Marine riser motion parameter monitoring device

Abstract

The invention relates to the technical field of structural health monitoring of deep sea oil and gas transportation pipelines, in particular to a marine riser motion parameter monitoring device, a riser is located in deep sea, and the marine riser motion parameter monitoring device comprises a sensor module which is arranged on the riser in the deep sea and used for acquiring motion parameters of the riser; the data acquisition and processing module is connected with the sensor module and is used for receiving information acquired by the sensor module and sending the information to a control terminal; and the control terminal is used for processing and analyzing information. According to the invention, a plurality of sensors are integrated together, and the sensor adapts to motion parameter monitoring of the deep sea riser through the waterproof sealing structure and the cable, and the reliability is high.

Description

Technical Field

[0001] This invention relates to the field of structural health monitoring technology for deep-sea oil and gas transportation pipelines, specifically to a device for monitoring the motion parameters of marine risers. Background Technology

[0002] Deepwater oil and gas field development typically employs a development model combining floating structures and subsea production systems. Deepwater risers, serving as the transmission pipelines connecting these two systems, are a crucial component of the offshore oil and gas development system. Due to the time-varying nature of deepwater environmental loads and the complexity of the interaction between the riser and the seabed, the safety and health status of the riser exhibits significant uncertainty. Given the riser's importance, a failure in it can jeopardize the safety of the entire oil production system and even lead to a series of serious accidents. Therefore, there is an urgent need for monitoring equipment capable of reflecting the operational status of deepwater risers.

[0003] Currently, there are few existing deep-water riser motion parameter monitoring devices. Only a few foreign oil companies have applied them in actual projects. They mainly monitor parameters such as acceleration, angular velocity, tilt angle and strain of deep-water risers. However, the integration level is not high, and the equipment is huge, making it difficult to install on existing deep-water risers.

[0004] And the following technical problems exist:

[0005] 1. Deep-water pipelines are in a marine environment for a long time, and their surfaces are covered with a large number of marine organisms. If sensors are directly deployed on the pipeline surface, they will not be able to adhere tightly to the pipe wall, thus affecting the monitoring accuracy. How to design sensor fixtures that are suitable for deep-water pipelines and can be easily installed in actual use without affecting the monitoring accuracy is a major technical challenge.

[0006] 2. The humid, corrosive, and high-pressure environment of the deep sea places higher demands on sensor packaging. If ordinary sensors without sealing protection are used, the deep-sea environment can damage the circuitry and cause the sensor to fail. How to design pressure-resistant packaging to ensure the normal operation of the sensor is also an urgent problem to be solved.

[0007] 3. Deep-water riser monitoring requires the real-time transmission of large amounts of data, but ordinary wireless transmission solutions are unsuitable for deep-water environments, leading to data loss. Common wired transmission solutions used on land also need to consider the challenges posed by deep-water environments, ensuring the transmission signal cables are pressure-resistant and waterproof.

[0008] 4. Integration of deep-water riser motion parameter monitoring devices is challenging, primarily due to hardware and software difficulties. On the hardware side, the different sensor principles used for various monitoring parameters lead to different transmission methods, necessitating the design of a data acquisition unit compatible with various communication protocols for hardware integration. On the software side, algorithms are needed to analyze the signals transmitted from each sensor to achieve data visualization. Summary of the Invention

[0009] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a device for monitoring the motion parameters of marine risers.

[0010] The technical solution adopted in this application to solve its technical problem is: a marine riser motion parameter monitoring device, wherein the riser is located in the deep sea, comprising:

[0011] Sensor module: The sensor module is installed on the riser in the deep sea and is used to acquire the riser's motion parameters;

[0012] Data acquisition and processing module: connected to the sensor module, used to receive the information acquired by the sensor module and send the information to the control terminal;

[0013] Control terminal: Used for information processing and analysis.

[0014] Two connecting plates, one upper and one lower, are fixedly installed on the body of the deep-sea inner riser.

[0015] The sensor module includes a tilt sensor, an acceleration sensor, and a bow-shaped strain sensor;

[0016] The tilt sensor and acceleration sensor are respectively housed within the sealed structure;

[0017] The tilt sensor, acceleration sensor, and bow-shaped strain sensor are connected to the data acquisition and processing module via cables.

[0018] The bow-shaped strain sensor and sealing structure are fixedly mounted on the connecting plate.

[0019] The acceleration sensor is a piezoelectric sensor, and the tilt sensor is a MEMS sensor.

[0020] The sealing structure includes a hemispherical sealing shell and a base, wherein the base and the sealing shell are sealed together.

[0021] The base is provided with an interface for connecting cables;

[0022] Support plates are fixedly installed on opposite sides of the connecting plate below. The tilt sensor is installed on one of the support plates, and the acceleration sensor is installed on the other support plate. The bases corresponding to the tilt sensor and acceleration sensor are respectively fixedly installed on the corresponding support plates.

[0023] Four bow-shaped strain sensors are provided, and the four bow-shaped strain sensors are distributed around the circumference of the riser.

[0024] The bow-shaped strain sensor includes an arc-shaped elastic body, and the two ends of the arc-shaped elastic body are fixedly connected to two connecting plates by a clamping structure.

[0025] The arc-shaped elastomer is provided with strain gauge patches, and the strain gauge patches are connected to connecting cables.

[0026] The arc-shaped elastomer integrates the strain gauge patch and the connecting cable into one piece based on a vulcanizing material.

[0027] The sealing shell is made of polyetheretherketone (PEEK) material.

[0028] The data acquisition and processing module is located on the sea surface. The bow-shaped strain sensor, acceleration sensor and tilt sensor are all equipped with 4 core armored male-female waterproof interfaces, and are encapsulated with a nickel-copper alloy shielding layer and a double-layer fluororubber sealing ring. The single-point tensile strength is ≥800N.

[0029] The signals from the bow-shaped strain sensor, acceleration sensor, and tilt sensor are integrated into the data acquisition and processing module on the sea surface via a branch line.

[0030] The data acquisition and processing module includes a strain data acquisition instrument and a 485 data acquisition instrument, and the bow-shaped strain sensor is connected to the strain data acquisition instrument.

[0031] The accelerometer and tilt sensor are connected to the 485 data acquisition unit;

[0032] The strain gauge and the 485 data acquisition instrument are connected to the control terminal.

[0033] The parameters monitored by the marine riser motion parameter monitoring device include strain, curvature, top tension, acceleration, tilt angle, and angular velocity.

[0034] Compared with the prior art, this application has the following beneficial effects:

[0035] This invention designs a deep-sea riser motion parameter monitoring device. The device integrates four bow-shaped strain sensors, one tilt sensor and one acceleration sensor through a designed tooling structure. The designed waterproof sealing structure and cables make it suitable for monitoring the motion parameters of deep-sea risers, with high reliability.

[0036] This application designs a multi-parameter highly integrated monitoring system: integrating four bow-shaped strain sensors, a piezoelectric accelerometer, and a MEMS tilt sensor into a single fixture. Through a modular branching and busbar architecture, it is compatible with different sensor protocols (the strain data acquisition instrument and the 485 data acquisition instrument run in parallel) and simultaneously acquires six parameters: strain, curvature, top tension, acceleration, tilt angle, and angular velocity.

[0037] This application employs deep-sea high-pressure corrosion-resistant packaging technology: the strain sensor uses a vulcanization sealing process combined with a polyurethane watertight cable to achieve waterproof and pressure-resistant performance at a depth of 1500 meters; the accelerometer / tilt sensor uses a composite shell of PEEK polymer material and titanium alloy, employing laser welding sealing and a gradient pressure dispersion design to balance lightweight, corrosion resistance, and pressure resistance. The cable uses a nickel-copper alloy shielding layer and a double-layer fluororubber sealing ring composite interface to ensure stable signal transmission under deep-sea eddy vibration.

[0038] This application offers greater ease of installation and maintainability: the monitoring device does not need to be tightly attached to the pipe wall and can be directly installed on the surface of the riser where marine organisms are attached, reducing construction difficulty. The modular wiring scheme supports partial replacement in case of a single sensor failure without the need for large-scale structural adjustments, reducing maintenance costs. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the structure of the present invention;

[0040] Figure 2 This is a schematic diagram of the bow-shaped strain sensor structure;

[0041] Figure 3 This is a schematic diagram of the sealing structure;

[0042] Figure 4 This is a wiring diagram for the sensor.

[0043] In the diagram: 1. Riser; 2. Sealed housing; 3. Base; 4. Interface; 5. Bow-shaped strain sensor; 501. Arc-shaped elastomer; 502. Hoop structure; 503. Strain gauge patch; 6. Connecting plate; 7. Strain data acquisition instrument; 8. 485 data acquisition instrument; 9. Connecting cable; 10. Support plate; 11. Main controller; 12. Control terminal. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0045] Reference Figure 1-Figure 4 The marine riser motion parameter monitoring device riser 1 is located in the deep sea and includes:

[0046] Sensor module: The sensor module is installed on the riser 1 in the deep sea and is used to acquire the motion parameters of the riser 1;

[0047] Data acquisition and processing module: connected to the sensor module, used to receive the information acquired by the sensor module and send the information to the control terminal 12;

[0048] Control terminal 12: Used for information processing and analysis.

[0049] Two connecting plates 6 are fixedly installed on the body of the deep-sea inner riser 1;

[0050] The sensor module includes a tilt sensor, an acceleration sensor, and a bow-shaped strain sensor 5;

[0051] The tilt sensor and acceleration sensor are respectively housed within the sealed structure;

[0052] The tilt sensor, acceleration sensor, and bow-shaped strain sensor 5 are connected to the data acquisition and processing module via cables.

[0053] The bow-shaped strain sensor 5 and the sealing structure are fixedly installed on the connecting plate 6.

[0054] The acceleration sensor is a piezoelectric sensor, and the tilt sensor is a MEMS sensor.

[0055] The sealing structure includes a hemispherical sealing shell 2 and a base 3, wherein the base 3 and the sealing shell 2 are sealed together.

[0056] The base 3 is provided with an interface 4 for connecting cables;

[0057] like Figure 1 As shown, support plates 10 are fixedly installed on opposite sides of the lower connecting plate 6 extending outwards. The tilt sensor is installed on one of the support plates 10, and the acceleration sensor is installed on the other support plate 10. The bases 3 corresponding to the tilt sensor and acceleration sensor are respectively fixedly installed on their respective support plates 10. The tilt sensor and acceleration sensor are respectively fixed within their respective sealing structures.

[0058] The entire sealing structure is made of PEEK polymer material and metal composite, and has been optimized for high pressure and high salt corrosion environment at a water depth of 1500 meters.

[0059] The hemispherical sealing shell 2 is made of high-transparency PEEK polymer material, and the base 3 is made of titanium alloy. It is connected to external equipment through a precision threaded interface 4. The sealing shell 2 adopts a gradient pressure dispersion design and combines laser welding sealing technology, and integrates an O-ring fluororubber seal inside.

[0060] Four bow-shaped strain sensors 5 are provided, and the four bow-shaped strain sensors 5 are distributed around the circumference of the riser 1.

[0061] The bow-shaped strain sensor 5 includes an arc-shaped elastic body 501, and the two ends of the arc-shaped elastic body 501 are fixedly connected to the two connecting plates 6 through a clamping structure 502.

[0062] The arc-shaped elastomer 501 is provided with a strain gauge patch 503, and the strain gauge patch 503 is connected to the connecting cable 9;

[0063] The arc-shaped elastomer 501 integrates the strain gauge patch 503 and the connecting cable 9 into one piece based on a polymer vulcanizing material.

[0064] like Figure 2 As shown, the clamping structure 502 can be fixedly connected to the two connecting plates 6 at both ends of the arc-shaped elastic body 501 by a threaded structure, and a gasket can be set at the connection.

[0065] The arc-shaped strain sensor 5 is used to measure the strain of the riser 1, enabling it to measure strain values ​​without being in direct contact with the pipe surface. Furthermore, the cable lead of the strain sensor extends from the center of the arc-shaped elastomer 501, and is secured to one end of the elastomer 501 by a clamping structure 502. The cable is a polyether-type polyurethane watertight cable, suitable for deep-sea applications and effectively resistant to deep-sea pressure. In addition, the arc-shaped elastomer 501 and the watertight cable are vulcanized together using a polymer vulcanizing material. This overall vulcanization ensures that the strain gauge patch and its signal circuitry achieve waterproof and pressure-resistant performance.

[0066] The sealing shell 2 is made of high-transparency PEEK (polyether ether ketone) polymer material. The sealing shell 2 is also lightweight (density 1.3 g / cm³). 3 It is resistant to seawater corrosion (Cl- permeability < 0.01%) and has high compressive strength (yield strength > 120MPa). Its smooth surface can effectively reduce the resistance to deep-sea current-induced vibration. The bottom connection section is made of titanium alloy and achieves mechanical locking with external equipment through a precision threaded interface, while also providing electromagnetic shielding.

[0067] The sealing shell 2 has a hemispherical design and optimizes pressure bearing performance through gradient pressure dispersion design. Combined with laser welding sealing technology of PEEK-metal interface, it ensures no leakage at a water depth of 1500 meters. The internal O-ring fluororubber seal (Shore hardness 75HA) maintains uniform stress distribution on the contact surface under dynamic load and prevents high pressure creep failure.

[0068] The data acquisition and processing module is located on the sea surface. The four bow-shaped strain sensors, acceleration sensors and tilt sensors are all equipped with four core-armored male-female waterproof interfaces. They are encapsulated with a nickel-copper alloy shielding layer and a double-layer fluororubber sealing ring. The single-point tensile strength is ≥800N to ensure the stability of contact impedance under deep-sea eddy vibration.

[0069] The signals from the bow-shaped strain sensor 5, the acceleration sensor, and the tilt sensor are integrated into the data acquisition and processing module on the sea surface via 1-6 branch lines (black polyurethane sheath, compressive strength ≥85MPa).

[0070] The wiring scheme for the marine riser motion parameter monitoring device in this application adopts an anti-interference topology architecture, and achieves highly reliable synchronous acquisition and transmission of multiple parameters such as strain, acceleration, and tilt angle under a 1500-meter high-pressure environment through modular branching and merging.

[0071] The data acquisition and processing module includes a strain data acquisition instrument 7 and a 485 data acquisition instrument 8, and the bow-shaped strain sensor 5 is connected to the strain data acquisition instrument 7.

[0072] The accelerometer and tilt sensor are connected to the 485 data acquisition unit 8;

[0073] The strain data acquisition instrument 7 and the 485 data acquisition instrument 8 are connected to the control terminal 12.

[0074] Since strain sensors work on different principles than acceleration and tilt sensors, their signal types are also different. Strain signals need to be processed by a strain data acquisition instrument, while acceleration and tilt signals need to be processed by a 485 data acquisition instrument. The strain data acquisition instrument and the 485 data acquisition instrument run in parallel, and both transmit the signals to the main controller 11. The main controller 11 then synchronously acquires and transmits the signals from each sensor to the control terminal 12.

[0075] This application utilizes a sealed structure and cables to adapt the device for monitoring motion parameters of deep-sea risers.

[0076] The parameters monitored by the marine riser motion parameter monitoring device include strain, curvature, top tension, acceleration, tilt angle, and angular velocity. Among these,

[0077] Strain ε: directly measured by bow-shaped strain sensor 5.

[0078] Curvature κ: Calculated from the measured strain. First, based on the measured strain value and the elastic modulus of the material, the stress σ of riser 1 is calculated using the following formula:

[0079] σ=E s ε;

[0080] In the formula, ε is the measured strain, and E s It is the composite elastic modulus and can be considered a constant.

[0081] Next, the formula for calculating curvature κ is:

[0082]

[0083] Where R is the outer diameter of the thin-walled cylinder, which is the distance from the outer surface of the flexible riser 1 after bending to the center of curvature (neutral axis); r is the inner diameter of the thin-walled cylinder, which is the distance from the inner surface of the flexible riser 1 after bending to the center of curvature (neutral axis); and ρ is the radius of curvature of the neutral axis, which is the distance from the neutral layer of the flexible riser 1 to the center of curvature.

[0084] Top tension σ(0): Top tension can be represented by the strain at any height, i.e. the tension at the measured point.

[0085]

[0086] σ(0) represents the top tension, and σ(z) is the strain at any height (i.e., the measured point). This represents the weight of the riser pipe from sea level to the measured point.

[0087] Acceleration: Considering the vibration measurement scenario in pipeline surveying, a piezoelectric sensor is selected. Based on the piezoelectric effect and inertial mechanics principles, the sensor detects the inertial force generated by the acceleration of a mass block and outputs an electrical signal proportional to the acceleration. It employs a shear-type piezoelectric ceramic structure; its sensitive element, when excited by acceleration, generates a change in charge through shear deformation, which is converted into a low-impedance voltage signal by the IEPE (Integrated Electronic Piezoelectric) module. To improve its resistance to pipeline impact, the sensor incorporates a damping system and a wideband compensation circuit, covering a dynamic range of 10Hz to 1000Hz, and can simultaneously capture low-frequency settlement displacement and high-frequency vibration and impact events.

[0088] Inclination angle θ: Inclination angle monitoring is based on MEMS. It achieves accurate measurement of the three-dimensional inclination angle of the pipeline by calculating the projection components of the gravitational acceleration vector onto each sensing axis of the sensor. When the pipeline axis has an inclination angle θ with the horizontal plane, the components of gravitational acceleration along the X, Y, and Z axes of the sensor coordinate system satisfy the following relationship:

[0089]

[0090] Among them, a x , a y , a z These are triaxial acceleration measurements. Dynamic zero-point calibration technology is employed to overcome the effects of temperature drift. To address dynamic vibration interference in the pipeline, this solution introduces a time-difference weighted filtering algorithm for optimization.

[0091] θ f =0.94θ t +0.06θ t-Δt ;

[0092] Where, θ f : This represents the final tilt angle value after weighted filtering optimization, i.e., the filtering result.

[0093] θt： This represents the tilt angle value measured at the current time t.

[0094] θ t-Δt： This represents the tilt angle value at the previous time t-Δt.

[0095] This formula is a weighted sliding filter formula, designed to smooth the raw tilt angle measurement data to suppress high-frequency noise and improve real-time performance and measurement accuracy. The current data carries a larger weight (approximately 94%), while the previous data carries a smaller weight (approximately 6%), effectively reducing errors caused by short-term jitter. This effectively suppresses high-frequency noise caused by operational jitter, ensuring a balance between real-time performance and accuracy.

[0096] Angular velocity: Angular velocity is calculated from the measured tilt angle. Assume we have already measured the angles in the X, Y, and Z directions, denoted as θ respectively. y θ y θ z (Measured value). Record the time point of measurement, denoted as t, while measuring the angle. The change in angle over time, Δθ, is recorded between two consecutive time points t1 and t2. x , Δθ y , Δθ z They are:

[0097] Δθ x =θ x (t2)-θ x (t1), Δθ y =θ y (t2)-θ y (t1), Δθ z =θ z (t2)-θ z (t1);

[0098] Δt = t2 - t1;

[0099] Angular velocity is the change in angle divided by the change in time, that is:

[0100]

[0101] ω x ω y ω z These are the angular velocities in the X, Y, and Z directions, respectively. This gives the average angular velocity. If instantaneous angular velocity is needed, it can be obtained by taking the limit, i.e., Δt→0.

[0102] This invention is a device capable of measuring six parameters of deep-water risers—strain, curvature, top tension, acceleration, tilt angle, and angular velocity—in deep-water environments (≤1500 meters), with a highly reliable structure and monitoring data.

[0103] The above description is merely an optional embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the content of the present invention under the concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A device for monitoring the motion parameters of a marine riser, wherein the riser (1) is located in the deep sea, characterized in that, include: Sensor module: The sensor module is installed on the riser (1) in the deep sea and is used to acquire the motion parameters of the riser (1); Data acquisition and processing module: connected to the sensor module, used to receive the information acquired by the sensor module and send the information to the control terminal (12); Control terminal (12): Used for information processing and analysis.

2. The marine riser motion parameter monitoring device according to claim 1, characterized in that, Two connecting plates (6) are fixedly installed on the body of the deep-sea inner riser (1); The sensor module includes a tilt sensor, an acceleration sensor and a bow-shaped strain sensor (5); The tilt sensor and acceleration sensor are respectively fixedly installed inside the sealed structure; The tilt sensor, acceleration sensor and bow strain sensor (5) are connected to the data acquisition and processing module via cables; The bow-shaped strain sensor (5) and the sealing structure are fixedly installed on the connecting plate (6).

3. The marine riser motion parameter monitoring device according to claim 2, characterized in that, The sealing structure includes a hemispherical sealing shell (2) and a base (3), wherein the base (3) and the sealing shell (2) are sealed together. The base (3) is provided with an interface (4) for connecting to a cable; Support plates (10) are fixedly installed on opposite sides of the connecting plate (6) below. The tilt sensor is installed on one of the support plates (10), and the acceleration sensor is installed on the other support plate (10). The bases (3) corresponding to the tilt sensor and the acceleration sensor are respectively fixedly installed on the corresponding support plates (10).

4. The marine riser motion parameter monitoring device according to claim 2, characterized in that, Four bow-shaped strain sensors (5) are provided, and the four bow-shaped strain sensors (5) are distributed around the circumference of the riser (1).

5. The marine riser motion parameter monitoring device according to claim 2 or 4, characterized in that, The bow-shaped strain sensor (5) includes an arc-shaped elastic body (501), and the two ends of the arc-shaped elastic body (501) are fixedly connected to two connecting plates (6) by a clamping structure (502); The arc-shaped elastomer (501) is provided with a strain gauge patch (503), and the strain gauge patch (503) is connected to a connecting cable (9); The arc-shaped elastomer (501) is based on a vulcanizing material to vulcanize the strain gauge patch (503) and the connecting cable (9) into one piece.

6. The marine riser motion parameter monitoring device according to claim 3, characterized in that, The sealed housing (2) is made of polyetheretherketone material.

7. The marine riser motion parameter monitoring device according to claim 3, characterized in that, The data acquisition and processing module is located on the sea surface. The bow-shaped strain sensor (5), acceleration sensor and tilt sensor are all equipped with 4 core armored male-female waterproof interfaces, and are encapsulated with a nickel-copper alloy shielding layer and a double-layer fluororubber sealing ring. The single-point tensile strength is ≥800N.

8. The marine riser motion parameter monitoring device according to claim 2, characterized in that, The data acquisition and processing module includes a strain data acquisition instrument (7) and a 485 data acquisition instrument (8), and the bow-shaped strain sensor (5) is connected to the strain data acquisition instrument (7); The acceleration sensor and tilt sensor are connected to the 485 data acquisition instrument (8); The strain data acquisition instrument (7) and the 485 data acquisition instrument (8) are connected to the control terminal (12).

9. The marine riser motion parameter monitoring device according to claim 1, characterized in that, The parameters monitored by the marine riser motion parameter monitoring device include strain, curvature, top tension, acceleration, tilt angle, and angular velocity.

Images