Method and system for quickly surveying and mapping configuration of single-point mooring underwater hose

Abstract

The invention belongs to the field of ocean engineering, particularly relates to a method and a system for quickly surveying and mapping a single-point mooring underwater hose configuration, and aims to solve the problems of long measurement time, low surveying and mapping precision and high safety risk. The device comprises an overwater unit and an underwater unit, the overwater unit comprises an operation module, a signal conversion module and a signal receiving module; the underwater unit comprises a remote control underwater robot and an underwater beacon module. An underwater beacon module is carried by a remote control underwater robot (ROV) to move along a preset path, node position coordinates and water depth data records of preset underwater hose nodes are measured, measurement data are obtained, and the measurement data are sent to a signal receiving module and a signal conversion module; and performing form fitting on the modeling basic data and the to-be-processed data to obtain a three-dimensional installation form model of the underwater hose. According to the invention, the operation mode is converted from the mode of purely depending on manual measurement and data reading into the mode of obtaining data by positioning equipment and fitting software.

Description

Background Art

[0002] As a "floating dock" at sea, the single-point mooring system can be used for mooring and loading and unloading of large oil tankers. It is an economical and reliable way to store and transport marine oil and gas. The underwater hose is the connection channel between the single-point mooring buoy and the underwater manifold. During the design stage, its installation configuration will be determined according to the working conditions of the installation sea area to reduce the impact of external loads such as waves and currents, thereby ensuring its service life. At present, the design configurations of underwater hoses mainly include: slow "S" type, steep "S" type and Chinese lantern type.

[0003] According to the installation specification requirements, the underwater hose needs to be measured after installation to ensure that its key parameters such as bending radius, installation direction, and torsion angle meet the design requirements. After the underwater hose of the single-point mooring system is installed, its main structure is below the water surface. In the prior art, the traditional underwater hose configuration mapping technology uses a diver's underwater rope mapping method. Taking the Chinese lantern-shaped underwater hose as an example, the diver connects a long rope from the buoy to the underwater manifold at the center of the two hoses as the center reference line, and then connects the measuring rope between the designated node position of the underwater hose and the center line rope in turn. The diver reads the length data of each measuring rope underwater, and uses the depth meter to read the water depth data of each hose node. The two underwater hoses need to be configured and mapped in the same way and steps.

[0004] In the marine environment, the traditional underwater rope-pulling measurement process has many shortcomings. First, the process has high requirements for operating conditions. During operation, the underwater visibility must be no less than 1m and the seawater flow rate must not exceed 1m / s. Second, the measurement data is completely dependent on the underwater reading of divers. Turbid water quality can easily cause reading errors, and the flexible rope used for measurement will produce elastic deformation in the high flow rate environment of seawater. Multiple influencing factors lead to large uncertainty in the measurement data. Third, the underwater operation steps of divers are numerous and time-consuming, and the seawater depth is constantly changing due to the tidal effect. The shape and bending radius of the underwater hose vary greatly at different times, resulting in low surveying and mapping accuracy. Fourth, the measuring rope connected to the underwater hose will produce large tension under the action of the ocean current during measurement, which may cause damage to the underwater hose float, umbilical cable and other ancillary facilities. Fifth, the process can only measure the data of horizontal distance and vertical depth. The two-dimensional shape of the underwater hose drawn according to the measurement data can only determine whether the curvature radius of the underwater hose meets the design requirements, and cannot determine whether there is distortion in space. Summary of the invention

[0005] In order to solve the above problems in the prior art, namely, the problems of long measurement time, low mapping accuracy and high safety risk in the traditional process, the present invention provides a system for rapid mapping of single-point mooring underwater hose configuration, comprising:

[0006] The above-water unit includes an operation module, a signal conversion module and a signal receiving module;

[0007] The underwater unit includes a remote-controlled underwater robot and an underwater beacon module;

[0008] The underwater unit is configured to move along a preset path by carrying an underwater beacon module through a remote-controlled underwater robot ROV, determine the node position corresponding to the underwater beacon module based on the ROV image recognition system and the positioning function of the underwater beacon module, measure the node position coordinates and water depth data record of the preset underwater hose node, obtain measurement data, and send the measurement data to the signal receiving module;

[0009] The signal receiving module is configured to receive the measurement data, measure the distance and orientation of the underwater beacon based on the ultra-short baseline positioning principle, calculate the coordinate information, and obtain the processed data;

[0010] The signal conversion module is configured to convert the format of the processed data processed by the signal receiving module, obtain the position coordinates in combination with the shipborne GPS, display them in the local coordinate system or the geographic coordinate system, obtain the data to be processed, and send the data to be processed to the operation module;

[0011] The operation module is configured to perform morphological fitting on the basic modeling data and the data to be processed to obtain a three-dimensional installation morphological model of the underwater hose.

[0012] In some preferred embodiments, the pre-set underwater hose node specifically includes:

[0013] The flange and float positions of the underwater hose are selected as measurement nodes. The total length of the underwater hose is specified as L, the number of nodes is x, and the spacing between nodes is L1, L2, ..., L x-1 ,L1,L2,…,L x-1 All are fixed values.

[0014] In some preferred embodiments, the operation module is implemented using CAE software and is configured as follows:

[0015] The basic modeling data includes the material, structure and performance parameters of the underwater hose;

[0016] By using CAE software, the data to be processed is added to the set modeling basic data for numerical simulation, and a three-dimensional installation morphology model is obtained by fitting;

[0017] The three-dimensional installation morphology model includes information on bending radius, installation orientation and torsion angle.

[0018] Another aspect of the present invention provides a method for rapid mapping of a single-point mooring underwater hose configuration, comprising:

[0019] Step S100, selecting and setting underwater hose nodes according to the design structural features of the underwater hose to be tested;

[0020] Step S200, remotely controlling the underwater robot ROV and carrying the underwater beacon module along a preset path, measuring the node position coordinates and water depth data records of the preset underwater hose nodes, obtaining measurement data, and sending the measurement data to the signal receiving module;

[0021] Step S300, based on the ultra-short baseline positioning principle, the distance and orientation of the underwater beacon are measured, the coordinate information is calculated, and the processed data is obtained;

[0022] Step S400, converting the format of the processed data processed by the signal receiving module, obtaining the position coordinates in combination with the shipborne GPS, displaying them in a local coordinate system or a geographic coordinate system, obtaining the data to be processed, and sending the data to be processed to the operation module;

[0023] Step S500: Perform morphological fitting on the basic modeling data and the data to be processed by CAE software to obtain a three-dimensional installation morphological model of the underwater hose.

[0024] In some preferred embodiments, the measuring of the node position coordinates and water depth data records of the pre-set underwater hose nodes specifically includes:

[0025] Underwater beacons are used to measure the plane position coordinates, and sounders are used to measure the water depth data.

[0026] According to a third aspect of the present invention, an electronic device is provided, comprising:

[0027] at least one processor; and

[0028] a memory communicatively connected to at least one of the processors; wherein,

[0029] The memory stores instructions that can be executed by the processor, and the instructions are used to be executed by the processor to implement the above-mentioned method for rapid mapping of a single-point mooring underwater hose configuration.

[0030] In a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, wherein the computer instructions are used to be executed by the computer to implement the above-mentioned method for rapid mapping of a single-point mooring underwater hose configuration.

[0031] Beneficial effects of the present invention:

[0032] (1) The present invention changes the operation mode from relying solely on manual measurement and data reading to high-precision positioning equipment acquiring data and professional software fitting through the operation module. This not only reduces the difficulty of underwater operations, shortens the overall construction period, and reduces safety risks, but also improves the surveying and mapping results from the two-dimensional form of the traditional process to the three-dimensional form of space, so that engineers can more accurately judge whether the key parameters of the underwater hose in space, such as the bending radius, installation direction and torsion angle, meet the design requirements. This effectively solves the technical problems of low underwater hose morphology surveying and mapping accuracy, high operating conditions, complex underwater operations, and high safety risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0034] Figure 1 It is a flow chart of a method for rapid mapping of a single-point mooring underwater hose configuration of the present invention;

[0035] Figure 2 It is a schematic diagram of selecting the position of underwater hose measurement nodes in the present invention;

[0036] Figure 3 It is the node distribution after the underwater hose of the present invention is installed;

[0037] Figure 4 It is the CAE software fitting underwater hose installation morphology diagram in the present invention;

[0038] Figure 5 It is an implementation method in the embodiment of the present invention;

[0039] Figure 6 It is a structural diagram of a computer system of a server for implementing the method, system, and device embodiments of the present application. DETAILED DESCRIPTION

[0040] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0041] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail with reference to the accompanying drawings and in combination with the embodiments. In order to more clearly illustrate the method for rapid mapping of a single-point mooring underwater hose configuration of the present invention, the following is combined with Figure 1 Each step in the embodiment of the present invention is described in detail.

[0042] A method for rapid mapping of a single-point mooring underwater hose configuration according to a first embodiment of the present invention is described in detail in each step as follows:

[0043] Step S100, selecting and setting underwater hose nodes according to the design structural features of the underwater hose to be tested;

[0044] Step S200, remotely controlling the underwater robot ROV and carrying the underwater beacon module along a preset path, measuring the node position coordinates and water depth data records of the preset underwater hose nodes, obtaining measurement data, and sending the measurement data to the signal receiving module;

[0045] Step S300, based on the ultra-short baseline positioning principle, the distance and orientation of the underwater beacon are measured, the coordinate information is calculated, and the processed data is obtained;

[0046] Step S400, converting the format of the processed data processed by the signal receiving module, obtaining the position coordinates in combination with the shipborne GPS, displaying them in a local coordinate system or a geographic coordinate system, obtaining the data to be processed, and sending the data to be processed to the operation module;

[0047] Step S500: Perform morphological fitting on the basic modeling data and the data to be processed by CAE software to obtain a three-dimensional installation morphological model of the underwater hose.

[0048] In this embodiment, the measuring of the node position coordinates and water depth data records of the pre-set underwater hose nodes specifically includes:

[0049] Underwater beacons are used to measure the plane position coordinates, and sounders are used to measure the water depth data.

[0050] Although the various steps in the above embodiment are described in the above-mentioned order, those skilled in the art can understand that in order to achieve the effect of this embodiment, different steps do not have to be executed in such an order. They can be executed simultaneously (in parallel) or in a reverse order. These simple changes are within the scope of protection of the present invention.

[0051] A system for rapid mapping of a single-point mooring underwater hose configuration according to a second embodiment of the present invention includes an above-water unit and an underwater unit, specifically comprising:

[0052] The above-water unit includes an operation module, a signal conversion module and a signal receiving module;

[0053] The underwater unit includes a remote-controlled underwater robot and an underwater beacon module;

[0054] The underwater unit is configured as follows Figure 5As shown, the underwater beacon module is carried by a remote-controlled underwater robot ROV and moves along a preset path, the node position corresponding to the underwater beacon module is determined based on the ROV image recognition system and the positioning function of the underwater beacon module, the node position coordinates and water depth data records of the pre-set underwater hose node are measured, the measurement data is obtained, and the measurement data is sent to the signal receiving module;

[0055] The signal receiving module is configured to receive the measurement data, measure the distance and orientation of the underwater beacon based on the ultra-short baseline positioning principle, calculate the coordinate information, and obtain the processed data;

[0056] The signal conversion module is configured to convert the format of the processed data processed by the signal receiving module, obtain the position coordinates in combination with the shipborne GPS, display them in the local coordinate system or the geographic coordinate system, obtain the data to be processed, and send the data to be processed to the operation module;

[0057] The operation module is configured to perform morphological fitting on the basic modeling data and the data to be processed to obtain a three-dimensional installation morphological model of the underwater hose.

[0058] In this embodiment, the pre-set underwater hose node, such as Figure 2 Specifically shown include:

[0059] The flange and float positions of the underwater hose are selected as measurement nodes, the total length of the underwater hose is specified to be L, the number of nodes is 9, the spacing between nodes is L1, L2, ..., L8, and L1, L2, ..., L8 are all fixed values.

[0060] The node distribution after the underwater hose is installed is as follows Figure 3 shown.

[0061] In this embodiment, the operation module is as follows: Figure 4 As shown, it is implemented using CAE software and configured as follows:

[0062] The basic modeling data includes the material, structure and performance parameters of the underwater hose;

[0063] By using CAE software, the data to be processed is added to the set modeling basic data for numerical simulation, and a three-dimensional installation morphology model is obtained by fitting;

[0064] The three-dimensional installation morphology model includes information on bending radius, installation orientation and torsion angle.

[0065] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process and related instructions of the system described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0066] It should be noted that the system for rapid mapping of the single-point mooring underwater hose configuration provided in the above embodiment is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the modules or steps in the embodiments of the present invention can be decomposed or combined. For example, the modules in the above embodiment can be combined into one module, or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the modules or steps, and are not regarded as improper limitations of the present invention.

[0067] An electronic device according to a third embodiment of the present invention includes:

[0068] at least one processor; and

[0069] a memory communicatively connected to at least one of the processors; wherein,

[0070] The memory stores instructions that can be executed by the processor, and the instructions are used to be executed by the processor to implement the above-mentioned method for rapid mapping of a single-point mooring underwater hose configuration.

[0071] A computer-readable storage medium according to a fourth embodiment of the present invention stores computer instructions, and the computer instructions are used to be executed by the computer to implement the above-mentioned method for rapid mapping of a single-point mooring underwater hose configuration.

[0072] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process and related instructions of the storage device and processing device described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0073] Those skilled in the art should be able to appreciate that the modules and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software or a combination of the two, and the programs corresponding to the software modules and method steps can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in the technical field. In order to clearly illustrate the interchangeability of electronic hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are performed in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0074] Reference below Figure 6 , which shows a schematic diagram of the structure of a computer system of a server for implementing the method, system, and device embodiments of the present application. Figure 6 The server shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0075] like Figure 6 As shown, the computer system includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 602 or the program loaded from the storage part 608 to the random access memory (RAM) 603. Various programs and data required for system operation are also stored in the RAM 603. The CPU 601, ROM 602 and RAM 603 are connected to each other through a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0076] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed so that a computer program read therefrom is installed into the storage section 608 as needed.

[0077] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 609, and / or installed from the removable medium 611. When the computer program is executed by the central processing unit (CPU) 601, the above-mentioned functions defined in the method of the present application are executed. It should be noted that the above-mentioned computer-readable medium of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, - but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection with one or more conductors, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, an apparatus or a device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in combination with an instruction execution system, an apparatus or a device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0078] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0079] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0080] The terms "first", "second", etc. are used to distinguish similar objects rather than to describe or indicate a particular order or sequence.

[0081] The term "comprise" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus / device that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus / device.

[0082] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A system for rapid mapping of single-point mooring underwater hose configuration, characterized in that: It consists of two parts: the above-water unit and the underwater unit, specifically including: The above-water unit includes an operation module, a signal conversion module and a signal receiving module; The underwater unit includes a remote-controlled underwater robot and an underwater beacon module; The underwater unit is configured to move along a preset path by carrying an underwater beacon module through a remote-controlled underwater robot ROV, determine the node position corresponding to the underwater beacon module based on the ROV image recognition system and the positioning function of the underwater beacon module, measure the node position coordinates and water depth data record of the preset underwater hose node, obtain measurement data, and send the measurement data to the signal receiving module; The signal receiving module is configured to receive the measurement data, measure the distance and orientation of the underwater beacon based on the ultra-short baseline positioning principle, calculate the coordinate information, and obtain the processed data; The signal conversion module is configured to convert the format of the processed data processed by the signal receiving module, obtain the position coordinates in combination with the shipborne GPS, display them in the local coordinate system or the geographic coordinate system, obtain the data to be processed, and send the data to be processed to the operation module; The operation module is configured to perform morphological fitting on the basic modeling data and the data to be processed to obtain a three-dimensional installation morphological model of the underwater hose.

2. A system for rapid mapping of single-point mooring underwater hose configuration according to claim 1, characterized in that: The pre-set underwater hose node specifically includes: The flange and float positions of the underwater hose are selected as measurement nodes. The total length of the underwater hose is specified as L, the number of nodes is x, and the spacing between nodes is L1, L2, ..., L x-1 ,L1,L2,…,L x-1 All are fixed values.

3. A system for rapid mapping of single-point mooring underwater hose configuration according to claim 1, characterized in that: The operation module is implemented using CAE software and is configured as follows: The basic modeling data includes the material, structure and performance parameters of the underwater hose; By using CAE software, the data to be processed is added to the set modeling basic data for numerical simulation, and a three-dimensional installation morphology model is obtained by fitting; The three-dimensional installation morphology model includes information on bending radius, installation orientation and torsion angle.

4. A method for rapid mapping of single-point mooring underwater hose configuration, characterized in that: The method comprises: Step S100, selecting and setting underwater hose nodes according to the design structural features of the underwater hose to be tested; Step S200, remotely controlling the underwater robot ROV and carrying the underwater beacon module along a preset path, measuring the node position coordinates and water depth data records of the preset underwater hose nodes, obtaining measurement data, and sending the measurement data to the signal receiving module; Step S300, receiving the measurement data, measuring the distance and orientation of the underwater beacon based on the ultra-short baseline positioning principle, calculating the coordinate information, and obtaining the processed data; Step S400, converting the format of the processed data processed by the signal receiving module, obtaining the position coordinates in combination with the shipborne GPS, displaying them in a local coordinate system or a geographic coordinate system, obtaining the data to be processed, and sending the data to be processed to the operation module; Step S500: Perform morphological fitting on the basic modeling data and the data to be processed by CAE software to obtain a three-dimensional installation morphological model of the underwater hose.

5. The method for rapid mapping of single point mooring underwater hose configuration according to claim 4, characterized in that: The measuring of the node position coordinates and water depth data records of the pre-set underwater hose nodes specifically includes: Underwater beacons are used to measure the plane position coordinates, and sounders are used to measure the water depth data.

6. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to at least one of the processors; wherein, The memory stores instructions executable by the processor, and the instructions are used to be executed by the processor to implement a system for rapid mapping of a single-point mooring underwater hose configuration as described in any one of claims 1-3.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to be executed by the computer to implement a system for rapid mapping of a single-point mooring underwater hose configuration as described in any one of claims 1-3.

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