NO347205B1 - A tether management system for subsea operations - Google Patents

A tether management system for subsea operations Download PDF

Info

Publication number
NO347205B1
NO347205B1 NO20201322A NO20201322A NO347205B1 NO 347205 B1 NO347205 B1 NO 347205B1 NO 20201322 A NO20201322 A NO 20201322A NO 20201322 A NO20201322 A NO 20201322A NO 347205 B1 NO347205 B1 NO 347205B1
Authority
NO
Norway
Prior art keywords
depressor
unit
flaps
submersible
tether
Prior art date
Application number
NO20201322A
Other languages
Norwegian (no)
Other versions
NO20201322A1 (en
Inventor
Jan Bryn
Frode Korneliussen
Original Assignee
Argus Remote Systems As
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Argus Remote Systems As filed Critical Argus Remote Systems As
Priority to NO20201322A priority Critical patent/NO347205B1/en
Priority to PCT/NO2021/050246 priority patent/WO2022119447A1/en
Publication of NO20201322A1 publication Critical patent/NO20201322A1/en
Publication of NO347205B1 publication Critical patent/NO347205B1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/18—Control of attitude or depth by hydrofoils
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/56—Towing or pushing equipment
    • B63B21/66—Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/42—Towed underwater vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
    • B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2205/00—Tethers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
    • B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/008—Docking stations for unmanned underwater vessels, or the like

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Earth Drilling (AREA)

Description

Field of the invention
The present invention relates to a tether management system (TMS) for subsea operations, wherein the system comprises an ROV connected to a towable submersible unit, said submersible unit having one or more tow cable connections for a tow cable running up to a surface and a tether cable connection for a tether cable running down to said ROV, and the submersible unit comprises an underwater winch, feeding the tether cable in and out according to the need of the ROV. The submersible unit is a towed depressor, without any thrusters, creating downward depressor force in the water, and which comprises depressor flaps for adjustment of the unit's downward depressor force in the water.
Background of the invention
Remotely operated vehicles (ROV) are used in conjunction with floating vessel operations to provide and deliver work and observation elements. ROVs are piloted tethered submersible vehicles controlled from the vessel via a reinforced umbilical cable as the main tethering device. The tether provides both the electrical power and allows the transfer of data between the vessel and ROV to be transmitted. Motion of the ROV is controlled by several thrusters that allow movement and manipulation in all directions and speeds. Camera and sensors provide critical data and visual information to be relayed back to the personnel to observe seabed and operating subsea, well, drilling-related tools, equipment, and surroundings. Sensors provide feedback on water depth, temperatures, currents, and ROV orientation.
Known TMS (Tether Management System) is a unit with an underwater winch that feeds a cable in and out according to what the ROV needs. Known Tether Management Systems can, in some cases, be equipped with thrusters to be able to keep them in position in strong currents during launching and collecting.
A tether cable is a thin cable mainly for signals and electricity.
Disclosure of the state of art
WO 2015/020529 A1 discloses a system for subsea operation, comprising a free swimming, submersible garage and docking station, and also an associated free swimming ROV, where the garage and docking station comprises a framework arranged to function as a garage or docking for the free swimming ROV, and where the submersible garage and docking station comprises at least equipment in the form of several thrusters for operation in the vertical and horizontal directions, respectively, units and a steering system for positioning in the water, and also a winch connected to said ROV via a cable for the transfer of electricity and signals.
US 2019/112011 A1 relate to launch and recovery systems for a remotely operated vehicle. The system can include a launch and recovery assembly, a tether climbing component, and a remotely operated vehicle attached to a remotely operated vehicle tether. The launch and recovery assembly deploy the remotely operated vehicle and the tether climbing component overboard, and the remotely operated vehicle is configured for tethered operation while maintaining the tether climbing component at a desired depth.
US 2018/043978 A1 discloses a flying underwater imager device that operates in two modes, a tow mode and a free fly mode. In the tow mode for locating underwater objects, the imager device opens foldable wings for remaining depressed below the surface when the wings generate a negative buoyancy. Otherwise, neutral buoyancy characteristics bring the imager device back to surface. In the free fly mode for approaching and imaging underwater objects, the imager device closes the foldable wings and uses thrusters for moving into position to image the underwater objects.
Objects of the present invention
Traditionally, a TMS is a stationary unit submersed in water or it moves with the ship suspended in a lifting cable. When towed by a ship, the cable will have a large layback and the ROV might have to drag the cable trough the water column during operation, and which can influence and possibly limit operation.
The present invention aims to avoid that the ROV will have to drag the cable trough the water column in the same way as a traditionally TMS, in that the cable will have reduced layback in the water.
The present system will allow flying of an ROV on great depts, similar as in shallow waters.
The present invention also aims to increase survey speed for ROV in any water depths and bringing online data to surface.
Summary of the invention
According to the present invention, a tether management system (TMS) for subsea operations is provided. Said system comprises an ROV connected to a towable submersible unit, said submersible unit having one or more tow cable connections for a tow cable running up to a surface and a tether cable connection for a tether cable running down to said ROV. The submersible unit comprises an underwater winch, feeding the tether cable in and out according to the need of the ROV. The submersible unit is a towed depressor, without any thrusters, creating downward depressor force in the water, and which comprises depressor flaps for adjustment of the unit's downward depressor force in the water, wherein the depressor flaps of the submersible depressor unit comprise several overlapping and in relation to each other displaced flaps, which when closed creates an inclined flow path for flowing water and when open allows flowing water to pass through an opening between the flaps.
The submersible depressor unit can have an internally open frame, wherein underwater winch for feeding the tether cable is mounted within said internally open frame.
The submersible depressor unit comprises preferably on its underside connections means for latchably docking of the ROV. The connections means for latchably docking of the ROV can comprise a snubber and a latch.
The depressor flaps can be mounted on or in the submersible depressor unit facing a towing direction of said unit.
The depressor flaps of the submersible depressor unit can be grouped together, forming side-by-side groups of flaps and/or over-and-under groups of flaps.
The depressor flaps are preferably remote operated flaps.
The submersible depressor unit can have an internally open frame equipped with buoyancy means, and said tow cable connections for a tow cable are placed on a forward and upper part of the frame.
The tether cable, communicating signals and providing electricity, can be running from the underwater winch within the submersible depressor unit, over a guide sheave and to the ROV.
The depressor flaps can be placed with a horizontal orientation and transversely in a front opening of the frame, wherein each depressor flap is hingedly supported on a horizontal orientated axle driven by a drive means, like a motor.
Description of the figures
Embodiments of the present invention will now be described, by way of example only, with reference to the following figures, wherein:
Figure 1 shows a perspective view of a towed submersible depressor unit, which is connected to an ROV.
Figure 2 shows a perspective view of the ROV in docket position for launch and recovery.
Figure 3 shows a side view of the ROV in docket position for launch and recovery.
Figure 4 shows a front view of the ROV in docket position for launch and recovery.
Figure 5 shows a side view of the ROV in undocked/operational mode.
Figure 6 shows a front view of the ROV in undocked/operational mode.
Description of preferred embodiments of the invention
The present tether management system can be connected to surface equipment on a ship (not shown) in where a towing cable (not shown) is running down in the water. The surface equipment may comprise a winch, which may or may not be a heave compensated winch in a launch and recovery system (LARS). The surface system may also comprise a control container and a workshop.
Figure 1 shows the present invention in more detail, and shows a tether management system (TMS) comprising a towable submersible depressor unit 20 with tether management equipment mounted inside, and which is connected to an ROV 10.
The ROV 10 is shown below the submersible depressor unit 20, and is connected to the depressor unit 20 by a tether cable 12 communicating signals and providing electricity to the ROV. The ROV 10 according to the invention is a standard ROV depending on the operation, and as such the ROV is not explained in detail, as the skilled person is well acquainted with such an ROV.
The submersible unit 20, which also can be called submersible depressor unit 20, is submersible for subsea operations in the water together with the ROV 12. The submersible depressor unit 20 and the ROV 10 are shown in figures 2-4 in docket position for launch and recovery and in figures 5-6 in undocked/operational mode.
The submersible depressor unit 20 shall now be described in more detail. The submersible depressor unit 20 comprises an open frame 24 that allows water flowing through. The frame 24 can be equipped with buoyancy means 32 on one or both sides of the frame 24. The buoyancy can be adjusted dependent on the material of the frame, and any other parts of the submersible depressor unit, in where the material for instance is a composite material.
An underwater winch 26 with a drum for reeling and unreeling the tether cable 12 running to the ROV 10 is mounted within the open frame 24, wherein the tether cable 12 is running over a guide sheave 26 prior to leaving the frame 24. The winch 26 is for instance mounted in a rear part of the frame 24 and the guide sheave 28 is mounted in a central part of the frame 24. The frame 24 may further, on its underside facing the ROV 10, comprise connection means, such as a snubber 34 and a latch 36, for docketing of the ROV 10 to the submersible depressor unit 20. Said connection means 34,36 are used when releasing the ROV 10 to an undocked/ operational mode. When undocked the ROV 10 is free to swim wherever it wants, and is only restricted by the lightweight tether cable 12 and the reeling of the tether cable 12. If the submersible depressor unit 20 is being towed at for instance 3 knots, the ROV 10 will easily be able to follow at the same speed of 3 knots.
The frame 24 further comprises tow cable connections 22, preferably one on each side of the frame 24 and on a forward part of the frame 24. The frame 24 is an open frame structure with for instance a rectangular design having basically open side faces.
The submersible unit 20 is a towed depressor, and is therefore not equipped with any thrusters. In order to create a downward depressor force in the water, the submersible depressor unit 20 comprises one or more depressor flaps 30. Since the submersible depressor unit 20 is towable, the depressor flaps 30 are preferably mounted in a forward part of the frame 24 and facing the towing direction.
The depressor flaps 30 can be rigid and non-adjustable flaps mounted in the frame 24, but the depressor flaps 30 are preferably adjustable flaps 30 for adjustment of the submersible depressor unit's downwardly depressor force in the water. The depressor flaps 30 are preferably remote operated flaps.
In one embodiment, the depressor flaps 30 of the submersible depressor unit 20 can comprise several overlapping and in relation to each other displaced flaps 30, As seen in the figures, each following depressor flap 30 is displaced further back than the one in front. The depressor flaps 30 can when closed work as a shutter and create an inclined flow path for flowing water that depresses and forces the depressor unit downwardly, or for that matter upwardly if placed the outer way around. When the depressor flaps 30 are open, flowing water is allowed to pass through an opening between the flaps 30, thereby reducing or removing the downwardly depressor force. By "open" or "closed" is not meant necessarily completely open or close. The flow path of the water will also be influenced with partial open or closed depressor flaps 30.
Further, and as seen in the figures, the depressor flaps 30 of the submersible depressor unit 20 can be grouped together. The depressor flaps 30 can for instance form side-by-side groups of flaps. The depressor flaps 30 can for instance also form over-and-under groups of flaps.
Each depressor flap 30 can be individually adjustable. Each depressor flap 30 in a group can also be individually adjustable. However, in a practical configuration, all depressor flaps 30 in a group, or all groups together, are controlled simultaneously.
One or more depressor flaps 30 can for instance be hingedly supported on a horizontal orientated axle, wherein the axle is connected to a drive means, like a small motor. Several axles with depressor flaps 30 can be driven by the same motor. The depressor flaps 30 can thus be placed in a horizontal orientation and transversely in a front opening of the open frame structure of the frame 24.

Claims (10)

Claims
1. A tether management system (TMS) for subsea operations, said system comprises:
an ROV (10) connected to a towable submersible unit (20), said submersible unit (20) having one or more tow cable connections (22) for a tow cable running up to a surface and a tether cable connection for a tether cable (12) running down to said ROV (10), and
the submersible unit (20) comprises an underwater winch (26), feeding the tether cable (12) in and out according to the need of the ROV (10),
said submersible unit (20) is a towed depressor, without any thrusters, creating downward depressor force in the water, and which comprises depressor flaps (30) for adjustment of the unit's downward depressor force in the water, characterised in that the depressor flaps (30) of the submersible depressor unit (20) comprise several overlapping and in relation to each other displaced flaps (30), which when closed creates an inclined flow path for flowing water and when open allows flowing water to pass through an opening between the flaps (30).
2. The tether management system according to claim 1, wherein the submersible depressor unit (20) has an internally open frame (24), and said underwater winch (26) for feeding the tether cable (12) is mounted within said internally open frame (24).
3. The tether management system according to claim 1, wherein the submersible depressor unit (20) on its underside comprises connections means (34,36) for latchably docking of the ROV (10).
4. The tether management system according to claim 3, wherein the connections means (34,36) for latchably docking of the ROV (10) comprises a snubber (34) and a latch (36).
5. The tether management system according to claim 1, wherein the depressor flaps (30) are mounted on or in the submersible depressor unit (20) facing a towing direction of said unit (20).
6. The tether management system according to claim 1, wherein the depressor flaps (30) of the submersible depressor unit (20) are grouped together, forming sideby-side groups of flaps (30) and/or over-and-under groups of flaps (30).
7. The tether management system according to claim 1, wherein the depressor flaps (30) are remote operated flaps (30).
8. The tether management system according to claim 1, wherein the submersible depressor unit (20) has an internally open frame (24) equipped with buoyancy means (32), and said tow cable connections (22) for a tow cable are placed on a forward and upper part of the frame (24).
9. The tether management system according to claim 1, wherein the tether cable (12), communicating signals and providing electricity, is running from the underwater winch (26) within the submersible depressor unit (20), over a guide sheave (28) and to the ROV (10).
10. The tether management system according to claim 1, wherein the depressor flaps (30) are placed with a horizontal orientation and transversely in a front opening of the frame (24), wherein each depressor flap (30) is hingedly supported on a horizontal orientated axle driven by a drive means, like a motor.
NO20201322A 2020-12-01 2020-12-01 A tether management system for subsea operations NO347205B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
NO20201322A NO347205B1 (en) 2020-12-01 2020-12-01 A tether management system for subsea operations
PCT/NO2021/050246 WO2022119447A1 (en) 2020-12-01 2021-11-26 A tether management system for subsea operations

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
NO20201322A NO347205B1 (en) 2020-12-01 2020-12-01 A tether management system for subsea operations

Publications (2)

Publication Number Publication Date
NO20201322A1 NO20201322A1 (en) 2022-06-02
NO347205B1 true NO347205B1 (en) 2023-07-03

Family

ID=81853451

Family Applications (1)

Application Number Title Priority Date Filing Date
NO20201322A NO347205B1 (en) 2020-12-01 2020-12-01 A tether management system for subsea operations

Country Status (2)

Country Link
NO (1) NO347205B1 (en)
WO (1) WO2022119447A1 (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015020529A1 (en) * 2013-08-05 2015-02-12 Argus Remote System As System for subsea operations
US20180043978A1 (en) * 2016-08-09 2018-02-15 Li Fang Flying underwater imager with multi-mode operation for locating and approaching underwater objects for imaging
US20190112011A1 (en) * 2014-01-10 2019-04-18 Wt Industries, Llc System for launch and recovery of remotely operated vehicles

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2637561B1 (en) * 1988-10-11 1990-11-16 Thomson Csf DEVICE FOR KEEPING UNDERWATER TRAILERS UNDER WATER, AND METHOD OF USE
NO326789B1 (en) * 2007-02-26 2009-02-16 Argus Remote Systems As Method and apparatus for examining the seabed
US10640187B2 (en) * 2016-08-09 2020-05-05 Li Fang Flying underwater imager with multi-mode operation for locating and approaching underwater objects for imaging and maintaining depths and altitudes

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015020529A1 (en) * 2013-08-05 2015-02-12 Argus Remote System As System for subsea operations
US20190112011A1 (en) * 2014-01-10 2019-04-18 Wt Industries, Llc System for launch and recovery of remotely operated vehicles
US20180043978A1 (en) * 2016-08-09 2018-02-15 Li Fang Flying underwater imager with multi-mode operation for locating and approaching underwater objects for imaging

Also Published As

Publication number Publication date
NO20201322A1 (en) 2022-06-02
WO2022119447A1 (en) 2022-06-09

Similar Documents

Publication Publication Date Title
EP3055201B1 (en) System for subsea operations
US10604218B2 (en) Manoeuvring device and method therof
WO2016163559A1 (en) Small vessel and small vessel trailer system
EP1670674A2 (en) Marine payload handling craft and system
US11845521B2 (en) Marine structure comprising a launch and recovery system
WO2001021476A1 (en) Apparatus and method for deploying, recovering, servicing, and operating an autonomous underwater vehicle
WO2015049679A1 (en) Launch and recovery system and method
NO347397B1 (en) Intermediate docking station for underwater vehicles
US11505296B1 (en) Method and apparatus for transporting ballast and cargo in an autonomous vehicle
US11524757B1 (en) System and apparatus for attaching and transporting an autonomous vehicle
US11541801B1 (en) Method and apparatus for positioning the center of mass on an unmanned underwater vehicle
EP2330027A1 (en) Remotely operated submersible vehicle with adjustable tether mounting terminal
CN114735169B (en) Cloth-placement recovery device and cloth-placement recovery method applicable to polar AUV
US8360685B1 (en) Autonomous underwater plow and method of use
US11530017B1 (en) Scuttle module for field configurable vehicle
NO347205B1 (en) A tether management system for subsea operations
US11745841B2 (en) Methods for vehicle propulsion
US11603170B1 (en) Method for parasitic transport of an autonomous vehicle
Sarda Automated Launch and Recovery of an Autonomous Underwater Vehicle from an Unmanned Surface Vessel
JP2005178437A (en) Underwater investigation machine
US11904993B1 (en) Supplemental techniques for vehicle and module thermal management
US11760454B1 (en) Methods of forming field configurable underwater vehicles
Maimon Underwater robotics–technical aspects on autonomous underwater inspection vehicle
CN116338798A (en) Marine seismic exploration node laying device
CN115320849A (en) Sea-air integrated unmanned system and method