CN104849075A - Land simulation detection method for ROV for offshore oil and gas underwater equipment - Google Patents
Land simulation detection method for ROV for offshore oil and gas underwater equipment Download PDFInfo
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- CN104849075A CN104849075A CN201510130674.8A CN201510130674A CN104849075A CN 104849075 A CN104849075 A CN 104849075A CN 201510130674 A CN201510130674 A CN 201510130674A CN 104849075 A CN104849075 A CN 104849075A
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- rov
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
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Abstract
The invention discloses a land simulation detection method for an ROV for offshore oil and gas underwater equipment. The detection method comprises following steps: the ROV is suspended and controlled to work in a constant temperature state; the ROV is controlled to perform channel tests of the offshore oil and gas underwater equipment; the ROV is controlled to read identification information tests of the offshore oil and gas underwater equipment; and the ROV is controlled to accomplish operation tests of operation holes and observation holes of the offshore oil and gas underwater equipment. According to the detection method, waterborne detection of the ROV for the offshore oil and gas underwater equipment is performed, the physical ROV is applied to ROV tests of the offshore oil and gas underwater equipment so that whether ROV interfaces are reasonable and whether underwater operation can be accomplished are determined, the ROV can be smoothly applied to the underwater installation process of the offshore oil and gas underwater equipment, the condition that the development process of seawater oil and gas is affected since the offshore oil and gas underwater equipment cannot be smoothly installed by the ROV in the practical application is avoided, and project delay and increased cost are prevented.
Description
Technical field
The present invention relates to marine oil and gas subsea equipment debugging field, particularly relate to a kind of land simulation ROV to the detection method of marine oil and gas subsea equipment.
Background technology
Be under the background not at global oil price, deep-sea oil gas exploratory development has become new oil development focus in China.Along with the increase of China's exploitation of offshore oil and gas depth of water, increasing marine oil and gas subsea equipment, as deep water basal disc, deep water manifold etc., is applied in deep-sea oil gas exploratory development; As SSIV basal disc and the SSIV basal disc of SUTA, PY34-1 project, the manifold etc. of LH4-1 and LH19-5 of LIWAN3-1 project.Along with the increase of the oil and gas development depth of water, the operation such as installation under water, functional realiey, recovery maintenance of marine oil and gas subsea equipment all relies on ROV and carries out.
Remote underwater robot (Remotely Operated Vehicle, hereinafter referred to as ROV) is explored as a kind of mankind, study, a kind of important instrument developed in ocean resources process.Can ROV operate marine oil and gas subsea equipment under water, can the sign that read on marine oil and gas subsea equipment, ROV go to marine oil and gas subsea equipment gathering hole to go forward side by side line operate, is the key of marine oil and gas subsea equipment ROV operation-interface design success or failure.ROV is directly dropped into marine oil and gas subsea equipment underwater operation in prior art, whether can not complete associative operation to it and detect, if ROV can not complete associative operation, cause serious obstruction by the smooth installation of marine oil and gas subsea equipment.
Summary of the invention
The technical problem to be solved in the present invention is, for the defect of prior art, provides a kind of land simulation ROV to the detection method of marine oil and gas subsea equipment.
The technical solution adopted for the present invention to solve the technical problems is: a kind of land simulation ROV, to the detection method of marine oil and gas subsea equipment, comprises the following steps:
S1: ROV is unsettled, and control described ROV and work under temperature constant state;
S2: control the path testing that described ROV carries out going to marine oil and gas subsea equipment;
S3: control the identification information test that described ROV carries out reading described marine oil and gas subsea equipment;
S4: control described ROV and complete the described handle hole of marine oil and gas subsea equipment and the operational testing of viewport.
Preferably, also step S0 is comprised before described step S1: described ROV, ROV pulpit, hydraulic power station, folding and unfolding cable winch and generator are linked into an integrated entity; Wherein, described ROV pulpit is connected to control with described ROV and checks described ROV test result; Described hydraulic power station is connected for providing hydraulic power to described ROV with described ROV; Described folding and unfolding cable winch is connected with ROV; Described generator is connected with described folding and unfolding cable winch with described ROV pulpit respectively.
Preferably, described step S1 comprises: adopt described loop wheel machine to sling unsettled for described ROV; And adopt fire hose to carry out continual bath cooling to described ROV, work under temperature constant state to make described ROV.
Preferably, described step S2 comprises: control described ROV moves to described marine oil and gas subsea equipment handle hole position and viewport position by preset path, and corresponding control described control folding and unfolding cable winch reclaims or transfers umbilical cables, to complete path testing.
Preferably, described step S2 also comprises: on described loop wheel machine, arrange the limit guide rail for avoiding described ROV to depart from described preset path movement.
Preferably, described step S3 comprises: the picture pick-up device controlling that described ROV is arranged gathers the identification information on described marine oil and gas subsea equipment surface, and carries out dish at quarter in ROV pulpit.Described identification information comprises scale mark mark, media flow direction-indicating arrow, T.N. mark and P.N. mark.
Preferably, described step S4 comprises:
S41: control described ROV and open the handle hole of marine oil and gas subsea equipment and the cover plate of viewport, and described handle hole and viewport are identified;
S42: control described ROV and hydraulic torque wrench is assembled on the mechanical arm of described ROV;
S43: control the handle hole that described ROV goes to described marine oil and gas subsea equipment, described hydraulic torque wrench is inserted in described handle hole, and after completing matching operation, extract described hydraulic torque wrench;
S44: control described ROV and described hydraulic torque wrench is untied from described mechanical arm;
S45: control described ROV and close the described handle hole of marine oil and gas subsea equipment and the cover plate of viewport.
The present invention compared with prior art tool has the following advantages: implement the present invention, by simulating ROV by land, marine oil and gas subsea equipment is detected, entity ROV is applied in the ROV test of marine oil and gas subsea equipment, to determine that whether ROV interface is reasonable, underwater operation can be completed smoothly, to ensure that ROV can be applied to marine oil and gas subsea equipment under water in installation process smoothly, avoid in practical application because ROV cannot to be well on installation to marine oil and gas subsea equipment, affect carrying out smoothly of seawater oil gas development process, and then cause project to continue and cost increase.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 be in one embodiment of the invention land simulation ROV to the process flow diagram of the detection method of marine oil and gas subsea equipment.
Fig. 2 is the process flow diagram of control ROV complete operation test in one embodiment of the invention.
Embodiment
In order to there be understanding clearly to technical characteristic of the present invention, object and effect, now contrast accompanying drawing and describe the specific embodiment of the present invention in detail.
Fig. 1 illustrates that land simulation ROV in one embodiment of the invention is to the detection method of marine oil and gas subsea equipment.In the present embodiment, marine oil and gas subsea equipment is deep water basal disc.Particularly, the detection method of this land simulation ROV to marine oil and gas subsea equipment comprises the steps:
S0: ROV, ROV pulpit, hydraulic power station, folding and unfolding cable winch and generator are linked into an integrated entity, the connection of finishing equipment.Wherein, this ROV is hydraulic-driven, and adopt the hydraulic power station (i.e. HPU) supporting with ROV to provide power to ROV, this hydraulic power station is connected with ROV.ROV pulpit is connected to control with ROV and checks ROV test result, as checked the video recording of the camera monitoring of ROV.Folding and unfolding cable winch is connected with ROV, for the length of the distance controlling umbilical cables according to ROV and ROV pulpit.Generator is connected with folding and unfolding cable winch with ROV pulpit respectively.After the connection completing relevant device and debugging, the suspension centre above ROV is completed with loop wheel machine and is connected.
S1: ROV is unsettled, and control ROV works under temperature constant state.Particularly, adopt the loop wheel machine of 15 tons to sling unsettled for ROV, in lifting process, need carry out spacing to ROV to angular direction.After unsettled having sling, ROV is started shooting, and adopted fire hose to carry out continual bath cooling to described ROV, to make ROV work under temperature constant state, avoided the temperature of ROV in testing process too high, affect it and normally work.
S2: control ROV carries out the path testing going to marine oil and gas subsea equipment.Particularly, control ROV moves to handle hole position and the viewport position of marine oil and gas subsea equipment by preset path, and corresponding control folding and unfolding cable winch reclaims or transfers umbilical cables, to complete path testing.Carrying out in path testing process, by being arranged on moving limit guide rail and carry out spacing for avoiding ROV to depart from preset path to ROV on loop wheel machine, to avoid vacillating now to the left, now to the right, causing the structural collision of ROV and marine oil and gas subsea equipment.Particularly, handle hole is arranged in the protect-ing frame structure of marine oil and gas subsea equipment.Understandably, under vacant state, if ROV can the accessible ROV of arriving at handle hole and viewport position (namely ROV can not collide with protect-ing frame structure), then path testing is qualified, otherwise is considered as defective.
S3: control ROV carries out the identification information test of reading described marine oil and gas subsea equipment.Particularly, the picture pick-up device that control ROV is arranged gathers the identification information on marine oil and gas subsea equipment surface, and carries out dish at quarter in ROV pulpit.The handle hole that the identification information scale mark comprised on the mud mat being arranged on marine oil and gas subsea equipment identifies and media flow direction-indicating arrow, T.N. mark and P.N. identify and are arranged in the protect-ing frame structure of marine oil and gas subsea equipment identifies; wherein T.N. mark and P.N. identify refer to that true north and platform north identifies respectively, be used in reference to marine oil and gas subsea equipment under water towards.Understandably, in the process of slinging that ROV is unsettled, need carry out spacing to ROV to angular direction, the identification of identification information can be conducive to the position correctly identifying marine oil and gas subsea equipment, to protect normally carrying out of the testing of ROV.
S4: the control ROV operational testing completing handle hole to marine oil and gas subsea equipment and viewport, to simulate ROV to the operation in marine oil and gas subsea equipment installation process, thus ensure ROV marine oil and gas subsea equipment install under water smooth.As shown in Figure 2, step S4 comprises:
S41: control loop wheel machine and transferred by ROV to ground, marine oil and gas subsea equipment place, control ROV opens the cover plate of handle hole in the protect-ing frame structure being arranged on marine oil and gas subsea equipment and viewport, and identifies handle hole and viewport.Particularly, identify to comprise to the handle hole of ROV and viewport and adopt ROV camera to identify the instruction O/S in valve operation hole and the O/S of indicator hole.
The hydraulic torque wrench of marine valve opening door is assembled on the mechanical arm of ROV by S42: return to land, control ROV.
S43: loop wheel machine is sling ROV again, and control ROV goes to the handle hole of marine oil and gas subsea equipment, by hydraulic torque wrench update hole, and after completing matching operation, extracts hydraulic torque wrench.Understandably, this process Lu, check viewport by the picture pick-up device on ROV, complete matching operation with the hydraulic torque wrench on control ROV.
S44:ROV again slings and puts to land, and hydraulic torque wrench is untied from mechanical arm by control ROV, and the solution completing hydraulic torque wrench is joined.
S45: sling the ROV that again slings, goes to the protect-ing frame structure top board of marine oil and gas subsea equipment, and control ROV uses mechanical arm to close the handle hole of marine oil and gas subsea equipment and the cover plate of viewport, completes the operational testing of ROV.
Understandably, after completing steps S45, remove the connection of ROV, ROV pulpit, hydraulic power station, folding and unfolding cable winch and generator, reclaim ROV checkout equipment.
Implement the present invention, by simulating ROV by land, marine oil and gas subsea equipment is detected, entity ROV is applied in the ROV test of marine oil and gas subsea equipment, to determine that whether ROV interface is reasonable, underwater operation can be completed smoothly, to ensure that ROV can be applied to marine oil and gas subsea equipment under water in installation process smoothly, avoid in practical application because ROV cannot to be well on installation to marine oil and gas subsea equipment, affect carrying out smoothly of seawater oil gas development process, and then cause project to continue and cost increase.
The present invention is described by a specific embodiment, it will be appreciated by those skilled in the art that, without departing from the present invention, can also carry out various conversion and be equal to substituting to the present invention.In addition, for particular condition or concrete condition, various amendment can be made to the present invention, and not depart from the scope of the present invention.Therefore, the present invention is not limited to disclosed specific embodiment, and should comprise the whole embodiments fallen within the scope of the claims in the present invention.
Claims (7)
1. land simulation ROV is to a detection method for marine oil and gas subsea equipment, it is characterized in that: comprise the following steps:
S1: ROV is unsettled, and control described ROV and work under temperature constant state;
S2: control the path testing that described ROV carries out going to marine oil and gas subsea equipment;
S3: control the identification information test that described ROV carries out reading described marine oil and gas subsea equipment;
S4: control described ROV and complete the described handle hole of marine oil and gas subsea equipment and the operational testing of viewport.
2. land simulation ROV according to claim 1 is to the detection method of marine oil and gas subsea equipment, it is characterized in that: also comprise step S0 before described step S1: described ROV, ROV pulpit, hydraulic power station, folding and unfolding cable winch and generator are linked into an integrated entity; Wherein, described ROV pulpit is connected to control with described ROV and checks described ROV test result; Described hydraulic power station is connected for providing hydraulic power to described ROV with described ROV; Described folding and unfolding cable winch is connected with ROV; Described generator is connected with described folding and unfolding cable winch with described ROV pulpit respectively.
3. land simulation ROV according to claim 2 is to the detection method of marine oil and gas subsea equipment, it is characterized in that: described step S1 comprises: adopt described loop wheel machine to sling unsettled for described ROV; And adopt fire hose to carry out continual bath cooling to described ROV, work under temperature constant state to make described ROV.
4. land simulation ROV according to claim 2 is to the detection method of marine oil and gas subsea equipment, it is characterized in that: described step S2 comprises: control described ROV moves to described marine oil and gas subsea equipment handle hole position and viewport position by preset path, corresponding control described control folding and unfolding cable winch reclaims or transfers umbilical cables, to complete path testing.
5. land simulation ROV according to claim 4 is to the detection method of marine oil and gas subsea equipment, it is characterized in that: described step S2 also comprises: on described loop wheel machine, arrange the limit guide rail for avoiding described ROV to depart from described preset path movement.
6. land simulation ROV according to claim 1 is to the detection method of marine oil and gas subsea equipment, it is characterized in that: described step S3 comprises: the picture pick-up device controlling that described ROV is arranged gathers the identification information on described marine oil and gas subsea equipment surface, and carries out dish at quarter in ROV pulpit; Described identification information comprises scale mark mark, media flow direction-indicating arrow, T.N. mark and P.N. mark.
7. land simulation ROV according to claim 1 is to the detection method of marine oil and gas subsea equipment, it is characterized in that: described step S4 comprises:
S41: control described ROV and open the handle hole of marine oil and gas subsea equipment and the cover plate of viewport, and described handle hole and viewport are identified;
S42: control described ROV and hydraulic torque wrench is assembled on the mechanical arm of described ROV;
S43: control the handle hole that described ROV goes to described marine oil and gas subsea equipment, described hydraulic torque wrench is inserted in described handle hole, and after completing matching operation, extract described hydraulic torque wrench;
S44: control described ROV and described hydraulic torque wrench is untied from described mechanical arm;
S45: control described ROV and close the described handle hole of marine oil and gas subsea equipment and the cover plate of viewport.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510130674.8A CN104849075B (en) | 2015-03-24 | 2015-03-24 | Detection methods of the land simulation ROV to marine oil and gas underwater installation |
| PCT/CN2015/095814 WO2016150186A1 (en) | 2015-03-24 | 2015-11-27 | Land simulation method of for detecting offshore oil and gas underwater device by rov |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510130674.8A CN104849075B (en) | 2015-03-24 | 2015-03-24 | Detection methods of the land simulation ROV to marine oil and gas underwater installation |
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| Publication Number | Publication Date |
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| CN104849075A true CN104849075A (en) | 2015-08-19 |
| CN104849075B CN104849075B (en) | 2017-12-01 |
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| CN201510130674.8A Active CN104849075B (en) | 2015-03-24 | 2015-03-24 | Detection methods of the land simulation ROV to marine oil and gas underwater installation |
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| WO (1) | WO2016150186A1 (en) |
Cited By (3)
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| 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 |
| CN110434876A (en) * | 2019-08-09 | 2019-11-12 | 南京工程学院 | A kind of six degree of freedom ROV driving simulation system and its analogy method |
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| CN112596412A (en) * | 2020-12-11 | 2021-04-02 | 中国科学院沈阳自动化研究所 | Multi-AUV simulation platform |
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| WO2016150186A1 (en) * | 2015-03-24 | 2016-09-29 | 深圳海油工程水下技术有限公司 | Land simulation method of for detecting offshore oil and gas underwater device by rov |
| 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 |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2016150186A1 (en) | 2016-09-29 |
| CN104849075B (en) | 2017-12-01 |
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