Unmanned ship inspection device for obstacles on seabed pipeline, inspection method and application

Abstract

The application discloses an unmanned ship device for patrolling and inspecting overlying obstacles of a submarine pipeline, a patrolling and inspecting method and application. The device comprises a navigation device, a water depth topographic survey device, a submarine topographic survey device and a computing device carried on the unmanned ship. The navigation device comprises at least one navigation antenna and a corresponding support rod. One end of the support rod is connected with the navigation antenna, and the other end is fixed on the unmanned ship. The water depth topographic survey device comprises a first deck unit and a transducer connected through a cable. The transducer is fixed to the bottom of the unmanned ship, and the first deck unit is arranged in the cabin of the unmanned ship. The submarine topographic survey device comprises a second deck unit and a towfish connected through a cable, and further comprises a first winch. The first winch is fixed to the unmanned ship, and the towfish is located in water in the working state of the unmanned ship. The device can be used for patrolling and inspecting the submarine obstacles of the oil and gas pipeline in the intertidal zone, improving the safety of the patrolling and inspecting operation and improving the patrolling and inspecting efficiency.

Description

Technical Field

[0001] This invention relates to the field of digital unmanned vessel inspection technology, and in particular to an unmanned vessel inspection device, inspection method and application for obstacles covering submarine pipelines. Background Technology

[0002] The existing inspection vessels generally have a draft greater than 1.5m, making it difficult to operate in the intertidal zone. The quality of the collected data and the accuracy of the analysis are seriously affected by the inspection operation. Therefore, when carrying out tasks such as intelligent development of oil and gas in shallow seas, inspection of subsea pipelines, and inspection of the bottom of platforms, the following problems exist: (1) The intertidal zone of shallow seas in Bohai Bay has a gentle slope and a large span to the sea. Conventional inspection vessels cannot complete this due to their draft. (2) Conventional inspection vessels are more than 20 meters long, and the turning radius of the survey line is large, resulting in low efficiency of the navigable inspection. Therefore, it is urgent to provide a device and method for inspecting the subsea oil and gas pipelines in shallow seas, which can conveniently inspect the status of obstacles on the subsea pipelines or cables, and improve the accuracy and reliability of the inspection results, in response to the special difficulties of the project. Summary of the Invention

[0003] When carrying out patrol and inspection missions in shallow waters, the patrol and inspection environment in shallow waters is relatively complex, which requires high patrol and inspection technology. In addition, the intertidal zone in shallow waters has a gentle slope and a large seaward span. However, the existing patrol vessels have a draft of more than 1.5 meters, which makes it difficult to operate in the intertidal zone. Furthermore, the existing patrol vessels are relatively long, resulting in a large turning radius for the survey line, which leads to low patrol efficiency and makes it difficult to obtain high-quality and high-precision data when inspecting seabed obstacles in shallow waters.

[0004] In view of the above problems, the present invention is proposed to provide an unmanned vessel inspection device, inspection method and application for overcoming or at least partially solving the above problems of obstacles on the surface of submarine pipelines.

[0005] In a first aspect, embodiments of the present invention provide an unmanned vessel inspection device for obstacles covering a submarine pipeline. The unmanned vessel is characterized by comprising: a navigation device, a water depth topography survey device, a seabed topography measurement device, and a computing device mounted on the unmanned vessel; the computing device is electrically connected to the navigation device, the water depth topography survey device, and the seabed topography measurement device.

[0006] The navigation device includes at least one navigation antenna and a corresponding support rod; the navigation antenna is fixed to one end of the support rod, and the other end of the support rod is fixed to the unmanned vessel.

[0007] The water depth topography survey equipment includes a first deck unit and a transducer; the transducer is fixed to the bottom of the unmanned vessel, and the transducer is connected to the first deck unit via a cable, the first deck unit being located inside the engine room of the unmanned vessel;

[0008] The seabed topography measurement equipment includes a second deck unit, a towed fish, and a first winch; the towed fish and the first winch are connected by a cable, the first winch is fixed to the unmanned vessel, and the towed fish is located in the water when the unmanned vessel is in operation;

[0009] The towed fish is used to take real-time photos of the seabed topography and transmit the photos to the second deck unit;

[0010] The transducer is used to acquire water depth data and transmit the water depth data to the first deck unit;

[0011] The navigation antenna is used to acquire the spatial position information of the unmanned vessel, the transducer, and the towed fish in real time.

[0012] The computing device is used to draw a map of the seabed obstacles based on the data from the first deck unit, the data from the second deck unit, and the spatial location information of the unmanned vessel, the transducer, and the towed fish.

[0013] In one embodiment, a sound velocity measuring device is also included;

[0014] The sound velocity measuring device includes a sound velocity meter; the sound velocity meter is fixed on a second winch, the second winch is fixed on the unmanned vessel, and the second winch raises and lowers the sound velocity meter by raising and lowering a cable;

[0015] The sound velocity meter is used to acquire sound velocity profiles in real time; the sound velocity profiles are transmitted to the first deck unit and the second deck unit.

[0016] In one embodiment, the speed at which the second winch winds up and unwinds the cable is less than the sampling frequency of the sound velocity meter.

[0017] In one embodiment, the sampling frequency of the sound velocity meter is not less than 0.4 m / s.

[0018] In one embodiment, it also includes tide observation equipment set up at a tide gauge point on the shore:

[0019] The tide observation equipment includes a sound velocity device, which is submerged in water and used to record real-time tide level data.

[0020] In one embodiment, the cable connecting the towed fish to the first winch is at least 5 meters long; the support rod is more than 3 meters long.

[0021] In one embodiment, the seabed topography measurement device uses the MAX600 surveying sonar system.

[0022] In one embodiment, the water depth topography survey device uses the SeaBat multibeam system.

[0023] Secondly, embodiments of the present invention provide an unmanned surface vessel (USV) inspection method for obstacles covering subsea pipelines, implemented using the USV inspection device for obstacles covering subsea pipelines as described above, including:

[0024] Obtain the depth of the lowest tide level in the working area;

[0025] Several survey lines are laid out within the work area;

[0026] The tide observation device of the unmanned vessel inspection device is fixed at a preset position, and the transducer and towed fish of the unmanned vessel inspection device are released into the water; the depth of the preset position is greater than the depth of the lowest tide level;

[0027] The unmanned vessel, piloting the aforementioned unmanned inspection device, cruises along each survey line to acquire real-time photos of the seabed topography and water depth data.

[0028] After the cruise, acquire water depth data from the first deck unit and seabed topographic photographs from the second deck unit;

[0029] Based on the water depth data in the first deck unit and the seabed topography photographs in the second deck unit, the seabed obstacle data of the work area is determined, and an obstacle distribution map is drawn.

[0030] Secondly, embodiments of the present invention provide an application of the unmanned vessel inspection device as described above in the field of digital unmanned vessel inspection technology.

[0031] The beneficial effects of the above-described technical solutions provided in the embodiments of the present invention include at least the following:

[0032] The unmanned surface vessel (USV) inspection device for obstructions over submarine pipelines provided in this invention includes an unmanned vessel, and further includes navigation equipment, water depth and topography survey equipment, seabed topography measurement equipment, and computing equipment mounted on the USV. The USV floats on the water surface. The water depth and topography survey equipment includes a transducer and a first deck unit, wherein the transducer is used to acquire water depth data in real time and transmit the water depth data to the first deck unit. The seabed topography measurement equipment includes a towed fish and a second deck unit, wherein the towed fish is used to acquire seabed topography photos in real time and transmit the seabed topography photos to the second deck unit. The navigation equipment includes an antenna, which is used to acquire data from the USV in real time. Based on the spatial location information of the transducer and towed fish, the computing device draws a map of the seabed obstacle distribution using data from the first deck unit and the second deck unit, as well as the spatial location information of the unmanned vessel, transducer, and towed fish. The unmanned vessel integrates intelligent equipment to perform the inspection task of seabed obstacles of intertidal oil and gas pipelines, improving the intelligence and safety of data collection during the inspection of seabed obstacles of oil and gas pipelines in shallow waters. Compared with the existing traditional inspection vessel's navigating inspection method, the unmanned vessel used in this embodiment of the invention has a smaller hull length and draft, reducing the turning radius of the survey line, improving inspection efficiency, and making it easier to complete the inspection task of intertidal zone in shallow waters.

[0033] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0034] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0035] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0036] Figure 1 This is a schematic diagram of the unmanned vessel inspection device for obstructions on the subsea pipeline in an embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of a seabed topography photograph in an embodiment of the present invention;

[0038] Figure 3 This is a flowchart of an unmanned vessel inspection method for obstacles covering a subsea pipeline, as described in an embodiment of the present invention.

[0039] Explanation of reference numerals in the attached figures:

[0040] 1. Unmanned vessel; 2. Navigation equipment; 3. First deck unit; 4. Second deck unit; 5. Torpedo; 6. First winch; 7. Second winch; 8. Propeller. Detailed Implementation

[0041] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0042] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0043] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0044] To address the issues of low efficiency and low data quality of seabed obstacles in existing technologies for intertidal zone patrols, this invention provides an unmanned surface vessel (USV) inspection device, method, and application for inspecting obstacles covering seabed pipelines. This allows for easier execution of seabed obstacle patrols in the intertidal zone of shallow waters, enabling the acquisition of high-quality data on seabed obstacles for precise analysis of their distribution. Simultaneously, it ensures safer and more efficient inspection operations for seabed obstacles along oil and gas pipelines in shallow waters. The accompanying drawings are merely illustrative structural diagrams and not mechanical design drawings. For example, plates may be illustrated by a straight line or two parallel lines, but it should be understood that plate-like structures have thickness, even if not shown in the drawings. Those skilled in the art should understand this, and further explanation will not be provided in the following description.

[0045] Example

[0046] This invention provides an unmanned surface vessel (USV) inspection device for obstructions covering subsea pipelines, the structure of which is as follows: Figure 1 As shown, the system includes an unmanned vessel 1, and also includes a navigation device 2, a water depth topography survey device (not shown in the figure), a seabed geomorphology measurement device (not shown in the figure), and a computing device (not shown in the figure) mounted on the unmanned vessel 1; the computing device is electrically connected to the navigation device 2, the water depth topography survey device, and the seabed geomorphology measurement device.

[0047] Navigation device 2 includes at least one navigation antenna and a corresponding support rod; the navigation antenna is fixed to one end of the support rod, and the other end of the support rod is fixed to the unmanned vessel 1;

[0048] The water depth topography survey equipment includes a first deck unit 3 and a transducer (not shown in the figure); the transducer is fixed to the bottom of the unmanned vessel 1, and the transducer is connected to the first deck unit 3 by a cable. The first deck unit 3 is located inside the engine room of the unmanned vessel 1.

[0049] The seabed topography measurement equipment includes a second deck unit 4, a towed fish 5, and a first winch 6; the towed fish 5 and the first winch 6 are connected by a cable, the first winch 6 is fixed on the unmanned vessel 1, and the towed fish 5 is located in the water when the unmanned vessel 1 is in operation.

[0050] The towed fish 5 is used to take real-time photos of the seabed topography and transmit the photos to the second deck unit 4;

[0051] The transducer is used to acquire water depth data and transmit the water depth data to the first deck unit 3;

[0052] The navigation antenna is used to acquire the spatial position information of the unmanned vessel 1, the transducer, and the towed fish 5 in real time;

[0053] The computing device is used to draw a map of the seabed obstacles based on the data from the first deck unit 3, the second deck unit 4, and the spatial position information of the unmanned vessel 1, the transducer, and the towed fish 5.

[0054] Navigation equipment 2, water depth topography survey equipment, seabed geomorphology measurement equipment and sound speed measurement equipment are all mounted on unmanned vessel 1, and the first deck unit 3 and the second deck unit 4 are both located in the deck unit control cabin;

[0055] In some optional embodiments, the water depth topography survey equipment uses the SeaBat multibeam system. The SeaBat multibeam system supports multi-frequency measurements and has a wide scanning range, which can cover a large seabed area, improving measurement efficiency. It also has extremely high resolution, which can clearly depict the detailed features of the seabed topography. The system adopts advanced signal processing technology, which can ensure the high accuracy and reliability of measurement data. In addition, the use of the SeaBat multibeam system is convenient for carrying and installing water depth topography survey equipment, and is more suitable for small vessels such as unmanned surface vessels.

[0056] The first deck unit 3 is installed inside the engine room of the unmanned vessel 1, and the first deck unit 3 is connected to the transducer via a cable;

[0057] The transducer is mounted on the geometric center of the bottom of the unmanned vessel 1 via a flange. When the unmanned vessel inspection device is in operation, the unmanned vessel floats on the water surface and the transducer is located in the water. During the inspection, the transducer transmits and receives acoustic signals in real time to the first deck unit 3. The first deck unit 3 converts the received acoustic signals into electrical signal data. Based on the electrical signal data, it can accurately measure the water depth data in the working area, thereby analyzing the undulation of the seabed topography, detecting obstacles on the seabed in the working area, and determining the location information of the obstacles.

[0058] In some optional embodiments, Beidou satellite navigation device 2 or GPS global positioning system is selected as navigation device 2. Navigation device 2 is mounted on unmanned vessel 1. Spatially, navigation device 2 is positioned directly above the transducer. The navigation antenna and support rod of navigation device 2 are correspondingly set, that is, one navigation antenna corresponds to one support rod. Navigation device 2 can be equipped with multiple sets of navigation antennas and corresponding support rods. Specifically, one end of the support rod is used to fix it to the unmanned vessel 1, and the other end of the support rod is used to fix one end of the navigation antenna. Navigation device 2 is used to obtain the spatial position information of the transducer and the towed fish 5, and transmits the spatial position information of the transducer to the first deck unit 3 and the spatial position information of the towed fish 5 to the second deck unit 4.

[0059] To avoid interference from the unmanned vessel 1 and to ensure that the positioning accuracy meets the measurement specifications, the support rod is over 3 meters long.

[0060] In some optional embodiments, the seabed topography measurement equipment uses a scanning sonar system. The scanning sonar system has a wide scanning range and generates high-resolution images, ensuring accurate representation of the seabed topography. In addition, the use of a scanning sonar system facilitates the installation and layout of the seabed topography measurement equipment.

[0061] The second deck unit 4 is located inside the engine room of the unmanned vessel 1. The second deck unit 4 is connected to the towed fish 5 via a cable. The towed fish 5 is used to take pictures of the seabed topography. Figure 2 As shown, Figure 2 Examples of underwater landscape photographs, in Figure 2 In the process, it can clearly identify crossing points, oil pipeline blocks, and exposed water pipes. Using the towed fish 5, it can identify various obstacles and obtain their location information. Compared with the transducer, the towed fish 5 can identify obstacles with smaller volume. When the unmanned vessel is in operation, the towed fish 5 is towed to the stern of the unmanned vessel 1 by the first winch 6. The first winch 6 is fixed to the hull of the unmanned vessel 1. In order to avoid interference from the propeller 8 at the stern of the unmanned vessel 1 while the towed fish 5 is in the water, and to ensure that the seabed topography photos taken by the towed fish 5 meet the clarity requirements, the cable connecting the towed fish 5 and the first winch 6 is at least 5 meters long, which ensures that the distance between the towed fish 5 and the stern of the unmanned vessel 1 is greater than 5 meters.

[0062] In addition, the unmanned vessel inspection device provided in this embodiment of the invention also includes a sound speed measurement device;

[0063] The sound velocity measurement equipment includes a sound velocity meter; the sound velocity meter is connected to a second winch 7 via a cable, and the second winch 7 is fixed to the unmanned vessel 1. The second winch 7 lowers the sound velocity meter into the water by retracting and extending the cable. The sound velocity meter is used to measure the sound velocity profile data from the water surface to the seabed. It should be noted that the sound velocity meter is used to obtain the sound velocity profile when the unmanned vessel 1 is stationary. In order to ensure the accuracy of the sound velocity profile, the measurement should be carried out at a fixed point during slack tide to avoid the influence of ebb and flow on the sound velocity profile.

[0064] The sound velocity meter is used to acquire the sound velocity profile in real time; the sound velocity profile is transmitted to the first deck unit 3 and the second deck unit 4.

[0065] When the unmanned surface vessel inspection device is in operation, it lowers the sound velocity meter into the water at a constant speed by controlling the second winch 7 to provide the sound velocity profile for the water depth topography survey equipment and the seabed geomorphology measurement equipment, so as to improve the data quality of obstacles. The sampling frequency of the sound velocity meter is not less than 0.4 m / s, and at the same time, the speed of the second winch 7 in winding up and releasing the cable is less than the sampling frequency of the sound velocity meter.

[0066] In addition, the unmanned vessel inspection device provided in this embodiment of the invention also includes tide observation equipment set at tide gauge points on the shore:

[0067] The tide observation equipment includes a pressure sensor, which is submerged in water and used to record real-time tide level data during the measurement period by the unmanned vessel inspection device.

[0068] Specifically, the pressure sensor of the tide gauge is set in the water below the lowest theoretical tide level near the local shore to ensure that the sound velocity device is in the water during low tide and can record tide level data at a time interval of 5 seconds. The amount of tide level change is further determined based on the tide level data, and the tide level of the water depth topography is corrected based on the tide level change during the operation of the water depth survey equipment.

[0069] During the inspection process of the unmanned surface vessel (USV) inspection device, the transducer transmits the water depth data of the working area to the first deck unit 3, the navigation device 2 transmits the accurate spatial position information of the transducer to the first deck unit 3, the towed fish 5 transmits the seabed topography photos of the working area to the second deck unit, the navigation device 2 transmits the accurate spatial position information of the towed fish 5 to the second deck unit 4, the sound velocity meter acquires the sound velocity profile from the sea surface to the seabed at preset time intervals, the pressure sensor of the tide gauge records the tide level data at preset time intervals, and the calculation device draws a map of the seabed obstacle distribution based on the data in the first deck unit 3, the data in the second deck unit 4, the sound velocity profile, and the tide level data.

[0070] In some optional embodiments, to ensure accurate data acquisition during the actual inspection process of the unmanned surface vessel (USV) inspection device, several tests are required, including: 1. navigation test; 2. length test of the towed fish 5 of the seabed topography measurement equipment; 3. calibration of the water depth and topography survey equipment; 4. data integrity check. These tests are described in detail below:

[0071] 1. Flight Test:

[0072] Test content: Yaw distance of unmanned vessel 1 at a preset speed;

[0073] Test standard: The yaw rate of unmanned vessel 1 was within ±2m under different currents;

[0074] Test method:

[0075] (1) Input the ship type parameters and DGPS offset parameters of the unmanned vessel 1 into the navigation device 2;

[0076] (2) Set up 3 east-west survey lines and 3 north-south survey lines in the test area. The east-west survey lines are 100m long and 20m apart, and the north-south survey lines are 100m long and 20m apart.

[0077] (3) Turn on navigation device 2 to navigate and record the marked trajectory;

[0078] (4) Drive the unmanned vessel 1 along each survey line at a speed of 2-4 knots, maintaining a deviation distance of ±2m for the line run;

[0079] (5) After the line is completed, obtain the actual offset of each line and determine whether the actual offset of each line is within ±2m. If so, the navigation test meets the standard. If not, adjust the ship speed and the length of the line and conduct the navigation test again until the navigation test meets the standard.

[0080] 2. Length test of the towed fish 5-piece set for seabed topography measurement equipment:

[0081] Test content: The impact of the propeller 8 wake of the unmanned vessel 1 on the seabed topography photos taken by the towed fish 5 while the vessel 1 is in motion;

[0082] Test standard: When the unmanned vessel 1 is in motion, the wake of the propeller 8 has no effect on the seabed topography photos taken by the towed fish 5;

[0083] Test method:

[0084] (1) Determine the test area based on the distribution of obstacles in the water;

[0085] (2) Start the seabed topography measurement equipment, drive the unmanned vessel 1 in the test area, and control the first winch 6 to adjust the cable length of the towed fish 5 during the driving process. The towed fish 5 takes pictures of the seabed topography at preset time intervals. Based on the clarity of the pictures, determine the influence of the wake of the propeller 8 of the unmanned vessel 1 on the seabed topography pictures taken by the towed fish 5.

[0086] (3) Analyze whether the seabed topography photos taken by the towed fish 5 meet the clarity requirements. If they do not, it means that the cable length of the towed fish 5 is too short and is affected by the wake of the propeller 8. The cable length should be increased until the seabed topography photos taken by the towed fish 5 meet the clarity requirements.

[0087] (4) Obtain the data acquired by the seabed topography measurement equipment during the test of the towed fish length 5 and determine whether the data is normal.

[0088] 3. Calibration of water depth and topographic survey equipment:

[0089] Calibration content: Perform roll calibration on flat terrain and pitch and yaw calibration on characteristic terrain to correct the beams caused by installation deviations of the water depth topography survey equipment to the correct position;

[0090] Calibration method:

[0091] (1) Roll calibration:

[0092] Determine a test area with flat terrain, set the speed of unmanned vessel 1 to 4 knots, and take measurements once each on the same survey line with the same speed but in opposite directions. Determine whether the results of the two measurements are consistent. If they are inconsistent, adjust the survey line spacing or length or adjust the vessel speed, and then recalibrate.

[0093] (2) Pitch calibration:

[0094] The test area with characteristic terrain is determined. The speed of the unmanned vessel 1 is set to 4 knots. Measurements are taken once on the same survey line of the characteristic terrain at the same speed but in opposite directions. The results of the two measurements are then compared. If they are not consistent, the survey line spacing, length or speed is adjusted and the vessel is recalibrated.

[0095] (3) Yaw calibration:

[0096] Set the speed of the unmanned vessel 1 to 4 knots. On two adjacent survey lines on the characteristic terrain, take one measurement each along the same course at the same speed. The interval between the two survey lines should be equal to the maximum strip width. Determine whether the results of the two measurements are consistent. If they are inconsistent, adjust the survey line spacing, length or ship speed, and then recalibrate.

[0097] 4. Data integrity test

[0098] Test method:

[0099] (1) The survey line spacing is 20m, and the survey lines are laid out parallel to the cable route, with a spacing of 20m between the survey lines;

[0100] (2) After the transducer of the water depth topography survey equipment and the towed fish 5 of the seabed topography measurement equipment are put into the water, the speed of the unmanned vessel 1 is set to maintain at 2-4 knots to avoid stopping or reversing. The GPS is connected and debugged. Different energy levels, excitation frequencies and ranges are selected to conduct inspection tests on seabed obstacles and their distribution. If the quality of the positioning information, topography data and water depth topography data obtained during the test meets the requirements of the national measurement standards, the data is judged to be complete.

[0101] This invention employs an unmanned vessel 1, navigation equipment 2, water depth and topography survey equipment, seabed topography inspection equipment, sound velocity measurement equipment, and tide gauge observation equipment in cooperation to provide an unmanned vessel inspection device. This device is used to inspect seabed obstacles in shallow sea oil and gas pipelines, effectively improving the intelligence and safety of data acquisition during inspection operations. It reduces the turning radius of survey lines, increases the efficiency of mobile inspections, and offers flexible operability. It can also improve the quality of data from intelligent development of shallow sea oil and gas, seabed pipeline inspection, and platform bottom scour inspection, further enhancing analytical accuracy.

[0102] Based on the same inventive concept, this invention also provides an unmanned surface vessel inspection method for obstacles covering subsea pipelines, the process of which is as follows: Figure 3 As shown, it includes:

[0103] Step S21: Obtain the depth of the lowest tide level in the working area;

[0104] Step S22: Lay out several survey lines within the work area;

[0105] Step S23: Fix the tide observation device of the unmanned vessel inspection device at a preset position, and release the transducer and towed fish 5 of the unmanned vessel inspection device into the water; the depth of the preset position is greater than the depth of the lowest tide level;

[0106] Step S24: The unmanned vessel 1, which is equipped with the unmanned inspection device, is driven to cruise along each survey line to obtain seabed topographic photos and water depth data in real time.

[0107] Step S25: After the cruise is completed, acquire the water depth data in the first deck unit 3 and the seabed topography photos in the second deck unit 4;

[0108] Step S26: Based on the water depth data in the first deck unit 3 and the seabed topography photos in the second deck unit 4, determine the seabed obstacle data of the work area and draw an obstacle distribution map.

[0109] Compared with traditional methods for inspecting underwater obstacles in shallow sea oil and gas pipelines, the unmanned surface vessel (USV) inspection method for underwater pipeline obstacles provided by this invention is more scientific. It is easier to inspect the status of underwater pipelines and cables between artificial islands and platforms in the intertidal zone. The inspection process is standardized and the inspection results are accurate and reliable, providing a new standard for USV inspection operations of underwater obstacles in shallow sea oil and gas pipelines.

[0110] Based on the same inventive concept, this invention also provides an application of the unmanned vessel inspection device for obstructing underwater pipelines as described above in the field of digital unmanned vessel inspection technology.

[0111] Unless otherwise specifically stated, terms such as processing, calculation, operation, determination, display, etc., may refer to the actions and / or processes of one or more processing or computing systems or similar devices that represent the manipulation and conversion of data representing physical (e.g., electronic) quantities within the registers or memory of the processing system into other data similarly representing physical quantities within the memory, registers, or other such information storage, transmission, or display devices of the processing system. Information and signals can be represented using any of a variety of different techniques and methods. For example, data, instructions, commands, information, signals, bits, symbols, and chips mentioned throughout the above description can be represented by voltage, current, electromagnetic waves, magnetic fields or particles, light fields or particles, or any combination thereof.

[0112] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process may be rearranged without departing from the scope of this disclosure. The appended method claims provide elements of various steps in an exemplary order and are not intended to limit the scope to the specific order or hierarchy described.

[0113] In the detailed description above, various features are combined together in a single embodiment to simplify this disclosure. This approach to disclosure should not be construed as reflecting an intention that embodiments of the claimed subject matter require more features than are explicitly stated in each claim. Rather, as reflected in the appended claims, the invention is presented with fewer features than all of the features in a single disclosed embodiment. Therefore, the appended claims are hereby explicitly incorporated into the detailed description, with each claim representing a separate preferred embodiment of the invention.

[0114] The foregoing description includes examples of one or more embodiments. It is certainly impossible to describe all possible combinations of components or methods in order to describe the above embodiments, but those skilled in the art will recognize that further combinations and arrangements of the various embodiments are possible. Therefore, the embodiments described herein are intended to cover all such changes, modifications, and variations that fall within the scope of the appended claims. Furthermore, the term "comprising" as used in the specification or claims is interpreted in a manner similar to the term "including," as interpreted when used as a conjunction in the claims. Additionally, the use of any term "or" in the specification of the claims is intended to mean "non-exclusive or."

Claims

1. An unmanned surface vessel (USV) inspection device for obstructions covering a submarine pipeline, comprising an unmanned vessel, characterized in that, Also includes: The unmanned vessel is equipped with navigation equipment, water depth and topography survey equipment, seabed geomorphology measurement equipment, and computing equipment; the computing equipment is electrically connected to the navigation equipment, water depth and topography survey equipment, and seabed geomorphology measurement equipment. The navigation device includes at least one navigation antenna and a corresponding support rod; the navigation antenna is fixed to one end of the support rod, and the other end of the support rod is fixed to the unmanned vessel. The water depth topography survey equipment includes a first deck unit and a transducer; the transducer is fixed to the bottom of the unmanned vessel, and the transducer is connected to the first deck unit via a cable, the first deck unit being located inside the engine room of the unmanned vessel; The seabed topography measurement equipment includes a second deck unit, a towed fish, and a first winch; the towed fish and the first winch are connected by a cable, the first winch is fixed to the unmanned vessel, and the towed fish is located in the water when the unmanned vessel is in operation; The towed fish is used to take real-time photos of the seabed topography and transmit the photos to the second deck unit; The transducer is used to acquire water depth data and transmit the water depth data to the first deck unit; The navigation antenna is used to acquire the spatial position information of the unmanned vessel, the transducer, and the towed fish in real time. The computing device is used to draw a map of the seabed obstacles based on the data from the first deck unit, the data from the second deck unit, and the spatial position information of the unmanned vessel, the transducer, and the towed fish.

2. The unmanned surface vessel inspection device as described in claim 1, characterized in that, It also includes sound velocity measurement equipment; The sound velocity measuring device includes a sound velocity meter; the sound velocity meter is fixed on a second winch, the second winch is fixed on the unmanned vessel, and the second winch raises and lowers the sound velocity meter by raising and lowering a cable; The sound velocity meter is used to acquire sound velocity profiles in real time; the sound velocity profiles are transmitted to the first deck unit and the second deck unit.

3. The unmanned vessel inspection device as described in claim 2, characterized in that, include: The second winch retracts or extends the cable at a speed less than the sampling frequency of the sound velocity meter.

4. The unmanned vessel inspection device as described in claim 3, characterized in that, include The sampling frequency of the sound velocity meter is not less than 0.4 m / s.

5. The unmanned surface vessel inspection device as described in claim 1, characterized in that, It also includes tide-gazing equipment set up at tide gauge points along the shore: The tide observation equipment includes a pressure sensor, which is submerged in water and used to record real-time tide level data.

6. The unmanned surface vessel inspection device as described in claim 1, characterized in that, The cable connecting the towed fish to the first winch must be at least 5 meters long; The support rod is over 3 meters long.

7. The unmanned vessel inspection device as described in claim 1, characterized in that, include: The seabed topography measurement equipment uses a scanning sonar system.

8. The unmanned surface vessel inspection device as described in claim 1, characterized in that, include: The water depth topographic survey equipment uses a multibeam system.

9. A method for inspecting underwater pipelines covered with obstacles, characterized in that, This is achieved using an unmanned surface vessel (USV) inspection device for obstructions over submarine pipelines as described in any one of claims 1-8, comprising: Obtain the depth of the lowest tide level in the working area; Several survey lines are laid out within the work area; The tide gauge of the unmanned vessel inspection device is fixed at a preset position, and the transducer and towed fish of the unmanned vessel inspection device are released into the water; the depth of the preset position is greater than the depth of the lowest tide level; The unmanned vessel, piloting the aforementioned unmanned inspection device, cruises along each survey line to acquire real-time photos of the seabed topography and water depth data. After the cruise, acquire water depth data from the first deck unit and seabed topographic photographs from the second deck unit; Based on the water depth data in the first deck unit and the seabed topography photographs in the second deck unit, the seabed obstacle data of the work area is determined, and an obstacle distribution map is drawn.

10. An application of the unmanned vessel inspection device as described in any one of claims 1-8 in the field of digital unmanned vessel inspection technology.

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