CN104081099B - 电子控制系统及方法、铺设船及其可变配置的铺设斜坡 - Google Patents

电子控制系统及方法、铺设船及其可变配置的铺设斜坡 Download PDF

Info

Publication number
CN104081099B
CN104081099B CN201380006818.8A CN201380006818A CN104081099B CN 104081099 B CN104081099 B CN 104081099B CN 201380006818 A CN201380006818 A CN 201380006818A CN 104081099 B CN104081099 B CN 104081099B
Authority
CN
China
Prior art keywords
laying
configuration
pipeline
slope
step sequence
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201380006818.8A
Other languages
English (en)
Chinese (zh)
Other versions
CN104081099A (zh
Inventor
斯特凡诺·拜恩切
费代里科·加焦蒂
费代里科·福尔门蒂尼
斯特凡诺·索维拉
罗伯托·布鲁斯基
迭戈·拉扎林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Saipem SpA
Original Assignee
Saipem SpA
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 Saipem SpA filed Critical Saipem SpA
Publication of CN104081099A publication Critical patent/CN104081099A/zh
Application granted granted Critical
Publication of CN104081099B publication Critical patent/CN104081099B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/03—Pipe-laying vessels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
    • F16L1/12—Laying or reclaiming pipes on or under water
    • F16L1/20—Accessories therefor, e.g. floats or weights
    • F16L1/202—Accessories therefor, e.g. floats or weights fixed on or to vessels
    • F16L1/205—Pipe-laying ships
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
    • F16L1/12—Laying or reclaiming pipes on or under water
    • F16L1/20—Accessories therefor, e.g. floats or weights
    • F16L1/202—Accessories therefor, e.g. floats or weights fixed on or to vessels
    • F16L1/207—Pipe handling apparatus
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
    • F16L1/12—Laying or reclaiming pipes on or under water
    • F16L1/20—Accessories therefor, e.g. floats or weights
    • F16L1/235—Apparatus for controlling the pipe during laying
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B15/00—Systems controlled by a computer
    • G05B15/02—Systems controlled by a computer electric
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
    • F16L1/12—Laying or reclaiming pipes on or under water
    • F16L1/20—Accessories therefor, e.g. floats or weights
    • F16L1/225—Stingers

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Pipeline Systems (AREA)
  • Sewage (AREA)
  • Earth Drilling (AREA)
  • Massaging Devices (AREA)
  • Devices For Medical Bathing And Washing (AREA)
  • Invalid Beds And Related Equipment (AREA)
  • Heat-Exchange Devices With Radiators And Conduit Assemblies (AREA)
CN201380006818.8A 2012-01-27 2013-01-28 电子控制系统及方法、铺设船及其可变配置的铺设斜坡 Active CN104081099B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
IT000101A ITMI20120101A1 (it) 2012-01-27 2012-01-27 Sistema elettronico, metodo e programma di controllo di una rampa di varo a configurazione variabile di un natante di posa per varare una tubazione su un letto di un corpo d'acqua
ITMI2012A000101 2012-01-27
PCT/IB2013/050727 WO2013111122A1 (en) 2012-01-27 2013-01-28 Electronic system, method, and program for controlling a variable-configuration lay ramp of a pipeline laying vessel, to lay a pipeline on the bed of a body of water

Publications (2)

Publication Number Publication Date
CN104081099A CN104081099A (zh) 2014-10-01
CN104081099B true CN104081099B (zh) 2017-01-18

Family

ID=46466661

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201380006818.8A Active CN104081099B (zh) 2012-01-27 2013-01-28 电子控制系统及方法、铺设船及其可变配置的铺设斜坡

Country Status (13)

Country Link
US (1) US9506580B2 (https=)
EP (1) EP2807415B1 (https=)
CN (1) CN104081099B (https=)
AP (1) AP3986A (https=)
AU (1) AU2013213277B2 (https=)
BR (1) BR112014018540B8 (https=)
CA (1) CA2862598C (https=)
IT (1) ITMI20120101A1 (https=)
MX (1) MX367821B (https=)
MY (1) MY167309A (https=)
PH (1) PH12014501703A1 (https=)
RU (1) RU2623325C2 (https=)
WO (1) WO2013111122A1 (https=)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB201121118D0 (en) * 2011-12-08 2012-01-18 Saipem Spa Method and vessel for laying a pipeline
US10801644B2 (en) * 2019-01-28 2020-10-13 Caterpillar Inc. Pipelaying guidance
WO2021076539A1 (en) * 2019-10-18 2021-04-22 J. Ray Mcdermott, S.A. A stinger for a pipe laying operation
CN115183055B (zh) * 2021-05-25 2024-05-10 中国石油工程建设有限公司 一种新型Slay铺管船柔性托管架及调节方法
CN115183056B (zh) * 2021-05-27 2024-04-30 中国石油工程建设有限公司 一种新型rov自动调整托管架装置及调整方法
JP7733179B1 (ja) 2024-07-23 2025-09-02 日鉄エンジニアリング株式会社 スティンガーおよびスティンガーの取り付け方法

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3487648A (en) * 1965-05-21 1970-01-06 Brown & Root Methods for laying pipelines
US3860122A (en) * 1972-12-07 1975-01-14 Louis C Cernosek Positioning apparatus
CN1142269A (zh) * 1994-12-28 1997-02-05 欧姆龙株式会社 使用分级模型的推理系统及方法和控制系统及方法
CN1188202A (zh) * 1997-01-17 1998-07-22 J·雷·麦克德莫特股份有限公司 有关铺设水下管道的改进
WO2009098586A2 (en) * 2008-02-08 2009-08-13 Saipem S.P.A. Guide device for supporting an underwater pipeline, laying ramp comprising such a guide device, laying vessel equipped with such a laying ramp, and method of controlling an underwater- pipeline laying ramp
CN101657664A (zh) * 2007-02-13 2010-02-24 Sbm阿特兰蒂亚有限公司 适用于管道铺设船的系统
WO2011086100A2 (en) * 2010-01-13 2011-07-21 Saipem S.P.A Undersea pipe-laying

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3668878A (en) * 1969-04-09 1972-06-13 Brown & Root Method and apparatus for laying pipelines
US4030311A (en) * 1976-01-19 1977-06-21 Brown & Root, Inc. Method and apparatus for adjustably supporting a pipeline relative to a lay vessel
IT1089087B (it) * 1977-12-27 1985-06-10 Saipem Spa Nave posatubi semisommergibile attrezzata per la posa di tubazioni su fondali anche profondi del mare e relativo metodo d'impiego
US4755947A (en) * 1986-03-03 1988-07-05 Parmac, Inc. Monitor for and method of deploying anchor lines for off shore platforms
GB9120432D0 (en) * 1991-09-25 1991-11-06 Stena Offshore Ltd Reel pipelaying vessel
GB9120429D0 (en) * 1991-09-25 1991-11-06 Stena Offshore Ltd Reel pipelaying vessel
US6328502B1 (en) * 1999-06-24 2001-12-11 Global Industries, Ltd. Horizontal reel barge
RU2229053C2 (ru) * 1999-07-21 2004-05-20 САЙПЕМ С.п.А. Судно-трубоукладчик и способ прокладки трубопроводов
GB2460671B (en) * 2008-06-04 2012-11-21 Subsea 7 Ltd Apparatus and method for use in laying pipe on the sea floor
ITMI20092044A1 (it) * 2009-11-20 2011-05-21 Saipem Spa Metodo e gruppo di scavo per disporre una tubazione in un letto di un corpo d'acqua
ITTO20091043A1 (it) * 2009-12-24 2011-06-25 Saipem Spa Rampa di varo, unita' di varo comprendente tale rampa di varo e metodo di azionamento di tale unita' di varo

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3487648A (en) * 1965-05-21 1970-01-06 Brown & Root Methods for laying pipelines
US3860122A (en) * 1972-12-07 1975-01-14 Louis C Cernosek Positioning apparatus
CN1142269A (zh) * 1994-12-28 1997-02-05 欧姆龙株式会社 使用分级模型的推理系统及方法和控制系统及方法
CN1188202A (zh) * 1997-01-17 1998-07-22 J·雷·麦克德莫特股份有限公司 有关铺设水下管道的改进
CN101657664A (zh) * 2007-02-13 2010-02-24 Sbm阿特兰蒂亚有限公司 适用于管道铺设船的系统
WO2009098586A2 (en) * 2008-02-08 2009-08-13 Saipem S.P.A. Guide device for supporting an underwater pipeline, laying ramp comprising such a guide device, laying vessel equipped with such a laying ramp, and method of controlling an underwater- pipeline laying ramp
WO2011086100A2 (en) * 2010-01-13 2011-07-21 Saipem S.P.A Undersea pipe-laying

Also Published As

Publication number Publication date
AU2013213277A1 (en) 2014-08-21
US20150037101A1 (en) 2015-02-05
MX367821B (es) 2019-09-09
AP2014007786A0 (en) 2014-07-31
RU2014134808A (ru) 2016-03-27
BR112014018540A8 (pt) 2017-07-11
RU2623325C2 (ru) 2017-06-23
MX2014008916A (es) 2014-11-25
BR112014018540B1 (pt) 2020-12-15
AP3986A (en) 2017-01-06
ITMI20120101A1 (it) 2013-07-28
EP2807415B1 (en) 2015-12-09
US9506580B2 (en) 2016-11-29
PH12014501703A1 (en) 2014-10-13
CA2862598A1 (en) 2013-08-01
CN104081099A (zh) 2014-10-01
BR112014018540B8 (pt) 2021-08-31
CA2862598C (en) 2020-05-05
AU2013213277B2 (en) 2017-04-13
EP2807415A1 (en) 2014-12-03
BR112014018540A2 (https=) 2017-06-20
WO2013111122A1 (en) 2013-08-01
MY167309A (en) 2018-08-16

Similar Documents

Publication Publication Date Title
CN104081099B (zh) 电子控制系统及方法、铺设船及其可变配置的铺设斜坡
KR101934017B1 (ko) 작업 기계
US8965607B2 (en) Device for dredging soil material under water
US20150240445A1 (en) Automatic grading system for construction machine and method for controlling the same
KR101196374B1 (ko) 이동 로봇의 경로 생성 시스템
JP7125745B2 (ja) 自律型作業支援ロボットの環境適応性強化システム、動作シミュレーション装置及びそのプログラム
JP6739544B2 (ja) 医療システムとその制御方法
CN109407682A (zh) 基于图像特征深度强化学习的auv管道循管方法
CN102884353A (zh) 将管道从铺设船铺设到水体床上的铺设方法，以及铺设船
CN106650298A (zh) 基于环境特征和随机方法的柔性针路径规划方法
US20180136070A1 (en) Screwer test bench with bidirectional control
CN111658144A (zh) 基于自主控制的血管机器人的控制系统及方法
BR102017002613B1 (pt) Disposição para operações offshore e método para simular ativos marítimos em uma operação offshore
CN102323085A (zh) 基于角度监测识别受损索支座广义位移的递进式方法
CN102323074A (zh) 基于混合监测识别受损索松弛索支座广义位移的递进方法
US20180199953A1 (en) Forceps system
JP2013246553A (ja) 軌道計画装置、軌道計画方法及び軌道計画プログラム
CN102323083A (zh) 基于应变监测识别受损索松弛索支座广义位移的方法
CN102288438A (zh) 基于混合监测的识别受损索松弛索支座角位移的方法
CN110065071B (zh) 一种基于三元素构型描述的群体自组装机器人构型方法
CN120257548B (zh) 基于强化学习的机器人电缆抗干扰布线方法及系统
WO2024190058A1 (ja) 位置保持システム
KR102371054B1 (ko) 정형외과 수술 로봇암의 싱귤러 포인트 발생 인지 장치 및 그 방법
EP3853508A1 (en) Method and system for laying a pipeline on the bed of a body of water
Lee et al. A Novel Bi-Modal Wave Analysis Approach to Pipelay Installation Analysis

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant