CN102832574A - Method for dynamically monitoring power cable in real time by three-synchronization underwater robot - Google Patents
Method for dynamically monitoring power cable in real time by three-synchronization underwater robot Download PDFInfo
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- CN102832574A CN102832574A CN2012103012798A CN201210301279A CN102832574A CN 102832574 A CN102832574 A CN 102832574A CN 2012103012798 A CN2012103012798 A CN 2012103012798A CN 201210301279 A CN201210301279 A CN 201210301279A CN 102832574 A CN102832574 A CN 102832574A
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Abstract
The invention relates to a method for dynamically monitoring a power cable in real time by a three-synchronization underwater robot. The method comprises the step of laying a power cable led out of a cable bin of a cable workboat on the seabed controllably. The method is characterized in that an underwater robot is released undersea from the side of the cable workboat, and forms synchronous tracking detection in a process of laying the power cable. The invention has the advantages that the method can be suitable for any sea area below 300m, and completely meets the requirement that the underwater robot tracks the dynamically laid power cable; and all works of laying the power cable and post-detecting the power cable by one cable workboat are completed, the requirement on an operation weather window is same as the traditional construction, no additional requirements exist, and the requirement of dynamically monitoring the laying of the power cable is completely and effectively completed.
Description
Technical field
The present invention relates to the method for a kind of three synchronous underwater robot dynamic real-time monitor power cables, belong to subsea power cable and lay the method for supervising technical field.
Background technology
Traditional power cable laying state and position probing way generally are to arrange two cable construction ships.A leader cable workboat carries out the scene with power cable on the ship and lays, and organizes the inspection cable construction ship of an other outfit underwater robot ROV to follow the leader cable workboat closely more simultaneously.After the leader cable workboat was placed the seabed with power cable, the power cable that inspection cable construction ship is followed the leader cable workboat to be provided lays buried operation underground after route detects perhaps to power cable.
Along with rapid development of economy, human great demand to the energy makes offshore oil production obtain great advance.Increasing oil production platforms is stood in the ocean, and it is on-the-spot that increasing cable begins to appear at ripe oil gas field, and the cable laying operation increased progressively with day.New cable lays with existing cable crossover point constantly to be increased with geometry level.Locate more without interruption for guaranteeing that cable is handed over, previous construction technology is generally added extra protective casing Split Protection Tubing System (SPTS) outside new cable, and its overlay length is that the crossover point both sides respectively are 50 meters.But along with the increase of quantity, its influence to engineering cost appears day by day, and from the consideration that reduces cost, the investor hopes 50 meters length of original cable protecting sleeve are reduced to 15 meters.In this case, if still adopt traditional power cable laying state and position probing way then can't guarantee the accuracy of the calculating of cable protecting sleeve installation length, and the requirement of elimination cumulative errors, its construction quality will be difficult to be effectively controlled.
Summary of the invention
The purpose of this invention is to provide a kind of detection method that improves the cable laying construction quality.
In order to achieve the above object, technical scheme of the present invention provides a kind of three synchronous underwater robot dynamic real-time monitor power cable methods, the steps include:
The first step, will controlledly be applied to by the power cable that draw in the cable storehouse of cable construction ship on the sea bed,
Second goes on foot, the side of underwater robot from the cable construction ship is released under the sea;
The 3rd step, receive reflector high accuracy sound positioning system by the sound wave of cable construction ship and send signal to underwater robot, thereby trigger the beacon system of underwater robot through signal cable;
After the 4th step, beacon system start; To the be laid in relative position formation reflective sound wave signal of power cable and underwater robot on the sea bed of detection through underwater robot or high definition video recording; Receive reflector high accuracy sound positioning system passback reflective sound wave signal through signal cable to sound wave; Sound wave receives the dynamic positioning system that reflector high accuracy sound positioning system imports the reflective sound wave signal that receives in the cable construction ship; By dynamic positioning system the reflective sound wave signal is carried out analyzing and processing; After the design paving location that calculates detection position and the power cable of power cable compared, analyzing and processing was judged under water underwater robot with respect to the relative position of power cable, and this relative position is fed back to the underwater robot operating personnel of operation underwater robot;
The power cable route navigation that the 5th step, cable construction ship are set according to plan; Lay power cable; In laid processes, underwater robot and cable construction ship are synchronized with the movement, and constantly the reflective sound wave signal feedback are received reflector high accuracy sound positioning system to sound wave; Make dynamic positioning system can in time calculate the relative position of underwater robot with respect to power cable, the assurance underwater robot is followed the cable construction ship effectively and is advanced;
The 6th step, robot follows in the process that the cable construction ship advances under water; Under the visibility good state; The image that will react the seabed situation through the high definition picture pick-up device by underwater robot feeds back to the collection control command post of cable construction ship; And under the relatively poor or zero visibility situation, will react the collection control command post of the signal feedback of seabed situation through the multi-beam detection system by underwater robot to the cable construction ship in visibility;
The 7th step, operating personnel keep watch on the image that feeds back to or the laying speed of signal and power cable in collection control command post; The unified interchange; Reach the cable construction ship according to setting route in advance; Dynamically lay power cable, underwater robot dynamic following monitoring accomplishes that cable construction ship, power cable, underwater robot three are synchronous;
The 8th the step, when being about to reach cross-over cable point, according to the position of being planned cable cover(ing) is installed on power cable;
The 9th step, the power cable that cable cover(ing) will be installed are laid on the sea bed;
The tenth goes on foot, is covered by underwater robot observation cable cover(ing) the position of crossover point;
The 11 the step, according to observed error, in time adjust the position of crossover point.
When the present invention adopts the cable construction ship dynamically to lay power cable according to the design route, discharge the situation that underwater robot carries out dynamic monitoring subsea power cable and protective casing.In running, the cable construction ship dynamically lays power cable, and underwater robot is through the position reflection telegram in reply cable workboat of signal reflex with self; Make the position of the clear and definite underwater robot of cable construction ship; Dynamic tracking to underwater robot is adjusted, and makes underwater robot can follow the operation of cable construction ship better, accomplishes that the speed of underwater robot and cable construction ship are consistent; Reach the Trinity, three synchronous work pattern methods.
Advantage of the present invention is: can be fit to any marine site below 300 meters; Satisfy underwater robot fully and follow the tracks of the power cable that dynamically lays; Only need a cable construction ship to accomplish power cable and lay the whole work that detect with the back; The same with the tradition construction to the requirement of operation weather window, no extra demand has been accomplished power cable completely effectively and has been laid the dynamic monitoring requirement.
Description of drawings
Fig. 1 lays first step sketch map for power cable;
Fig. 2 is for discharging underwater robot ROV second step sketch map;
Fig. 3 for underwater robot ROV follow cable construction ship synchronous operation third and fourth, total figure of five steps;
Fig. 4 for underwater robot ROV follow cable construction ship synchronous operation third and fourth, five the step particular flow sheets.
Fig. 5 is the cable construction ship, underwater robot ROV, power cable three construction synchronously the 8th, nine, ten steps sketch map.
Embodiment
For making the present invention more obviously understandable, now with preferred embodiment, and conjunction with figs. elaborates as follows.
The invention provides a kind of three synchronous underwater robot dynamic real-time monitor power cable methods, the steps include:
The first step, combination Fig. 1; Offshore platform is ready, and the power cable termination on the cable construction ship 1 is ready to dilatory head, installs attachments such as shackle, swivel joint; Notice that whole sharp edges all need with after the adhesive tape wrapping protection; With the power cable pull to the platform temporary fixed after, cable construction ship 1 begins to lay power cable through cable cable laying machine 3 and two active force rotating disks 4 controls, speed is 0.3-0.5 kilometer/hour; 1.0 kilometers/hour of maximum target speed notice that simultaneously adjustment power cable laying slack target is 0.3%.When laying, guarantee that power cable is placed on the sea bed.When cable construction ship 1 whenever advances 5 meters the time, cable cable laying machine 3 will be emitted 5 kilometers synchronous power cables.The tension force of cable stretch device remains on thousand Ns of scopes of 5-15.
Second step, combination Fig. 2 with the side release of underwater robot ROV2 from cable construction ship 1, during release, note the umbilical cord signal cable on the underwater robot ROV2, near free avoiding the screw propeller of cable construction ship 1.
The 3rd step, combination Fig. 3, underwater robot ROV2 utilizes sonar detection or visual observation to find power cable and power cable in laying to keep a segment distance.At this moment; The sound wave of cable construction ship 1 is accepted reflector high accuracy sound positioning system (High Precision Acoustic Position System; English abbreviates HiPAP as); Send signal, this signal is transferred to underwater robot ROV2 through signal cable, triggers beacon (Beacon) system of underwater robot ROV2.
The 4th step, combination Fig. 4; After beacon system starts; To the be laid in relative position formation reflective sound wave signal of power cable and underwater robot ROV2 on the sea bed of detection through underwater robot ROV2 or high definition video recording; Receive reflector high accuracy sound positioning system passback reflective sound wave signal through signal cable to sound wave; Sound wave receives reflector high accuracy sound positioning system and imports the reflective sound wave signal that receives the dynamic positioning system of cable construction ship 1 into, by dynamic positioning system DP the reflective sound wave signal is carried out analyzing and processing, after the design paving location that calculates detection position and the power cable of power cable compares; Analyzing and processing is judged the relative position of underwater robot ROV2 with respect to power cable, and this relative position is fed back to the underwater robot operating personnel of operation underwater robot ROV2.
The 5th step, combination Fig. 5, after analyzing and processing was judged the relative position of underwater robot ROV2, cable construction ship 1 was observed vertical direction angle between power cable trend and the stern, kept guaranteeing not have unnecessary cable to emit between the 10-15 degree.Simultaneously, the ship operation personnel can inform the relative position of underwater robot ROV2 the underwater robot operating personnel of operation underwater robot ROV2, are convenient to follow better cable construction ship 1.
The power cable route that the 6th step, cable construction ship 1 are set according to plan, commander's boats and ships dynamical system operates, and transfers thruster and screw and carries out corresponding action, lays power cable.
After the 7th step, cable construction ship 1 laid the power cable motion, the continuous reflective sound wave signal of underwater robot ROV2 made the position of underwater robot ROV2 in time feed back to HiPAP, makes underwater robot ROV2 effectively follow advancing of cable construction ship.
The 8th step, under the visibility good state, adopt the high definition picture pick-up device of underwater robot ROV2, with power cable in the seabed state through the clear collection control command post that feeds back to boats and ships of video recording form.Visibility relatively poor with the zero visibility situation under, adopt multi-beam detection system TSS340 to come power cable is followed the tracks of.
The 9th step, cable portion, underwater installation portion and Deck Drain are kept watch on the video recording that this department feeds back to and the laying speed of signal and power cable respectively in collection control command post; The unified interchange; Reach cable in advance, underwater robot ROV2 follows the tracks of, ship tracking, cable laying speed control then and boats and ships are synchronous; Accomplish that three is synchronous, can monitor the position of cable laying and the position that cable protecting sleeve is placed on crossover point by dynamic real-time.Dynamic positioning system DP operator, driver's cabin, cable stretch device control room; Quarter deck all need be paid close attention to the situation that excessive deviation that the whole like this ship's staff of boats and ships integrated computer cable laying system (Navslack) can observe tension force consciously notifies other staff to change.
The tenth the step, be about to reach the cross-over cable point; Cable construction ship 1 slows down the power cable speed that discharges; According to the good size of mark on the power cable, calculate the position of crossover point, on the position that is calculated; Organize one group on deck hand both sides, begin to install cable cover(ing) with each 15 meters, central point both sides.
The 11 step, on one side cable cover(ing) is installed, on one side cable construction ship 1 slowly power cable is laid, note the power cable angle direction, the power cable that cable cover(ing) is installed slowly is laid on the sea bed.
The 12 step, by the operating personnel of underwater robot ROV2 operation underwater robot ROV2 is moved about, close-ups has power cable and original cable of cable cover(ing) and hands over the coverage condition at place more, and whether symmetry covers on the position of crossover point.
The 13 step, by behind the underwater robot ROV2 investigation crossover point position; Be aggregated into centralized control room to situation, according to observed error, by cable portion personnel adjustment calculated value; The input computer system; Carry out the position of crossover point in the route list in the timely Adjustment System, reinform the deck commanding, be convenient to cable cover(ing) is installed in next crossover point position preparation.
Claims (1)
1. a synchronous underwater robot dynamic real-time monitor power cable method the steps include:
The first step, will controlledly be applied on the sea bed, it is characterized in that by the power cable that draw in the cable storehouse of cable construction ship (1):
Second goes on foot, the side of underwater robot (2) from cable construction ship (1) is released under the sea;
The 3rd step, receive reflector high accuracy sound positioning system by the sound wave of cable construction ship (1) and send signal to underwater robot (2) through signal cable, thus the beacon system of triggering underwater robot (2);
After the 4th step, beacon system start; To the be laid in relative position formation reflective sound wave signal of power cable and underwater robot (2) on the sea bed of detection through underwater robot (2) or high definition video recording; Receive reflector high accuracy sound positioning system passback reflective sound wave signal through signal cable to sound wave; Sound wave receives the dynamic positioning system that reflector high accuracy sound positioning system imports the reflective sound wave signal that receives into cable construction ship (1); By dynamic positioning system the reflective sound wave signal is carried out analyzing and processing; After the design paving location that calculates detection position and the power cable of power cable compared, analyzing and processing was judged the relative position of underwater robot (2) with respect to power cable, and this relative position is fed back to the underwater robot operating personnel of operation underwater robot (2);
The power cable route navigation that the 5th step, cable construction ship (1) are set according to plan; Lay power cable; In laid processes, underwater robot (2) is synchronized with the movement with cable construction ship (1), and constantly the reflective sound wave signal feedback is received reflector high accuracy sound positioning system to sound wave; Make dynamic positioning system can in time calculate the relative position of underwater robot (2) with respect to power cable, assurance underwater robot (2) is followed cable construction ship (1) effectively and is advanced;
The 6th step, robot (2) follows in the process that cable construction ship (1) advances under water; Under the visibility good state; The image that will react the seabed situation through the high definition picture pick-up device by underwater robot (2) feeds back to the collection control command post of cable construction ship (1); And under the relatively poor or zero visibility situation, will react the collection control command post of the signal feedback of seabed situation through the multi-beam detection system by underwater robot (2) to cable construction ship (1) in visibility;
The 7th step, operating personnel keep watch on the image that feeds back to or the laying speed of signal and power cable in collection control command post; The unified interchange; Reach cable construction ship (1) according to setting route in advance; Dynamically lay power cable, underwater robot (2) dynamic following monitoring accomplishes that cable construction ship (1), power cable, underwater robot (2) three are synchronous;
The 8th the step, when being about to reach cross-over cable point, according to the position of being planned cable cover(ing) is installed on power cable;
The 9th step, the power cable that cable cover(ing) will be installed are laid on the sea bed;
The tenth goes on foot, is covered by underwater robot (2) observation cable cover(ing) the position of crossover point;
The 11 the step, according to observed error, in time adjust the position of crossover point.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210301279.8A CN102832574B (en) | 2012-08-22 | 2012-08-22 | Method for dynamically monitoring power cable in real time by three-synchronization underwater robot |
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| CN201210301279.8A CN102832574B (en) | 2012-08-22 | 2012-08-22 | Method for dynamically monitoring power cable in real time by three-synchronization underwater robot |
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| CN102832574B CN102832574B (en) | 2015-04-29 |
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Cited By (8)
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| CN103926587A (en) * | 2014-04-15 | 2014-07-16 | 哈尔滨工程大学 | Sonar device for measuring pipe router of seabed oil and gas pipeline |
| CN105655928A (en) * | 2016-03-18 | 2016-06-08 | 江苏华西村海洋工程服务有限公司 | Dual-cable one-ditch laying technology |
| CN106842469A (en) * | 2017-04-05 | 2017-06-13 | 合肥酷睿网络科技有限公司 | A kind of submarine optical fiber cable laying method |
| CN107123952A (en) * | 2017-05-24 | 2017-09-01 | 国网辽宁省电力有限公司葫芦岛供电公司 | A kind of Submarine Cable Laying method |
| CN107344607A (en) * | 2017-05-25 | 2017-11-14 | 国网辽宁省电力有限公司葫芦岛供电公司 | A kind of amphibious robot applied in submarine cable operation maintenance |
| CN108020815A (en) * | 2017-12-12 | 2018-05-11 | 中国地质大学（武汉） | A kind of method, equipment and storage device for positioning underwater robot |
| CN109616956A (en) * | 2018-11-01 | 2019-04-12 | 国网浙江省电力有限公司 | There is cable remote underwater robot to the cruising inspection system and its operational method of submarine cable |
| CN112042070A (en) * | 2017-12-15 | 2020-12-04 | 特雷勒堡海面英国公司 | Protection assembly, retaining device and assembly for an elongated member for underwater deployment |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103926587A (en) * | 2014-04-15 | 2014-07-16 | 哈尔滨工程大学 | Sonar device for measuring pipe router of seabed oil and gas pipeline |
| CN105655928A (en) * | 2016-03-18 | 2016-06-08 | 江苏华西村海洋工程服务有限公司 | Dual-cable one-ditch laying technology |
| CN106842469A (en) * | 2017-04-05 | 2017-06-13 | 合肥酷睿网络科技有限公司 | A kind of submarine optical fiber cable laying method |
| CN107123952A (en) * | 2017-05-24 | 2017-09-01 | 国网辽宁省电力有限公司葫芦岛供电公司 | A kind of Submarine Cable Laying method |
| CN107344607A (en) * | 2017-05-25 | 2017-11-14 | 国网辽宁省电力有限公司葫芦岛供电公司 | A kind of amphibious robot applied in submarine cable operation maintenance |
| CN108020815A (en) * | 2017-12-12 | 2018-05-11 | 中国地质大学（武汉） | A kind of method, equipment and storage device for positioning underwater robot |
| CN112042070A (en) * | 2017-12-15 | 2020-12-04 | 特雷勒堡海面英国公司 | Protection assembly, retaining device and assembly for an elongated member for underwater deployment |
| CN109616956A (en) * | 2018-11-01 | 2019-04-12 | 国网浙江省电力有限公司 | There is cable remote underwater robot to the cruising inspection system and its operational method of submarine cable |
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| CN102832574B (en) | 2015-04-29 |
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