CN105156759A - Method for crossed crossing construction of composite hose - Google Patents

Method for crossed crossing construction of composite hose Download PDF

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Publication number
CN105156759A
CN105156759A CN201510576449.7A CN201510576449A CN105156759A CN 105156759 A CN105156759 A CN 105156759A CN 201510576449 A CN201510576449 A CN 201510576449A CN 105156759 A CN105156759 A CN 105156759A
Authority
CN
China
Prior art keywords
slip casting
soft tube
composite soft
air bag
casting air
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201510576449.7A
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Chinese (zh)
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CN105156759B (en
Inventor
汪建明
周声结
陈大江
李天斌
梁旭
李树楠
戚蒿
符秀全
汤乾宇
刘立辉
马东山
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China National Offshore Oil Corp CNOOC
CNOOC China Ltd Zhanjiang Branch
Original Assignee
China National Offshore Oil Corp CNOOC
CNOOC China Ltd Zhanjiang Branch
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Application filed by China National Offshore Oil Corp CNOOC, CNOOC China Ltd Zhanjiang Branch filed Critical China National Offshore Oil Corp CNOOC
Priority to CN201510576449.7A priority Critical patent/CN105156759B/en
Publication of CN105156759A publication Critical patent/CN105156759A/en
Application granted granted Critical
Publication of CN105156759B publication Critical patent/CN105156759B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L1/00Laying or reclaiming pipes; Repairing or joining pipes on or under water
    • F16L1/12Laying or reclaiming pipes on or under water
    • F16L1/16Laying or reclaiming pipes on or under water on the bottom
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L1/00Laying or reclaiming pipes; Repairing or joining pipes on or under water
    • F16L1/12Laying or reclaiming pipes on or under water
    • F16L1/16Laying or reclaiming pipes on or under water on the bottom
    • F16L1/166Reclaiming pipes
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L1/00Laying or reclaiming pipes; Repairing or joining pipes on or under water
    • F16L1/12Laying or reclaiming pipes on or under water
    • F16L1/20Accessories therefor, e.g. floats, weights
    • F16L1/235Apparatus for controlling the pipe during laying

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Underground Or Underwater Handling Of Building Materials (AREA)

Abstract

The invention provides a method for crossed crossing construction of a composite hose. The method comprises a step S1 of accurately measuring the binding position of a grouting air bag; a step S2 of recycling the composite hose and binding the grouting air bag at the appropriate position; and a step S3 of placing the composite hose in position again to perform grouting operation and finishing crossed crossing treatment of the composite hose. The method has the advantages that by adopting the method, crossed crossing treatment can be performed in the composite hose laying process, the conventional requirement for pretreatment on crossed crossing points through an operation ship prior to the laying of a new pipe is omitted, and the method not only reduces massive offshore working amount and reduces operation cost, but also greatly reduces operation safety risk.

Description

A kind of composite soft tube scissors crossing method of construction
Technical field
The present invention relates to seabed composite soft tube scissors crossing technical field, particularly relate to a kind of composite soft tube scissors crossing method of construction.
Background technique
Along with the progress of technology, marine oil gas field obtains exploitation further, and offshore oil platform gets more and more, and the thing followed is that submarine pipeline is crisscross.Article two, the extra large pipe of the stylish paving of extra large pipe scissors crossing can produce extra pressure to original extra large pipe; also suspended span can be there is with stylish paving sea pipe; sea pipe is easy to occur bending and deformation in suspended span section; this brings great potential safety hazard to offshore oil and gas conveyance conduit; in order to ensure the safe operation of marine oil and gas conveyance conduit, need to carry out conservation treatment to original pipeline when the submarine pipeline newly laid according to code requirement and original submarine pipeline generation scissors crossing.
At present, the conventional method of submerged pipeline being crossed over to process above original pipeline, lays concrete blocks along its pipeline axis direction before new pipe installation, sandbag is stacked in concrete blocks both sides, excessive to make forming gentle slope between concrete blocks top and sea bed.After based process, lay new pipeline above it, reach the target that original pipeline is protected thus.This just requires to need to mobilize operation boats and ships first to carry out pretreatment to leap point of intersection before new pipe installation, but operation on the sea expense and costliness thereof, create great operating cost.
Simultaneously, because the actual route of new pipe laying line inevitably exists certain deviation with design route, therefore the actual crossover point of two pipelines is also uncertain, but the based process of crossover point must complete before the pipe installation of new paving starts, therefore, in order to ensure that new pipe laying line drops on the basis that processed, the scope of based process must suitably just can meet the demands in amplification, a general crossover point needs tens of pieces of briquettings, especially under deep water conditions, the route deviation of new pipe laying line is larger, then the scope of based process is larger, the briquetting needed is more.Can see by analyzing us above, conventional submerged pipeline is crossed over processing method and be there is major defect: (1) needs special operation boats and ships of mobilizing to carry out pretreatment to scissors crossing point before new pipe installation, produces great operating cost; (2) due to every block concrete briquetting all need lift installation separately, a large amount of concrete blocks lifting will cause larger marine workload; (3) concrete blocks lifting, seabed are laid middle needs and are strictly controlled to avoid colliding with original pipeline, and security risk is very big; (4) new paving composite soft tube needs accurately to control to guarantee to cross over from concrete blocks, and difficulty is larger.
Summary of the invention
The invention provides a kind of composite soft tube scissors crossing method of construction, adopt the method can carry out scissors crossing process in composite soft tube process of deployment, avoid the conventional mobilization operation boats and ships specially that need, before new pipe installation, pretreatment is carried out to scissors crossing point, not only reduce a large amount of operation on the sea amount, save operating cost, and greatly reduce job safety risk.
For solving the problems of the technologies described above, the technical solution adopted in the present invention is: a kind of composite soft tube scissors crossing method of construction, comprises the following steps:
S1, Measurement accuracy determination slip casting air bag lashing location;
S2, reclaim composite soft tube at correct position colligation slip casting air bag;
S3, composite soft tube are again transferred and are in placely carried out slip casting operation and complete composite soft tube scissors crossing process.
As the preferred technical solution of the present invention, the defining method of described step S1 is as follows:
According to the operation marine site depth of water in composite soft tube is laid, when composite soft tube enter mud point apart from scissors crossing point position be about 100-300m time, hose body is pressed the line of 0.5m spacing, marking lengths is 150m, continue to transfer composite soft tube to cross over after original submerged pipeline is about 20-30 rice when it and stop composite soft tube laying, under ROV, water observation crosses over cross-point locations composite soft tube body scribe mark and record.
As the preferred technical solution of the present invention, the method for the colligation slip casting air bag of described step S2 is as follows:
Reclaim and lay composite soft tube, until cross over cross-point locations scale to arrive operation ship deck stopping composite soft tube recovery operation, 2 slip casting air bags bondage 2.1m position before and after scissors crossing graduation line respectively that workmen will vacuumize, slip casting pipeline is connected on slip casting air bag, at air bag end banding ball float, after making slip casting air bag launching, ball float floats on extra large pipe all the time.
As the preferred technical solution of the present invention, the leap processing method of described step S3 is as follows:
Again composite soft tube is transferred along former laying route, under ROV, water is observed until original submerged pipeline transferred to by slip casting air bag cross over both sides, point of intersection, ROV removes slip casting air bag and fixes and ball float tie, finely tuning balloon positions and being divided by air bag is placed on mud face, two slip casting air bags start slip casting operation simultaneously, the state of ROV Real Time Observation slip casting air bag, until new paving composite soft tube and original submerged pipeline produce 200-300mm spacing stop slip casting operation, ROV turn off be positioned at slip casting air bag end ball valve, observe the stability of slip casting air bag, ensure that composite soft tube is steadily treated at slip casting air bag, complete the process to this point of intersection, remove slip casting pipeline and be recycled to operation ship deck.
As the preferred technical solution of the present invention, the diameter of described slip casting air bag is 1.2 ~ 1.5 meters, and length is 5 ~ 7 meters, and bearing capacity is not less than 2MPa.
As the preferred technical solution of the present invention, described slip casting pipeline is made up of beater, grouting pump, slip casting pipeline, slip casting pipeline has slip casting threeway, connects two slip casting air bags respectively, more than grouting pump rated pressure 5MPa by threeway.
As the preferred technical solution of the present invention, described grouting pressure controls between 0.8 ~ 1MPa, and cement adopts PC32.5 Portland cement, and cement slurry proportioning 1:1, the grouting amount of single slip casting air bag is 2/3 of overall slip casting air bag capacity.
The application has following technique effect or advantage:
The method can carry out scissors crossing process in composite soft tube process of deployment, avoid the conventional mobilization operation boats and ships specially that need, before new pipe installation, pretreatment is carried out to scissors crossing point, not only reduce a large amount of operation on the sea amount, save operating cost, and greatly reduce job safety risk.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technological scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the slip casting air bag binding structure figure of the embodiment of the present application one;
Fig. 2 is the slurry injection pipe toe-in composition of the embodiment of the present application one;
The slip casting air bag seabed schematic diagram in place of Fig. 3 the embodiment of the present application one.
In figure, 1, composite soft tube, 2, slip casting air bag, 3, ball float, 4, beater, 5, grouting pump, 6, slip casting pipeline, 7, threeway, 8, ball valve.
Embodiment
The invention provides a kind of composite soft tube scissors crossing method of construction, adopt the method can carry out scissors crossing process in composite soft tube process of deployment, avoid the conventional mobilization operation boats and ships specially that need, before new pipe installation, pretreatment is carried out to scissors crossing point, not only reduce a large amount of operation on the sea amount, save operating cost, and greatly reduce job safety risk.
In order to better understand technique scheme, below in conjunction with Figure of description and concrete mode of execution, technique scheme is described in detail.
Embodiment one
A kind of composite soft tube scissors crossing method of construction described in the embodiment of the present application, comprises the following steps:
S1, Measurement accuracy determination slip casting air bag 2 lashing location;
S2, reclaim composite soft tube 1 at correct position colligation slip casting air bag 2;
S3, composite soft tube 1 are again transferred and are in placely carried out slip casting operation and complete composite soft tube scissors crossing process.
Wherein, in the present embodiment, the defining method of described step S1 is as follows:
According to the operation marine site depth of water in composite soft tube 1 is laid, when composite soft tube 1 enter mud point apart from scissors crossing point position be about 100-300m time, hose body is pressed the line of 0.5m spacing, marking lengths is 150m, continue to transfer composite soft tube 1 to cross over after original submerged pipeline is about 20-30 rice when it and stop composite soft tube laying, under ROV, water observation crosses over cross-point locations composite soft tube body scribe mark and record.Specific operation are as follows:
1, numerical control is laid
According to the operation marine site depth of water by calculating, catenary length when showing that composite soft tube is laid;
2, beacon is transferred
Locating personnel, in design route, closes on scissors crossing point straightway 100 meters of, records this coordinate points;
When composite soft tube 1 is laid to this coordinate points, suspend paving system; Laying personnel is in docking bridge place, and colligation subsea beacon and recovery are restricted; Stern staff is in beacon colligation place, and every spacing 0.5 meter line by 0, marking lengths is 150 meters, and record.
3, hose length mapping is fixed
Start paving system, continue flexible pipe and transfer, beacon enters water (when beacon enters water, stern laying personnel checks water (flow) direction, flows under guiding recovery rope into flexible pipe, prevents from causing wire rope to be entangled on flexible pipe) along with flexible pipe; According to computing staff's result of calculation, beacon is transferred to after calculating mud point, is laying forward 10 meters, is guaranteeing that beacon mud, suspends paving system; Stern flexible pipe mark rice number when laying personnel's record brings to, and by this data feedback to locating personnel.
4, point of intersection verification intended by former pipeline
Water under ROV, routes to plan cross-point locations along design, searches former laying steel pipe, and examine and cross over cross-point locations and record this composite soft tube scale, this scissors crossing point coordinates and composite soft tube scale are fed back to locating personnel by ROV operator.
5, beacon reclaims
Beacon mud, and after locating personnel records its coordinate points, notice deck workmen, uses stern winch to reclaim beacon, reclaims to adopt and directly breaks beacon static line mode.
As shown in Figure 1, in the present embodiment, the method for the colligation slip casting air bag 2 of described step S2 is as follows:
Reclaim and laid composite soft tube 1, composite soft tube 1 is stopped to reclaim operation until cross over cross-point locations scale arrival operation ship deck, 2 slip casting air bags bondage 2.1m position before and after scissors crossing graduation line respectively that workmen will vacuumize, slip casting pipeline 6 is connected on slip casting air bag 2, at slip casting air bag 2 end banding ball float 3, make to float on extra large pipe during slip casting air bag 2 times water, as shown in Figure 3.
Wherein, in the present embodiment, the leap processing method of described step S3 is as follows:
Again composite soft tube 1 is transferred along former laying route, under ROV, water is observed until original submerged pipeline transferred to by slip casting air bag cross over both sides, point of intersection, ROV removes slip casting air bag 2 and fixes and ball float 3 tie, finely tuning balloon positions and being divided by air bag is placed on mud face, two slip casting air bags 2 start slip casting operation simultaneously, the state of ROV Real Time Observation slip casting air bag 2, until new paving composite soft tube 1 produces 200-300mm spacing with original submerged pipeline stop slip casting operation, ROV turn off be positioned at slip casting air bag 2 end ball valve 8, observe the stability of slip casting air bag 2, ensure that composite soft tube 1 is steadily treated at slip casting air bag 2, complete the process to this point of intersection, remove slip casting pipeline 6 and be recycled to operation ship deck, pipeline reclaims and is divided into two schemes:
If during slip casting, diver can descend water operation, namely starts pipeline recovery scheme.
Diver, before slip casting, prepares lower water operation in boat deck; When beginning slip casting, diver descends water (along the dive of slip casting pipeline to air bag threeway 7 place) immediately, and slip casting is complete, and slip casting is suspended on deck; Threeway 7 rapid pipe joint by two slip casting air bag ball valves 8, threeway 7 valve Close All, and disconnects by diver; After disconnection, deck reopens grouting equipment, is got by residue cement slurry; After diver swims back cage, start stern hydraulic winch, carry out the recovery operation of slip casting pipeline 6.
If during slip casting, diver can not descend water operation, namely starts and abandons slurry injection pipe scheme.
ROV closes 20 meters, threeway upper end slurry injection pipe valve under water; Pipeline valve is closed by stern, is bind on flexible pipe by pipe by adhesive tape, carries out pipe abandon.
Wherein, in the present embodiment, the diameter of described slip casting air bag is 1.2 ~ 1.5 meters, and length is 5 ~ 7 meters, and bearing capacity is not less than 2MPa.
As shown in Figure 2, in the present embodiment, described slip casting pipeline is made up of beater 4, grouting pump 5, slip casting pipeline 6, slip casting pipeline 6 has slip casting threeway 7, connects two slip casting air bags 2 respectively, more than grouting pump 5 rated pressure 5MPa by threeway 7.
Wherein, in the present embodiment, described grouting pressure controls between 0.8 ~ 1MPa, and cement adopts PC32.5 Portland cement, and cement slurry proportioning 1:1, the grouting amount of single slip casting air bag is 2/3 of overall slip casting air bag capacity.
The above, it is only preferred embodiment of the present invention, not any pro forma restriction is done to the present invention, although the present invention discloses as above with preferred embodiment, but and be not used to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, make few modifications when the technology contents of above-mentioned announcement can be utilized or be modified to the Equivalent embodiments of equivalent variations, in every case be the content not departing from technical solution of the present invention, according to any simple modification that technical spirit of the present invention is done above embodiment, equivalent variations and modification, all still belong in the scope of technical solution of the present invention.

Claims (7)

1. a composite soft tube scissors crossing method of construction, is characterized in that, comprises the following steps:
S1, Measurement accuracy determination slip casting air bag lashing location;
S2, reclaim composite soft tube at correct position colligation slip casting air bag;
S3, composite soft tube are again transferred and are in placely carried out slip casting operation and complete composite soft tube scissors crossing process.
2. a kind of composite soft tube scissors crossing method of construction according to claim 1, it is characterized in that, the defining method of described step S1 is as follows:
According to the operation marine site depth of water in composite soft tube is laid, when composite soft tube enter mud point apart from scissors crossing point position be about 100-300m time, hose body is pressed the line of 0.5m spacing, marking lengths is 150m, continue to transfer composite soft tube to cross over after original submerged pipeline is about 20-30 rice when it and stop composite soft tube laying, under ROV, water observation crosses over cross-point locations composite soft tube body scribe mark and record.
3. a kind of composite soft tube scissors crossing method of construction according to claim 1, is characterized in that, the method for the colligation slip casting air bag of described step S2 is as follows:
Reclaim and lay composite soft tube, until cross over cross-point locations scale to arrive operation ship deck stopping composite soft tube recovery operation, 2 slip casting air bags bondage 2.1m position before and after scissors crossing graduation line respectively that workmen will vacuumize, slip casting pipeline is connected on slip casting air bag, at slip casting air bag end banding ball float, after making slip casting air bag launching, ball float floats on extra large pipe all the time.
4. a kind of composite soft tube scissors crossing method of construction according to claim 1, it is characterized in that, the leap processing method of described step S3 is as follows:
Again composite soft tube is transferred along former laying route, under ROV, water is observed until original submerged pipeline transferred to by slip casting air bag cross over both sides, point of intersection, ROV removes slip casting air bag and fixes and ball float tie, finely tuning slip casting balloon positions and being divided by slip casting air bag is placed on mud face, two slip casting air bags start slip casting operation simultaneously, the state of ROV Real Time Observation slip casting air bag, until new paving composite soft tube and original submerged pipeline produce 200-300mm spacing stop slip casting operation, ROV turn off be positioned at slip casting air bag end ball valve, observe the stability of slip casting air bag, ensure that composite soft tube is steadily treated at slip casting air bag, complete the process to this point of intersection, remove slip casting pipeline and be recycled to operation ship deck.
5. a kind of composite soft tube scissors crossing method of construction according to claim 1 or 3 or 4 any one, is characterized in that, the diameter of described slip casting air bag is 1.2 ~ 1.5 meters, and length is 5 ~ 7 meters, and bearing capacity is not less than 2MPa.
6. a kind of composite soft tube scissors crossing method of construction according to claim 4, it is characterized in that, described filling system is made up of beater, grouting pump, slip casting pipeline, slip casting pipeline there is slip casting threeway, two slip casting air bags are connected respectively, more than grouting pump rated pressure 5MPa by threeway.
7. a kind of composite soft tube scissors crossing method of construction according to claim 4, it is characterized in that, described grouting pressure controls between 0.8 ~ 1MPa, and cement adopts PC32.5 Portland cement, cement slurry proportioning 1:1, the grouting amount of single slip casting air bag is 2/3 of overall slip casting air bag capacity.
CN201510576449.7A 2015-09-11 2015-09-11 A kind of composite soft tube scissors crossing construction method Active CN105156759B (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106015736A (en) * 2016-05-16 2016-10-12 深圳海油工程水下技术有限公司 Suspended span processing method for subsea pipeline
CN114893185A (en) * 2022-04-19 2022-08-12 中国海洋大学 Submarine mining vehicle subsidence detection and active escaping device and method
CN114925413A (en) * 2022-03-25 2022-08-19 中海石油(中国)有限公司天津分公司 Submarine pipeline cross-crossing protection processing method

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US3911689A (en) * 1973-09-19 1975-10-14 Texaco Inc Pipe laying vessel with stinger and method
DE2505294A1 (en) * 1975-02-07 1976-08-19 Siemens Ag Pipe line internal travel body drive and brake - has central piston with through flow channel of cross section variable by electromagnetic controller (NL100876)
CN102720890A (en) * 2012-06-07 2012-10-10 中国海洋石油总公司 Crossing protector for submarine pipeline
KR20130083181A (en) * 2012-01-12 2013-07-22 현대중공업 주식회사 The method for improvement of on-bottom stability of pipeline installed on the seabed
CN103216678A (en) * 2012-01-19 2013-07-24 天津市海王星海上工程技术有限公司 Grouting air sac method for suspending sea pipe
CN104676108A (en) * 2015-03-18 2015-06-03 广东省水利电力勘测设计研究院 Designing method for sea-crossing steel sinking pipeline

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3911689A (en) * 1973-09-19 1975-10-14 Texaco Inc Pipe laying vessel with stinger and method
DE2505294A1 (en) * 1975-02-07 1976-08-19 Siemens Ag Pipe line internal travel body drive and brake - has central piston with through flow channel of cross section variable by electromagnetic controller (NL100876)
KR20130083181A (en) * 2012-01-12 2013-07-22 현대중공업 주식회사 The method for improvement of on-bottom stability of pipeline installed on the seabed
CN103216678A (en) * 2012-01-19 2013-07-24 天津市海王星海上工程技术有限公司 Grouting air sac method for suspending sea pipe
CN102720890A (en) * 2012-06-07 2012-10-10 中国海洋石油总公司 Crossing protector for submarine pipeline
CN104676108A (en) * 2015-03-18 2015-06-03 广东省水利电力勘测设计研究院 Designing method for sea-crossing steel sinking pipeline

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106015736A (en) * 2016-05-16 2016-10-12 深圳海油工程水下技术有限公司 Suspended span processing method for subsea pipeline
CN106015736B (en) * 2016-05-16 2017-11-14 深圳海油工程水下技术有限公司 Submarine pipeline suspended span processing method
CN114925413A (en) * 2022-03-25 2022-08-19 中海石油(中国)有限公司天津分公司 Submarine pipeline cross-crossing protection processing method
CN114925413B (en) * 2022-03-25 2024-03-29 中海石油(中国)有限公司天津分公司 Submarine pipeline crossing protection processing method
CN114893185A (en) * 2022-04-19 2022-08-12 中国海洋大学 Submarine mining vehicle subsidence detection and active escaping device and method
CN114893185B (en) * 2022-04-19 2023-02-17 中国海洋大学 Submarine mining vehicle subsidence detection and active escaping device and method

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Address after: 100010 Chaoyangmen North Street, Dongcheng District, Dongcheng District, Beijing

Co-patentee after: CNOOC (China) Limited Zhanjiang Branch

Patentee after: China Offshore Oil Group Co., Ltd.

Address before: 100000 China oil tower, 25 Chaoyangmen North Street, Chaoyang District, Beijing

Co-patentee before: CNOOC (China) Limited Zhanjiang Branch

Patentee before: China National Offshore Oil Corporation