CN104849075B - Detection methods of the land simulation ROV to marine oil and gas underwater installation - Google Patents
Detection methods of the land simulation ROV to marine oil and gas underwater installation Download PDFInfo
- Publication number
- CN104849075B CN104849075B CN201510130674.8A CN201510130674A CN104849075B CN 104849075 B CN104849075 B CN 104849075B CN 201510130674 A CN201510130674 A CN 201510130674A CN 104849075 B CN104849075 B CN 104849075B
- Authority
- CN
- China
- Prior art keywords
- rov
- marine oil
- underwater installation
- gas underwater
- gas
- 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.)
- Active
Links
- 238000009434 installation Methods 0.000 title claims abstract description 77
- 238000001514 detection method Methods 0.000 title claims abstract description 18
- 238000004088 simulation Methods 0.000 title claims abstract description 15
- 238000012360 testing method Methods 0.000 claims abstract description 21
- 244000144985 peep Species 0.000 claims abstract description 15
- 238000001816 cooling Methods 0.000 claims description 2
- 238000011161 development Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 5
- 238000011900 installation process Methods 0.000 abstract description 3
- 239000013535 sea water Substances 0.000 abstract description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 9
- 230000002633 protecting effect Effects 0.000 description 5
- 238000011084 recovery Methods 0.000 description 3
- 101000661812 Arabidopsis thaliana Probable starch synthase 4, chloroplastic/amyloplastic Proteins 0.000 description 2
- 241001317177 Glossostigma diandrum Species 0.000 description 1
- 241000348346 Suta Species 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Earth Drilling (AREA)
- Pipeline Systems (AREA)
Abstract
The invention discloses a kind of land simulation ROV to the detection method of marine oil and gas underwater installation, comprise the following steps：ROV is hanging, and control the ROV to be worked under temperature constant state；The ROV is controlled go to the path testing of marine oil and gas underwater installation；The ROV is controlled to be read out the identification information test of the marine oil and gas underwater installation；The operation for controlling the ROV to complete to the handle hole and peep hole of the marine oil and gas underwater installation is tested.Implement the present invention, by to marine oil and gas underwater installation ROV detections waterborne, entity ROV is applied in the ROV tests of marine oil and gas underwater installation, to determine whether ROV interfaces are reasonable, underwater operation can be completed, to ensure that ROV can be smoothly applied in the underwater installation process of marine oil and gas underwater installation, is avoided in practical application because ROV can not be well on installation to marine oil and gas underwater installation, influence seawater oil gas development process to be smoothed out, cause project to delay and cost increase.
Description
Technical field
The present invention relates to marine oil and gas underwater installation to debug field, more particularly to a kind of land simulation ROV to marine oil and gas
The detection method of underwater installation.
Background technology
Under the background under global oil price is in not, deep-sea oil gas exploration and development turns into new oil development in China
Focus.With the increase of China's exploitation of offshore oil and gas depth of water, increasing marine oil and gas underwater installation, such as deep water basal disc, depth
Water pipe remittance etc., is applied in deep-sea oil gas exploration and development；As LIWAN3-1 projects SSIV basal discs and SUTA, PY34-1 project
Manifold of SSIV basal discs, LH4-1 and LH19-5 etc..With the increase of the oil and gas development depth of water, marine oil and gas underwater installation it is underwater
The operations such as installation, function are realized, recovery is safeguarded all rely on ROV progress.
Remote underwater robot (Remotely Operated Vehicle, hereinafter referred to as ROV) is visited as a kind of mankind
A kind of important instrument during rope, research, exploitation marine resources.Can ROV enter to marine oil and gas underwater installation under water
Row operation, sign on marine oil and gas underwater installation can be read, can ROV go to marine oil and gas underwater installation gathering hole to go forward side by side
Row operation, it is the key of marine oil and gas underwater installation ROV operate interfaces design success or failure.ROV is direct plungeed into sea in the prior art
Imported oil gas underwater installation underwater operation, whether associative operation can not completed to it and detected, if ROV can not complete correlation
Operation, will cause serious obstruction to the smooth installation of marine oil and gas underwater installation.
The content of the invention
The technical problem to be solved in the present invention is, the defects of for prior art, there is provided a kind of land simulation ROV is to sea
The detection method of imported oil gas underwater installation.
The technical solution adopted for the present invention to solve the technical problems is：A kind of land simulation ROV is underwater to marine oil and gas
The detection method of equipment, comprises the following steps：
S1：ROV is hanging, and control the ROV to be worked under temperature constant state；
S2：The ROV is controlled go to the path testing of marine oil and gas underwater installation；
S3：The ROV is controlled to be read out the identification information test of the marine oil and gas underwater installation；
S4：The operation for controlling the ROV to complete to the handle hole and peep hole of the marine oil and gas underwater installation is tested.
Preferably, step S0 is also included before the step S1：By ROV, ROV control room, hydraulic power station, folding and unfolding
Cable winch and generator link into an integrated entity；Wherein, the ROV control rooms are connected with the ROV to control and check that the ROV is surveyed
Test result；The hydraulic power station is connected with the ROV for providing hydraulic power to the ROV；The folding and unfolding cable winch with
ROV is connected；The generator is connected with the ROV control rooms and the folding and unfolding cable winch respectively.
Preferably, the step S1 includes：The ROV is vacantly sling using the loop wheel machine；And use fire hose pair
The ROV carries out continual bath cooling, so that the ROV works under temperature constant state.
Preferably, the step S2 includes：The ROV is controlled to be moved to the marine oil and gas underwater installation by preset path
Operation hole site and observation hole site, accordingly control the control folding and unfolding cable winch recovery or decentralization umbilical cables, it is logical to complete
Drive test tries.
Preferably, the step S2 also includes：It is provided for avoiding the ROV from deviateing the default road on the loop wheel machine
The limit guide rail of footpath movement.
Preferably, the step S3 includes：The picture pick-up device set on the ROV is controlled to gather the marine oil air water
The identification information of lower equipment surface, and dish is carried out in ROV control rooms.The identification information includes graduation mark mark, medium
Flow direction arrow, T.N. marks and P.N. marks.
Preferably, the step S4 includes：
S41：The ROV is controlled to open the handle hole of marine oil and gas underwater installation and the cover plate of peep hole, and to the behaviour
Make hole and peep hole is identified；
S42：The ROV is controlled to be assembled to hydraulic torque wrench on the mechanical arm of the ROV；
S43：Control the ROV to go to the handle hole of the marine oil and gas underwater installation, the hydraulic torque wrench is inserted
Enter in the handle hole, and after matching operation is completed, extract the hydraulic torque wrench；
S44:The ROV is controlled to untie the hydraulic torque wrench from the mechanical arm；
S45:The ROV is controlled to close the handle hole of the marine oil and gas underwater installation and the cover plate of peep hole.
The present invention has the following advantages that compared with prior art：Implement the present invention, by simulating ROV by land to marine oil
Gas underwater installation is detected, and entity ROV is applied in the ROV tests of marine oil and gas underwater installation, to determine that ROV interfaces are
It is no reasonable, underwater operation can be smoothly completed, was installed under water with ensureing that ROV can smoothly be applied to marine oil and gas underwater installation
Cheng Zhong, avoid influenceing seawater oil and gas development because ROV can not be well on to marine oil and gas underwater installation installation in practical application and entering
Journey is smoothed out, and then causes project continuity and cost increase.
Brief description of the drawings
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 flow chart of the detection method of marine oil and gas underwater installation.
Fig. 2 is the flow chart for controlling ROV to complete operation test in one embodiment of the invention.
Embodiment
In order to which technical characteristic, purpose and the effect of the present invention is more clearly understood, now compares accompanying drawing and describe in detail
The embodiment of the present invention.
Fig. 1 shows detection methods of the land simulation ROV in one embodiment of the invention to marine oil and gas underwater installation.This reality
Apply in example, marine oil and gas underwater installation is deep water basal disc.Specifically, the inspections of the land simulation ROV to marine oil and gas underwater installation
Survey method comprises the following steps：
S0：ROV, ROV control room, hydraulic power station, folding and unfolding cable winch and generator are linked into an integrated entity, complete equipment
Connection.Wherein, the ROV is hydraulic-driven, and power, the liquid are provided to ROV using the hydraulic power station (i.e. HPU) supporting with ROV
Pressure power station is connected with ROV.ROV control rooms are connected with ROV to control and check ROV test results, such as check ROV camera
The video recording of monitoring.Folding and unfolding cable winch is connected with ROV, for the length according to ROV and the distance controlling umbilical cables of ROV control rooms.
Generator is connected with ROV control rooms and folding and unfolding cable winch respectively.After the connection and debugging of relevant device is completed, by above ROV
Suspension centre and loop wheel machine complete to connect.
S1：ROV is hanging, and control ROV to be worked under temperature constant state.Specifically, it is using 15 tons of loop wheel machine that ROV is hanging
Sling, need to be diagonally opposed spacing to ROV progress during lifting.After the completion of hanging sling, ROV is set to start shooting, and use
Fire hose carries out continual bath to the ROV and cooled, so that ROV works under temperature constant state, avoids in detection process
ROV temperature is too high, influences its normal work.
S2：Control ROV go to the path testing of marine oil and gas underwater installation.Specifically, control ROV presses preset path
The operation hole site and observation hole site of marine oil and gas underwater installation are moved to, it is corresponding to control the recovery of folding and unfolding cable winch or decentralization navel
Band cable, to complete path testing.During path testing is carried out, it is used to avoid ROV deviations pre- on loop wheel machine by being arranged on
If it is spacing to ROV progress that limit guide rail is moved in path, to avoid vacillating now to the left, now to the right, cause ROV and marine oil and gas underwater installation knot
Structure collides.Specifically, handle hole is arranged in the protect-ing frame structure of marine oil and gas underwater installation.It is to be appreciated that in vacant state
Under, if ROV can arrive at ROV handle holes and observation hole site (i.e. ROV will not collide with protect-ing frame structure) with accessible, lead to
Road test passes, otherwise it is considered as unqualified.
S3：Control ROV is read out the identification information test of the marine oil and gas underwater installation.Specifically, control on ROV
The identification information on the picture pick-up device collection marine oil and gas underwater installation surface of setting, and dish is carried out in ROV control rooms.Mark
Information include be arranged on the mud mat of marine oil and gas underwater installation graduation mark mark and media flow direction-indicating arrow,
T.N. mark and P.N. marks and the handle hole mark being arranged in the protect-ing frame structure of marine oil and gas underwater installation, wherein T.N.
Mark and P.N. marks refer to true north and platform north marks respectively, for pointing to marine oil and gas underwater installation
Underwater direction.It is to be appreciated that during ROV is vacantly sling, spacing, mark letter need to be carried out to ROV diagonally opposed
The identification of breath can be advantageous to the position of correct identification marine oil and gas underwater installation, to protect being normally carried out for ROV detection work.
S4：The operation for controlling ROV to complete to the handle hole and peep hole of marine oil and gas underwater installation is tested, to simulate ROV
To the operation in marine oil and gas underwater installation installation process, install under water so as to ensureing ROV in marine oil and gas underwater installation suitable
Profit.As shown in Fig. 2 step S4 includes：
S41：Control loop wheel machine transfers ROV to ground where marine oil and gas underwater installation, and control ROV, which is opened, is arranged on ocean
The cover plate of handle hole and peep hole in the protect-ing frame structure of oil gas underwater installation, and handle hole and peep hole are identified.Tool
Body, handle hole and peep hole to ROV are identified the instruction O/S including using ROV cameras to valve operation hole and referred to
Show that the O/S in hole is identified.
S42：Recover that the hydraulic torque wrench of marine valve opening door is assembled to ROV mechanical arm to land, control ROV
On.
S43：Loop wheel machine slings ROV again, and control ROV goes to the handle hole of marine oil and gas underwater installation, hydraulic torque is pulled
In hand insertion operation hole, and after matching operation is completed, hydraulic torque wrench is extracted.It is to be appreciated that in this process, pass through
Picture pick-up device on ROV checks peep hole, to control the hydraulic torque wrench on ROV to complete matching operation.
S44:ROV slings to put to land, control ROV again and unties hydraulic torque wrench from mechanical arm, completes hydraulic pressure
The de-coordination of torque wrench.
S45:Sling and sling ROV again, go to the protect-ing frame structure top plate of marine oil and gas underwater installation, control ROV uses machine
The handle hole of tool closure arm marine oil and gas underwater installation and the cover plate of peep hole, complete ROV operation test.
It is to be appreciated that after completing step S45, remove ROV, ROV control room, hydraulic power station, folding and unfolding cable winch and
The connection of generator, reclaim ROV detection devices.
Implement the present invention, marine oil and gas underwater installation is detected by simulating ROV by land, entity ROV is used
Into the ROV tests of marine oil and gas underwater installation, to determine whether ROV interfaces are reasonable, underwater operation can be smoothly completed, to protect
Card ROV can be smoothly applied in the underwater installation process of marine oil and gas underwater installation, avoided in practical application because ROV can not be to sea
Imported oil gas underwater installation is well on installation, influences being smoothed out for seawater oil gas development process, so cause project continue and
Cost increase.
The present invention is illustrated by a specific embodiment, it will be appreciated by those skilled in the art that, do not departing from
In the case of the scope of the invention, various conversion and equivalent substitute can also be carried out to the present invention.In addition, it is directed to particular condition or tool
Body situation, various modifications can be made to the present invention, without departing from the scope of the present invention.Therefore, the present invention is not limited to disclosed
Specific embodiment, and whole embodiments for falling within the scope of the appended claims should be included.
Claims (6)
1. a kind of land simulation ROV is to the detection method of marine oil and gas underwater installation, it is characterised in that：Comprise the following steps：
S0：ROV, ROV control room, hydraulic power station, folding and unfolding cable winch and generator are linked into an integrated entity；Wherein, it is described
ROV control rooms are connected with the ROV to control and check ROV test results；The hydraulic power station is connected with the ROV and is used for
Hydraulic power is provided to the ROV；The folding and unfolding cable winch is connected with ROV；The generator respectively with the ROV control rooms and
The folding and unfolding cable winch is connected；
S1：ROV is hanging, and control the ROV to be worked under temperature constant state；
S2：The ROV is controlled go to the path testing of marine oil and gas underwater installation；
S3：The ROV is controlled to be read out the identification information test of the marine oil and gas underwater installation；
S4：The operation for controlling the ROV to complete to the handle hole and peep hole of the marine oil and gas underwater installation is tested；
Wherein step S0 is performed before S1.
2. land simulation ROV according to claim 1 is to the detection method of marine oil and gas underwater installation, it is characterised in that：
The step S1 includes：The ROV is vacantly sling using loop wheel machine；And the ROV is carried out using fire hose continual
Bath cooling, so that the ROV works under temperature constant state.
3. land simulation ROV according to claim 1 is to the detection method of marine oil and gas underwater installation, it is characterised in that：
The step S2 includes：Control the ROV by preset path be moved to the marine oil and gas underwater installation operation hole site and
Hole site is observed, accordingly controls the folding and unfolding cable winch to reclaim or transfers umbilical cables, to complete path testing.
4. land simulation ROV according to claim 3 is to the detection method of marine oil and gas underwater installation, it is characterised in that：
The step S2 also includes：The limit guide rail for avoiding the ROV from deviateing the preset path movement is provided on loop wheel machine.
5. land simulation ROV according to claim 1 is to the detection method of marine oil and gas underwater installation, it is characterised in that：
The step S3 includes：The picture pick-up device set on the ROV is controlled to gather the mark on the marine oil and gas underwater installation surface
Information, and dish is carried out in ROV control rooms；The identification information include graduation mark mark, media flow direction-indicating arrow,
T.N. mark and P.N. marks.
6. land simulation ROV according to claim 1 is to the detection method of marine oil and gas underwater installation, it is characterised in that：
The step S4 includes：
S41：The ROV is controlled to open the handle hole of marine oil and gas underwater installation and the cover plate of peep hole, and to the handle hole
It is identified with peep hole；
S42：The ROV is controlled to be assembled to hydraulic torque wrench on the mechanical arm of the ROV；
S43：Control the ROV to go to the handle hole of the marine oil and gas underwater installation, the hydraulic torque wrench is inserted into institute
State in handle hole, and after matching operation is completed, extract the hydraulic torque wrench；
S44:The ROV is controlled to untie the hydraulic torque wrench from the mechanical arm；
S45:The ROV is controlled to close the handle hole of the marine oil and gas underwater installation and the cover plate of peep hole.
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104849075A CN104849075A (en) | 2015-08-19 |
| CN104849075B true CN104849075B (en) | 2017-12-01 |
Family
ID=53848889
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104849075B (en) |
| WO (1) | WO2016150186A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104849075B (en) * | 2015-03-24 | 2017-12-01 | 深圳海油工程水下技术有限公司 | Detection methods of the land simulation ROV to marine oil and gas underwater installation |
| 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 |
| CN110434876B (en) * | 2019-08-09 | 2024-03-22 | 南京工程学院 | Six-degree-of-freedom ROV simulation driving system and simulation method thereof |
| 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 |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4821665A (en) * | 1986-03-13 | 1989-04-18 | Honeywell Inc. | Submersible ROV for cleaning and inspecting metal |
| EP1070573A1 (en) * | 1999-07-19 | 2001-01-24 | Mentor Subsea Technology Services Inc. | Subsea electronic tagging and monitoring systems |
| CN101359400A (en) * | 2008-09-17 | 2009-02-04 | 湖南大学 | A Vision-Based Method for Orifice Spatial Location Positioning |
| CN102588675A (en) * | 2012-03-14 | 2012-07-18 | 中国海洋石油总公司 | Method for protectively recovering flexible tube from deep water |
| CN202834137U (en) * | 2012-10-09 | 2013-03-27 | 上海神开石油化工装备股份有限公司 | Underwater gate valve with hydraulic actuator |
| CN103711460A (en) * | 2013-12-31 | 2014-04-09 | 重庆前卫海洋石油工程设备有限责任公司 | Deep water pipeline multi-circuit bridging system and testing and installing method thereof |
| CN103883273A (en) * | 2014-02-19 | 2014-06-25 | 中国海洋石油总公司 | Method for utilizing two cranes on saturation diving support vessel to mount vertical pipe |
| CN203729922U (en) * | 2014-03-24 | 2014-07-23 | 江汉石油钻头股份有限公司 | Lowering tool for underwater control module |
| CN104085518A (en) * | 2014-07-29 | 2014-10-08 | 中国海洋石油总公司 | Cover plate with underwater robot interface |
| CN104344077A (en) * | 2014-08-12 | 2015-02-11 | 山东科技大学 | Robot for installing groove-type large-caliber pipeline connector in deepwater complex environment |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201161710Y (en) * | 2008-03-05 | 2008-12-10 | 中国科学院沈阳自动化研究所 | Underwater robot mooring cable length and motion direction detection device |
| US8310899B2 (en) * | 2008-12-23 | 2012-11-13 | Fairfield Industries Incorporated | Multiple receiver line deployment and recovery |
| CN102109618B (en) * | 2009-12-28 | 2012-08-29 | 中国科学院沈阳自动化研究所 | Launching detection sensor |
| CN101913418B (en) * | 2010-08-26 | 2012-10-31 | 华南理工大学 | A multi-degree-of-freedom water-jet propulsion remote-controlled underwater robot with cables |
| CN202163608U (en) * | 2011-06-01 | 2012-03-14 | 华南理工大学 | Remote-controlled tethered underwater robot |
| CN102539182A (en) * | 2011-12-14 | 2012-07-04 | 上海海事大学 | Autonomous remotely-operated vehicle (ARV) fault diagnosis principal component analysis device |
| CN104849075B (en) * | 2015-03-24 | 2017-12-01 | 深圳海油工程水下技术有限公司 | Detection methods of the land simulation ROV to marine oil and gas underwater installation |
-
2015
- 2015-03-24 CN CN201510130674.8A patent/CN104849075B/en active Active
- 2015-11-27 WO PCT/CN2015/095814 patent/WO2016150186A1/en active Application Filing
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4821665A (en) * | 1986-03-13 | 1989-04-18 | Honeywell Inc. | Submersible ROV for cleaning and inspecting metal |
| EP1070573A1 (en) * | 1999-07-19 | 2001-01-24 | Mentor Subsea Technology Services Inc. | Subsea electronic tagging and monitoring systems |
| CN101359400A (en) * | 2008-09-17 | 2009-02-04 | 湖南大学 | A Vision-Based Method for Orifice Spatial Location Positioning |
| CN102588675A (en) * | 2012-03-14 | 2012-07-18 | 中国海洋石油总公司 | Method for protectively recovering flexible tube from deep water |
| CN202834137U (en) * | 2012-10-09 | 2013-03-27 | 上海神开石油化工装备股份有限公司 | Underwater gate valve with hydraulic actuator |
| CN103711460A (en) * | 2013-12-31 | 2014-04-09 | 重庆前卫海洋石油工程设备有限责任公司 | Deep water pipeline multi-circuit bridging system and testing and installing method thereof |
| CN103883273A (en) * | 2014-02-19 | 2014-06-25 | 中国海洋石油总公司 | Method for utilizing two cranes on saturation diving support vessel to mount vertical pipe |
| CN203729922U (en) * | 2014-03-24 | 2014-07-23 | 江汉石油钻头股份有限公司 | Lowering tool for underwater control module |
| CN104085518A (en) * | 2014-07-29 | 2014-10-08 | 中国海洋石油总公司 | Cover plate with underwater robot interface |
| CN104344077A (en) * | 2014-08-12 | 2015-02-11 | 山东科技大学 | Robot for installing groove-type large-caliber pipeline connector in deepwater complex environment |
Non-Patent Citations (2)
| Title |
|---|
| ROV原理及在我国海洋石油工程中的应用;张杰 等;《中国造船》;20071130;第48卷;第132-136页 * |
| 微小型自主式水下机器人系统设计及试验;魏延辉 等;《哈尔滨工程大学学报》;20140531;第35卷(第5期);第566-570页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104849075A (en) | 2015-08-19 |
| WO2016150186A1 (en) | 2016-09-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104849075B (en) | Detection methods of the land simulation ROV to marine oil and gas underwater installation | |
| CN105020538B (en) | Sewage pipe network diving robot and detection method | |
| WO2011132040A3 (en) | Utilisation of tracers in hydrocarbon wells | |
| US10487641B2 (en) | Wireless emergency stop | |
| CN104765017B (en) | Manned underwater vehicle ultra short baseline locating system sea rating test method | |
| KR20170108990A (en) | Condition-based monitoring of materials in well bore applications | |
| CN109141956A (en) | A kind of underwater testing tree pilot system of deep water hydrocarbon test | |
| BRPI0708918A2 (en) | Method and system for displaying sweep data for oil well pipe based on sweep speed | |
| BRPI0709703A2 (en) | Method and system for assessing and displaying depth data | |
| CN114112822A (en) | Simulation system and prediction method for dynamic sand carrying capacity of drilling fluid | |
| NO20191232A1 (en) | Systems and methods for monitoring subsea wellhead systems | |
| Aliff et al. | Development of underwater pipe crack detection system for low-cost underwater vehicle using raspberry Pi and canny edge detection method | |
| CN104865955B (en) | Marine oil and gas underwater installation adjustment method | |
| CN2727395Y (en) | High temperature high pressure optical waveguide well logging system | |
| CN205793058U (en) | A kind of boat form drainpipe detecting equipment | |
| NO316294B1 (en) | Method and apparatus for reservoir monitoring via a prepared well | |
| CN101113673A (en) | Blowout preventer safety message data collecting device | |
| CN110045717B (en) | Device and method for testing butt joint performance of underwater control module | |
| CN106640845B (en) | Rotary steering hydraulic system solenoid valve block test method | |
| CN107355685A (en) | A kind of accurate device for determining underground utilities internal flaw position | |
| CN209295897U (en) | Underwater kit environment formation displacement data detection system | |
| CN207262059U (en) | A kind of device of accurate definite underground utilities internal flaw position | |
| CN205538323U (en) | Visual multicell sampler | |
| CN107870083A (en) | The method of testing of wire rope type riser stretcher protecting against shock valve | |
| Carpenter | Underwater Drones Promote Sustainability of Offshore Natural Resources Exploitation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 4th Floor, Main Building, Science and Technology Building, No. 1067 Nanhai Avenue, Nanshan District, Shenzhen City, Guangdong Province, 518067 Patentee after: CNOOC Shenzhen Ocean Engineering Technology Service Co.,Ltd. Address before: 4th Floor, Main Building, Science and Technology Building, No. 1067 Nanhai Avenue, Nanshan District, Shenzhen City, Guangdong Province, 518067 Patentee before: COOEC SUBSEA TECHNOLOGY Co.,Ltd. |