ROV vertical launching method

Abstract

The invention discloses an ROV (remote operated vehicle) vertical launching method which mainly comprises the following steps when an ROV needs to be launched, an ROV armor cable winch lifts the ROV and a TMS into a mushroom head locking structure of a vertical lifting crane, and a mushroom head is locked to the vertical lifting crane; the pulling force of the ROV armor cable winch is slowly released, and the gravity of the ROV and the TMS is gradually transmitted to a lifting crane winch steel wire rope; selecting an ROV armored cable winch constant tension keeping mode; in the process of operating a winch of the lifting crane to lift, the ROV armor cable can be always in a constant-tension follow-up winding and unwinding state; and the lifting crane is operated to lift the ROV and the TMS to the specified height, so that the ship moon pool gate can be smoothly opened. According to the ROV vertical launching method provided by the invention, a vertical launching mode is adopted, the retraction efficiency of the ROV can be effectively improved, the safety of retraction of the ROV at the critical point of the environment can be improved, and the influence of ship rolling on the retraction process of the ROV can be reduced to the greatest extent because the moon pool system is usually located in the middle of the port and the port of the ship.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of offshore oil engineering, and particularly relates to a ROV vertical launching method. BACKGROUND

[0002] When the ROV (underwater robot) placed on the construction mother ship needs to participate in underwater operation, the ROV needs to be hoisted and launched into water by using a launching and recovering system, and recovered after the operation is completed. The total weight of a common work-class ROV and its TMS (umbilical control system) in air is generally about 10 tons, and therefore, each time the ROV is launched and recovered, it is a major hoisting operation, which requires the launching and recovering system and the corresponding launching method to have high safety, stability and reliability.

[0003] The traditional A-type gantry crane launching ROV launching method needs the A-type gantry crane to hoist the ROV from the deck, and then use the rotation or telescopic function of the A-type gantry crane arm to hoist the ROV outside the hull, so as to release the ROV into water, whether the ROV is launched from the side or the stern of the operation mother ship. When the external environmental conditions are at the critical point of the operation of the ROV, the traditional ROV launching method will face certain operation risks. When the wind speed is large or the surface flow speed is fast, in order to reduce the risk of ROV launching and recovering, the operation mother ship is usually required to select a position against the wind and flow.

[0004] However, during the construction process, the operation mother ship may be near the platform for construction, may be performing the operation of laying submarine cables or pipelines, and the like, and therefore, in the case that the position is limited and cannot be freely adjusted, if the traditional launching method is used, the A-type gantry crane needs to bear a large hoisting load, and during the process of the ROV passing through the water splashing area, there is a risk of collision with the hull of the ship. At the same time, since the A-type gantry crane must always be in the state of extending outside the hull of the ship during the underwater operation of the ROV, the selection of the position of the mother ship is further limited when the ship approaches the platform for operation, which additionally increases the risk of collision.

[0005] Therefore, it is urgent to design a ROV vertical launching method to solve the above-mentioned problems. SUMMARY

[0006] In order to solve the technical problem that in the case that the position is limited and cannot be freely adjusted, the ROV passing through the water splashing area has a risk of collision with the hull of the ship, a ROV vertical launching method is provided to solve the problem of vertical launching and recovering of the ROV.

[0007] To achieve the above-mentioned purpose, the specific technical scheme of the ROV vertical launching method of the present application is as follows: A ROV vertical launching method, when the ROV needs to be launched for operation, mainly includes the following steps: S1, lifting the ROV and the TMS into the mushroom head locking structure of the vertical lifting crane by the ROV armored cable winch, and locking the mushroom head to the vertical lifting crane; S2, slowly releasing the tension of the ROV armored cable winch, and gradually conducting the gravity of the ROV and the TMS to the steel wire rope of the lifting crane winch; S3, selecting the constant tension mode of the ROV armored cable winch; S4, during the operation of the lifting crane winch, the ROV armored cable can be in the constant tension follow-up retraction state at all times; S5, operating the lifting crane to lift the ROV and the TMS to a specified height, so that the moon pool door of the ship can be smoothly opened.

[0008] Further, it further comprises S6, operating the vertical lifting crane to lower the ROV and the TMS into the water, and passing through the bottom area of the ship.

[0009] Further, it further comprises S7, when the vertical lifting crane is lowered to a water depth of 20-25 meters underwater, stopping the lowering, and switching the ROV armored cable winch from the constant tension mode to the free mode.

[0010] Further, it further comprises S8, slowly pulling the ROV armored cable winch, and when the vertical lifting crane winch steel wire cable is not under tension, the TMS top mushroom head has been lifted to an unlockable position.

[0011] Further, it further comprises S9, opening the mushroom head lock of the vertical lifting crane, so that the ROV winch can be freely lowered.

[0012] Further, it further comprises S10, freely lowering the ROV winch to a specified working depth, while recovering the vertical lifting crane to above the moon pool.

[0013] Further, it further comprises S11, the ROV completes the entire launching process and starts normal operation.

[0014] The ROV vertical launching method has the following advantages: By adopting the vertical launching method, the retraction efficiency of the ROV can be effectively improved, and the safety of the ROV during retraction at the critical point of the environment can be improved. Since the moon pool system is usually located in the middle of the port and starboard of the ship, the influence of the ship roll on the ROV retraction process can be minimized, the retraction system can effectively avoid bearing large load, and the collision between the ROV and the ship body can be completely avoided. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 The flowchart of the ROV vertical launching method. DETAILED DESCRIPTION

[0016] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

[0018] The following is a reference to the appendix. Figure 1 The present invention describes the ROV vertical launching method.

[0019] As a preferred embodiment: such as Figure 1 As shown, the ROV vertical launching method of this invention includes the following steps for launching the ROV and operating the TMS: S1. The control room personnel and the deck recovery system operators establish communication and switch the operation control in the control room to remote control. S2. After obtaining permission to work from the bridge, the control room personnel give the deck control personnel the instruction to release the ROV. S3. The operator of the launch and retraction system starts the control box, turns on the remote control, and checks whether the parameters on the control box are normal. S4. Switch the ROV winch and the vertical lifting crane winch to free mode; S5. Adjust the ROV winch tension and switch the ROV winch to constant tension mode. S6. Use the winch of the vertical lifting crane to raise the vertical lifting crane to a position where the moon pool can be opened; S7. Open the moon pool door and confirm that the slide positioning pin is locked; S8. Lower the vertical lifting crane winch to a depth of 25 meters underwater. The vertical lifting crane should slow down when passing under the ship. S9. Notify the control room that the vertical lifting crane is in position, switch control to the control room, turn on the camera and light at the mushroom head lock position of the vertical lifting crane, and switch control to the deck operators. S10. Switch the ROV armored cable winch to free mode, tighten the ROV armored cable winch, and carefully observe the winch tension. When the indicator light on the control box is on, stop the winch operation. S11, long press the unlock key, release the ROV armor cable winch, the control room personnel pay attention to observe the switch state of the lock, and observe whether the TMS has left the vertical lifting crane through the camera; S12, lower the ROV to the working depth, recover the vertical lifting crane to the moon pool door below the water surface, and close the moon pool door; S13, inform the control room that the ROV is lowered to the position, and close the control box; As a preferred embodiment, the ROV and TMS operation steps are as follows: S1, establish communication between the control room and the launch and recovery system operator; S2, obtain permission from the control room, and the deck personnel can recover the ROV; S3, switch the vertical lifting crane and the ROV armor cable winch to the free mode; S4, recover the ROV armor cable winch, release the vertical lifting crane winch, and open the moon pool door; S5, lower the vertical lifting crane to 25 meters deep, and recover the ROV to 30 meters, and start to slow down; S6, the control room personnel observe the distance between the vertical lifting crane and the TMS with the TMS camera; S7, slowly recover the ROV armor cable winch until the TMS mushroom head is completely in the vertical lifting crane, the indicator light on the control box will light up, and the control room can observe whether it is completely locked according to the vertical lifting crane mushroom head position camera; S8, switch the ROV armor cable winch to the constant tension mode, and recover the vertical lifting crane winch to the point where the moon pool door can be closed; S9, close the moon pool door, and lower the vertical lifting crane to the deck; S10, slowly release the vertical lifting crane winch until the ROV contacts the deck, and switch the ROV winch to standby mode; S11, inform the control room that the ROV is back to the deck, and close the control box.

[0020] Based on the ROV vertical launching method, in the daily maintenance process, the ROV and the vertical lifting crane can be separated, the ROV system is lowered into the moon pool of the ship by the ROV armor cable winch, at the same time, the moon pool door is closed, and the vertical lifting crane is lowered to a position of half meter or even lower above the moon pool door, so that the vertical lifting crane can be maintained in all directions and finely without climbing operation and without building a scaffold. In this way, the operation risk in the daily maintenance process can be minimized, and the maintenance cost can be reduced.

[0021] Obviously, the above embodiments of the present application are merely example for clearly explaining the present application, and are not intended to limit the embodiments of the present application. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, it is not necessary and also impossible to enumerate all the embodiments. Any modification, equivalent replacement and improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A method of ROV vertical launch, characterised in that, When the ROV needs to be launched, the following steps are mainly included: S1. The ROV and the TMS are lifted by the ROV armored cable winch to the mushroom head locking structure of the vertical lifting crane, and the mushroom head is locked to the vertical lifting crane; S2. The tension of the ROV armored cable winch is slowly released, and the gravity of the ROV and the TMS is gradually transmitted to the lifting crane winch wire rope; S3. The ROV armored cable winch is selected to keep constant tension mode; S4. During the operation of the lifting crane winch, the ROV armored cable can always be in constant tension follow-up release state; S5. The ROV and the TMS are lifted to the specified height by the lifting crane, so that the moon pool door of the ship can be smoothly opened.

2. The ROV vertical launch method of claim 1, wherein, Also included, S6, operate the vertical lifting crane to lower the ROV and the TMS into the water, and pass through the ship bottom area.

3. The ROV vertical launch method of claim 1, wherein, Also included, S7, when the vertical lifting crane is lowered to a water depth of 20-25 meters underwater, stop lowering, and switch the ROV armored cable winch from constant tension mode to free mode.

4. The ROV vertical launch method of claim 1, wherein, Also included, S8, slowly pull the ROV armored cable winch, and when the vertical lifting crane winch wire cable is not under tension, the TMS top mushroom head has been lifted to the unlockable position.

5. The ROV vertical launch method of claim 1, wherein, Also included, S9, open the vertical lifting crane mushroom head lock, so that the ROV winch can be freely lowered.

6. The ROV vertical launch method of claim 1, wherein, Also included, S10, freely lower the ROV winch to the specified working depth, while recovering the vertical lifting crane to above the moon pool.

7. The ROV vertical launch method of claim 1, wherein, Also included, S11, the ROV completes the entire launching process and starts normal operation.

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