BR112019027704B1 - FLOATING STRUCTURE FOR HANDLING AND CONTINUOUS VERTICAL TUBULAR LIFTING - Google Patents

Abstract

A continuous vertical tubular lifting and handling floating structure has a hull, a main deck, an upper neck extending downward from the main deck, an upper truncated side section, an intermediate neck, a lower neck extending from the neck intermediate, an ellipsoidal keel and a fin-shaped attachment attached to a lower and outer portion of the exterior of the ellipsoid keel. The upper truncated side section is situated below the upper neck and maintained to be above a waterline for transport depth and partially below the waterline for operating depth of the floating structure. A hull mounted automated pipe section build system is in communication with a controller and configured to assemble the marine risers, assemble casing and assemble the drill pipe.

Description

CITATION RELATED REQUESTS

[001] This application claims priority to and benefit from PCT Application Serial No. PCT/US2015/057397 filed on October 26, 2015, entitled “BUOYANT STRUCTURE,” which claims the benefit of the patent application US Serial No. 14/524,992 filed October 27, 2014 entitled “BUYOANT STRUCTURE” now abandoned, which is a continuation in part of issued patent application US No. 14/524,992. Serial No. 14/105,321 filed December 13, 2013, entitled “BUOYANT STRUCTURE,” issued as US Patent No. 8,869,727 on October 28, 2014, which is a continuation in part of U.S. Patent Application Issued Serial No. 13/369,600 filed on February 9, 1012, entitled “STABLE OFFSHORE FLOATING DEPOT,” (“STABLE OFFSHORE FLOATING DEPOT,” - MAR”) issued as US Patent No. 8,662,000 on March 4, 2014, which is a Continuation in part of Issued US Patent Application No. Serial No. 12/914,708 filed October 28, 2010, issued as US Patent No. 8,251,003 on August 28, 2012, which claims the benefit of US Provisional Patent Application Serial No. 61/259,201 filed on November 8, 2009; and claims the benefit of US Provisional Patent Application Serial No. 61/521,701 filed on August 9, 2011, both of which have expired. Such references are hereby incorporated in full.

FIELD

[002] The present modalities generally refer to a floating structure for continuous vertical tubular handling and lifting to support offshore oil and gas operations.

BACKGROUND

[003] There is a need for a floating structure for handling and continuous vertical tubular lifting.

[004] There is an additional need for a floating structure handling and continuous vertical tubular lifting that provides wave damping.

[005] The present modalities meet these needs.

BRIEF DESCRIPTION OF THE DRAWINGS

[006] The detailed description will be better understood in combination with the attached drawings as follows:

[007] Figure 1 is a perspective view of a floating structure for handling and continuous vertical tubular lifting.

[008] Figure 2 is a vertical profile drawing of the hull of the floating handling structure and continuous vertical tubular lifting.

[009] Figure 3 is an enlarged perspective view of the floating structure for continuous vertical tubular handling and lifting in floating operating depth.

[010] Figure 4 is a side view of the configuration of the double pinnacle of the floating structure for handling and continuous vertical tubular lifting.

[011] Figure 5 is a top plan view of the floating structure for handling and continuous vertical tubular lifting.

[012] Figure 6 is a detailed view of the third pinnacle for use with the drill pipe.

[013] Figure 7 is a component diagram of the floating structure connected to a controller.

[014] Figure 8 is a diagram of the controller according to one modality.

[015] Figure 9 is a detail of the dynamic intersection support beam with underwater mobilization system.

[016] Figure 10 is a detail of the automated racking system.

[017] Figure 11 is a side view of the floating structure for continuous vertical tubular handling and lifting with an intermediate neck, which can be cylindrical.

[018] Figure 12 is a detailed view of the floating structure for continuous vertical tubular handling and lifting with an intermediate neck.

[019] Figure 13 is a cropped view of the floating structure handling and continuous vertical tubular lifting with an intermediate n in a transport configuration.

[020] Figure 14 is a cropped view of the floating structure for handling and continuous vertical tubular lifting with an intermediate neck in an operational configuration.

[021] The present modalities are detailed below with reference to the listed figures.

DETAILED DESCRIPTION OF MODALITIES

[022] Before explaining the present apparatus in detail, it should be understood that the apparatus is not limited to specific embodiments and that it can be practiced or realized in various ways.

[023] The present modalities refer to a floating structure for continuous vertical tubular handling and lifting to support offshore oil and gas operations.

[024] The modalities prevent personal injury from equipment to be provided in hull marine riser sections, in hull casing sections, and in hull drill pipe sections for already assembled marine risers, casing and downpipe drilling to reduce deck assembly time while in rough seas.

[025] The modalities protect the hands on deck against rough seas by providing greater stability.

[026] The modalities allow the offshore structure to be towed for an offshore disaster and operate as a command center to facilitate disaster control, and can act as a hospital, or triage center.

[027] The following terms are used in the present invention:

[028] The term "coupling system" refers to a device that allows the attachment of drilling equipment to a pinnacle, such as a fingerboard.

[029] The term “equipment handling robots” refers to automated traceable devices that are capable of picking up and delivering equipment from one location to another on the floating structure. Traceable devices can move along rails or beams from a storage location to a final destination. The robots have processors and computer-readable media that store equipment zone locations on the floating structure. Equipment moving robots may contain RFID readers, which connect to processors to provide accurate location within inches of the equipment, such as 2 inches.

[030] The term "marine objects" as used in the present invention includes marine tubulars, and marine chemical and marine equipment.

[031] The term "material recognition system" refers to a camera and database, which perform a material recognition, similar to a facial recognition system. For example, the material recognition system can scan a three-dimensional tube and match the tube with a pre-existing image of a similar tube or match data points identifying the image as a tube.

[032] The term “priority zone” as used herein refers to a map of a drilling rig floor or main deck and locations on or between the main deck and ellipsoid keel, which are coded, based on hazardous components of equipment or materials and have a specific geographic location on the floating structure. For example, a zone could be an “A” priority zone, because the “A” zone only contains materials that have volatile organic components, and a “Z” priority zone only contains pipe that is not explosive.

[033] The term "torque machine" as used in the present invention refers to an "iron roughneck", such as a torque wrench.

[034] The term "RFID database" refers to a database on computer-readable media that includes part name, manufacturer, date of manufacture, Serial No., priority zone, and date of installation by name by part name, repair history by part name, and installation and connection sequences for continued safe use. For example, the RFID database may contain data such as a butterfly valve, manufactured by AAA Valve Company manufactured on March 12, 2017 with Serial No. 234,432, having a priority zone C with an installation date of May 11 2017 to engage mud flow conduits at 300 psi.

[035] The invention relates to a floating structure for handling and continuous vertical tubular lifting with an axis to assemble, separate and install marine objects.

[036] The continuous vertical tubular lifting and handling floating structure has a hull with a main deck.

[037] The hull has an upper neck connected to the main deck.

[038] The hull has an upper truncated side section connected to the upper neck and an intermediate neck connected to the upper truncated side section.

[039] The hull has a lower frustoconical lateral section that extends from the intermediate neck.

[040] An ellipsoid keel is used with a horizontal plane that is mounted on the lower truncated side section.

[041] A fin-shaped attachment is attached to an outer portion of the ellipsoid keel, and a central platform opening formed in the hull.

[042] A pinnacle is mounted on the hull with a crossbar.

[043] The hull has a drilling floor mounted on the main deck and the ellipsoid keel and around the central deck opening.

[044] In the hull, between the main deck and the ellipsoid keel, a marine riser section is formed having a riser opening in the main deck and extending towards the ellipsoid keel in parallel with the axis to contain a marine riser mounted.

[045] In the hull, between the main deck and the ellipsoid keel, a skin section is formed having a skin opening in the main deck and extending towards the ellipsoid keel in parallel with the axis to contain a mounted skin.

[046] In the hull, between the main deck and the ellipsoid keel, a drill pipe section is formed having a drill pipe opening in the main deck and extending towards the ellipsoid keel in parallel with the axis to contain drill pipe mounted.

[047] Each section is oriented at an angle of 60 degrees to 120 degrees to the horizontal plane of the ellipsoid keel.

[048] Each mounted marine riser, mounted casing or mounted drill pipe has a length of 50 feet (15.24 m) to 270 feet (82.30 m).

[049] The continuous vertical tubular lifting and handling floating structure has a controller with a processor and non-evanescent non-transient computer-readable media.

[050] The computer-readable media contains a vessel management system with priority zones for marine objects inside the hull.

[051] The continuous vertical tubular lifting and handling floating structure has a vertically adjustable beam intersection lifter mounted on the crossbar next to the platform central opening and in communication with the controller comprising at least one dynamic intersection support element configured to hitch downhole assemblies.

[052] The floating structure for handling and continuous vertical tubular lifting has an automated racking system mounted on the hull in communication with the controller.

[053] The automated rack system is configured to install marine risers mounted on the liner mounted marine riser section into the liner section or drill pipe mounted into the drill pipe section.

[054] The continuous vertical tubular handling and lifting floating structure has an automated tube section construction system mounted on the hull in communication with the controller and adjacent to the automated racking system.

[055] The automated section building system is configured to mount marine risers, mount casing, and mount drill pipe from an angle of 55 to 125 degrees from the horizontal plane of the ellipsoid keel.

[056] Returning now to the figures, figure 1 shows a floating structure for handling and continuous vertical tubular lifting to operationally support offshore exploration, drilling, production and storage facilities according to an embodiment of the invention.

[057] The continuous vertical tubular lifting and handling floating structure 10 may include a hull 12, which can carry a superstructure 13 on it. The superstructure 13 may include a diverse collection of equipment and structures, such as crew quarters and quarters 58, equipment storage, a heliport 54 and a variety of other structures, systems and equipment, depending on the type of offshore operations to be supported. Cranes 53 can be mounted on the superstructure. The hull 12 can be moored to the seabed by several catenary mooring lines 16. The superstructure can include an aircraft hangar 50. A control tower 51 can be built into the superstructure. The control tower can have a dynamic position system 57.

[058] The floating structure for handling and continuous vertical tubular lifting can have a single hull format.

[059] With reference to figures 1 and 2, the hull 12 of the continuous vertical tubular lifting and handling floating structure 10 may have a main deck 12a, which may be circular and a height H. extending downwards from the main deck 12a there may be an upper truncated portion 14.

[060] In embodiments, the upper frustoconical portion 14 may have an upper neck 12b extending downwards from the main deck 12a, an upper frustoconical side section tapering inwards 12g located below the upper neck 12b and connecting to a lateral section truncated in tune intermediate 12c.

[061] The continuous vertical tubular lifting and handling floating structure 10 may also have a lower frustoconical side section 12d extending downwards from the intermediate inwardly tapering truncated lateral section 12c and widens outward. Both the lower truncated inwardly tapering side section 12c and the lower truncated lateral section 12d may be below operating depth 71.

[062] A lower neck 12e extending from the lower frustoconical side section 12d towards the ellipsoid keel 12f.

[063] The intermediate truncated inwardly tapering side section 12c may have a substantially greater vertical height H1 than the lower truncated lateral section 12d shown as H2. The upper neck 12b may have a slightly greater vertical height H3 than a lower neck 12e extending from the lower frustoconical side section 12d shown as H4.

[064] As shown, the upper neck 12b can connect with the upper frustoconical side section that tapers inwards 12g so as to provide a main deck of greater radius than the hull radius together with the superstructure 13, which can be round , square, or other shape, such as a half moon. The upper frustoconical lateral section that tapers inwards 12g may be situated above operating depth 71.

[065] Fin-shaped attachments 84 can be attached to a lower portion and an outer portion of the outside of the hull.

[066] The hull 12 is shown with a plurality of catenary mooring lines 16 for mooring the floating structure to create a mooring haul.

[067] Figure 2 is a simplified view of a vertical profile of the hull according to one embodiment.

[068] Two different depths are shown, the operational depth 71 and the transit depth 70.

[069] The main deck 12a, upper neck 12b, upper truncated side section that tapers inwards 12g, intermediate truncated side section that tapers inwards 12c, lower truncated side section 12d, lower neck 12e and combined ellipsoid keel 12f are all coaxial with a common vertical axis 100. In embodiments, the hull 12 may be characterized by an ellipsoid cross section when taken perpendicular to the vertical axis 100 at any elevation.

[070] Due to its ellipsoid platform, the dynamic response of hull 12 is wave direction independent (by neglecting any asymmetries in the mooring system, risers and underwater attachments), thereby minimizing wave-induced yaw forces. Additionally, the conical shape of the hull 12 is structurally efficient, offering a high payload and storage volume per ton of steel when compared to traditional ship-shaped offshore structures. The hull 12 can have ellipsoidal walls which are ellipsoidal in radial cross-section, but such a shape can be approximated by using a large number of flat metal plates rather than bending the plates into a desired curvature. While an ellipsoidal hull planform is preferred, a polygonal hull planform can be used in accordance with alternative embodiments.

[071] In embodiments, the hull 12 can be circular, oval or elliptical forming the ellipsoidal planform.

[072] An elliptical shape can be advantageous when the floating structure is moored closely adjacent to another offshore platform in order to allow passage of a walkway between the two structures. An elliptical hull can minimize or eliminate wave interference.

[073] The specific design of the intermediate inwardly tapering frusto-conical side section 12c and the lower frusto-conical lateral section 12d generates a significant amount of radiation damping resulting in almost no heave amplification for any given wave period, as described below.

[074] Intermediate, inwardly tapering, truncated lateral section 12c may be situated in the wave zone. At operating depth 71, the waterline may be situated in the intermediate, inwardly tapering, truncated lateral section 12c just below the intersection with the upper neck 12b. Intermediate tapered inwardly tapering side section 12c may incline at an angle (α) with respect to vertical axis 100 from 10 degrees to 15 degrees. The internal widening before reaching the waterline dampens sinking significantly, because a downward movement of the hull 12 increases the flat water area. In other words, the hull area perpendicular to the vertical axis 100 breaking the surface of the water will increase with downward movement of the hull, and such increased area is subject to opposing resistance from the air and or water interface. It has been found that 10 degrees to 15 degrees of flare provides a desirable amount of sag damping without sacrificing too much storage volume for the vessel.

[075] Similarly, the lower frustoconical side section 12d dampens the raising. The lower truncated lateral section 12d may be located below the wave zone (approximately 30 meters below the waterline). As the entire lower frustoconical side section 12d may be below the water surface, a larger area (perpendicular to the vertical axis 100) is desired to obtain upward damping. Therefore, the first diameter D1 of the lower hull section may be greater than the second diameter D2 of the intermediate tapered inwardly tapering side section 12c. the lower frustoconical side section 12d can incline at an angle (Y) with respect to the vertical axis 100 from 55 degrees to 65 degrees. The bottom section can flare out to an angle of greater than or equal to 55 degrees to provide greater inertia for pitching and raising/sinking motions. The increased mass contributes to natural periods of pitching and heave/sink balance above expected wave energy. The upper limit of 65 degrees is based on avoiding abrupt changes in stability during initial ballasting on installation. That is, the lower frustoconical side section 12d can be perpendicular to the vertical axis 100 and obtain a desired amount of heightening damping, but such a hull profile would result in an undesirable step change in stability during initial ballasting in installation. The connection point between the upper truncated portion 14 and the lower truncated lateral section 12d may have a third diameter D3 smaller than the first and second diameters D1 and D2.

[076] Transit depth 70 represents the waterline of hull 12 while in transit to an operational offshore position. Transit depth is known in the art to reduce the amount of energy required to transit a floating vessel across distances in the water by decreasing the profile of floating structure making contact with the water. Transit depth is approximately the intersection of lower truncated side section 12d and lower neck 12e. however, weather and wind conditions may provide the need for a different transit depth to meet safety guidelines or achieve rapid mobilization from one position in the water to another.

[077] In embodiments, the center of gravity of the vessel on the high seas may be situated below its center of buoyancy to provide inherent stability. The addition of ballast to hull 12 is used to lower the center of gravity. Optionally, sufficient ballast can be added to lower the center of gravity below the center of buoyancy for any superstructure and payload configuration that is to be carried by hull 12.

[078] The hull is characterized by a relatively high metacentre. However, as the center of gravity (CG) is low, the metacentric height is additionally increased, resulting in large righting moments. Additionally, the peripheral location of the fixed ballast also includes righting moments.

[079] The floating structure aggressively resists pitching and pitching and is said to be “rigid.” Rigid vessels are typically characterized by abrupt hard accelerations when large righting moments meet pitch and roll. However, the inertia associated with the high total mass of the floating structure, specifically increased by the fixed ballast, decreases such accelerations. In particular, the mass of the fixed ballast increases the natural period of the floating structure above that of most common waves, thereby limiting wave-induced acceleration in all degrees of freedom.

[080] In one embodiment, the continuous vertical tubular lifting and handling floating structure may have thrusters 99a-99d.

[081] Figure 3 shows the floating structure for handling and continuous vertical tubular lifting 10 with the main deck 12a and the superstructure 13 on the main deck.

[082] In embodiments, the crane 53 can be mounted on the superstructure 13, which can include a helipad 54.

[083] The catenary mooring lines 16 are shown coming from the upper neck 12b.

[084] The upper frustoconical inwardly tapering side section 12g is shown connected to the lower frustoconical inwardly tapering side section 12c and the upper neck 12b.

[085] The floating structure may have a transit depth and an operational depth, where the operational depth is obtained by using ballast pumps and filling ballast tanks in the hull with water after moving the structure at transit depth to an operational location.

[086] The transit depth can be from approximately 7 meters to approximately 15 meters and the operational depth can be from approximately 45 meters to approximately 65 meters.

[087] Figure 4 is a side view of the double pinnacle configuration of the floating handling structure and continuous vertical tubular lifting.

[088] The continuous vertical tubular lifting and handling floating structure has a vertically adjustable beam intersection lifter 430 mounted on the crossbar 433 near the central platform opening 300 and in communication with a controller. The vertically adjustable beam intersection hoist has at least one dynamic intersection support member 432.

[089] The vertically adjustable beam intersection hoist 430 can be made of a pair of parallel lifting pinnacles 431a and 431b connected by a crossbar 433.

[090] The continuous vertical tubular handling and lifting floating structure has an assembly rupture zone 443 formed between the first and second pinnacles and connected to the dynamic intersection support element 432.

[091] A marine riser section 303 is shown penetrating through the main deck and extending towards the ellipsoid keel in parallel with axis 11 to contain a mounted marine riser 306.

[092] The dynamic intersection support element 432 can pick up the mounted marine riser 306 for subsequent lowering through the central platform opening 300.

[093] Figure 5 is a top plan view of the floating structure for handling and continuous vertical tubular lifting.

[094] In modalities, first and second pinnacles 431a and 431b are shown.

[095] A pinnacle 431a can install the casing mounted on the casing section 308.

[096] The other pinnacle can install mounted marine risers 306 in the marine riser section 303 simultaneously with installation in the casing tube section 308. Both pinnacles can install and remove joined marine tubulars simultaneously. Both pinnacles can remove the mounted liner 312 and mounted marine risers 306, respectively, simultaneously.

[097] A third pinnacle acting as an automated 560 section building system.

[098] Figure 6 is a detailed view of the third pinnacle for use with the drill pipe 318 which is known as an automated section building system 560.

[099] The automated section building system has a frame 561 shown with a section building hoist 564 having a gripper 562 for connecting with the drill pipe 318 which is rotated by a torque machine 566.

[0100] The automated section building system 560 is adjacent to a central platform opening 300 for installing drill pipe mounted 318 in a drill pipe section 314 extending from an opening in the drill floor 302 towards the ellipsoid keel.

[0101] The 564 section construction lifter can be used to assemble or disassemble marine risers, casing 312 and drill pipe 318 by: lifting unassembled marine risers 306, unassembled casing 312 and unassembled drill pipe 318; lower unassembled marine risers, unassembled casing 312 and unassembled drill pipe 318; elevating mounted marine risers 306, mounted casing 312 and mounted drill pipe 318; lower mounted marine risers 306, drill pipe mounted 318 and casing mounted 312.

[0102] In embodiments, the axis 100 of the continuous vertical tubular handling and lifting floating structure 10 is shown.

[0103] A hook 52 connects to the vertically adjustable beam intersection hoist 430 to mobilize marine objects through the central platform opening on a seabed.

[0104] Figure 7 is a diagram of the components of the floating structure for handling and continuous vertical tubular lifting 10 connected to a controller 420.

[0105] A controller 420 with a processor 422 and computer-readable media 424 is shown.

[0106] The automated rack system 440 is mounted on the hull 12 in communication with the controller 420. The automated rack system 440 is configured to install and remove marine risers mounted 306 in the marine riser section 303 and liner mounted 312 in the casing section 308.

[0107] The automated section building system 442 mounted on the hull 12 is in communication with the controller 420 and mounted adjacent to the automated rack system 440.

[0108] The automated section building system 442 is configured to assemble marine risers 306, assemble the casing 312 and assemble the drill pipe 318 from an angle of 55 to 125 degrees from the horizontal plane of the ellipsoid keel.

[0109] The vertically adjustable beam intersection hoist 430 mounted on the crossbar next to the platform central opening is in communication with the controller 420.

[0110] A subsea test tree with the winch system 470 is attached to the vertically adjustable beam intersection hoist 430 and in communication with the controller 420.

[0111] A mooring system 444 fixed on one of the pinnacles is in communication with the controller.

[0112] A plurality of RFID readers 500a and 500b are mounted on the hull and in communication with the controller 420.

[0113] The plurality of RFID readers are configured to scan RFID codes 502 connected to incoming and outgoing marine objects 499.

[0114] Each RFID code 502 indicates a priority zone 428 in hull 12.

[0115] The RFID readers 500a, b are installed adjacent to at least one of the central openings of the platform 300, the automated racking system 44, the drilling floor 302, the main deck 12a, and areas between the main deck 12a and the ellipsoid keel 12f on hull 12.

[0116] In embodiments, a closed-circuit television 504 is mounted on the hull in communication with the controller 420. The closed-circuit television 504 supplies power to the closed-circuit television 506 for the controller's computer-readable media.

[0117] In embodiments, the continuous vertical tubular lifting and handling floating structure 10 has a radio wave generator 530 connected to the controller 420.

[0118] The radio wave generator 530 is in communication with the radio wave sensor 533 and a line-of-sight camera 534.

[0119] Also, equipment handling robots 520 are in communication with the controller 420.

[0120] Figure 8 is a diagram of the controller 420 according to one embodiment.

[0121] The controller 420 has a processor 422, such as a computer, which additionally communicates with a computer-readable media 424 that includes: a vessel management system 426 with priority zones 428 for marine objects inside the hull 12.

[0122] The computer-readable media 424 stores the CCTV feed 506 and the RFID database 508.

[0123] The RFID database 508 links RFID codes to one of the marine objects 499 on hull 12.

[0124] In embodiments, the computer-readable media 424 stores a material recognition system 510.

[0125] The computer-readable media has instructions 512 to instruct the processor 422 to use the closed-circuit television feed 506 with the material recognition system 510 to authenticate marine objects 499 with RFID codes 502 using the RFID database 508 .

[0126] Computer-readable media has alarms stored 536.

[0127] The computer-readable media has instructions 538 to instruct the processor 422 to provide stored alarms 536 automatically to prevent equipment handling robots 520 from colliding when equipment handling robots 520 transport marine objects 499.

[0128] Figure 9 is a detail of the dynamic intersection support beam 432 with underwater mobilization system 446.

[0129] The subsea mobilization system 446 has a plurality of pulleys 448 mounted on the dynamic intersection support element 432 and an automatically adjustable sag/raise compensator with the lifting system 450 mounted on the plurality of pulleys 448.

[0130] Figure 10 is a detail of the automated shelving system 440.

[0131] A pinnacle 431c with a locking mechanism 462 for engaging the pinnacle 431c is used.

[0132] A rack and pinion 464 is mounted on at least one pinnacle 431c operating the dynamic intersection support element 432 to adjust the height of mounted marine tubulars and the height of downhole assemblies.

[0133] A plurality of hydraulic pistons 466a are used.

[0134] Each hydraulic piston 466a is connected at one end to the pinnacle 431c and at the other end to the dynamic intersection support element 432.

[0135] The plurality of hydraulic pistons 466a are configured to angle the dynamic intersection support member 432 to and from a horizontal plane parallel to the horizontal plane of the ellipsoid keel.

[0136] Figure 11 is a side view of the floating structure for continuous vertical tubular handling and lifting 10 with an intermediate neck 8.

[0137] The continuous vertical tubular lifting and handling floating structure 10 is shown having a hull 12 with a main deck 12a.

[0138] The continuous vertical tubular lifting and handling floating structure 10 has an upper neck 12b extending downwards from the main deck 12a and an upper frustoconical side section 12b extending from the upper neck 12b.

[0139] The floating structure for handling and continuous vertical tubular lifting 10 has an intermediate neck 8 connecting to the upper truncated lateral section 12g.

[0140] A lower frustoconical side section 12d extends from the intermediate neck 8.

[0141] A lower neck 12e connects to the lower frustoconical side section 12d.

[0142] An ellipsoid keel 12f is formed at the bottom of the lower neck 12e.

[0143] A fin-shaped attachment 84 is attached to a lower and an outer portion of the outside of the ellipsoid keel 12f.

[0144] Figure 12 is a detailed view of the floating structure for handling and continuous vertical tubular lifting 10 with the intermediate neck 8.

[0145] The continuous vertical tubular handling and lifting floating structure 10 is shown with the intermediate neck 8.

[0146] A fin-shaped attachment 84 is shown attached to a lower and an outer portion of the exterior of the ellipsoid keel 12f and extends from the ellipsoid keel 12f into the water.

[0147] Figure 13 is a cropped view of the floating structure for handling and continuous vertical tubular lifting 10 with an intermediate neck 8 in a transport configuration.

[0148] The floating structure 10 is shown with the intermediate bottleneck 8.

[0149] In embodiments, the floating structure 10 may have a pendulum 116 which may be movable. In embodiments, the pendulum is optional and may be partially incorporated into the hull 12 to provide optional adjustments to the overall performance of the hull.

[0150] In this figure, the impactor 116 is shown at a transport depth.

[0151] In embodiments, the movable pendulum can be configured to move between a transport depth and an operational depth and the pendulum can be configured to dampen the movement of the vessel when the vessel moves from side to side in the water.

[0152] Figure 14 is a cropped view of the floating structure for handling and continuous vertical tubular lifting 10 with an intermediate neck 8 in an operational configuration.

[0153] In this figure, the pendulum 116 is shown at an operational depth extending from the floating structure 10.

[0154] In modalities, the floating structure for handling and continuous vertical tubular lifting has a subsea test tree with winch system 470 attached to the vertically adjustable beam intersection hoist 430.

[0155] In embodiments, the vertically adjustable beam intersection hoist 430 has a pair of parallel lifting pinnacles 431a and 431b connected by a crossbar 433.

[0156] In embodiments, the main deck 12a has a superstructure 13 has at least one element selected from the group consisting of: accommodation for the crew 58, a helipad 54, a crane 3, a control tower 51, a position system dynamics 99a-99d in the control tower 51 and an aircraft hangar 50.

[0157] In embodiments, the platform central opening 300 has a format in the horizontal plane of the hull 12 selected from the group: ellipsoid, rectangular, octagonal and multiangular.

[0158] In embodiments, the platform central opening 300 has a truncated shape extending parallel to the axis.

[0159] In embodiments, the vertically adjustable beam intersection hoist 430 has an H-shape.

[0160] In embodiments, the dynamic intersection support element 432 has: an assembly rupture zone 443 formed between the first and second spires and connected to the dynamic intersection support element 432.

[0161] In embodiments, the floating structure for continuous vertical tubular handling and lifting 10 has a coupling system 444 fixed to one of the pinnacles 431a and 431b.

[0162] In embodiments, the continuous vertical tubular handling and lifting floating structure 10 has an underwater mobilization system 446.

[0163] The submarine mobilization system has a plurality of pulleys 448 mounted on the dynamic intersection support element 432; an automatically adjustable sag/raise compensator with lifting system 450 mounted on the plurality of pulleys 448; and a hook 52 connected to the vertically adjustable beam intersecting hoist 430 for mobilizing marine objects 499 through the central platform opening 300 onto a seabed.

[0164] In embodiments, the automated rack system 440 has a locking mechanism for engaging a pinnacle; a rack and pinion 464 mounted on at least one spire 431a and 431b operating the dynamic intersecting support member 432 to adjust the height of mounted marine tubulars 117 and height of downhole assemblies; and a plurality of hydraulic pistons 466a.

[0165] Each hydraulic piston 466a is connected at one end to a pinnacle 431a and 431b and at the other end to the dynamic intersection support element 432, the plurality of hydraulic pistons 466a configured to angle the dynamic intersection support element 432 to and from a horizontal plane parallel to the horizontal plane of the ellipsoid keel 12f.

[0166] In embodiments, the continuous vertical tubular handling and lifting floating structure 10 includes: a plurality of RFID readers 500a and 500b mounted on the hull 12 in communication with the controller 420, the plurality of RIFD readers 500a and 500b are configured to scan RFID codes 502 attached to incoming and outgoing marine objects 499, each RFID code 502 indicating a priority zone 428 on the hull 12 of the vessel management system 426, RFID readers 500a, b installed adjacent to at least one of the central openings of the platform 300, automated racking system, drill floor 302, main deck 12a, and areas between main deck 12a and ellipsoid keel 12f on hull 12; a closed circuit television 504 mounted on the hull 12 in communication with the controller 420 providing power to the closed circuit television 506 for the computer readable media 424; an RFID database 508 on the computer-readable media 424, the RFID database 508 linking RFID codes 502 to one of the marine objects 499 on the hull 12; a system for recognizing material 510 on the computer-readable media 424; instructions on the computer-readable media 424 to instruct the processor 422 to use the closed-circuit television feed 506 with the material recognition system 510 to authenticate marine objects 499 with RFID codes 502 using the RFID database 508; and a plurality of equipment moving robots 520 in communication with the controller 420 for moving an RFID scanned and visually authenticated marine object 499 to a priority zone 428.

[0167] In embodiments, the continuous vertical tubular lifting and handling floating structure 10 has at least one of: a radio wave generator 530 with radio wave sensors 533 and a line-of-sight camera 534 in communication with the controller 420, the computer-readable media 424 having stored alarms 436 and instructions 538 for instructing the processor to provide automatically stored alarms to prevent equipment handling robots from colliding when equipment handling robots transport marine objects.

[0168] In embodiments, the continuous vertical tubular lifting and handling floating structure 10 has an upper neck 12b that extends downwards from the main deck 12a; a tapered side section 12g located below the upper neck 12b and maintained above a waterline for transport depth and partially below a waterline for operational depth; and wherein the upper frustoconical side section 12g has a tapering diameter from an upper neck diameter 12b.

[0169] In embodiments, the automated section building system 442 has a load-bearing frame 561 extending above the main deck 12a; a construction hoist 564 for lifting unassembled marine risers 306, lifting unassembled casing 312, unassembled drillpipe 318 and lowering assembled marine risers 306, assembled casing 312 and assembled drillpipe 318 and lifting assembled marine risers 306 , assembled casing 312 and assembled drill pipe 318 for rupture in unassembled marine pipe 306, unassembled drill pipe 318 and unassembled casing 312; a gripper 562 attached to the section construction hoist 564; and a torque machine 566 attached to the load-bearing frame 561 for tensioning or de-tensioning mounted marine risers 306, mounted casing 312, or mounted drill pipe 318.

[0170] In embodiments, the vertically adjustable beam intersection hoist 430 may have a “+” shape, an “I” shape or a “#” shape.

[0171] As an example, in this invention, the closed-circuit television feed 506 sweeps a tube or valve connects to a processor 422 with computer-readable media 424 having the material recognition system 510 to perform a material recognition. An RFID reader 500a and 500b is also connected to the processor 422 to read the RFID code 502 on the pipe or valve. Processor 422 then uses instructions on computer-readable media 424 to compare the read RFID code 502 to a list of RFID codes in the RFID database 508 to verify the RFID code 502 belongs to that recognized object and also belongs aboard the floating structure. In this way, the processor authenticates the scanned marine objects 499 using material recognition simultaneously with those RFID codes 502 verifying that the marine object 499 is supposed to be on board the structure and verifying in which priority zone 428 the object is supposed to be be on the floating vessel.

[0172] More specifically, the closed-circuit TV 504 and an RFID reader 500a and 500b both scan a tube. Processor 422 compares the stored RFID code 502 to the floating structure and identification through scanning, and provides notification to an operator connected to processor 422 that the scanned valve is not only the correct valve, but is assumed to be on board the floating structure.

[0173] An exemplary floating structure - driller SSP - the Ultimate Drilling Machine (UDM)

[0174] A floating continuous vertical tubular handling and lifting structure 10 that has a height of 75 meters and a diameter of 100 meters has a vertical axis 100 through the platform central opening 300 can be used to assemble, separate and install marine objects 499.

[0175] The continuous vertical tubular handling and lifting floating structure called “Driller SSP - the End Drilling Machine (UDM)” may have a 12 hull with several vertical components.

[0176] The hull of “Drill SSP - Ultimate Drilling Machine (UDM)” has a 12a main deck with multiple levels. A 302 drill floor is constructed 15 meters above main deck 12a.

[0177] The hull has an upper neck 12b extending 5 meters from and connected to the main deck 12a.

[0178] The “Drill SSP - End Drilling Machine (UDM)” has a 12g upper frustoconical side section extending 40 meters in the opposite direction to the upper neck and connected to the upper neck.

[0179] The hull 12 of the “Drill SSP - the End Drilling Machine (UDM)” has an intermediate neck 8 connected to the upper truncated side section 12g extending 5 meters from the upper truncated side section 12g.

[0180] A lower truncated lateral section 12d, 20 meters long, extending from and connecting to the intermediate neck 8.

[0181] A 5 meter long lower neck 12e extends from the lower truncated lateral section 12d.

[0182] A polygonal keel 12f which is reinforced having a horizontal plane is mounted on the lower neck 12e.

[0183] A fin-shaped attachment 84 that is triangular in cross section is attached to an outer portion of the ellipsoid keel 12f and extends in the opposite direction of the keel 7 meters.

[0184] A central platform opening 300 having an area of multiple cross-sections that changes in diameter and shape is formed in the hull 12.

[0185] A marine tube section 303 can extend 150 feet (45.72 m) into the hull 12 aligned with the axis of the hull 100.

[0186] The marine tube section 303 has an opening on the main deck 12a and is used to contain at least 14,000 feet (4267.2 m) of marine riser 306 which are 100 assembled marine risers 306.

[0187] A casing section 308 is formed which in this example has a different length, (but in other examples it may have an identical length to the marine riser section 303). For skin 312, this skin section 308 could be 180 feet (54.86 m) long and like marine riser section 303 penetrate from an opening through main deck 12a and extend toward ellipsoid keel 12f in parallel with the shaft to contain an assembled casing 312. In this Drill SSP, 20,000 feet (6096 m) of casing 312 could be contained in the casing section 308 which is 140 casing joints assembled.

[0188] A drill pipe section 314 is formed in this example identical to the casing section 308, penetrating through the main deck 12a and extending towards the ellipsoid keel 12f in parallel with the axis to contain the mounted drill pipe 318.

[0189] In this example, Drill SSP - End Drilling Machine (UDM), each section is oriented at a 90 degree angle to the horizontal plane of the 12f ellipsoid keel.

[0190] In this example, the Punch SSP - End Punch Machine (UDM) has a controller 420 with a processor 422 as a computer and computer readable media 424. The computer readable media 424 comprising: a data management system vessel 426 with priority zones 428 for marine objects 499 inside the hull 12.

[0191] The drilling SSP - the End Drilling Machine (UDM) has a vertically adjustable beam intersection lifter 430 mounted on the crossbar 433 near the central opening of the platform 300 and in communication with the controller 420. The lifter has at least least one dynamic intersecting support element 432 and is capable of lifting 2000 US tons.

[0192] An automated racking system 440 capable of handling 36 sections of drill pipe 314 per hour is mounted on the hull.

[0193] The automated rack system 440 is in communication with the controller 420 and can automatically grab the individual drill pipe 318, lift the pipe, connect to a second pipe, rotate the drill pipe 318 by threading the pipe together and then lower assembled drill pipe 318. Automated rack system 440 configured to install and remove mounted marine risers 306 in marine riser section 303 mounted casing 312 in casing section 308.

[0194] Connected to the controller 420 is an automated section construction system 560 to produce multiple marine risers 306. The automated section construction system 560 can produce up to 15 joints per hour and is mounted adjacent to the automated rack system 440.

[0195] The Drill SSP - End Drilling Machine (UDM) has an automated section construction system 560 configured to assemble marine risers 306, assemble casing 312, and assemble drill pipe 318 from an angle of 95 degrees from the horizontal plane of the ellipsoid keel 12f.

[0196] Although these embodiments have been described with emphasis on the embodiments, it should be understood that understood within the scope of the appended claims, the embodiments could be put into practice other than as specifically described in the present invention.

Claims (15)

1. Continuous vertical tubular lifting and handling floating structure (10) with a geometric axis (100) for assembling, separating and installing marine objects (499), the continuous vertical tubular lifting and handling floating structure (10) comprising: a hull (12) comprising: (i) a main deck (12a); (ii) an upper neck (12b) connected to the main deck (12a); (iii) an upper frustoconical lateral section (12g) connected to the upper neck (12b); (iv) an intermediate neck (8) connected to the upper truncated lateral section (12g); (v) a lower frustoconical lateral section (12d) extending from the intermediate neck (8); (vi) a lower neck (12e) extending from the lower truncated lateral section (12d); (vii) an ellipsoid keel (12f) having a horizontal plane mounted on the lower neck (12e); and (viii) a fin-shaped attachment (84) attached to an outer portion of the ellipsoid keel (12f), and a central platform opening (300) formed in the hull (12); characterized in that the hull (12) further comprises: (ix) a drilling floor (302) mounted on the main deck (12a) and the ellipsoid keel (12f) and around the platform central opening (300); (x) a marine riser section (303) penetrating through the main deck (12a) and extending towards the ellipsoid keel (12f) parallel to the axis (100) to contain a marine riser (306) mounted ; (xi) a skin section (308) penetrating through the main deck (12a) and extending towards the ellipsoid keel (12f) parallel to the axis (100) to contain a mounted skin (312); (xii) a section of drill pipe (314) penetrating through the main deck (12a) and extending towards the ellipsoid keel (12f) parallel to the axis (100) to contain the drill pipe (318) mounted ; (xiii) a pinnacle (431a, 431b) mounted on the hull (12) with a crossbar (433); and wherein each section (303, 308, 314) is oriented at an angle of 60 degrees to 120 degrees to the horizontal plane of the ellipsoid keel (12f); and wherein each mounted marine riser (306), mounted casing (312) or mounted drill pipe (318) has a length of from 50 feet (15.24 m) to 270 feet (82.296 m); and (xiv) floating continuous vertical tubular lifting and handling structure (10) further comprising: a controller (420) with a processor (422) and computer readable media (424), the computer readable media (424) comprising a system vessel management (426) with priority zones (428) for marine objects (499) inside the hull (12); a vertically adjustable beam intersection hoist (430) mounted on the crossbar (433) close to the central platform opening (300) and in communication with the controller (420) comprising at least one dynamic intersection support element (432); an automated shelving system (440) mounted to the hull (12) in communication with the controller (420), the automated shelving system (440) installing and removing marine risers (306) mounted to the marine riser section (303 ) and the liner (312) mounted on the liner section (308); and an automated section building system (560) mounted on the hull (12) in communication with the controller (420) and adjacent to the automated shelving system (440), the automated section building system (560) assembling the risers (306), mounting the casing (312) and mounting the drill pipe (318) from an angle of 55 to 125 degrees from the horizontal plane of the ellipsoid keel (12f). 2. Floating structure for handling and continuous vertical tubular lifting (10), according to claim 1, characterized in that it comprises an underwater test tree with the winch system (470) attached to the vertically adjustable beam intersection hoist (430) and in communication with the controller (420). 3. Floating structure for handling and continuous vertical tubular lifting (10), according to claim 1, characterized in that the vertically adjustable beam intersection lifter (430) comprises a first and a second lifting pinnacles (431a, 431b) further parallel with the vertically adjustable beam intersection hoist (430) connecting between the pair of pinnacles (431a, 431b). 4. Floating structure for handling and continuous vertical tubular lifting (10), according to claim 1, characterized in that the main deck (12a) has a superstructure (13) comprising at least one element selected from the group consisting of : accommodation for the crew (58), a helipad (54), a crane (53), a control tower (51), a dynamic position system (57) in the control tower (51) and an aircraft hangar ( 50). 5. Floating structure for handling and continuous vertical tubular lifting (10), according to claim 1, characterized in that the central platform opening (300) comprises a format in the horizontal plane of the hull (12) selected from the group: ellipsoid, rectangular, octagonal and multiangular. 6. Floating structure for handling and continuous vertical tubular lifting (10), according to claim 1, characterized by the fact that the central platform opening (300) comprises a truncated shape extending parallel to the geometric axis (100). 7. Floating structure for handling and continuous vertical tubular lifting (10), according to claim 3, characterized by the fact that the vertically adjustable beam intersection lifter (430) comprises an "H" format. 8. Floating structure for handling and continuous vertical tubular lifting (10), according to claim 3, characterized in that the dynamic intersection support element (432) comprises: an assembly rupture zone (443) formed between the first and second pinnacles (431a, 431b) and attached to the dynamic intersection support member (432). 9. Floating structure for handling and continuous vertical tubular lifting (10), according to claim 8, characterized in that it comprises a mooring system (444) attached to at least one pinnacle (431a, 431b) and in communication with the controller (420). 10. Floating structure for handling and continuous vertical tubular lifting (10), according to claim 1, characterized in that it comprises an underwater deployment system (446), in which the underwater deployment system (446) comprises: a . a plurality of pulleys (448) mounted on the dynamically intersecting support member (432); and b. an automatically adjustable sag/raise compensator with the lifting system (450) mounted on the plurality of pulleys (448); and c. a hook (52) connected to the vertically adjustable beam intersecting hoist (430) for deploying marine objects (499) through the platform center opening (300) onto a seabed. 11. Floating structure for handling and continuous vertical tubular lifting (10), according to claim 1, characterized in that the automated shelf system (440) comprises: a. a locking mechanism (462) for engaging a pinnacle (431c); B. a rack and pinion (464) mounted on at least one pinnacle (431c) operating the dynamic intersection support member (432) to adjust height of mounted marine tubulars (117) and height of downhole assemblies; and c. a plurality of hydraulic pistons (466a), each hydraulic piston (466a) attached at one end to the at least one pinnacle (431c) and at the other end to the dynamic intersection support element (432), the plurality of hydraulic pistons (466a) angling the dynamic intersection support member (432) to and from a horizontal plane parallel to the horizontal plane of the ellipsoid keel (12f). 12. Floating structure for handling and continuous vertical tubular lifting (10), according to claim 1, characterized in that it comprises: a. a plurality of RFID readers (500a, 500b) mounted on the hull (12) in communication with the controller (420), the plurality of RFID readers (500a, 500b) scanning RFID codes (502) attached to incoming marine objects (499) and exit, each RFID code (502) indicating a priority zone (428) on the hull (12), the RFID readers (500a, 500b) installed adjacent to at least one of: the central platform opening (300), the system automated shelving (440), the drilling floor (302), the main deck (12a), and areas between the main deck (12a) and the ellipsoid keel (12f) in the hull (12); B. a closed circuit television (504) mounted on the hull (12) in communication with the controller (420) providing a closed circuit television feed (506) for the computer readable media (424); w. an RFID database (508) on the computer-readable media (424), the RFID database (508) linking RFID codes (502) to one of the marine objects (499) on the hull (12); d. a system for recognizing material (510) on the computer-readable media (424); It is. instructions on the computer-readable media (424) to instruct the processor (422) to use the closed-circuit television feed (506) with the material recognition system (510) to authenticate marine objects (499) with RFID codes (502 ) using the RFID database (508); and f. a plurality of equipment moving robots (520) in communication with the controller (420) for moving an RFID scanned and visually authenticated marine object (499) to a priority zone (428). 13. Floating structure for handling and continuous vertical tubular lifting (10), according to claim 12, characterized in that it further comprises at least one of: a radio wave generator (530) with a radio wave sensor (533) and a line-of-sight camera (534) in communication with the controller (420), the computer-readable media (424) having stored alarms (536) and instructions (538) for instructing the processor (422) to provide stored alarms (536) automatically to prevent equipment handling robots (520) from colliding when equipment handling robots (520) transport marine objects (499). 14. Floating structure for handling and continuous vertical tubular lifting (10), according to claim 1, characterized by the fact that: (i) the upper neck (12b) extends downwards from the main deck (12a); (ii) the upper truncated lateral section (12g) is located above the intermediate neck (8) and maintained above a waterline for a transport depth and partially below a waterline for an operational depth (71); and wherein the upper frustoconical side section (12g) has a tapering diameter from an upper neck diameter (12b). 15. Floating structure for handling and continuous vertical tubular lifting (10), according to claim 1, characterized in that the automated section construction system (560) comprises: a. a load-bearing frame (561) extending above the main deck (12a); B. a section construction lifter (564) to assemble or disassemble marine risers (306), casing (312) and drill pipe (318) by: (i) lifting risers (306) not assembled, casing (312) not assembled and drill pipe (318) not assembled; (ii) lowering unassembled risers (306), unassembled casing (312) and unassembled drill pipe (318); (iii) elevating assembled marine risers (306), assembled casing (312) and assembled drill pipe (318); (iv) lowering assembled marine risers (306), assembled drill pipe (318) and assembled casing (312); w. a gripper (562) attached to the load-bearing frame (561); and d. a torque machine (566) attached to the load-bearing frame (561) for tensioning or de-tensioning mounted or unmounted: marine risers (306), casing (312) or drill pipe (318).