Method and system for quick mapping of a single point mooring underwater hose configuration

Abstract

The present application belongs to the field of ocean engineering, and particularly relates to a method and system for quickly mapping a single point mooring underwater hose configuration, aiming to solve the problems of long measurement time, low mapping accuracy and high safety risk. The present application comprises two parts of 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. The remote control underwater robot (ROV) carries the underwater beacon module to move along a preset path, measures the node position coordinates and water depth data records of the pre-set underwater hose nodes, obtains measurement data, and sends the measurement data to the signal receiving module and the signal conversion module. The modeling basic data and the data to be processed are morphologically fitted to obtain a three-dimensional installation form model of the underwater hose. The present application changes the operation mode from simply relying on manual measurement and data reading to obtaining data by positioning equipment and fitting forms by software.

Description

Technical Field

[0001] This invention belongs to the field of marine engineering, and specifically relates to a method and system for rapid mapping of underwater hose configurations for single-point mooring. Background Technology

[0002] Single-point mooring systems, acting as "floating docks" at sea, provide mooring and loading / unloading services for large oil tankers, offering an economical and reliable method for marine oil and gas storage and transportation. Subsea hoses connect the single-point mooring buoys to the subsea manifold. During the design phase, their installation configuration is determined based on the operating conditions of the installation area to reduce the impact of external loads such as waves and currents, thereby ensuring their service life. Currently, the main design configurations of subsea hoses are: gentle "S" shape, steep "S" shape, and the Chinese lantern shape.

[0003] According to installation specifications, underwater hoses must be measured after installation to ensure that key parameters such as bending radius, installation orientation, and torsion angle meet design requirements. After installation, the main structure of the underwater hose in a single-point mooring system is submerged. Currently, the traditional underwater hose configuration mapping technique uses underwater rope surveying by divers. Taking the Chinese lantern-shaped underwater hose as an example, a diver connects a long rope from the float to the underwater manifold at the center of the two hoses, serving as the center baseline. Then, measuring ropes are connected sequentially at designated nodes on the underwater hoses to the centerline rope. The diver reads the length of each measuring rope underwater and uses a depth gauge to read the water depth at each hose node. Both underwater hoses must be mapped using the same method and steps.

[0004] In marine environments, traditional underwater rope-based measurement techniques have several shortcomings. First, these techniques require high operational conditions, with underwater visibility no less than 1 meter and seawater current speeds not exceeding 1 m / s. Second, measurement data relies entirely on underwater readings by divers, and turbid water can easily cause reading errors. Furthermore, the flexible ropes used in the measurements undergo elastic deformation in high-velocity seawater, leading to significant uncertainty in the measurement data due to multiple influencing factors. Third, the underwater operation involves numerous steps and is time-consuming, while seawater depth constantly changes due to tidal forces, resulting in significant variations in the shape and bending radius of the underwater hose at different times, leading to low mapping accuracy. Fourth, the measuring rope connected to the underwater hose experiences significant tension under ocean currents, potentially damaging the hose's float, umbilical cable, and other auxiliary facilities. Fifth, this technique can only measure horizontal distance and vertical depth data. The two-dimensional shape of the underwater hose drawn from the measurement data can only determine whether the radius of curvature meets design requirements, but cannot determine whether spatial distortion has occurred. Summary of the Invention

[0005] To address the aforementioned problems in existing technologies, namely, the long measurement time, low mapping accuracy, and high safety risks associated with traditional methods, this invention provides a system for rapid mapping of single-point mooring underwater hose configurations, comprising:

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

[0007] The underwater unit includes a remotely operated underwater robot and an underwater beacon module;

[0008] The underwater unit is configured to carry an underwater beacon module along a preset path using a remotely operated underwater vehicle (ROV). Based on the ROV image recognition system and the positioning function of the underwater beacon module, the unit determines the node position corresponding to the underwater beacon module, measures the node position coordinates and water depth data of the pre-set underwater hose node, obtains measurement data, and sends the measurement data to the signal receiving module.

[0009] The signal receiving module is configured to receive the measurement data, measure the distance and azimuth of the underwater beacon based on the ultra-short baseline positioning principle, calculate the coordinate information, and obtain the processing 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 by combining the shipborne GPS, display them in a local coordinate system or a 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 joint specifically includes:

[0013] The positions of the flange and float of the underwater hose are selected as measurement nodes. The total length of the underwater hose is defined as L, the number of nodes as x, and the spacing between the nodes as 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 configured as follows:

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

[0016] The data to be processed was added to the basic modeling data using CAE software to perform numerical simulation and fit to obtain a three-dimensional installation morphology model.

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

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

[0019] Step S100: Select and set underwater hose nodes according to the design structural characteristics of the underwater hose to be tested;

[0020] Step S200: The remotely controlled underwater robot (ROV) carries the underwater beacon module along a preset path to measure the node position coordinates and water depth data of the pre-set underwater hose node, obtain measurement data, and send the measurement data to the signal receiving module.

[0021] Step S300: Based on the principle of ultra-short baseline positioning, the distance and azimuth of the underwater beacon are measured, and the coordinate information is calculated to obtain the processing data;

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

[0023] Step S500: Use CAE software 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.

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

[0025] The planar position coordinates were measured using an underwater beacon, and the water depth data were measured using a sounding instrument.

[0026] A third aspect of the present invention provides an electronic device 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 to implement the above-described method for rapid mapping of a single-point moored underwater hose configuration.

[0030] In a fourth aspect, the present invention provides a computer-readable storage medium storing computer instructions for execution by the computer to implement the above-described method for rapid mapping of a single-point moored underwater hose configuration.

[0031] The beneficial effects of this invention are:

[0032] (1) This invention transforms the operation method from simply relying on manual measurement and data reading to acquiring data with high-precision positioning equipment and fitting the shape with professional software 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 mapping results from the traditional two-dimensional planar shape to the three-dimensional spatial shape. This allows engineers to more accurately determine whether the key parameters of the underwater hose, such as the bending radius, installation orientation, and torsion angle in space, meet the design requirements. This effectively solves the technical problems of low accuracy of underwater hose shape mapping, high requirements for operating conditions, complex underwater operations, and high safety risks. Attached Figure Description

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

[0034] Figure 1 This is a flowchart of a method for rapid mapping of a single-point mooring underwater hose configuration according to the present invention;

[0035] Figure 2 This is a schematic diagram of the selection of the underwater hose measurement node position in this invention;

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

[0037] Figure 4 This is a diagram of the underwater hose installation configuration fitted using CAE software in this invention;

[0038] Figure 5 This is one implementation method in the embodiments of the present invention;

[0039] Figure 6 This is a schematic diagram of the structure of a computer system used to implement the methods, systems, and devices of this application. Detailed Implementation

[0040] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the invention. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0041] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present application will now be described in detail with reference to the accompanying drawings and embodiments. To more clearly illustrate the method for rapid mapping of a single-point mooring underwater hose configuration according to the present invention, the following will be combined with… Figure 1The steps in the embodiments of the present invention will be described in detail below.

[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 below:

[0043] Step S100: Select and set underwater hose nodes according to the design structural characteristics of the underwater hose to be tested;

[0044] Step S200: The remotely controlled underwater robot (ROV) carries the underwater beacon module along a preset path to measure the node position coordinates and water depth data of the pre-set underwater hose node, obtain measurement data, and send the measurement data to the signal receiving module.

[0045] Step S300: Based on the principle of ultra-short baseline positioning, the distance and azimuth of the underwater beacon are measured, and the coordinate information is calculated to obtain the processing data;

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

[0047] Step S500: Use CAE software 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.

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

[0049] The planar position coordinates were measured using an underwater beacon, and the water depth data were measured using a sounding instrument.

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

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

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

[0053] The underwater unit includes a remotely operated underwater robot and an underwater beacon module;

[0054] The underwater unit is configured as follows: Figure 5As shown, the underwater robot ROV carries an underwater beacon module and moves along a preset path. Based on the ROV image recognition system and the positioning function of the underwater beacon module, the node position corresponding to the underwater beacon module is determined. The node position coordinates and water depth data of the pre-set underwater hose node are measured and recorded to obtain measurement data. The measurement data is then sent to the signal receiving module.

[0055] The signal receiving module is configured to receive the measurement data, measure the distance and azimuth of the underwater beacon based on the ultra-short baseline positioning principle, calculate the coordinate information, and obtain the processing 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 by combining the shipborne GPS, display them in a local coordinate system or a 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, it includes:

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

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

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

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

[0063] The data to be processed was added to the basic modeling data using CAE software to perform numerical simulation and fit to obtain a three-dimensional installation morphology model.

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

[0065] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process and related descriptions of the system described above can be found in the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0066] It should be noted that the system for rapid mapping of single-point mooring underwater hose configurations provided in the above embodiments is only an example of 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 further decomposed or combined. For example, the modules in the above embodiments can be merged 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 various modules or steps and are not considered as an improper limitation 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 to implement the above-described method for rapid mapping of a single-point moored underwater hose configuration.

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

[0072] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process and related descriptions of the storage device and processing device described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0073] Those skilled in the art will recognize that the modules and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. The programs corresponding to the software modules and method steps can be placed in random access memory (RAM), main 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 art. To clearly illustrate the interchangeability of electronic hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented 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 beyond the scope of the invention.

[0074] The following is for reference. Figure 6 It shows a schematic diagram of the structure of a computer system for implementing the methods, systems, and devices of this application. Figure 6 The server shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this 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 based on programs stored in Read Only Memory (ROM) 602 or programs loaded from storage section 608 into Random Access Memory (RAM) 603. The RAM 603 also stores various programs and data required for system operation. The CPU 601, ROM 602, and RAM 603 are interconnected via a bus 604. An Input / Output (I / O) interface 605 is also connected to the bus 604.

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

[0077] Specifically, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 609, and / or installed from removable medium 611. When the computer program is executed by central processing unit (CPU) 601, it performs the functions defined in the methods of this application. It should be noted that the computer-readable medium described above in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on a computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0078] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone 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 remote computers, the remote computer can 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 can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0079] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0080] The terms “first”, “second”, etc., are used to distinguish similar objects, not to describe or indicate a specific order or sequence.

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

[0082] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles 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 all fall within the scope of protection of the present invention.

Claims

1. A system for rapid mapping of single-point mooring underwater hose configurations, characterized in that, It consists of two parts: the surface unit and the underwater unit, specifically including: The surface unit includes an operation module, a signal conversion module, and a signal receiving module; The underwater unit includes a remotely operated underwater robot and an underwater beacon module; The underwater unit is configured to carry an underwater beacon module along a preset path using a remotely operated underwater vehicle (ROV). Based on the ROV image recognition system and the positioning function of the underwater beacon module, the unit determines the node position corresponding to the underwater beacon module, measures the node position coordinates and water depth data of the pre-set underwater hose node, obtains measurement data, and sends the measurement data to the signal receiving module. The signal receiving module is configured to receive the measurement data, measure the distance and azimuth of the underwater beacon based on the ultra-short baseline positioning principle, calculate the coordinate information, and obtain the processing 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 by combining the shipborne GPS, display them in a local coordinate system or a 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. The basic modeling data includes the material, structure and performance parameters of the underwater hose.

2. The 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 positions of the flange and float of the underwater hose are selected as the measurement nodes, and the total length of the underwater hose is specified as follows: L The number of nodes is x, and the spacing between nodes is... , All are fixed values.

3. The 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 configured as follows: The data to be processed was added to the basic modeling data using CAE software to perform numerical simulation and fit to obtain a three-dimensional installation morphology model. The three-dimensional installation 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 includes: Step S100: Select and set underwater hose nodes according to the design structural characteristics of the underwater hose to be tested; Step S200: The remotely controlled underwater robot (ROV) carries the underwater beacon module along a preset path to measure the node position coordinates and water depth data of the pre-set underwater hose node, obtain measurement data, and send the measurement data to the signal receiving module. Step S300: Receive the measurement data, measure the distance and azimuth of the underwater beacon based on the ultra-short baseline positioning principle, calculate the coordinate information, and obtain the processing data; Step S400 involves converting the format of the processed data processed by the signal receiving module, obtaining the position coordinates by combining the shipborne GPS, displaying them in a local coordinate system or geographic coordinate system, obtaining the data to be processed, and sending the data to be processed to the operation module. Step S500: The modeling base data and the data to be processed are morphologically fitted using CAE software to obtain a three-dimensional installation morphological model of the underwater hose. The modeling base data includes the material, structure and performance parameters of the underwater hose.

5. The method for rapid mapping of a single-point mooring underwater hose configuration according to claim 4, characterized in that, The measured coordinates of the pre-set underwater hose node positions and the water depth data records specifically include: The planar position coordinates were measured using an underwater beacon, and the water depth data were measured using a sounding instrument.

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 that can be executed by the processor to implement a system for rapid mapping of a single-point moored 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 that are executed by the computer to implement the system for rapid mapping of single-point mooring underwater hose configurations as described in any one of claims 1-3.

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