KR101375362B1 - static and dynamic positioning system and method using real time sub-sea monitering - Google Patents

Abstract

The present invention measures the damage and service life of umbiological cables, pipes, pumps, and valves located on the seabed through real-time monitoring of the seabed, and accordingly enables automatic static and dynamic positioning control and management of appropriate offshore structures. Provides a static and dynamic positioning system and method for offshore structures using real-time monitoring of the seabed.

Description

Static and dynamic positioning system and method using real time sub-sea monitering}

The present invention monitors in real time the periodic and aperiodic coupled energy and response due to hydrodynamic properties of any one or more of umbilical cables, pipes, pumps and valves located on the seabed. The present invention relates to a static and dynamic positioning system and method of marine structures using real-time monitoring of the seabed, characterized in that the optimal static and dynamic positioning of the offshore structure.

1. Offshore Structure (FIG. 1)

An offshore structure is a structure that can remain at a point in the sea under any weather conditions without any structure connected to the land. Marine structures are used in various ways. It is installed for the development and production of subsea oil fields and gas, and is also used as a port structure for berthing large tankers. This is because large tankers need to be deep enough to berth, so when dredging is not possible, the jetty and dolphin must be extended deep into the harbor. This is called offshore marine terminal. In recent years, offshore structures are being built for power plants, oil storage facilities, and fishing relay bases.

Looking at the materials used to make offshore structures, the most commonly used material is steel. At this time, the part that goes under the sea uses a steel pipe with a circular cross section, because the cross-sectional shape receives less force from waves or currents. Another reason is that the steel pipe pile can be used as a foundation, and buoyancy can be used when installing the structure. You can receive it.

The upper structure of the sea is made of steel such as H-beam, which is easy to manufacture and easy to maintain. Steel has been widely used as a material for offshore structures due to its advantages such as ease of manufacture and installation, clarity of design, and robustness of structure, despite the disadvantages such as corrosion and sticking marine life.

In structures with deep water depths and hard seabed geology, concrete structures are often used. Concrete is highly corrosion resistant and can maintain a stable state with its own weight. The huge cylindrical concrete can be used as a storage facility for oil, etc., and can be easily transported, installed, and inspected. However, it is difficult to manufacture and limited seabed geological conditions, such as its use is limited to the North Sea or polar regions. The marine structures can be divided into three categories as follows.

(1) floating structure

It has been mainly used for oil drilling, but recently, its use has been spread to offshore power plants and oil storage facilities. Floating structures for oil drilling have the proposition that mobility and fixedness must be ensured at the same time. In other words, if the drilling fails, it should be able to move to another area immediately, and during drilling, it should be secured so as not to exert excessive force on the drilling pipe. There are three common uses for floating rigs:

a. Drill ship (FIG. 2)

Magnetic propulsion is possible and there is maneuverability, but fixedness is secured by mooring or dynamic positioning, so in bad weather, rolling, pitching, and the like, it is difficult to operate.

b. Jack-up rig (FIG. 3)

During operation, three legs are fixed to the sea floor to ensure stability. At the end of the drilling, the legs are lifted by jack-up and floated by the buoyancy of the hull, where the towing ship is towing to move to another area. The fixedness is superior to the drill ship, but it is impossible to operate in deep water, it is weak in maneuverability, and the jack up work may be suspended in bad weather.

c. Semi-submersible Driller (semisubmersible) (FIG. 4)

It is a floating structure with four or six legs and horizontal members called pontoons that connect each leg create buoyancy. It can be said to be stable in structure, but the upper deck area is large, and thus, a large amount of equipment can be shipped, which may result in temporary instability in bad weather. This has actually caused a major rollover. It is weak in mobility because it cannot propel itself, and it takes a lot of production and operating costs.

d. Floating production storage offloading (FPSO) (FIG. 5)

As a floating oil production and storage facility, it is a special ship suitable for small-scale deep sea oilfield development because it is possible to store and unload crude oil from the sea, and to move freely. In the high oil price era, oil producers around the world are investing heavily in oil exploration development projects, presuming further increases in crude oil prices. As a result, the economic and convenient movement of offshore oil field development has led to the emergence of a new type of FPSO unlike the existing fixed oil rigs.

The overall look of the FPSO looks like a regular super tanker. However, at the upper part, facilities for crude oil refining, gas compression, crude oil unloading, seawater injection, and self-power generation are installed.

Recently, nuclear power, gas turbines, wave power, tidal power, offshore wind or solar power plants, waste incinerators, etc., which are becoming increasingly difficult to select due to environmental pollution and NIMBY phenomenon, are being promoted. The maritime airport, which allows for 24 hours landing and landing on steel structures, remains a long-term challenge. Many small and medium-sized diesel power plants installed on barges are currently installed and operated around the world, and desalination plants, oil and gas storage facilities are also installed as offshore flotation facilities.

(2) fixed structure

Currently, the most commonly used marine stationary structure is the so-called jacket (steel) welded structure (Fig. 6). This structure is usually manufactured on land, then carried on a barge, transported to the area and then launched and launched. At this time, piles are piled through 4 to 8 legs, and the upper main facilities are mainly supported by these piles, and the steel pipe structure supports the piles to the side with legs and braces, so the pile behavior of the lateral force is aggregated. To be done.

The name jacket is given because the structure wraps around the file. The pile is embedded up to about 100 meters below sea level, permanently anchoring the offshore platform to the sea bed and transmitting lateral and vertical loads to the sea floor to keep the structure stable.

The upper main facility consists of a structure with two or three decks, and in a maritime complex with multiple platforms, bridges are installed here. The jacket platform typically has a design life of about 20 years and is widely used for offshore oil production, drilling and offshore residential use.

Another type of fixed structure, the concrete gravity structure (GBS) is a structure having a bearing capacity of its own weight, not the pile against the external load (Fig. 7). In order to prevent long-term settlement of the gravity structure, a stable and firm sea floor is needed.

In the polar regions, monotower concrete platforms with large bases are often installed to reduce the risk of collisions with icebergs, and for more economical design in deep seas with hard seabeds. In Cheonhae, the land is built by reclaiming offshore islands to create high resolution cities, offshore airports and oil production facilities.

(3) floating structure

It is a type of floating structure that is connected to steel wires from a fixed structure installed on the sea floor to induce lateral stability of the floating structure. This is the result of efforts to install economic structures in the deep sea. These include guided towers and tension leg platforms.

The guide tower is supported by a steel structure that vertically lowers the platform's vertical load to the sea floor without inclination, and the side loads are inclined in all directions to the steel structure and supported by a steel wire fixed to the sea bottom.

TLP is a structure that connects steel wires (tendon or tether) vertically from the legs at each corner to the bottom fixed structure, and holds the side loads within a certain limit. The buoyancy of the upper platform always keeps the tension of the wires constant, which attenuates the up and down movement of the platform, providing favorable stability for deep-water well development. TLP is economical in the development of oil wells with low oil reserves, as they can be relocated to another area after work in one area. TLP originally began to be made of steel, but is gradually being designed to be used as a temporary oil storage facility by making top and bottom structures from concrete structures.

In addition, the deep subsea structure is made by connecting the upper part to the jacket-type steel structure and the lower part to the concrete caisson, or conversely the upper part to the concrete floating structure and the lower part to the steel structure truss and connecting it with a special joint to remove the bending force. Articulated towers are also proposed.

2. Natural conditions to consider when designing offshore structures

(1) depth and seabed

Depth is the vertical distance from the tidal datum to the bottom of the sea. Here, the basic level plane means the lowest low tide plane, and there are very few examples of the water falling below this level. Accurate measurement of the depth and a good understanding of the irregularities of the local seabed topography are the starting point for the design of offshore structures, from which it is possible to determine the height of the offshore structure, the shape of the structure underneath, the vertical positioning of the ship's berth, and the design of corrosion protection. It can also verify the topographic stability of the structure. Continuous depth measurement uses an acoustic echo recorder, a precision depth recorder, and a two-dimensional side scan sonar.

(2) subsea geology

Physical and engineering grasp of seabed geology supporting the foundations of offshore structures is essential for economic and safe structure design. Subsea geological surveys are conducted to analyze the lipid status of the seabed surface and the seabed strata to the underlying bedrock. Subsea geological surveys usually involve direct boring to obtain continuous lipid samples, which are then investigated and analyzed in the laboratory to collect design data.

However, as a preliminary step in boring, submarine geometries such as subbottom profilers, boomers, sparkers, and air guns should collect subsurface geological information around structures. At this time, sampling of the piston drill, grab sampler, etc. may be performed at the same time for a more practical understanding of the shallow strata. This is because it is necessary to identify the subsea geological characteristics of the surrounding sea area where the structure will be installed to determine the main boring point and to check the geological condition of other non-boring areas. If faults, unusual structures in sediments, abrupt changes in seabed strata, abnormal erosion conditions, and sediment flows are found in the waters around the structure, significant problems may arise.

After analyzing the data of geophysical exploration, the degree of change in the area around the area is considered, and the drilling point and the number of drilling times of the seabed are determined by considering the shape, importance, and number of marine structures. The drilled samples are provided with basic data for basic design by identifying various soil characteristics, stress coefficient and displacement of pile through field and laboratory analysis. In particular, it is necessary to analyze the strata close to the seabed surface because the soil here has a great influence on the calculation of the settlement, allowable bearing capacity and horizontal displacement.

(3) sea breeze

Wind affects or causes vibrations and pressures on upper structures and facilities above sea level. The strength of the wind is negligible compared to that of waves or currents, but it is by no means negligible because of the large moment arms from the bottom of the seabed.

Sea level winds can be divided into gusts and continuous winds. A gust is a wind of less than 1 minute and a continuity of wind speed, and a continuous wind of more than 1 minute. Design wind speeds are used for offshore structures and foundation design. Wind speeds are applied to the design of individual objects and small structures sensitive to wind.

In deep water guide towers or tension leg platforms with long natural periods, the wind effect spectrum should be used to account for the dynamic effects of the natural periods.

(4) waves

The biggest influence in the design of offshore structures is sea waves. The sea waves apply the most direct force to the foundation design or to the design of each member of the structure, acting as a decisive factor in the size and length design of the members.

The most important characteristic of a wave is its irregularity. Therefore, the spectral model becomes a barometer indicating some sea state, and the structural analysis must also be performed statistically. However, in view of the convenience of design and experience, regular wave modeling is recognized as very suitable for the design of offshore structures. A regular wave is defined as a series of waveforms having a constant wavelength, wave height, and period. The current wave models include airy waves, stokes fifth order waves, and stream function waves. Etc.

Which wave model is applied to the design depends on depth, structure geometry and applied crest. The selected wave is called a design wave. The design wave variables are roughly classified into three types: wave height, wave period, and depth. From this design wave, the final wave force is calculated from the Morrison equation by calculating the velocity and acceleration of the water particles acting on each point of each member or structure.

There are many causes of wave generation, but the biggest one is the effect of wind. Therefore, the maximum design external force is obtained by applying wind and wave in the same direction when designing a structure. In addition, when there are sea wave data for a long time in the area of installation of offshore structures, there are no difficulties in obtaining the design wave, but there are only wind speed data, and many methods have been developed to calculate the design wave from the wind speed. In this case, statistically, the significant crest and average crest periods considering the repetition period are calculated, and then the maximum crest (design crest) and corresponding wave periods are calculated from the statistical method.

(5) current

If the wave is the flow of the wave caused by the vibration of the water particles, the current flow can be said that the water particles move directly in the horizontal direction by a number of factors. Therefore, when the stream meets the structure, it applies a constant horizontal force, and the currents have a certain effect on the ship even when the ship approaches to berth the offshore structure.

The causes of currents can be divided into large and local ones. Large-scale factors include wind and earth rotation, temperature differences and salinity differences, and local factors include seabed sediment, waves, tides, wind and typhoons. . The velocity of water particles by currents is combined with the velocity of water particles by sea waves to form a total force acting on the structure.

(6) tides

The most noticeable effect of celestial motion on the earth is tides. The high tide that occurs when the moon and the sun attract together, and vice versa, is a familiar oceanic movement that everyone knows from experience. However, the rise and fall of the water surface is not only caused by the celestial body, but the phenomenon caused by the difference in wind, waves, and pressure can not be ignored. Therefore, all of this adds up to determine the maximum design depth.

If the structure is located close to the beach or located in an enclosed inland sea area such as a bay, the lifting effect of the tides, etc. will be remarkable, and if designed without proper consideration, it can have serious consequences. In general, external forces are to be estimated and deck heights are assumed assuming the maximum depth approaching the structure at maximum depth. In addition, the vertical and vertical ranges of the maximum and minimum depths are to be calculated and applied accordingly to the installation of facilities for anchoring, the calculation of the maximum corrosion range for steel structures, and the calculation of the thickness of adherent marine organisms.

(7) Subsea Earthquake

Seismic design is essential for the design of offshore structures. If the offshore structure is a dynamically sensitive structure, it must be accompanied by a dynamic analysis by earthquake. When the structure is of high importance or in the case of very large structures, the lower geological structure should be closely examined to consider faults and sediment movements that may occur simultaneously during an earthquake.

(8) marine life

Over time, fixed marine life will stick to and grow in offshore structures. As the thickness of these marine creatures increases by two to three centimeters, the projected area and volume of each member of the structure under the force of waves or currents increase rapidly. In addition, by roughening the outer surface of each member to increase the drag effect (drag effect), in the case of steel also promotes the corrosion phenomenon locally. Therefore, this effect must be considered in the design. On the other hand, as fixed marine organisms cover the surface of the structure, it may be difficult to maintain and manage the marine structure, which may necessitate the removal of some of it.

(9) other

In addition, the density and salinity of seawater related to the corrosion and seawater properties of marine steel structures, the rapid change according to the depth of seawater temperature, and the hydrostatic pressure that increases by 1 atmosphere at 10 meters are the natural conditions to be considered in the design. In addition, the instability of the seabed caused by sea waves, submarine earthquakes, and rapid sedimentation, and scouring and deposition, which may occur around the foundations of marine structures due to continuous ocean currents and sea waves, must be considered when designing the foundation. Here are the things to go.

3. Mooring Method of Offshore Structures

There are three types of mooring methods for offshore structures: one-point mooring method, multi-point mooring method and dynamic position maintenance method.

(1) One point mooring method (Fig. 8)

One point mooring method is widely used for unloading of petroleum, and it is widely used at deep water depth instead of fixed structure type. The stationary structure system is characterized by low maintenance cost and high utilization rate of petroleum unloading operation, whereas the one point mooring system is characterized by low initial investment with high maintenance cost. The structure type of the one point mooring method is as follows.

a. CALM (catenary anchor leg mooring): Mooring structures from mooring buoys to mooring lines. Most of them are single point mooring, suitable for depths of several tens of meters or less.

b. SALM (single anchor leg mooring): mooring structures with agitated column buoys. Suitable for depths of tens of meters to hundreds of meters.

c. Yoke type: Mooring the structure for weighing from buoys of CALM and SALM types.

d. Turret type: Multi-point mooring cylinder coupled to the rotating mechanism in the center of the structure like a CALM buoy. It is suitable for hanging riser, cold water pipe.

(2) Multipoint mooring method

The multi-point mooring system is adopted as a mooring method to maintain the marine structure accurately at a certain position and to prepare a large mooring force, and is employed in marine working lines and oil drilling rigs.

There are several types of mooring lines. Wire ropes and chains are used for mooring lines, and an intermediate sinker or intermediate buoy is also provided to stabilize the mooring lines. The sinker targets the horizontal force and the vertical force (connecting angle θ> 0) while the anchor targets the horizontal force (tangential angle θ = 0 at the sea floor).

(3) dynamic position holding method (Fig. 9)

Mooring by mooring lines is limited in depth, and even in oil rigs, there is little track record for depths of more than a few hundred meters. In order to maintain the offshore structure in a fixed position without the use of mooring lines, a dynamic positioning method is employed. The GPS (Global Positioning System) is used to detect the position of an offshore structure and to calculate and operate the amount of operation of thrusters and auxiliary thruster required to maintain a predetermined position.

The degree of the dynamic positioning method is represented by the ratio of the horizontal movement amount to the depth, which is about 1% at a depth of about 100 meters. This ratio increases with increasing depth. Especially, in the case of offshore structure with riser, it is necessary to keep the degree of dynamic positioning method carefully, because it limits to 5%, and when it reaches 10%, bending and breakage occur in the riser. In some cases, the maintenance of the position of the offshore structure by the mooring method is applied at a depth of more than one hundred meters, but it is advantageous to use the dynamic position maintaining method together with the increase of the depth of water.

4. The problem of stable mooring of offshore structures

As described above, the marine structure may be floating in the ocean, and serves to generate, store, and / or unload liquefied gas, and in particular, floating marine structures, such as LNG FPOS, may use natural gas in the ocean. It is a multi-functional ship equipped with equipment that can produce (or harvest) and liquefy and store, thereby reducing the need for costly onshore liquefaction storage equipment.

Floating offshore structures, such as LNG FPOS, have a rotating turret, and the turret and subsea anchors can be connected to mooring lines and moored offshore. These rotatable turrets are fixed by mooring lines and anchors, but the offshore structure has its hulls able to flow in a rotational direction about the rotatable turret so that, despite waves, they remain in place in the ocean. You can drive as much as you want.

If the mooring lines and anchors are damaged or exceeded by the system, the flexible riser connecting the single point mooring (SPM) and the pipe line end manifold (PLEM) may be damaged. This leads to the outflow of high pressure, high temperature crude oil. Such oil spills will cause huge economic, human and environmental losses. In addition, damage to the SPM must be prevented as interest in the environment increases worldwide.

On the other hand, the design and analysis of mooring devices installed and in use up to now have mostly depended on foreign technology. Actually, the design for the installation area environment is not properly performed, and the foreign currency is being spent because the analysis program for mooring devices is imported from abroad and used for analysis. Therefore, there is a need to establish a long-term plan to secure active and active technical skills in the development of marine resources continuously and to increase the substitution effect of import and export.

In addition, the tension applied to each mooring line of the offshore structure is not constant, and is constantly changing due to cargo loading or tidal currents, tidal differences. In addition, when loading or unloading cargo on the vessel during the mooring period of the marine floating structure, the vessel is locked more or less due to the buoyancy difference due to the change of cargo load, and thus the tension applied to the mooring line. Will continue to change.

Therefore, the tension of the mooring line of the offshore structure is constantly changing, the operator has to monitor frequently to avoid excessive tension on a particular rope, there was an inconvenience to unwind or wind the mooring line properly to distribute the tension properly.

In addition, in the past, the degree of tension applied to the mooring lines was determined based on the experience of the operator or the naked eye, but recently, a tension monitoring system was introduced around large vessels such as oil tankers and gas carriers to provide tension applied to a plurality of mooring lines. The monitoring method is used through the monitoring computer installed in the control center.

In addition, the accurate position, behavior and stability of two moving objects located at sea can be accurately analyzed through a real-time data management system, and a sensor that can detect marine environment and behavior conditions can be used to predict and alert the advancement status. There is a need to develop, install, and operate, and in particular, the development of next-generation mooring systems such as material development, behavior analysis, installation techniques, operating technology, and system management for a perfect mooring system.

The present invention has been proposed to solve the above problems, through the real-time monitoring of the seabed to measure the damage and service life of umbiological cables, pipes, pumps and valves located on the seabed and automatically accordingly It is an object of the present invention to provide a static and dynamic positioning system and method for offshore structures using real-time monitoring of the seabed to allow static and dynamic positioning control and management.

According to an aspect of the present invention,

A processor unit having at least one interface;

A subsea optical sensor measuring unit connected to the processor unit;

A subsea data measurement unit connected to the processor unit;

An external device connection unit connected to the processor unit; And

And a time information synchronization connection unit connected to the processor unit.

The processor unit

A processor for controlling an algorithm for controlling the motor and the hydraulic device using a prestored control algorithm;

A motor drive and a hydraulic drive unit operated by the algorithm control processor;

A motor and a hydraulic device actuated by the motor driving and hydraulic driving unit; And

And a signal transmission and reception unit for transmitting a control command from the processor unit to the algorithm control processor or receiving drive information of the motor and the hydraulic device from the algorithm control processor.

The motor and hydraulic device includes an electric winch and a rotary turret,

The processor unit pulls or relaxes the mooring line connected to the electric winch through a control algorithm of the processor for controlling the algorithm by using the data measured by the subsea light sensor measuring unit and the subsea data measuring unit. It provides a static and dynamic positioning system of offshore structures using real-time monitoring of the seabed, characterized in that it controls the rotation of the turret.

Further, according to the present invention,

A static and dynamic positioning method of a marine structure using real-time monitoring of the seabed implemented on the static and dynamic positioning system of the marine structure using the real-time monitoring of the seabed,

Measuring, in real time, the damage and life of at least one or more of an umbrical cable, a pipe, a pump, and a valve located at the seabed by the subsea optical sensor measuring unit and the subsea data measuring unit;

Sampling by the external equipment connection unit the subsea light sensor measuring unit and the subsea data measuring unit at the same time, and matching the detected data at the same time when analyzing the data sensed by each measuring device;

Implementing, by the time information synchronization connection unit, a mutual synchronization function of data sensed by the subsea light sensor measuring unit and the subsea data measuring unit using the GPS, Gyro, and Sonar modules; And

The processor unit pulls or relaxes the mooring line connected to the electric winch through a control algorithm of the processor for controlling the algorithm by using the data measured by the subsea light sensor measuring unit and the subsea data measuring unit. Controlling the rotation of the turret;

It provides a static and dynamic positioning method of offshore structures using real-time monitoring of the seabed, including.

According to the present invention, through real-time monitoring of the seabed, damage and lifespan of umbilical cables, pipes, pumps and valves, etc. located on the seabed can be measured and accordingly automatically and statically and dynamically positioning control and management of appropriate offshore structures can be achieved. have.

1 shows various types of marine structures.
2 shows a view of a drill ship.
3 shows the appearance of a jack-up rig.
4 shows the appearance of a semisubmersible drilling ship.
5 shows the appearance of floating production storage offloading (FPSO).
6 shows the appearance of a jacket.
7 is a view showing a state of concrete gravity structure (GBS).
8 is a view showing a one-point mooring method of the mooring method of an offshore structure.
9 is a view showing a dynamic position maintenance method of the mooring method of the offshore structure.
10 is a view showing the surrounding environment of the marine structure to which the present invention is applied.
11 is a block diagram showing the structure of a static and dynamic positioning system of an offshore structure using real-time monitoring of the seabed according to the present invention.
12 is a block diagram illustrating a peripheral configuration connected to the processor unit of FIG. 11.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to designate the same or similar components throughout the drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

Static and Dynamic Positioning System for Offshore Structures Using Real-Time Monitoring of the Seabed

10 is a view showing the surrounding environment of the marine structure to which the present invention is applied, Figure 11 is a block diagram showing the structure of the static and dynamic positioning system of the marine structure using real-time monitoring of the seabed according to the present invention, Figure 12 11 is a block diagram illustrating a peripheral configuration connected to the processor unit of FIG. 11.

10 to 12, the static and dynamic positioning system of the offshore structure using real-time monitoring of the seabed according to the present invention, the processor unit 100, the seabed optical sensor measuring unit 200, the seabed data measuring unit 300 It includes an external device connection unit 400, time information synchronization connection unit 500.

On the other hand, the marine structure to which the present invention is applied may be any fixed, semi-submersible, marine, floating and / or submerged large-scale marine structure, for example FPSO, F-LNG, LNGC, drilling vessels, wind power A turbine for power generation or the like can be applied. However, the present invention does not limit the type of the marine structure.

This offshore structure 1 is provided with a umbilical cable 6 or a rotary screw type or tri-locking system at the end of the pipe and connects with sub-tree structures 2 of the seabed. It is also connected via a riser 5 from the seabed to the emergency shutdown valve at the bottom of the FPSO. In addition, when the above-mentioned offshore structure 1 is an offshore floating structure such as FPSO, the seabed has a mooring line 7 for fixing the offshore floating structure to the sea bottom and a riser for pulling up crude oil ( riser (5) may be installed, and at sea, a carrier (3) carrying such crude oil is connected to the FPSO (1) and offload transfer pipe line (4).

The processor unit 100 includes an algorithm control processor 600, a motor driving and hydraulic driving unit 700, a motor and a hydraulic device 900. The algorithm control processor 600 controls the motor and the hydraulic device 900 such as an electric winch (910) and the rotary turret 920, using a pre-stored control algorithm. The motor driving and hydraulic driving unit 700 is operated by the algorithm control processor 600. The motor and hydraulic device 900 is operated by the motor driving and hydraulic driving unit 700. In addition, the processor unit 100 includes a signal transmission and reception unit 800 to transmit a control command from the processor unit 100 to the algorithm control processor 600, or from the algorithm control processor 600 to the motor and The driving information of the hydraulic apparatus 900 is received. Here, the signal transmission and reception unit 800 may be a communication means such as RS232, RS485, CAN, TCP / IP, or an optical communication modem (optical modem) or an ultrasonic / acoustic sonar.

The subsea optical sensor measuring unit 200 may introduce an optical fiber, or may include at least one or two or more optical fiber grating sensors (FBGs). The optical fiber grating sensor is used for structural safety monitoring, and has a higher sensitivity than the existing strain gage, and because it uses an optical signal, it is not affected by the electromagnetic field, and thus, there is no risk of explosion in response to LNG. The detection signal by the optical fiber grating sensor is transmitted to the processor unit 100 in real time.

In addition, the subsea optical sensor measuring unit 200 is operated independently of the subsea data measuring unit 300, the data measured by the subsea optical sensor measuring unit 200 and the subsea data measuring unit 300 is It can be monitored at all times in an optical time domain reflectometer (OTDR) / Raman / Boullian / Rayleigh manner.

That is, the sensor volume and the time tag measured by the subsea light sensor measuring unit 200 and the subsea data measuring unit 300 are transmitted through real-time post-processing. The path correction of the sonar signal of OTDR / Raman / Boullian / Rayleigh method having the wavelength of the optical fiber grating sensor is used.

Here, the OTDR / Raman / Boullian / Rayleigh method uses a phenomenon in which pulsed light is incident to the inside of the optical fiber, and light loss increases according to the extent when tension or bending occurs in the optical fiber due to an external stimulus. It is possible to continuously monitor the status of the system. Although not shown, the subsea light sensor measurement unit 200 may further include a digital analog converter, an internal variable light source, an optical coupler, a photo diode, and an analog-digital converter.

In addition, the data is stored in the standard time of each country by using the time information supported by GPS, Gyro, and Sonar modules to know the exact time of the measured data using the international standardized communication protocol including time information. This data can be used as a synchronized measurement data for analysis, and can be used as an important element technology when sharing data with various types of sensor measuring equipment.

On the other hand, the subsea optical sensor measuring unit 200 is installed inside or outside the offshore structure to measure the damage and life of the umbilical cables, pipes, pumps and valves under the water surface of the offshore structure, that is, the seabed in real time. In addition, the processor unit 100 may drive the electric winch 910 through an electric winch 910 connected to the mooring line 7 in accordance with the damage and life data of the umbilical cable, pipe, pump, and valve, and the like. By winding or unwinding the rope wire (not shown) wound around the wire, it is possible to maintain the required safety distance of the carrier in marine storage such as F-LNG ship, FPSO, and the like. Furthermore, the present invention can use the optical fiber grating sensor that is longer than the life of the mooring line (7), unlike the existing electric sensor, it is possible to ensure the durability of the sensor longer than the life of the mooring line (7).

On the other hand, the subsea data measuring unit 300 also measures the damage and life of the umbilical cable, pipes, pumps and valves located in the seabed in real time, such as the subsea optical sensor measuring unit 200, bar measurement The unit 300 includes a plurality of sensors, such as strain sensors, temperature sensors, acceleration sensors, pressure sensors, and life sensors, for measuring damage and life data of umbilical cables, pipes, pumps, and valves. do. Here, the sensor may be implemented electrically or optically.

The detected information and information obtained from the GPS, Gyro, and Sonar modules described below are interlocked with each other by the processor unit 100 in time, thereby controlling the electric winch 910 and connected to the electric winch 710. The mooring line (7) is pulled and released to stabilize.

By using the coordinate change values of various types of sensors, not only the left and right yaw that detects changes in the relative distance change between the upper and lower parts of the marine structure (underwater), but also the relative distance information between the marine structures, The relative height change pitch can be detected according to the loading and unloading of the structure, and the detection value can be used as correction information for maintaining a safe anchoring of the offshore structure. That is, the processor unit 100 may control the tensile force of the mooring line 7 by the driving of the electric winch 910 by using the detected value.

On the other hand, the data measured by the undersea light sensor measuring unit 200 and the subsea data measuring unit 300 means static and / or dynamic type data with or without time tag.

The electric winch 910 not only provides power for pulling the mooring line 7 or releasing the tension of the mooring line 7 by the motor driving and hydraulic driving part 700, but also a magnetic brake ( The rotation of the electric winch 910 due to the rotational inertia after the current interruption when the driving of the electric winch 910 is stopped may be stopped in a short time.

The signal measured by the subsea light sensor measuring unit 200 and the subsea data measuring unit 300 is converted into a digital signal through a plurality of analog-to-digital converters (not shown), and the converted signal is used for the algorithm control. The processor 600 converts the physical value. That is, the algorithm control processor 600 converts all of the signals of the subsea light sensor measuring unit 200 and the subsea data measuring unit 300 to calculate. Then, the processor unit 100 pulls or relaxes the mooring line 7 connected to the electric winch 910 through a control algorithm of the algorithm 600 for controlling the algorithm using the converted data. It is to control the rotation of the rotatable turret 920.

In this case, in particular, the subsea optical sensor measuring unit 200 and the subsea data measuring unit 300 may have a periodicity due to hydrodynamic characteristics of at least one or more of umbiological cables, pipes, pumps, and valves located on the sea floor. Aperiodic combined energy and therefore response vector are measured. Then, the algorithm control processor 600 converts all the measurement signals of the subsea light sensor measuring unit 200 and the subsea data measuring unit 300 to perform a structural analysis or behavior analysis of the offshore structure 1 and DB Implement a stylized look-up table. Then, the processor unit 100 predicts the time-delayed movement of the offshore structure 1 through a control algorithm of the algorithm 600 for controlling the algorithm using the converted data in advance to advance the offshore structure. By attempting to control the movement of (1), it is possible to perform optimized static and dynamic positioning, and thus, it is possible to perform optimized static and dynamic positioning of offshore structures by appropriately responding to the worst environmental external force conditions. have. According to this, optimized static and dynamic positioning can be performed in the existing method using a thruster or in case of using one or more rudders. In this process, roll, pitch, etc. can be performed. Can minimize the movement.

In relation to the above, in the embodiment of the present invention, for optimal static and dynamic positioning, the processor unit 100 controls the water in the ballast tank of the offshore structure 1 and sets the direction of the luder. / semi-active control to balance offshore structures and minimize six degrees of freedom.

Meanwhile, the external device connection unit 400 includes a trigger input / output device 410 connected to the processor unit 100. The trigger input / output device 410 is provided with respective input and output terminals (not shown) for transmitting and receiving a trigger signal and a sampling signal, the subsea light sensor measuring unit 200, the subsea data measuring unit 300 By sampling at the same time, by matching the data detected at the same time when analyzing the data sensed by each measuring equipment, the processor 100 to perform the synchronization of the measurement at each measuring equipment Can be.

In addition, the time information synchronization connector 500 includes a global positioning system (GPS), a Gyro (gyroscope), and a sonar (sound navigation and ranging) module 510 connected to the processor 100. The GPS, Gyro, By using the Sonar module to implement the mutual synchronization function of the data sensed by the subsea light sensor measuring unit 200, the subsea data measuring unit 300 and data such as the position, equilibrium, underwater sound waves of the marine structure In addition, the undersea optical sensor measuring unit 200 and the undersea data measuring unit 300 are interlocked.

Therefore, in the present invention, all of the above functions can be integrated and shown in the processor unit 100. The processor unit 100 shows complex data and the like in a graph form through a monitor, and all the data are hard disks. You can save it, print it, and use it. In addition, the processor unit 100 is applied to the equipment connected to the mooring line (7) of the offshore structure by collecting and utilizing the data measured by the underwater sensor sensor 200 and the subsea data measuring unit 300 External forces can be minimized. In addition, the processor unit 100 may maintain the necessary safety distance of the carrier by utilizing information collected from the marine storage itself (eg, F-LNG ship, FPSO) and / or carrier predicting a geographic location.

On the other hand, in the present invention at least one connecting the power source for driving each of the processor unit 100, the subsea light sensor measuring unit 200, the subsea data measuring unit 300, the motor and the hydraulic device (900) Further comprising a power supply unit 20, it is possible to drive the processor unit 100, the subsea optical sensor measuring unit 200, the subsea data measuring unit 300, the motor and the hydraulic device (900). . For example, a first power supply unit for supplying an electric power for driving the electric winch 910 motor (AC 220V) among external control devices such as the motor and the hydraulic device 900, and a power supply for driving the processor unit 100. And a second power supply unit supplying a DC 24V, and a third power supply unit supplying a driving power (DC 12V) for driving the subsea light sensor measuring unit 200 and the subsea data measuring unit 300. However, the present invention does not limit the type of power supplied from the power supply unit 20 and the number of installation of the power supply unit 20.

Real time undersea Monitoring  Static and Dynamic of Marine Structures Used Positioning  Way

The present invention also provides a static and dynamic positioning method of the offshore structure using real-time monitoring of the seabed implemented on the static and dynamic positioning system of the offshore structure using the real-time monitoring of the seabed described above, step by step the situation in which the present invention is implemented Divided into specifically described as follows. In this case, in the description of the present invention, duplicate descriptions of the same parts as those described above will be omitted.

The first step: the subsea optical sensor measuring unit 200 and the subsea data measuring unit 300 measures the damage and life of at least one or more of umbrical cables, pipes, pumps and valves located on the sea floor in real time. In this case, the data measured by the subsea light sensor measuring unit 200 and the subsea data measuring unit 300 are static or dynamic data with or without time tag.

Second step: when the external device connection unit 400 samples the subsea optical sensor measuring unit 200 and the subsea data measuring unit 300 at the same time, and analyzes the data sensed by each measuring equipment Match the data detected at the time point.

Third step: The time information synchronization connector 500 uses the GPS, Gyro, and Sonar modules to mutually synchronize the data sensed by the subsea light sensor measuring unit 200 and the subsea data measuring unit 300. Implement

Fourth step: The processor unit 100 uses the data measured by the subsea light sensor measurement unit 200 and the subsea data measurement unit 300 through the control algorithm of the algorithm control processor 600. Pulls or relaxes the mooring line 7 connected to the electric winch 910, and also controls the rotation of the rotary turret 920.

To this end, the processor unit 100 converts the signals measured by the subsea light sensor measuring unit 200 and the subsea data measuring unit 300 into digital signals through a plurality of analog-digital converters, and controls the algorithm. The processor 600 converts the converted signal into a physical value.

In this case, the data measured by the subsea light sensor measuring unit 200 and the subsea data measuring unit 300 are processed in the OTDR / Raman / Boullian / Rayleigh method.

In this step, the processor unit 100 displays the data measured by the subsea light sensor measurement unit 200 and the subsea data measurement unit 300 in a graph form on a monitor, or stores or prints the data to a hard disk. do.

In addition, in this step, the processor unit 100 collects and utilizes data measured by the subsea light sensor measuring unit 200 and the subsea data measuring unit 300 to be connected to the mooring line 7 of an offshore structure. Minimize the external force applied to the

It will be apparent to those skilled in the art that various modifications, substitutions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. will be. Therefore, the embodiments disclosed in the present invention and the accompanying drawings are intended to illustrate and not to limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and accompanying drawings. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

20: power supply
100: processor 200: subsea optical sensor measurement unit
300: subsea data measurement unit 400: external equipment connection
410: trigger input and output device 500: time information synchronization connection
510: GPS, Gyro, Sonar module 600: processor for algorithm control
700: motor drive and hydraulic drive unit 800: signal transmission and reception unit
900: motors and hydraulics

Claims (29)

In the static and dynamic positioning system of offshore structures using real-time monitoring of the seabed,
Install at least one optical fiber, including fiber bragg gratings (FBGs), inside or outside the offshore structure to cover umbilical cables, pipes, pumps, valves, or combinations thereof located below the water surface of the offshore structure. Subsea optical sensor measurement unit 200 for measuring the damage and life in real time;
Independently operated with the subsea optical sensor measuring unit 200, the strain for measuring in real time the damage and life of the umbilical cable, pipes, pumps, valves or a combination thereof located on the sea floor under the surface of the offshore structure ( subsea data, including sensors by electrical, optical, or combinations thereof that measure in real time the condition of the subsea surface under water in a marine structure, including strain sensors, temperature sensors, acceleration sensors, pressure sensors, life sensors, or combinations thereof Measuring unit 300;
The subsea optical sensor includes a module including GPS, Gyro, Sonar, or a combination thereof, and uses at least one of position information and time information, equilibrium state, distance information, or a combination thereof of the marine structure obtained by the module. A time information synchronization connection unit 500 for synchronizing or interlocking data sensed by the measurement unit 200 and the subsea data measurement unit 300; And
By controlling the electric winch 910 using the mutually synchronized or interlocked data, the mooring line 7 connected to the electric winch is pulled or alleviated to stabilize the marine structure, or the rotation of the rotary turret 920. And a processor unit 100 for controlling the static and dynamic positioning system of the offshore structure using real-time monitoring of the seabed. delete delete delete The method of claim 1,
The processor unit 100 may convert the signals measured by the subsea light sensor measuring unit 200 and the subsea data measuring unit 300 into digital signals through a plurality of analog-digital converters. Static and dynamic positioning system of offshore structures using real time monitoring of the seabed. delete delete delete delete The method of claim 1,
The processor unit 100, the real-time monitoring of the seabed, characterized in that it comprises a graphical representation of the data measured by the subsea sensor measuring unit 200 and the subsea data measuring unit 300 through a monitor And dynamic positioning system of offshore structures using The method of claim 1,
The processor unit 100, the real-time monitoring of the seabed, including storing or printing the data measured by the seabed sensor sensor 200 and the seabed data measuring unit 300 to a hard disk And dynamic positioning system of offshore structures using delete The method of claim 1,
And a trigger input / output device (410) connected to the processor unit (100); static and dynamic positioning system of the offshore structure using real-time monitoring of the seabed. 14. The method of claim 13,
The trigger input / output device 410 is provided with respective input and output terminals for transmitting and receiving a trigger signal and a sampling signal, and measured by the subsea light sensor measuring unit 200 and the subsea data measuring unit 300. Sampling the data at the same time point and matching the data detected at the same time point when analyzing the data sensed by each measuring device, real-time monitoring of the sea floor, characterized in that the synchronization of the measurement at each measuring device is performed And dynamic positioning system of offshore structures using delete delete The method of claim 1,
The data measured by the subsea light sensor measuring unit 200 and the subsea data measuring unit 300 includes an OTDR using a Rayleigh scattering phenomenon, an OTDR using a Raman scattering phenomenon or an OTDR method using a Brillouin scattering phenomenon. Static and dynamic positioning system of offshore structures using real-time monitoring of the seabed, characterized in that. The method of claim 1,
Further comprising at least one power supply unit 20 for connecting the power supply for driving the static and dynamic positioning system including the processor unit 100, the subsea optical sensor measuring unit 200 and the subsea data measuring unit 300. Static and dynamic positioning system of offshore structures using real-time monitoring of the seabed, characterized in that. In the static and dynamic positioning method of offshore structures using real-time monitoring of the seabed,
Install at least one optical fiber, including fiber bragg gratings (FBGs), inside or outside the offshore structure to cover umbilical cables, pipes, pumps, valves, or combinations thereof located below the water surface of the offshore structure. Submarine optical sensor measuring unit 200 for measuring damage and life in real time, and independently operated with the subsea optical sensor measuring unit 200, umbiological cables, pipes, pumps, Real-time monitoring of the state of the subsea surface under water in marine structures, including strain sensors, temperature sensors, acceleration sensors, pressure sensors, life sensors, or combinations thereof to measure damage and lifespan for valves or combinations thereof in real time Submarine data measuring unit 300 including a sensor by an electrical, optical or a combination thereof measured by the number of the marine structure Sensing a condition of the ocean floor and in real time;
The subsea optical sensor includes a module including GPS, Gyro, Sonar, or a combination thereof, and uses at least one of position information and time information, equilibrium state, distance information, or a combination thereof of the marine structure obtained by the module. Synchronizing or interlocking data sensed by the measuring unit 200 and the subsea data measuring unit 300; And
By controlling the electric winch 910 using the mutually synchronized or interlocked data, the mooring line 7 connected to the electric winch is pulled or alleviated to stabilize the marine structure, or the rotation of the rotary turret 920. And controlling the static and dynamic positioning of the offshore structure using real-time monitoring of the seabed. delete 20. The method of claim 19,
The controlling may include converting the signals measured by the subsea light sensor measuring unit 200 and the subsea data measuring unit 300 into digital signals through a plurality of analog-digital converters. Static and dynamic positioning of offshore structures using real-time monitoring of the sea floor. delete delete delete delete 20. The method of claim 19,
The controlling may include displaying the data measured by the subsea light sensor measuring unit 200 and the subsea data measuring unit 300 in a graph format through a monitor. Static and dynamic positioning method of offshore structures. 20. The method of claim 19,
The controlling may include storing or printing the data measured by the subsea light sensor measuring unit 200 and the subsea data measuring unit 300 to a hard disk or using real-time monitoring of the sea floor. Static and dynamic positioning method of offshore structures. delete 20. The method of claim 19,
The data measured by the subsea light sensor measuring unit 200 and the subsea data measuring unit 300 includes an OTDR using a Rayleigh scattering phenomenon, an OTDR using a Raman scattering phenomenon or an OTDR method using a Brillouin scattering phenomenon. Static and dynamic positioning method of offshore structures using real-time monitoring of the seabed, characterized in that.

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