Submarine pipeline detection method and system based on unmanned ship carrying ROV
Submarine pipeline detection method and system based on unmanned ship carrying ROV
- Neue Suche nach: YANG SHAOGUO
- Neue Suche nach: JI XIN
- Neue Suche nach: SONG KAI
- Neue Suche nach: TANG YUGUO
- Neue Suche nach: CHEN XIANGYU
- Neue Suche nach: YANG SHAOGUO
- Neue Suche nach: JI XIN
- Neue Suche nach: SONG KAI
- Neue Suche nach: TANG YUGUO
- Neue Suche nach: CHEN XIANGYU
The invention belongs to the field of pipeline detection, particularly relates to a subsea pipeline detection method and system based on an unmanned ship carrying an ROV, and aims to solve the problem of insufficient positioning precision of a pipeline detection robot in the prior art. The method comprises the following steps: generating a navigation route of an unmanned ship based on a route diagram of a target subsea pipeline; the unmanned ship runs according to the sailing route, and the remote control unmanned submersible ROV is released; the unmanned ship scans the target subsea pipeline in real time in a sound wave multi-beam scanning and side scanning mode to obtain reflected sound waves; after scanning of the unmanned ship is completed, remotely controlling the ROV to carry out short-distance scanning on the target subsea pipeline; recording the position of the unmanned ship and the relative position between the ROV and the position of the unmanned ship in real time; and carrying out position matching on the reflected sound wave and the ROV detection data to obtain a combined detection image. According to the invention, automatic external detection of the whole subsea pipeline is realized, and the detected abnormal position is accurately positioned.
本发明属于管道检测领域，具体涉及了一种基于搭载ROV的无人艇的海底管线检测方法和系统，旨在解决现有技术中管道检测机器人定位精度不足的问题。本发明包括：基于目标海底管线的线路图，生成无人艇的航行路线；无人艇根据航行路线行驶，并释放遥控无人潜水器ROV；无人艇实时通过声波多波束扫描和侧扫的方式对目标海底管线进行扫描获取反射声波；在完成无人艇的扫描后，遥控无人潜水器ROV对目标海底管线进行近距扫描；实时记录无人艇位置和ROV与无人艇位置之间的相对位置；将反射声波和ROV检测数据进行位置匹配，获得组合检测图像。本发明实现自动化的对海底管线全线进行外部检测，并对检出异常的位置进行精准定位。
Dokumentinformationen
Submarine pipeline detection method and system based on unmanned ship carrying ROV
基于搭载ROV的无人艇的海底管线检测方法和系统
2023-04-18
Patent
Elektronische Ressource
Chinesisch
| IPC: | F17D Rohrleitungssysteme , PIPE-LINE SYSTEMS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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