Ocean pipe laying system applied to ocean engineering equipment industry

Abstract

The invention provides an ocean pipe laying system applied to the ocean engineering equipment industry, and relates to the technical field of ocean engineering equipment. Comprising a pipe laying ship main body, and a dynamic tension self-adaptive adjustment module, an anticorrosion-leakage early warning integrated module, a digital twinning forward-looking cooperative control module, an AUV near-bottom monitoring subsystem and a pipe laying path optimization module which are integrated on the pipe laying ship main body, and the dynamic tension self-adaptive adjustment module is used for adjusting pipeline tension in real time; according to the invention, the tension control precision is improved to + / -1% from + / -5% of a traditional system through the dynamic tension self-adaptive adjustment module, fusion of multi-source data of the fiber grating stress sensor, the three-axis attitude sensor and the GPS positioning module and combination of a PID self-adaptive algorithm, the pipeline tension can be stably maintained at a safety threshold under 1500m deep sea and 5-level sea conditions, and the pipeline tension control precision is improved to + / -1%. And the problem of pipeline damage caused by deep sea pipe laying tension misalignment is fundamentally solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ocean engineering equipment, and particularly relates to a marine pipe laying system applied to the ocean engineering equipment industry. BACKGROUND

[0002] The existing marine pipe laying system is the core equipment for marine oil and gas development and submarine pipeline construction, and mainly comprises a tension control module, an anti-corrosion module, a control module, an environment monitoring module and a ship structure. The tension control is mainly in a fixed tension mode, the pipe tension data are collected through a single tension sensor, and the output of the tensioner is adjusted in combination with a conventional PID algorithm; the anti-corrosion module mainly adopts a traditional polyethylene anti-corrosion layer to realize pipe anti-corrosion through physical isolation; the control mode adopts a "perception-reaction" mechanism, that is, after signals such as tension abnormality, leakage or ship posture deviation are detected, corresponding adjustment actions are triggered; the environment monitoring relies on a multi-beam echo sounder carried on the ship to obtain macro topographic data of the seabed; the ship structure is mainly in an integral structure, and the pipe laying path is planned based on static geological data before construction. The above existing technologies have the following shortcomings: Low tension control precision and poor stability: the traditional fixed tension control mode only relies on single sensor data, without fusion of posture, positioning and other multi-source information, and in deep sea above 1000 meters and sea state above level 4, the tension control precision can only reach ±5%, which easily leads to pipe tension exceeding the safety threshold and causes pipe bending, cracking and other damages; Anti-corrosion and leakage early warning are disconnected: the anti-corrosion layer and the leakage early warning sensor are independently arranged in the traditional system, the response time of the leakage sensor is more than 5 seconds, the "anti-corrosion-early warning" integration cannot be realized, and it is difficult to meet the requirements of marine environmental protection regulations on the prevention and control of marine pollution sources; Risk response is lagging: the "perception-reaction" control mode has the lagging nature of signal collection, processing and action execution, when risks such as TDP (pipe junction platform) dramatic movement (movement speed > 0.5 m / min) and sudden strong sea current occur, the system cannot predict in advance, and passive response easily produces extreme load, threatening the safety of the pipe and equipment; The environmental perception precision is insufficient: only macro topographic data are relied on, and micro data such as seabed micro topography (convexity / depression precision <0.5 m), soil bearing capacity and local sea current profile (flow velocity precision ±0.3 m / s) are lacked, which leads to large error of the pipe-seabed interaction model and low TDP control reliability; The ecological damage is strong: the integral ship structure has poor flexibility, the static path planning cannot adapt to real-time seabed topographic changes, the pipe laying trajectory deviation easily exceeds ±1 m, and the damage degree to seabed vegetation and benthic organisms is high, which does not meet the requirements of green ocean engineering; Therefore, the present application provides a marine pipe laying system applied to the ocean engineering equipment industry to solve the problems in the prior art. SUMMARY

[0003] In order to solve the above problems, the application provides a marine pipe laying system applied to the marine engineering equipment industry, which is characterized in that the marine pipe laying system applied to the marine engineering equipment industry is provided with a dynamic tension self-adaptive adjusting module, multi-source data of a fiber grating stress sensor, a three-axis attitude sensor and a GPS positioning module are fused, a PID self-adaptive algorithm is combined, the tension control precision is improved from ±5% of a traditional system to ±1%, the pipe tension can be stably maintained at a safety threshold in 1500-meter deep sea and a 5-level sea state, and the pipe damage problem caused by the tension inaccuracy of deep sea pipe laying is fundamentally solved.

[0004] In order to achieve the purpose of the application, the application is implemented by the following technical scheme: a marine pipe laying system applied to the marine engineering equipment industry, which comprises a pipe laying ship body and a dynamic tension self-adaptive adjusting module, an anti-corrosion-leakage early warning integrated module, a digital twin forward-looking collaborative control module and an AUV near-bottom monitoring subsystem and a pipe laying path optimization module integrated in the pipe laying ship body, the dynamic tension self-adaptive adjusting module is used for real-time adjustment of pipe tension, the anti-corrosion-leakage early warning integrated module is used for real-time early warning of pipe corrosion and leakage, and the digital twin forward-looking collaborative control module is used for predicting operation risks and actively coordinating system actions. The AUV near-bottom monitoring subsystem is used for detecting seabed micro-environment data, and the modular ship body and the pipe laying path optimization module are used for optimizing the pipe laying track to reduce seabed ecological damage.

[0005] Further improvement lies in that the dynamic tension self-adaptive adjusting module comprises a fiber grating stress sensor, a three-axis attitude sensor, a GPS positioning module and a PID self-adaptive adjusting unit; the PID self-adaptive adjusting unit calculates a tension adjusting amount through multi-source data fusion, and the calculation formula is as follows: , Wherein, T out is an output tension adjusting amount (unit: kN), Kp is a proportional coefficient (value range 1.5-3.0), e(t) is a deviation (unit: kN) of an actual tension at t time and a safety threshold, Ki is an integral coefficient (value range 0.5-1.2), Kd is a differential coefficient (value range 0.2-0.5), and t is time (unit: s).

[0006] Further improvement lies in that the measurement accuracy of the fiber grating stress sensor is ±0.1MPa, the measurement range of the three-axis attitude sensor is ±180°, and the accuracy is ±0.5°, and the positioning accuracy of the GPS positioning module is ±0.5m.

[0007] Further improvement lies in that the corrosion and leakage early warning integrated module comprises a graphene modified polyethylene corrosion protection layer and a nano optical fiber leakage sensor; the nano optical fiber leakage sensor judges the leakage state through a signal threshold value, and a warning threshold value calculation formula is: S warn =α×S base +β×ΔS, wherein: S warn is a leakage warning threshold value (unit: dB), alpha is an environmental correction coefficient (value range 0.8-1.2), S base is a baseline signal value (unit: dB) when there is no leakage, beta is a signal fluctuation coefficient (value range 0.3-0.6), and delta S is a fluctuation amount of a real-time signal and the baseline signal (unit: dB).

[0008] Further improvement lies in that the graphene modified polyethylene corrosion protection layer has a thickness of 8-12 mm and an anti-scratch strength of greater than or equal to 50 N; and the response time of the nano optical fiber leakage sensor is less than 0.5 seconds.

[0009] Further improvement lies in that the digital twin forward-looking collaborative control module constructs a digital twin body containing a pipeline, a ship body and a sea current, and predicts a TDP movement amount through data deduction, and a prediction formula is: ΔX TDP =a×ΔV current +b×Δθ hull +c×t pred , wherein: Delta X TDP is a predicted TDP movement amount (unit: m); a is a sea current influence coefficient, value range 0.6-0.9; Delta V current is a sea current speed change amount (unit: m / s); b is a ship body attitude influence coefficient, value range 0.4-0.7; Delta theta hull is a ship body attitude angle change amount (unit: °); c is a time influence coefficient, value range 0.01-0.03; and t pred is a prediction time (unit: s).

[0010] Further improvement lies in that the risk prediction time of the digital twin forward-looking collaborative control module is 30 seconds-5 minutes, which is used to actively coordinate the DP system and the tensioner to perform evasive or compensatory actions.

[0011] Further improvement lies in that the AUV near-bottom monitoring subsystem is equipped with high-precision acoustic sensors and optical sensors, and calculates the seabed soil bearing capacity through data fusion, and a calculation formula is: C b =gamma x (d x rho sea -h x rho soil )+delta x S acoustic , wherein: C b is the soil bearing capacity (unit: kPa); gamma is a comprehensive coefficient, the value range is 0.8-1.1; d is the seabed depth (unit: m); rho sea is the seawater density (unit: kg / m³, the value is 1025); h is the thickness of seabed sediment (unit: m); rho soil is the sediment density (unit: kg / m³, the value is 1800-2200); delta is an acoustic signal correction coefficient, the value range is 0.02-0.05; S acoustic is the acoustic sensor detection signal value (unit: V).

[0012] Further improvement lies in that the cruising height of the AUV near-bottom monitoring subsystem is 0.5-1 m away from the seabed, the seabed microtopography detection resolution is 0.1 m, and the local current profile detection accuracy is ±0.1 m / s.

[0013] Further improvement lies in that the pipe-laying path optimization module combines multi-beam sounding data and geological detection data, and corrects the pipe-laying track deviation through an algorithm, and the track correction amount calculation formula is: Delta L path = lambda * (L target - L actual ) + mu * D eco , wherein: Delta L path is the pipe-laying track correction amount (unit: m); lambda is a track deviation coefficient, the value range is 0.7-0.9; L target is the target pipe-laying track length (unit: m); L actual is the actual pipe-laying track length (unit: m); mu is an ecological protection coefficient, the value range is 0.5-0.8; D eco is the distance between the pipe-laying track and the ecological sensitive area (unit: m).

[0014] The beneficial effects of the present application are: 1. The present application combines multi-source data of the fiber grating stress sensor, the three-axis attitude sensor and the GPS positioning module through the dynamic tension self-adaptive adjustment module, and combines the PID self-adaptive algorithm, so that the tension control accuracy is improved from ±5% of the traditional system to ±1%, the pipe tension can be stably maintained in the safety threshold under 1500 meters deep sea and 5-level sea conditions, and the pipe damage problem caused by the tension deviation of deep sea pipe laying is fundamentally solved.

[0015] 2. The present application integrates the graphene modified polyethylene anticorrosion layer and the nano optical fiber leakage sensor, which not only improves the scratch resistance and seawater corrosion resistance of the anticorrosion layer, but also shortens the leakage response time, realizes the source prevention and control of marine pollution, and meets the requirements of marine environmental protection regulations.

[0016] 3. The digital twin forward-looking cooperative control module of the application can predict the risks such as TDP dramatic movement and sudden sea current by constructing a digital twin body 30 seconds to 5 minutes in advance, actively coordinates the DP system and the tensioner to perform actions, and avoids the generation of extreme load, compared with the traditional "perception-response" mode, the system risk resistance ability is improved.

[0017] 4. The AUV near-bottom monitoring subsystem of the application can detect the seafloor microtopography, soil bearing capacity and local sea current profile in real time, after the micro data is fed back to the digital twin body, the accuracy of the pipeline-seabed interaction model is improved, the TDP control deviation is reduced, and the reliability of the pipe laying operation is greatly improved.

[0018] 5. The pipe laying path optimization algorithm of the application combines real-time multi-beam sounding and geological data, so that the pipe laying track deviation is less than or equal to ±0.3m, the damage to the seafloor ecology is reduced by 40% compared with the traditional system, and the development needs of green ocean engineering are met. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a front view of the application. DETAILED DESCRIPTION

[0020] In order to deepen the understanding of the application, the application will be further described in combination with the embodiments below, and the embodiments are only used to explain the application and do not constitute a limitation on the protection scope of the application.

[0021] Embodiment one According to Figure 1 The embodiment proposes a marine pipe laying system applied to the marine engineering equipment industry, which comprises a pipe laying ship body and a dynamic tension self-adaptive adjustment module, a corrosion-leakage early warning integrated module, a digital twin forward-looking cooperative control module, an AUV near-bottom monitoring subsystem and a pipe laying path optimization module integrated in the pipe laying ship body. The dynamic tension self-adaptive adjustment module is used for real-time adjustment of pipe tension, the corrosion-leakage early warning integrated module is used for real-time early warning of pipe corrosion and leakage, and the digital twin forward-looking cooperative control module is used for predicting operation risks and actively coordinating system actions. The AUV near-bottom monitoring subsystem is used for detecting seafloor microenvironment data, and the modular ship body and the pipe laying path optimization module are used for optimizing the pipe laying track to reduce the damage to the seafloor ecology. The multi-module integrated design forms a closed-loop control, which can synchronously solve the multi-dimensional defects of the traditional system and avoid the problem of insufficient overall cooperation caused by single module optimization; each module interacts data through industrial Ethernet, ensuring the real-time nature of information transmission, and providing data linkage support for efficient operation in deep sea complex sea conditions.

[0022] The dynamic tension self-adaptive adjustment module comprises a fiber grating stress sensor, a three-axis attitude sensor, a GPS positioning module and a PID self-adaptive adjustment unit; the PID self-adaptive adjustment unit calculates a tension adjustment amount through multi-source data fusion, and the calculation formula is: , wherein T out is an output tension adjustment amount (unit: kN), Kp is a proportional coefficient (value range 1.5-3.0), e(t) is a deviation (unit: kN) of an actual tension at t time and a safety threshold, Ki is an integral coefficient (value range 0.5-1.2), Kd is a differential coefficient (value range 0.2-0.5), and t is time (unit: s). Multi-source data fusion combined with the PID self-adaptive algorithm can accurately offset the interference of deep-sea currents and ship body attitude changes on the tension, greatly improving the adjustment stability compared with traditional single sensor control; and the clear coefficient value range provides a basis for parameter debugging under different sea conditions, ensuring that the tension control precision of ±1% can be stably maintained under 1500-meter deep sea and 5-level sea conditions.

[0023] The measurement accuracy of the fiber grating stress sensor is ±0.1 MPa, the measurement range of the three-axis attitude sensor is ±180°, and the accuracy is ±0.5°, and the positioning accuracy of the GPS positioning module is ±0.5 m. The high-precision fiber grating stress sensor ensures that the tension data acquisition error is small, provides a basis for the PID algorithm to accurately calculate the adjustment amount, and avoids the misalignment of tension adjustment caused by data deviation; the combination of the wide measurement range of the three-axis attitude sensor and the high positioning accuracy of the GPS can capture the ship body attitude changes and position deviation in real time, and provide comprehensive and accurate environmental parameters for multi-source data fusion.

[0024] The anti-corrosion and leakage early warning integrated module comprises a graphene modified polyethylene anti-corrosion layer and a nano optical fiber leakage sensor; the nano optical fiber leakage sensor judges the leakage state through a signal threshold, and the early warning threshold calculation formula is: S warn =α×S base +β×ΔS, wherein S warn is a leakage early warning threshold (unit: dB), α is an environmental correction coefficient (value range 0.8-1.2), S base is a reference signal value (unit: dB) when there is no leakage, β is a signal fluctuation coefficient (value range 0.3-0.6), and ΔS is a fluctuation amount (unit: dB) of a real-time signal and the reference signal. The graphene modified anti-corrosion layer and the nano sensor are integrated, which not only strengthens the anti-scratch and corrosion resistance of the pipeline, but also avoids the signal delay problem of traditional split design; the environmental correction coefficient can adapt to different salinity and temperature of the marine environment, ensure the accuracy of the early warning threshold, realize the rapid response of leakage <0.5 seconds, and meet the requirements of environmental source prevention and control.

[0025] The thickness of the graphene modified polyethylene anticorrosive layer is 8-12 mm, and the scratch resistance is ≥50 N; the response time of the nanometer optical fiber leakage sensor is <0.5 seconds. The 8-12 mm thick graphene modified anticorrosive layer has the advantages of thickness and strength, can resist scratches from seabed rocks and sediments, and prolongs the service life of the pipeline; the sensor response time of <0.5 seconds can timely alarm at the initial stage of leakage, greatly shortens the pollution diffusion window compared with the traditional response speed of >5 seconds, and reduces the risk of marine pollution.

[0026] The digital twin forward-looking collaborative control module constructs a digital twin containing the pipeline, the ship body and the sea current, and predicts the TDP movement amount through data deduction, and the prediction formula is: ΔX TDP =a×ΔV current +b×Δθ hull +c×t pred , Wherein: ΔX TDP is the predicted TDP movement amount (unit: m); a is the sea current influence coefficient, the value range is 0.6-0.9; ΔV current is the sea current speed change amount (unit: m / s); b is the ship body attitude influence coefficient, the value range is 0.4-0.7; Δθ hull is the ship body attitude angle change amount (unit: °); c is the time influence coefficient, the value range is 0.01-0.03; t pred is the prediction time (unit: s). The digital twin fuses multiple factors to predict the TDP movement, can discover the risk 30 seconds-5 minutes in advance, avoids the extreme load caused by the lag of the traditional “perception-reaction” mode; the sea current and the ship body attitude are double factors for weighted calculation, improves the prediction accuracy of the TDP movement to ≥98%, and provides accurate decision basis for the collaborative action of the DP system and the tensioner.

[0027] The risk prediction time of the digital twin forward-looking collaborative control module is 30 seconds-5 minutes, which is used for actively coordinating the DP system and the tensioner to perform evasive or compensatory actions. The prediction time range of 30 seconds-5 minutes can adapt to different risk types (sudden sea current, slow TDP movement), and improves the adaptability of the system to complex risk scenarios; high prediction accuracy combined with active collaborative action can completely avoid extreme load, and the anti-risk ability is improved by more than 60% compared with the traditional system, protecting the safety of the pipeline and equipment.

[0028] The AUV near-bottom monitoring subsystem is equipped with high-precision acoustic sensors and optical sensors, and calculates the seabed soil bearing capacity through data fusion, and the calculation formula is: C b =γ×(d×ρ sea −h×ρ soil )+δ×Sacoustic , wherein: C b is the soil bearing capacity (unit: kPa); γ is the comprehensive coefficient, the value range is 0.8-1.1; d is the seabed depth (unit: m); ρ sea is the seawater density (unit: kg / m³, the value is 1025); h is the thickness of seabed sediment (unit: m); ρ soil is the sediment density (unit: kg / m³, the value is 1800-2200); δ is the acoustic signal correction coefficient, the value range is 0.02-0.05; S acoustic is the acoustic sensor detection signal value (unit: V). The AUV near-bottom cruising combines with multi-sensor data to calculate the soil bearing capacity, fills the micro-data blank of traditional macro-terrain monitoring, and improves the precision of pipeline-seabed interaction model; the clear seawater and sediment density values and correction coefficient ensure that the calculation error of soil bearing capacity is less than 3%, which provides reliable seabed environmental data support for TDP accurate positioning.

[0029] The cruising height of the AUV near-bottom monitoring subsystem is 0.5-1m from the seabed, the seabed micro-terrain detection resolution is 0.1m, and the local current profile detection accuracy is ±0.1m / s. The near-bottom cruising height of 0.5-1m can not only avoid the collision between the AUV and the seabed, but also ensure the close-range detection of the sensor, thereby improving the collection accuracy of micro-terrain and current data; the 0.1m micro-terrain resolution and the ±0.1m / s current detection accuracy provide high-quality micro-environmental data for digital twins, and reduce the error of pipeline-seabed interaction model by 50%.

[0030] The pipeline laying path optimization module combines multi-beam sounding data and geological exploration data, and corrects the pipeline laying track deviation through algorithm. The track correction amount calculation formula is: ΔL path =λ×(L target −L actual )+μ×D eco , wherein: ΔL path is the pipeline laying track correction amount (unit: m); λ is the track deviation coefficient, the value range is 0.7-0.9; L target is the target pipeline laying track length (unit: m); L actual is the actual pipeline laying track length (unit: m); μ is the ecological protection coefficient, the value range is 0.5-0.8; D ecoThe distance (unit: m) between the pipe laying track and the ecological sensitive area. The modular ship structure improves the ship adjustment flexibility, cooperates with the real-time track correction algorithm, makes the pipe laying track deviation ≤±0.3 m, and greatly reduces the terrain adaptation difficulty compared with the traditional integral ship body; the ecological protection coefficient is introduced, the ecological sensitive area is preferentially avoided in the track optimization, and the sea bottom ecological damage is reduced by 40% compared with the traditional system, which meets the green ocean engineering requirements.

[0031] Embodiment two According to Figure 1 As shown in the figure, the embodiment proposes a marine pipe laying system applied to the marine engineering equipment industry, which is applied to 1500-meter deep sea 5-level sea condition pipe laying operation: System configuration: in the dynamic tension self-adaptive adjustment module, the PID parameter is set as K p =2.5, K i =0.8, K d =0.3, and the tension safety threshold is set as 50±0.5kN; the anti-corrosion-leakage early warning module adopts a 10mm thick graphene modified polyethylene anti-corrosion layer, and the nano optical fiber sensor early warning threshold S warn =0.9×85+0.4×3=78.7dB; the digital twin prediction time is set as 60 seconds; the AUV cruising height is 0.8m; Working process: during the operation, the dynamic tension module adjusts the tension in real time through the formula: The AUV detects the seabed micro-topography data, calculates the soil bearing capacity through the formula C b =1.0×(1500×1025−2×2000)+0.03×S acoustic The digital twin predicts the TDP movement through ΔX TDP =0.8×ΔV current +0.6×Δθ hull +0.02×60; Effect: continuous operation for 48 hours, pipe tension fluctuation range 50±0.5kN, control accuracy ±1%; the AUV detects 2 places of 0.3-0.5m high micro-topography protrusions, the system timely adjusts the path to avoid, and there is no pipe damage.

[0032] Embodiment three According to Figure 1 As shown in the figure, the embodiment proposes a marine pipe laying system applied to the marine engineering equipment industry, which is applied to nearshore high pollution risk area pipe laying operation: System configuration: in the anti-corrosion-leakage early warning module, the nano optical fiber sensor response time is 0.3 seconds, S base =82dB, α=1.0, β=0.5; the dynamic tension module GPS positioning accuracy ±0.5m; Working process: simulate the micro-leakage of the pipeline (leakage amount 0.1 L / min), the nano optical fiber sensor collects signals in real time, when the signal fluctuation ΔS = 5 dB, trigger the early warning through S warn =1.0×82+0.5×5=84.5dB; Effect: the response time of the leakage early warning is 0.3 seconds, which is shortened by 94% compared with the traditional system (> 5 seconds), realizing the prevention and control of the pollution source and avoiding the spread of marine pollution.

[0033] Example four According to Figure 1 , this embodiment proposes a marine pipe-laying system applied to the marine engineering equipment industry, which is applied to pipe-laying operation in strong sea current TDP mobile area: System configuration: the digital twin prediction time is set to 120 seconds, Δ Vcurrent monitoring accuracy ± 0.05 m / s, Δθ hull monitoring accuracy ± 0.1°; Working process: when ΔV current =0.3 m / s, Δθ hull =2°, through ΔX TDP =0.8×0.3+0.6×2+0.02×120=4.44m, predict the TDP movement amount, and actively coordinate the DP system to adjust the ship attitude; Effect: the actual TDP movement amount is 4.5 m, and the prediction error is less than 2%, avoiding extreme load (load peak reduction of 35%).

[0034] Example five According to Figure 1 , this embodiment proposes a marine pipe-laying system applied to the marine engineering equipment industry, which is applied to pipe-laying operation in seabed ecological sensitive area: System configuration: the modular ship body is composed of three functional modules, λ=0.8, μ=0.7 in the path optimization algorithm, and D eco monitoring accuracy ± 0.2 m; Working process: when the distance D eco =5 m, L target −L actual =0.6 m, through ΔL path =0.8×0.6+0.7×5=4.08m, correct the trajectory; Effect: the distance between the final pipe-laying trajectory and the coral community is 5.1 m, and the trajectory deviation is 0.2 m, which reduces the damage to the seabed ecology by 42% compared with the traditional system.

[0035] Verification data After 3 months of multi-scenario verification, the key performance indicators are as follows: Dynamic tension control: in 1500-meter deep sea and 5-level sea conditions, the control accuracy is ±1% (±5% for traditional systems), the tension fluctuation is ≤±0.5 kN for 72 consecutive hours, and the pipeline damage rate is 0; Anti-corrosion and leakage early warning: the scratch resistance of the graphene modified polyethylene anti-corrosion layer is 52 N (30 N for traditional polyethylene), the seawater erosion resistance is improved by 45%, the response time of the nano optical fiber sensor is 0.4 seconds (5.2 seconds for traditional systems), and the leakage early warning accuracy is 100%; Digital twin forward-looking control: risk prediction time is 30 seconds to 5 minutes, TDP dramatic movement prediction accuracy is 98.5%, extreme load avoidance rate is 100%, and system risk resistance ability is improved by 62%; AUV near-bottom monitoring: seabed micro-topography detection resolution is 0.1 m, soil bearing capacity measurement error is 2.8%, local current profile detection accuracy is ±0.08 m / s, and pipeline-seabed interaction model error is reduced by 51%; Ecological environmental friendliness: pipeline laying track deviation is ≤±0.3 m, and the degree of damage to the seabed ecology is reduced by 40% compared with traditional systems.

[0036] The marine pipeline laying system applied to the marine engineering equipment industry has a dynamic tension self-adaptive adjustment module, fuses multi-source data of a fiber grating stress sensor, a three-axis attitude sensor and a GPS positioning module, combines a PID adaptive algorithm, improves the tension control accuracy from ±5% of traditional systems to ±1%, can stably maintain the pipeline tension in a safety threshold in 1500-meter deep sea and 5-level sea conditions, and fundamentally solves the pipeline damage problem caused by deep sea pipeline tension misalignment. Moreover, the graphene modified polyethylene anti-corrosion layer and the nano optical fiber leakage sensor are designed in an integrated manner, which improves the scratch resistance and seawater erosion resistance of the anti-corrosion layer, shortens the leakage response time, realizes source control of marine pollution, and meets the requirements of marine environmental protection regulations. Meanwhile, the digital twin forward-looking cooperative control module predicts TDP dramatic movement, sudden currents and other risks in advance by 30 seconds to 5 minutes by constructing a digital twin, actively coordinates the DP system and the tensioner to perform actions, avoids extreme loads, and improves the system risk resistance ability compared with the traditional "perception-response" mode. In addition, the AUV near-bottom monitoring subsystem detects seabed micro-topography, soil bearing capacity and local current profile in real time, after the micro data is fed back to the digital twin, the pipeline-seabed interaction model accuracy is improved, the TDP control deviation is reduced, and the pipeline laying operation reliability is greatly improved. Finally, the pipeline laying path optimization algorithm combines real-time multi-beam sounding and geological data, makes the pipeline laying track deviation ≤±0.3 m, reduces the damage to the seabed ecology by 40% compared with traditional systems, and meets the development needs of green marine engineering.

[0037] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A marine pipe-laying system applied to the marine engineering equipment industry, comprising a pipe-laying ship body and a dynamic tension self-adaptive adjustment module, a corrosion-leakage early warning integrated module, a digital twin forward-looking collaborative control module, an AUV near-bottom monitoring subsystem, a pipe-laying path optimization module integrated in the pipe-laying ship body, characterized in that, The dynamic tension adaptive adjustment module is used to adjust the pipeline tension in real time; the anti-corrosion-leakage early warning integrated module is used for real-time early warning of pipeline corrosion and leakage; and the digital twin forward-looking collaborative control module is used to predict operational risks and actively coordinate system actions. The AUV near-bottom monitoring subsystem is used to detect seabed microenvironmental data, and the modular hull and pipe-laying path optimization module is used to optimize the pipe-laying trajectory to reduce seabed ecological damage.

2. The marine pipe-laying system for use in the marine engineering equipment industry according to claim 1, characterized in that: The dynamic tension adaptive adjustment module includes a fiber optic stress sensor, a triaxial attitude sensor, a GPS positioning module, and a PID adaptive adjustment unit; the PID adaptive adjustment unit calculates the tension adjustment amount through multi-source data fusion, and the calculation formula is as follows: ， Wherein: T out is the output tension adjustment amount (unit: kN), Kp is the proportional coefficient (value range 1.5-3.0), e(t) is the deviation of the actual tension at t time and the safety threshold (unit: kN), Ki is the integral coefficient (value range 0.5-1.2), Kd is the differential coefficient (value range 0.2-0.5), and t is the time (unit: s).

3. A marine pipe-laying system for use in the marine engineering equipment industry according to claim 2, characterized in that: The fiber optic stress sensor has a measurement accuracy of ±0.1 MPa, the triaxial attitude sensor has a measurement range of ±180° and an accuracy of ±0.5°, and the GPS positioning module has a positioning accuracy of ±0.5 m.

4. The marine pipe-laying system for use in the marine engineering equipment industry according to claim 1, characterized in that: The integrated anti-corrosion and leakage early warning module includes a graphene-modified polyethylene anti-corrosion layer and a nanofiber leakage sensor; the nanofiber leakage sensor determines the leakage status through a signal threshold, and the early warning threshold is calculated using the following formula: S warn =α×S base +β×ΔS, Wherein: S warn is the leakage warning threshold (unit: dB), and α is the environmental correction coefficient (value range 0.8-1.2), S base is the reference signal value (unit: dB) when there is no leakage, β is the signal fluctuation coefficient (value range 0.3-0.6), and ΔS is the fluctuation amount of the real-time signal and the reference signal (unit: dB).

5. A marine pipe-laying system for use in the marine engineering equipment industry according to claim 4, characterized in that: The thickness of the graphene-modified polyethylene anti-corrosion layer is 8-12 mm, and the scratch resistance is ≥50N; the response time of the nanofiber leakage sensor is <0.5 seconds.

6. The marine pipe-laying system for use in the marine engineering equipment industry according to claim 1, characterized in that: The digital twin forward-looking collaborative control module constructs a digital twin including the pipeline, ship hull, and ocean currents. It predicts the TDP movement through data extrapolation, using the following prediction formula: ΔX TDP = a x ΔV current + b x Δθ hull + c x t pred , Wherein: ΔX TDP is the predicted TDP movement (unit: m); a is the sea current influence coefficient, with a value range of 0.6-0.9; ΔV current is the sea current speed change (unit: m / s); b is the ship body posture influence coefficient, with a value range of 0.4-0.7; Δθ hull is the ship body posture angle change (unit: °); c is the time influence coefficient, with a value range of 0.01-0.03; t pred is the prediction time (unit: s).

7. A marine pipe-laying system for use in the marine engineering equipment industry according to claim 6, characterized in that: The risk prediction time of the digital twin forward-looking collaborative control module is 30 seconds to 5 minutes, and it is used to actively coordinate the DP system and tensioner to perform avoidance or compensatory actions.

8. The marine pipe-laying system for use in the marine engineering equipment industry according to claim 1, characterized in that: The AUV near-bottom monitoring subsystem is equipped with high-precision acoustic and optical sensors. It calculates the seabed soil bearing capacity through data fusion, using the following formula: C b = γ x (d x p sea − h x p soil )+ δ x S acoustic , Wherein: C b is the soil bearing capacity (unit: kPa); γ is the comprehensive coefficient, the value range is 0.8-1.1; d is the seabed depth (unit: m); ρ sea is the seawater density (unit: kg / m³, the value is 1025); h is the seabed sediment thickness (unit: m); ρ soil is the sediment density (unit: kg / m³, the value is 1800-2200); δ is the acoustic signal correction coefficient, the value range is 0.02-0.05; S acoustic is the acoustic sensor detection signal value (unit: V).

9. A marine pipe-laying system for use in the marine engineering equipment industry according to claim 8, characterized in that: The AUV near-bottom monitoring subsystem cruises at an altitude of 0.5-1m above the seabed, with a seabed micro-topography detection resolution of 0.1m and a local current profile detection accuracy of ±0.1m / s.

10. The marine pipe-laying system for use in the marine engineering equipment industry according to claim 1, characterized in that: The pipe-laying path optimization module combines multibeam bathymetry data and geological survey data, and corrects pipe-laying trajectory deviations through algorithms. The formula for calculating the trajectory correction amount is as follows: ΔL path = λ x (L target − L actual ) + μ x D eco , Wherein: ΔL path is the pipe-laying trajectory correction (unit: m); λ is the trajectory deviation coefficient, with a value range of 0.7-0.9; L target is the target pipe-laying trajectory length (unit: m); L actual is the actual pipe-laying trajectory length (unit: m); μ is the ecological protection coefficient, with a value range of 0.5-0.8; D eco is the distance between the pipe-laying trajectory and the ecological sensitive area (unit: m).

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