can observe the surrounding state of the underwater operation robot (4) from an external perspective to prevent the photoelectric liquid integrated cable (7) from being entangled; Step 5, single operation is completed: after completing the inspection and cleaning operation of an area, the underwater operation robot (4) uses the reverse thrust of the propeller to offset the adsorption force of the magnetic wheel chassis (6), so that the magnetic wheel chassis (6) leaves the wall of the steel pipe, and the underwater operation robot (4) returns to a horizontal state; the underwater operation robot (4) uses the propulsion system to return to the bottom of the power relay (3) near the water surface; Step 6, repeat the operation: according to the operation task, repeat the operation steps 2 to 5; Step 7, recovery: After completing all operation tasks, the inspection and cleaning robot (4) returns to the power relay (3) and is automatically hooked and fixed together; then, the power relay (3) and the underwater operation robot (4) are recovered to the surface as a whole through the deployment and recovery system of the mother ship (1), and post-operation maintenance and result evaluation are carried out.

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